![REFERENCE
• [1] https://www.ebay.com/itm/360-20KG-Waterproof-High-Torque-Metal-Gear-RC-Servo-Motor-Car-Helicopter-Boat/
• [2] https://www.ebay.com/itm/STAINLESS-STEEL-SHEET-PLATE-in-Various-sizes-and-Thickness/112740090156?var=413195179173&hash=item1a3fd5412c:m:mPUwwyOw159DWFCKTJz7fqA
• [3] https://www.ebay.com/itm/Arduino-UNO-R3-Mini-Micro-USB-ATmega328P-CH340G-Replace-ATmega16U2-Board/20192795
• [4] https://www.ebay.com/itm/PS4-DUALSHOCK-4-Wireless-Controller-Bluetooth4-0-Gamepad-for-SONY-PlayStation-US/123895207849?hash=item1cd8bad7a9:m:mL4D1NtKRZ7718d31_Ts2fg
• [5] https://www.sparkfun.com/products/12577
• [6] https://www.ebay.com/itm/Strong-Heavy-Duty-Strap-Hinges-Zinc-Tee-Door-Gate-GOLD-Choose-your-pack-size/142432290165?hash=item2129a04575:m:mRej1rysKMpJj9NQ2h7a8MA
• [7] https://www.ebay.com/itm/Multicolor-Adhesive-High-Gloss-Film-Vinyl-PVC-Tape-Automotive-Grade-Car-Wrap/223034541877?var=521843692188&hash=item33ede50735:g:6qEAAOSwi5dcl0Qt
• [8] https://www.ebay.com/itm/M3-Black-12-9-Grade-Alloy-Steel-Allen-Hex-Socket-Cap-Head-Screw-Bolt-DIN912/182022519670?_trkpar
• [9] https://www.ebay.com/itm/4-4Ah-4400mah-36v-18650-lithium-battery-pack-for-Balance-Scooter-Board-2-
wheel/123902060267?_trkparms=aid%3D555018%26algo%3DPL.SIM%26ao%3D1%26asc%3D6
• [10] https://www.ebay.com/itm/Safest-3-7V-18650-Charger-Lithium-Ion-Battery-USB-Rechargeable-Battery-
Universal/153613634183?_trkparms=ispr%3D1&hash=item23c4160a87:m:m_p07jw_b4GxCYAdeRoJrZQ&enc=AQAEAAA
• [11] https://www.ebay.com/itm/10-20-30CM-Jumper-Wire-Cable-Male-to-Male-to-Female-to-Female-Arduino-Breadboard/392315907400?_
• [12] https://www.ebay.com/itm/AC110-220V-Power-Supply-Adapter-Transformer-LED-Strip-2A-3A-5A-8A-DC-5V-12V-24V/322286626497?_trkparms=ispr%3D1&hash=item4b09c7a6c1:m:mQ3El-
m3_vZFy4IcfeV7aTg&enc=AQAEAAACMBPx](https://image.slidesharecdn.com/biped-220726062627-901b92b1/85/biped-pptx-21-320.jpg)
biped.pptx
- 1. BIPED ROBOT FA H A D M O H A M M E D N A I F
- 2. INTRODUCTION • The is a Design project to make a robot which provide a sufficient way to perform different actions • Developing a robot with the challenges – BiPed Racing – BiPed Freestyle Dancing – Balancing Robot • These actions will perform by the Robot using the remote controller to act according to the user choice
- 3. BLACK BOX MODEL • Black Model shows only the inputs and outputs of the system regardless of what is happening inside the system
- 4. FUNCTIONAL MODEL • Functional Model represent the complete process happening inside the system
- 5. CONCEPTS GENERATION • Concepts have generated using – Customer Requirements – Engineering Requirements – Black Box Model – Functional Model • Customer Requirements have followed to create designs which fulfill the needs of client • Engineering Requirements have used to create the designs which are according the dimensions defined in ER’s
- 6. CONCEPT GENERATION • Black Box Model helped in generating the concepts, as inputs and outputs have defined so concepts have generated using those inputs and outputs only. • Functional model helped in generating the concepts, as the complete system has defined so the system components have set the majority parameter to use in the design and operating the design as per functional model • Each concept has compared with the functional model and check the functionality of concept matching with the functional model, if not then made such changes to get same functionality
- 7. CONCEPT GENERATION • Concepts have generated using different techniques – Brain storming – Bio-inspired – Morphological Matrix • Brain storming ideas have generated by looking around the different robotic designs and created out own design • Bio-inspired technique used to generate the concepts by inspiring from Humans • Morphological Matrix has used to get some components and use them together to make the designs. These components have used from the functional Model
- 8. CONCEPT GENERATION • Concept 1: Two Legged Wide Robot • Robot has motors at – Hip Joints – Knee Joints – Feet Joints • This is 6 Degree of Freedom considering each joint as 1 DOF • Capable to balance itself because of long feet and small structure • Capable of move in all directions and run like a human • Capable of show dace movements
- 9. CONCEPT GENERATION • Concept 1 has shown in the figure • Advantages – Good Balancing – All direction Movement – Easily standup from lay down position • Disadvantages – Difficult to stand up after falling
- 10. CONCEPT GENERATION • Concept 2: Thin Legged Refined Robot • This robot has – Hip Joints (Long Structure) – Knee Joints • This robot can easily move forward backward • 4 Degree of freedom considering each joint as 1 DOF • Hip joints have long structure to control the whole legs • Bend form of legs can help in running
- 11. CONCEPT GENERATION • Concept 2 has shown in the figure and few more concepts have shown in the Appendix. • Advantages – Long hip structure provide good control – Running is easy • Disadvantages – Balancing is difficult – Less Degree of Freedom
- 12. DESIGN EVALUATION • Generated concepts have evaluated using two methods – Pugh Chart – Decision Matrix • Pugh Chart – It evaluate the design on the basis of customer requirements by checking if the requirement is present in the design or not. – If requirement is present, + sign assign to that box and not present then – sign assign to that box – Sum up the + and – to count which design got highest + signs and that will be winner – Top three designs have selected from Pugh Chart out of ten designs
- 13. PUGH CHART Biped ROBOT Weight Humanoid Robot Two Legged Wide Robot DATUM ROBOT Single Structure Robot Expanded Robot Half Cut Robot Spider Legged Robot Sculpture Robot Thin Legged Refined Robot Mobile Robot Morph Robot Fits into the Door 13 + + D + - - - + + - + Two Legged Biped Robot 12 + + D - + + + + + + S Reciprocal Linear Mechanism 11 - + D + - - + + - - Forward and Backward Motion 10 + + D + - S - - + S + Safe to Use 9 + + D S - + - + + + + Remotely Control 8 + + D - + - + - + + + Long battery backup 7 - + D + - - - + - - - Smooth Transition 6 - + D - + - - + + - - Racing speed can control 5 + + D - - - + + + - + Capable of Balancing in all directions 4 - + D + - - - - + + - Perform dancing 3 + + D - + - - - + - + Reliable 2 - + D - + - - - + - - Durable 1 + + D - + - - - + - + Pluses 8 13 - 5 6 2 3 7 12 4 7 Minus 5 0 - 7 7 10 9 6 1 8 5 3 13 - -2 -1 -8 -6 1 11 -4 2
- 14. PUGH CHART RESULT • Pugh chart has evaluated each design against each requirement • Determined that most the design didn’t fulfilled as much requirements • Final results have found that top three designs are – Two Legged Wide Robot – Thin Legged Refined Robot – Humanoid Robot • Two legged wide robot is fulfilling all the requirements, capable of dancing, balancing, running, linear mechanism is
- 15. DESIGN EVALUATION • Decision Matrix – In decision matrix, each design evaluates on the basis of engineering requirement – Each design evaluate against each requirement and check how much it fulfills the requirement – Assign the marks accordingly and take the product with the weightage of that requirement – Sum up all the numbers for each design – Highest number design counts as the best design because it fulfills the engineering requirements as maximum as possible
- 16. DECISION MATRIX Decision Matrix Dimension Battery Time Walking Length capacity Height Foot Length Degree of Freedom Width Total Weight 7 6 5 4 3 2 1 Two Legged Wide Robot 6x7=42 6x6=36 4x5=20 6x4=24 6x3=18 4x2=8 5x1=5 153 Thin Legged Refined Robot 4x7=28 3x6=18 2x5=10 4x4=16 3x3=9 2x2=4 2x1=2 87 Humanoid Robot 2x7=14 3x6=18 3x5=15 3x4=12 2x3=6 2x2=4 3x1=3 72
- 17. DECISION MATRIX RESULT • Result of Decision matrix has shown that the top design is – Two Legged Wide Robot • It has got the highest marks as it is fulfilling the engineering requirement at maximum level • It has high capacity of walking, it has long feet, Height is sufficient, maximum degree of freedom, width is better keep the device balanced.
- 18. BILL OF MATERIAL Bill of Materials Team # Part Name Qt y Description Functions Material Dimensions Cost Link to Cost estimate 1Servo Motor 6 To do the movement in each direction Do the walking, dancing, balancing Steel 1.2 x 1 in $82.74Ebay 2Steel Sheet 4 Cut the sheet to make the robot sides Form the structure of robot Steel 100 x 100 mm $38.32Ebay 3Arduino 1Control the Robot motors Pass the signals to each part Silicon 4 in x 4 in $3.49Ebay 4Controller 1 Control the robot wirelessly Connect with Arduino to pass signals Plastic 6 x 4 in $27.99Ebay 5 Blue Smurft Bluetooth 1 Connect control with Arduino Make the connection with Controller Silicon 4 in x 4 in $27.99Spark Fun 6 Strap Hinges 12 Make conneciton with motor and Plates Put on the joints Steel 2 in x 4 in $26.28Ebay 7 High gloss Tape 1 To hold the items on the board Grip all the parts over the robot Vinyl PVC 4 x 2 in $139.49Ebay 8Screws 50Make the connections Hold the joints with hinges Steel 0.5 x 0.1 in $1.14Ebay 9Battery 2 Provide power to arduino and motors Generate the electricity from storage Li-Ion 4 x 2 in $97.50Ebay
- 19. BILL OF MATERIALS Bill of Materials Team # Part Name Qty Description Functions Material Dimensions Cost Link to Cost estimate 10 Battery Cells 4 Controller power Provide power to the controller Li-Ion 3 x 1 in $11.96Ebay 11 Jumper Wires 4 Connect between the parts Make all the connection for supply Copper 6 x 0.1 in $4.00Ebay 12 Power Adopter 1 To charge the battery Provide the charging to the robot battery Plastic 4 x 2 in $14.59Ebay Total $475.49 Total incl. tax $556.32
- 20. BUDGET • Budget estimation has done in the Bill of Materials • Remaining budget will be use as Total Budget $1500 Estimated Budget $556 Advertisement Budget $200 Prototype Cost $400 Contingency Budget $244 Travelling etc. $100
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- 22. APPENDIX A – CONCEPT 3 • Humanoid Robot • Advantages – Easy to move • Disadvantages – Balancing is the issue because of height – Degree of Freedom is less – Running is the issue
- 23. APPENDIX B – CONCEPT 4 • Spider Legged Robot • Advantages – Easy to move • Disadvantages – Difficult for balancing – Running is difficult – Walking all around is difficult