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[ Proposal ]

  The Proposal

 
  1. Mechanical Design and Construction

    The Mechanical Design and Construction can be broken down into four further subsections: hardware acquisition, modular leg design, platform design, and sensor design. This phase is expected to take a total of 10 weeks, although many of the sections will overlap.
    1. Hardware Acquisition and Verification

      The first step in the mechanical design involves the acquisition of hardware, and testing the electronics to ensure predictable performance. This phase of the project is expected to take 5 weeks.
      1. Cost Analysis

        Cost Analysis is to be performed as all hardware purchases are performed. The emphasis for this project is placed upon a low-cost solution for the outlined objective.
      2. Projected Hardware Requirements

        The projected hardware requirements are critical to the initial design and construction work.

    2. Hardware Prototyping

      Building a prototype of the modular leg design, using the actual servomotors and a mechanical system using Meccano, will be performed in order to test feasibility of the hardware design. This phase of the project is expected to take 2 weeks.
    3. Modular Leg Design, Verification, and Construction

      The most important phase of the project is the design and construction of each of the six modular legs. Kinematic analysis and space requirements are to be completed before leg materials are tested and servomotor systems are designed and analyzed, although the entire process should not take much more than 5 weeks. Construction time represents 2 of those weeks.
      1. Kinematic Analysis of Movement

        A detailed movement analysis should be completed, with the variation of several key variables: the lengths and angles involved in the five-bar leg design, the speed of rotation and the raising/lowering of the leg, and the movement of the 'foot' in free space. This analysis should be complete before any further design is contemplated. Process time is 1 week.
      2. 3D Space Requirements

        An analysis of the 3D space required around each leg is required while planning the design and construction of the platform body. This analysis time can be performed in conjunction with other leg design requirements, and should not take more than 1 week.
      3. Materials Assessment and Testing

        Analysis and stress testing of the materials used in the modular leg design should occur before all six legs are built. This should be performed in conjunction with other design requirements, and requires 1 week to complete.
      4. Servomotor Design and Strength / Weight Analysis

        An analysis of servomotor strength per unit weight is required in order to calculate the final lifting ability of the six legs. This should be completed in conjunction with the other leg design requirements, and should only take 1 week to complete.

    4. Platform (Body) Design and Construction

      Once the six modular legs have been completed, the design and construction of the robot body is most important. This phase includes the assessment and testing of body materials, and placement of each leg module and the control system. Estimated time for this design phase is 3 weeks.
      1. Materials Assessment and Testing

        Testing and analysis for high strength per unit weight is required. Assessment of available materials, and design of the platform body, is estimated to take 1 week.
      2. Leg Module Placement

        Once the body has been designed and constructed, placement and the attachment of the six leg modules on the main body is estimated to take 1 week.
      3. Control System Placement

        As the control system is designed and constructed, placement on the main body is estimated to take 1 week - although this time requirement will not fall in sequence with the previous requirements.

    5. Sensor Design, Verification, and Installation

      After the modular legs have been constructed and attached to the package base, the sensors must be designed, tested, and installed on the main body. Sensors should include IR, sonar, and other range-finding devices. This phase is estimated to take 3 weeks.
      1. World-Model Sensor Requirements

        An analysis of the world-model sensor requirements is needed before sensors are acquired and installed on the main body. This phase should outline the sensors needed, and should take 1 week.
      2. Sensor Verification and Installation

        Once sensors have been identified as being required, they should be tested and installed on the main body. This should take 2 weeks.

 
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