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2.4.2 FRAME CONSTRUCTION
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The main structure of the robot is generally a wood, plastic, or metal frame, which is constructed a little like the frame of a house with a bottom, top, and sides. This gives the automaton a boxy or cylindrical shape, though any shape is possible. It could even emulate the human form, like the robot Cylon Centurions in Battlestar Galactica. Onto the frame of the robot are attached motors, batteries, electronic circuit boards, and other necessary components. In this design, the main support structure of the robot can be considered an exoskeleton because it is outside the major organs. Further, this design lacks a central spine, a characteristic of endoskeletal systems and one of the first things most of us think about when we try to model robots after humans. In many cases, a shell is sometimes placed over these robots, but the skin is for looks only (and sometimes the protection of the internal components), not support. Of course, some robots are designed with endoskeletal structures, but most such creatures are reserved for high-tech research and development projects and science fiction films. For the most part, the main bodies of your
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2.4 THE BODY OF THE ROBOT
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robots will have an exoskeleton support structure because they are cheaper to build, stronger, and less prone to problems.
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2.4.3 SIZE AND SHAPE
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The size and shape of the robot can vary greatly, and size alone does not determine the intelligence of the machine or its capabilities. Home-brew robots are generally the size of a small dog, although some are as compact as an aquarium turtle and a few as large as Arnold Schwarzenegger. The overall shape of the robot is generally dictated by the internal components that make up the machine, but most designs fall into one of the following categories:
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Turtle. Turtle robots are simple and compact, designed primarily for tabletop robotics. Turtlebots get their name from the fact that their bodies somewhat resemble the shell of a turtle and also from the Logo programming language, which incorporated turtle graphics, adapted for robotics use in the 1970s. Vehicle. These scooter-type robots are small automatons with wheels. In hobby robotics, they are often built using odds and ends like used compact discs, extra LEGO parts, or the chassis of a radio-controlled car. The small vehicular robot is also used in science and industry: the Mars Rovers, built by NASA, to explore the surface of Mars are examples of this type of robot. Rover. Greatly resembling the famous R2-D2 of Star Wars, rovers tend to be short and stout and are typically built with at least some humanlike capabilities, such as firefighting or intruder detection. Some closely resemble a garbage can in fact, not a few hobby robots are actually built from metal and plastic trash cans! Despite the euphemistic title, garbage can robots represent an extremely workable design approach. Walker. A walking robot uses legs, not wheels or tracks, to move about. Most walker bots have six legs, like an insect, because they provide excellent support and balance. However, robots with as few as one leg (hoppers) and as many as 8 to 10 legs have been successfully built and demonstrated. Appendage. Appendage designs are used specifically with robotic arms, whether the arm is attached to a robot or is a stand-alone mechanism. Android. Android robots are specifically modeled after the human form and are the type most people picture when talk turns to robots. Realistically, android designs are the most restrictive and least workable, inside or outside the robot lab.
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This book provides designs and construction details for at least one robot in each of the preceding types except android. That will be left to another book.
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