Weightage for objectives

Objective	Weightage
Stability	4
complexity in mechanism	3
Cost efficient	5
attractive	2
Speed	1

PUGH Chart

Objectives	Design 1	Design 2	Design 3	Design 4
Stability	-	+	0	Datum
complexity in mechanism	--	-	0	Datum
Cost efficient	-	+	+	Datum
attractive	-	++	--	Datum
speed	--	--	--	Datum
Score +	0	+13	+5	0
Score -	-19	-5	-6	0
Total	-19	8	-1	0

The best design chosen is:

• Design 2: Theo Jansen mechanism

Justification

Design no.	Objective	rating	Justification
1	stability	-	There are less linkages and actuator is at every leg
	Complexity in mechanism	--	Designing too many links will have errors and in mechanism
	Cost efficient	-	there are many links which makes the reduction in power so high torque motors are used
	Attractive	-	Many links involved in mechanism will make it look different from an actual animal walking
	Speed	--	due to high torque motors used speed is reduced

Design no.	Objective	Rating	Justification
2	stability	+	There are too many linkages which may reduce coordination and lose stability
	Complexity in mechanism	-	here, simple 4 bar mechanism is used
	Cost efficient	+	there are less links used so low torque motors can be used
	Attractive	++	less links involved in mechanism will make it look like an actual animal walking
	Speed	--	due to high RPM motors used speed is high

Design no.	Objective	Rating	Justification
3	stability	0	There are too many linkages which may reduce coordination and lose stability
	Complexity in mechanism	0	Designing too many links will have errors and in mechanism
	Cost efficient	+	there are less motors used
	Attractive	--	The walking mechanism is totally different from insect walking
	Speed	--	due to low rpm motors used

Design no.	Objective	Rating	Justification
4	stability	DATUM	There are too many linkages which may reduce coordination and lose stability
	Complexity in mechanism	DATUM	Designing too many links will have errors and in mechanism
	Cost efficient	DATUM	there are more links used so high torque motors are used
	Attractive	DATUM	Many links involved in mechanism will make it look different from an actual animal walking
	Speed	DATUM	due to low RPM motors used speed is less

Functional Chart

Glass Box

Clustering of Glass box

List of sub-system

• Walking unit
• Controling unit

Subsystem intraction table

• Walking unit

components	Energy	Data	Material	spatial arrangement
Battery storage	0	0	1	1
Actuate current	1	0	0	0
Signal receiver	1	1	0	0
processing signals	1	1	0	1
Actuating motors	1	1	0	0
movement of legs	1	1	0	1

• Controling unit

components	Energy	Data	Material	spatial arrangement
sensor	1	0	1	1
obstacle	0	0	0	0
processing signal	0	1	0	1

Concept Hierarchy