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Robot Design and Implementation Coursework Project AY2023/24 Spring Semester
Name Due Work Type Weightage Submission
Coursework 1: Project (Group report)
25 Apr 2024
Group Project Package
20% Online through Canvas
Project (Group Presentation) 29, 30 Apr
2024
Group Presentation
20% In-Person in laboratory session
Coursework 2: Individual
Report 02 May 2024
Check
Sussex Direct Individual report submission (within
3500 words)
60% Online through Canvas
I. General instructions
This coursework involves a hands-on intensive project that requires you to design a robotic system to meet a problem statement.
1.There are two parts to this coursework:
Coursework 1 (Project Package): Submit a Group Project Package (solutions in a report).
Coursework 1 (Group Presentation): Deliver a presentation with your team on your approaches and proposed solution to the problem statement.
Coursework 2: Submit an Individual Project Report independently produced by you.
2.The project package and presentation are worth 40% of the total value of the module grade and the project report is worth 60% of the module grade.
3.The electronic submission points are on Canvas.
4.You only need to make only one project package submission per group (for Coursework 1). Please make sure you know who is submitting on behalf of your group. The remaining members must submit a single page mentioning who has submitted the project package on their behalf. The individual report (for Coursework 2) should be produced independently by each person in the group and submitted on Canvas.
2.Project Specifications
A chocolate manufacturing company came up with a new gift product idea: A picture drawn by the customer will be converted into a chocolate box by arranging chocolates of different colours on a tray. The chocolates are of ellipsoid shape with the major axis diameter being 10mm and the minor axis diameter being 6mm. The tray contains 10 by 10 array of concave dimples into which the chocolates can be placed as shown in Figure 1.
Figure 1. An illustration of the environment and application scenario.
Your team is tasked to design a robotic solution based on a 5-bar planar parallel robot and an end-effector to use chocolates and construct the picture board on the chocolate tray. The robot design should meet the following requirements. The robot should be mounted on a horizontal platform, and it should be able to house and manoeuvre the end-effector (for ex., a gripper). You are free to design the environment and can choose any cameras or sensors you desire. The robot should be able to locate and pick up the chocolate from the pick-up area on the conveyor and place it in the rows and columns in the box. The size of the tray is 20cm x 20cm and can hold 100 chocolates. Assume any information that is not available in the project specification.
You are required to develop a robotic solution including the kinematic design, 3D CAD model, end-effector assembly, forward and inverse kinematic models to solve the challenge posed. Your solution need not focus on the image conversion of the painting/photo into the chocolate picture board.
3.Coursework Submissions
Coursework 1: Project Package (Group submission)
Project Package is a specific set of deliverables and implementation results.
A single PDF file with the following deliverables should be submitted by one member of each team. The members who are not submitting the project package should submit a single page pdf file mentioning the candidate numbers of their group members and the candidate no. of the person who is submitting on their behalf.

Deliverables:
1)A kinematic design (link lengths) of the mechanism that meets the workspace requirements. Include a figure showing the workspace of the robot. (10 marks).
2)Forward Kinematics Solutions (25 marks):
a)Describe a geometric approach for solving the forward kinematics of the 5-bar robot and derive the equations. Use one or more figures with clear labels.
b)Write two MATLAB functions to simulate the forward kinematics of the robot and plot the result.
c)Show the forward kinematics simulation results for the following sets of input joint angles (include the code text you used to generate the results):
1 = 300, 2 = 300
1 = 300, 2 = 450
1 = 1200, 2 = 900
1 = 1350, 2 = 300
1 = 300, 2 = 450
1 = 1200, 2 = 450
3)Inverse Kinematics solutions: (25 marks)
a)Describe a geometric method for solving the inverse kinematics of the robot.
b)Write a MATLAB function to simulate the inverse kinematics of the robot.
c)Use the inverse kinematics program to generate the input joint angle trajectories to achieve an end-effector trajectory tracing a circle of 4cm diameter and a square of side 4cm. You can arbitrarily select the location of the circle centre. Include the program text and show the images of the robot for four desired end-effector positions.
4)Create a 3D CAD model of the 5-bar robot assembly including an end effector to meet the project requirements. Provide a bill of materials listing all the parts to be fabricated and off-the-shelf items. Use images to show whichever views are necessary (exploded, isometric, front, etc.) to convey the construction of the following assemblies/ sub- assemblies. If needed, close-up views showing motor mounting, attachments of the links to the motors, attachment of end-effector to the manipulator links may be included (40 marks).
Add a table showing the contributions of individual team members to the individual project deliverables.
Regarding the use of CAD models for off-the-shelf parts: Pre-built CAD models of off-the-shelf parts (only) such as motors and bearings that are publicly available can be used in your robot assembly with appropriate referencing. Any models and reference material perused for the project should be cited.
All figures should be clearly labelled. Programs should use adequate comments so that the code is readable.

Coursework 1 (Group Project Presentation):
This part constitutes a 15-minute group presentation in which you will present your solution to the project problem. You can use your project files, pre-recorded videos (to show specific executions) and/or live demo to best convey your project and accomplishments. Each presentation will be followed by 5 mins of questions and answers (Q&A).
The following aspects will be considered in assessing your presentation:
Effectiveness: Includes the information needed to gain a good understanding of the project.
Organization: Information is organized in a logical way with good flow from one section to the other.
Clarity: The ideas, concepts, and implementation are explained clearly demonstrating understanding.
Conciseness: Ability to convey technical ideas (including (complex ideas) in a concise manner.
Originality and use of graphics/illustrations: Illustrations and graphics are used effectively to convey the work clearly and concisely.
The project presentations will be conducted in Week 11 during the Laboratory Session.

Coursework 2: Project Report (Individual Submission)
In the report, describe and discuss your complete solution for the project problem statement and provide details of all the individual operations needed to achieve the solution. The contents of the report may include problem analysis, conceptual solution, proposed robotics system, gripper design, image processing or sensor -based approaches, and simulation results to show a sample execution of the task. Also discuss the justifications for your design choices in the project as well as potential future improvements for your robotic system. Overall, the report should help describe your project technically as well as demonstrate your ideas, thought process, and understanding.
The main body of the report (excluding Index, List of figures and tables, References and Appendix) should be strictly between 2000 and 3500 words. Appendix (or Supporting Material), if included, should be referenced in the text in the main body of your report. The report should include well-labelled figures with clear captions and descriptions of the figures in the text to make the report easy to read and understand.
Examples of sections to include in the report are:
Abstract or Summary
Introduction
Kinematic design
Robot design, fabrication, and assembly
Gripper design and analysis
Implementation:

oChocolate detection
oGrasping
o o o
Discussions
Conclusion (with reflection and future insights)
References
Appendix/Supporting Materials

4.Marking Criteria
Project Report:

Mark Range General Description
0-30% No significant attempt has been made to solve the problem. At the higher end, there may be some attempt to design some aspects of the solution. The report shows little or no significant evidence of understanding of the work.
30-40% Some effort has been made and some useful work has been created to
solve the problem. The design is likely incomplete, and poorly executed. At the higher end, there may be some evidence of progress.
40-50% A reasonable effort has been made to produce a working solution to the
problem. The design may be incomplete, but there will be working elements in it.
50-60% A good effort has been made to produce a working solution to the problem. There may well be evidence that analytical skills have likely been applied. Some aspects of the project specifications are showcased in the
presentation with clarity.
60-70% A good working solution has been produced and the design and the general approach demonstrates a broad understanding of the problem undertaken. An appreciation of multiplicity of solutions and some level of comparative analysis is evident from the report.
70-100% The very good working solution is produced with clear attention to detail. The design and implementation are well structured and based on rigorous technical analysis. At the higher end, there is strong evidence of independent research, critical analysis both qualitative and quantitative, and efforts towards optimization of the solutions.