Whatever the machine the foremost decision is what type of a frame?
Classifying them broadly there are 2 types - Exoskeletal and Endoskeletal.
EXOSKELETAL, by it's name, would mean a framing method in which the frame is outside and components inside. Like a Crab....they are the oldest living organisms to develop an exoskeleton frame. No not the turtle, turtles are actually endoskeletal with armor. The bones are what the rest of the organs are (directly or indirectly) mounted on. The shell is only an armor. In crabs however the muscles and organs are inside the outer shell. No bones!!!
Advantages: The armour.
Disadvantages: 1) The limited volume inside to mount components.
2) Complications in designing the cooling system.
3) Limited access for service.
4) Possibly heavier (comment please).
ENDOSKELETAL, on the other hand means just the opposite of exoskeletal. It means the frame is inside and the components mounted, surround it. A well known example being the human body. The skeletal structure made of bones is deep inside the body and the muscle tissue keep the rest of the body and organs together.
Advantages: 1) Ample room to fit components
2) Easier access to components
3) Cooling requirements will be less.
Disadvantages: 1) Any damage will occur directly to working components, may render robot useless.
While animals (and us humans) are constrained by evolution and incapable of drastic self modifications, the machines we build can be designed and redesigned as the designer sees fit. So we have a third option - an Endo Exo hybrid. On Skindlebots this will be refered to as an 'Eto' (E x E = E2 ≈ Eto). So an Eto frame would combine elements of endoskeletal as well as exoskeletal structure. Idea being to protect vital components like actuators and power packs to be protected in the exoskeletal structure and less vital components like armaments/instruments/ non-priority actuators in and endoskeletal structure.
Image courtesy anankkml / FreeDigitalPhotos.net
