Can not be missed. Achievement is given through regular story progression.
*** Spoiler - click to reveal ***Tenenbaum assigns the player to become a Big Daddy to navigate the Proving Grounds using the help of a Little Sister to defeat Frank Fontaine aka Atlas. The player needs to collect 6 items to earn the achievement and progress. The 6 Big Daddy components can be found throughout the three labs in Point Prometheus.
Main Atrium- Suit Control System Located on the Big Daddy corpse in front of the Power to the People machine.
Little Wonders - Collect 3 Big Daddy Pheromone
Optimized Eugenics- Voice Modifier
Mendel Family Library - Boots, sitting on the table in the middle of the Library.
Fail-safe Armored Escorts- Helmet & Bodysuit