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                                                                                         LEARNING OBJECTIVES

                                                                                         •  Frames and Reference Frames: The
                                                                                            Foundation of Robot Positioning
                                                                                         •  Degrees of Freedom: From Robotic Motion
                                                                                            to 3D Design
                                                                                         •  Planar Mechanisms: Motion in
                                                                                            Two-Dimensions
                                                                                         •  Spatial Mechanisms: Three-Dimensional
                                                                                            Motion in Action
                                                                                         •  Robot Kinematics: The Geometry of Motion
                                                                                         •  Different Components of a Robot: Frames,
                                                                                            Materials, and Wheel Types
                                                                                         •  Coordinate Systems: Mapping the Robot's
                                                                                            World
                     MECHANICAL SYSTEM                                                   •  Specification of Robots: Defining
                                                                                            Performance Metrics
                                                                                         •  Case Study: A Surgical Assistant Robot for
                                                                                            Minimally Invasive Surgery

                     Now let’s turn our attention to the fundamental spatial concepts that allow a robot to understand where it is and how to
                     move. This involves a deep dive into Frames and Reference Frames, which are essentially the language of location and
                     orientation for any robotic or mechanical system.
                     This chapter will help you understand the mechanical foundation of robots, which is often compared to the skeletal
                     and muscular systems of humans. Learners will explore the two basic building blocks of robotic structures: links
                     (rigid parts) and joints (connections enabling movement). Together, these mechanisms that allow robots to move in
                     different directions. A major concept introduced here is the Degrees of Freedom (DOF), which describes how many
                     independent movements a robot can perform. Students also learn to differentiate between planar mechanisms (2D
                     motion) and spatial mechanisms (3D motion). The chapter highlights the importance of workspace (the physical area
                     a robot can reach) and payload (the weight a robot can carry safely). Additionally, materials used for constructing
                     robots—such as MDF, acrylic, aluminium, and steel—are compared for strength, cost, and usage. Special mobility
                     solutions like omni and mecanum wheels are also introduced, showing how robots achieve flexible movement in
                     tight or complex environments. By the end of the chapter, students will be able to connect abstract concepts like DOF
                     and workspace with real-world robotic designs, making them appreciate the importance of mechanical systems in
                     enabling robotic functionality.
                     Frames and Reference Frames: The Foundation of Robot Positioning

                     Imagine trying to give directions to a friend without a shared understanding of north, south, or a specific landmark. It
                     would be impossible. Similarly, for a robot to know where its parts are or how to move to a specific location, it needs a
                     system to define position and orientation. This system is known as a Frame or a Coordinate Frame.

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                                                                                                              Mechanical System

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