Page 59 - Toucpad robotics C11

Rotation: Turning the object around the X-axis (roll), Y-axis (pitch), and Z-axis (yaw).
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While a complex robotic arm might have many more degrees of freedom (one for each joint), these six fundamental
degrees of freedom are what we use to manipulate objects in a virtual design environment.
Rotational Movement about
Translational Movement Six Degrees of Freedom
in Three Perpendicular Axes Three Perpendicular Axes
Heave
Heave Roll Roll Sway
Sway

Surge Yaw Yaw
Surge
Pitch Pitch

Surge: Moving forward/backward Roll: Tilting side-to-side Surge Roll
Heave: Moving up/down Pitch Tilting forward and backward Heave Pitch
Sway: Moving left/right Yaw: Turning left and right Sway Yaw

3D Modelling: Designing Structures in a Virtual Space
3D Modelling is the process of creating a three-dimensional representation of an object using specialised software. It’s an
indispensable skill for robotics engineers, allowing them to design a robot’s mechanical components, chassis, and mounts
before building a physical prototype. This saves time and resources by enabling virtual testing and refinement.
A beginner-friendly, browser-based tool for creating 3D models is Tinkercad. It’s an excellent platform for students to
learn the basics of manipulating shapes in a virtual space.

Designing Structures in Tinkercad Using Degrees of Freedom

Tinkercad’s interface is built around the six degrees of freedom. You design by placing and manipulating basic geometric
shapes, which can then be combined or subtracted from each other.
Manipulating Shapes

When you place a shape (like a cube or a cylinder) onto the workplane (the virtual ground), you can control its
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position, size, and orientation using the six degrees of freedom.
Moving: You can click and drag the shape to move it along the X and Y axes on the workplane. You can also use a
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small cone or arrow on the shape to lift it up or down along the Z-axis.
Scaling: By clicking and dragging the white and black squares on the corners and edges of the shape, you can
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manipulate its size. You can scale it along all three axes, effectively changing its length (X), width (Y), and height (Z).
This is a direct application of translational degrees of freedom to change the shape’s dimensions.

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Mechanical System