Page 76 - Toucpad robotics C11

Hardware-in-the-Loop Testing: The robot’s control software was tested with a physical arm in a test lab,
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performing repeated movements to find bugs and calibrate the system.
Safety Testing: The robot was subjected to rigorous safety tests, ensuring its emergency stop mechanisms
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worked flawlessly and its force limits were within safe parameters.
Specifications: The robot’s performance was measured according to stringent specifications:
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Accuracy: It was calibrated to achieve very high absolute accuracy so that its instruments would be at the
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correct location as commanded by the surgeon, despite mechanical imperfections.
Repeatability: It was designed for sub-millimetre repeatability, so that if a surgeon needed to perform the same
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movement multiple times, the robot would follow the exact same path consistently.
Resolution: The entire system, from sensors to motors, was engineered for high resolution, enabling the robot to
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make the minute adjustments required for delicate surgical procedures.
Conclusion

This case study of a surgical assistant robot brings to life all the theoretical concepts we have learned. It demonstrates
how a successful robotic system is a masterpiece of engineering, integrating robust hardware with intelligent software
and meticulous project management. It highlights the power of semi-autonomy, where the robot acts as an intelligent
tool, enhancing human capability rather than replacing it, ultimately leading to better healthcare outcomes for patients.

ROBOT DYNAMICS
Links = rigid parts of a robot.

Joints = connectors that allow relative motion.
Degrees of freedom (DOF) measure a robot’s versatility.
Planar mechanisms move in 2D, spatial mechanisms move in 3D.
Workspace = the area a robot can cover.
Payload = maximum load a robot can handle.

Aluminium = lightweight and strong; Steel = durable but heavy; MDF/Acrylic = low-cost prototyping.
Omni and mecanum wheels allow sideways or diagonal movement.
Chassis/base provides stability to the robot.
Mechanical design decides how useful and efficient a robot will be.

RESEARCH ACTIVITY 21 st
Century #Experiential Learning
Skills
These activities balance conceptual understanding (degrees of freedom),
hands-on simulation (mechanism design), and real-world application (materials & wheels).

1. Mapping Degrees of Freedom with Your Own Body
Task: Observe your own arm and note down how many independent movements it can make (up/down, left/
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right, rotation, bend at elbow, wrist, etc.). Compare this with a robot arm described in the chapter (2R or RP
manipulator).
Output: Draw a labelled diagram showing the “degrees of freedom” of a human arm vs. a robotic arm,
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highlighting similarities and differences.
Learning Outcome: Understand the concept of degrees of freedom by linking theory to everyday human
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anatomy.

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Touchpad Robotics - XI