Lecture 1 - Robotics Principles

• Kinematic chain (open / closed)
• Serial vs. Parallel manipulator
• Stewart platform 6 chains 6 DoF | Delta 3 chains to ground
• Serial: Workspace
• Parallel: Payload, Precision, Speed
• Kinematics, Kinetics, Dynamics
• Task → Cartesian, Joint → $\theta$, Actuator → $F,T$
• Slow $\approx$ kinematic
• Task → Joint → Actuator
• Inverse Dynamics → Motor sizing and power train design
• Revulute joint
• Multiple solutions uate - Senior 1 - S2/Meta/assets/SAVE_20260208_154637.jpg]]
• Fixed wing → aerodynamics, efficient, needs release and landing
• Multi-rotor → vertical landing/take off, less efficient
• Control → kinematic and dynamic analysis
• Parallel, Forward → Singularity
• Serial, Reverse → Singularity
• Robotic arm variations (SCARA, $\Delta$)