Robotics: Actuation and Mobility Analysis

This lecture covers corrected exercises from the 2020 exam in the field of robotics. It includes topics such as the accuracy and speed of robots, the efficiency of DC motors, and the optimal gear ratio for maximizing acceleration. The lecture also delves into the dynamics of robot arms, including the calculation of inertia and accelerations. Furthermore, it explores the use of encoders and the resolution at different parts of the robot. The exercises involve understanding the kinematics of robot structures, such as the Tricept, and determining their degrees of freedom, mobility, and kinematic loops.