How does a robot’s mechanical structure affect its movement?

A robot’s mechanical structure is fundamental to its performance, as it dictates the machine's physical capabilities and overall range of motion. The structure acts as the framework that defines how the robot interacts with its environment and executes tasks.1

The movement of a robot is primarily constrained and enabled by its mechanical design, specifically through the use of linkages. These systems of solid bars connected by joints—such as hinges or ball-and-socket joints—form chains that determine how individual parts move relative to one another. By varying the lengths of these links and the types of joints used, engineers can convert simple inputs, such as uniform rotary motion, into more complex movements like oscillatory or non-uniform motion.2

Furthermore, the physical configuration establishes the system's degrees of freedom, which represent the number of independent ways the robot can move in space. While actuators provide the energy for movement, the mechanical structure serves as the essential guide that translates that energy into specific, functional paths.31