MECHA-BLOCKS is the repository dedicated to the engineering and design of physical robotic systems. It aims to deconstruct robotics into manageable, interchangeable modules, enabling the design and construction of robots ranging from basic proofs-of-concept to complex autonomous agents.
Unlike kinematic-chains, which handles the abstract geometry of motion, MECHA-BLOCKS deals with the Physics of Actuation: mass, inertia, torque, voltage, and material stress. We emphasize Simulation-First Engineering, treating the virtual environment as a rigorous testing ground before physical implementation.
We view robotics as a multidisciplinary convergence of "Atoms" and "Bits." Our philosophy centers on:
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Modular Architecture: Decomposing robotic systems into independent components (Actuators, Effectors, Chassis) that can be combined and reused across different projects.
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Iterative Prototyping: Utilizing simulation (Digital Twins) as a safe playground to validate algorithms and optimize mechanical designs before incurring manufacturing costs.
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Spectrum of Control: Exploring the continuum from manual teleoperation (human-in-the-loop) to full autonomous agency.
The repository is organized into modules covering the primary domains of robotics engineering. Each directory contains detailed documentation, CAD files, code snippets, and datasheet references.
The Axioms. Essential concepts, history, and taxonomy.
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00.1-Taxonomy: Definitions and types (Industrial, Mobile, Humanoid, Swarm).
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00.2-Terminology: Glossary of key concepts (DOF, Kinematics, Haptics, Feedback Loops).
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00.3-Toolchain: Essential software setup (CAD, IDEs, Simulators: ROS 2, Gazebo, Webots, CoppeliaSim).
The Body. Physical design, materials, and locomotion systems.
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01.1-Chassis-Design: Locomotion topologies (Differential, Skid-steer, Omnidirectional/Mecanum, Ackermann).
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01.2-Actuators: Motor selection and physics (DC, BLDC, Steppers, Servos, Pneumatics/Hydraulics).
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01.3-Manipulators: Arm design, end-effectors, and gripper mechanics.
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01.4-Transmission: Power transfer (Gears, Belts, Pulleys, Harmonic Drives).
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01.5-Fabrication: Materials science (3D Printing, CNC, Laser Cutting) and structural analysis.
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01.6-CAD-Modeling: Modeling for simulation export (URDF/SDF generation).
The Nervous System. Power distribution, sensing, and embedded control.
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02.1-Embedded-Compute: MCUs and SBCs (ESP32, STM32, Raspberry Pi, Jetson Nano).
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02.2-Sensors: Perception hardware (LiDAR, Depth Cameras, IMUs, Encoders, Hall Effect).
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02.3-Motor-Drivers: H-Bridges, ESCs, and FOC (Field Oriented Control) controllers.
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02.4-Power-Management: BMS (Battery Management Systems), regulation, and safety.
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02.5-Comms: Interfaces (CAN Bus, I2C, SPI, UART) and Wireless (LoRa, Wi-Fi).
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02.6-Circuit-Sim: SPICE simulations and PCB design considerations.
The Reflexes. Firmware, control loops, and operating systems.
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03.1-Firmware: C/C++ (Arduino/PlatformIO) and MicroPython/Rust implementations.
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03.2-ROS2-Architecture: Nodes, Topics, Services, Actions, and DDS middleware.
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03.3-Control-Algorithms: PID tuning, Open/Closed-loop systems, and trajectory execution.
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03.4-Teleoperation: HID interfaces (Joysticks), WebSockets, and low-latency bridges.
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03.5-Virtual-Environments: Advanced simulation setups in Gazebo/Isaac Sim for "Hardware-in-the-loop" testing.
The Intelligence. SLAM, Path Planning, and Decision Making.
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04.1-Computer-Vision: Object detection (YOLO), tracking, and fiducial markers (AprilTags).
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04.2-SLAM: Simultaneous Localization and Mapping (Lidar/Visual).
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04.3-Navigation: Global/Local planners (A*, Dijkstra, DWA), Obstacle Avoidance.
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04.4-Robotic-Learning: Reinforcement Learning sim-to-real pipelines.
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04.5-Behavior-Trees: Decision making architectures and state machines.
Integrated Case Studies. Complete projects combining all modules.
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05.1-Line-Follower: PID control implementation and sensor fusion basics.
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05.2-Autonomous-Rover: Indoor mapping and navigation robot (ROS 2 NavStack).
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05.3-Manipulator-Arm: 4-DOF arm with Inverse Kinematics control.
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05.4-Stabilized-Drone: Flight controller basics and IMU sensor fusion.
This framework is evolving. Contributions—whether new modules, CAD improvements, or code optimizations—are welcome. Please adhere to the substrate-blueprints standards for hardware documentation.