2 2 DOF PLANAR ROBOTCOMPONENTSThe 2 DOF Planar Robot components are identified in Section 2.1. Some of the those components are then describedin Section 2.2.2.1 2 DOF Planar Robot Component NomenclatureThe 2 DOF Planar Robot components listed in Table 2.1 below are labeled in Figure 2.1 and Figure 2.2.ID Component ID Component1 Link 1 7 Calibration Posts2 Link 2 8 Motors w. Harmonic Drives3 Link 3 9 Encoders4 Link 4 10 Base Plate5 Solenoid 11 Paper Retainer6 Pen 12 Holes for calibration posts (when not in use)Table 2.1: 2 DOF Planar Robot ComponentsFigure 2.1: 2 DOF Planar Robot Components2 DOF PLANAR ROBOT User Manual 6