Francis Maina
Mechatronics Engineer | Educator
Mechatronics engineer and educator specializing in robotics, CAD/CAM, electronic product design, and control engineering.
About Francis Maina
Focus
📚 Education Contributions
Lesson 2: Forward and Inverse Kinematics
Compute end-effector positions from joint angles and solve inverse kinematics for robotic welding, assembly, and precision positioning
Published: March 10, 2026
Lesson 3: Orientation and Quaternions
Represent 3D orientations using quaternions for smooth robotic motion, avoiding gimbal lock with SLERP interpolation and rotation composition
Published: March 10, 2026
Lesson 1: Robot Arm Geometry and Configuration
Analyze robot arm link design, joint types, workspace boundaries, and common configurations including SCARA, articulated, and delta robots
Published: March 10, 2026
Lesson 6: Robot Simulation and Practical Applications
Build Python robot simulations with real-time visualization and apply robotics across manufacturing, medical, logistics, and agricultural domains
Published: March 10, 2026
Lesson 5: Trajectory Planning and Motion Control
Plan smooth robot trajectories using polynomial interpolation, splines, and velocity profiles for pick-and-place and path following tasks
Published: March 10, 2026
Lesson 4: Velocity Kinematics and the Jacobian
Derive and apply the Jacobian matrix for velocity mapping, singularity detection, and manipulability analysis in collaborative robots
Published: March 10, 2026
Cam and Follower Mechanism
Design a cam and follower mechanism for programmed motion control with rise-dwell-return profiles in FreeCAD
Published: December 17, 2025
Four-Bar Linkage Mechanism Design
Master parametric design by creating a four-bar linkage mechanism with spreadsheet-driven parameters in FreeCAD
Published: December 17, 2025
Geneva Mechanism
Design a Geneva mechanism for precise intermittent motion and indexing with parametric slot control in FreeCAD
Published: December 17, 2025
Pantograph Mechanism
Design a pantograph mechanism for motion scaling and copying with ratio-driven parametric control in FreeCAD
Published: December 17, 2025
Python Scripting for Advanced CAD Design
Introduction to Python scripting in FreeCAD. Learn the basics, generate an involute gear, and discover how code-based design extends into full parametric engineering workflows
Published: December 17, 2025
Scissor Lift Mechanism Design
Design a parametric scissor lift mechanism with repeating geometry and scalable stages in FreeCAD
Published: December 17, 2025
Scotch Yoke Mechanism
Design a Scotch yoke mechanism for sinusoidal motion conversion with parametric stroke control in FreeCAD
Published: December 17, 2025
Slider Crank Mechanism Design
Learn parametric CAD modeling by designing a complete slider crank mechanism in FreeCAD from scratch
Published: December 17, 2025
Toggle Clamp Mechanism Design
Design an over-center toggle clamp mechanism with mechanical advantage and self-locking behavior in FreeCAD
Published: December 17, 2025