Precision assembly of robotic components

An assembly comprising:

• a first link having a circular planar surface comprising:
• a ring structure extending from the circular planar surface for inserting into a given pocket structure of a corresponding link, wherein an outer surface of the ring structure includes one or more planar regions for coupling to respective planar regions on an inner surface of the given pocket structure of the corresponding link to secure the first link and the corresponding link in a fixed geometric configuration;
• a first plurality of structural features positioned incrementally at respective positions proximal to an outer edge of the circular planar surface for coupling the first link with the corresponding link in the fixed geometric configuration;
• and
• a first plurality of electrical components positioned proximal to a center of the circular planar surface for enabling one or more electrical connections with the corresponding link;
• a second link having a circular planar surface comprising:
• a pocket structure extending into the circular planar surface of the second link for coupling around the ring structure of the first link when the second link is coupled to the first link in the fixed geometric configuration, wherein an inner surface of the pocket structure includes one or more corresponding planar regions for coupling around the ring structure extending from the circular planar surface of the first link;
• a second plurality of structural features positioned incrementally at respective positions proximal to an outer edge of the circular planar surface for coupling to the first plurality of structural features to couple the second link with the first link in the fixed geometric configuration such that an orientation of the second link relative to the first link is uniquely defined in an immovable position;
• and
• a second plurality of electrical components for coupling with the first plurality of electrical components of the first link defining one or more electrical connections between the first link and the second link when the first link and the second link are coupled in the fixed geometric configuration;
• and
• a clamping component comprising:
• respective channels for coupling around a radially extending flange formed along respective outer surfaces of the first link and the second link when the first link and second link are coupled in the fixed geometric configuration in a manner such that the clamping component secures the orientation of the second link relative to the first link in the immovable position.