\chapter{Definition}


In the initial design step we decided on combining two motion systems.
One is the suspended cable system, this can easily cover the large board.
However it lacks precision and this is where a small SCARA comes in to action.
This arm provides speed and accuracy. 
And if the next bit of whiteboard is out of reach, the cable bot will move the arm to a new position.

These two features are easy to define.
Thus we have the SCARA and the cable system.
So at this point we would just attach a marker to the arm and write on the board.
However, now we cannot wipe text of the board.
So another feature would be some toolchanger that can switch to the wiper.
And, offcourse, later back to the marker, posibly with a different color.


This brings us to the following features:
\begin{itemize}
\item SCARA
\item Cable system
\item Toolchange
\item Wiper
\end{itemize}
