Update evaluation

content/case_experiment_scara.tex

@@ -145,6 +145,36 @@
             Therefore, the last detail, the marker lifting, was added without any difficulty.
             The servo is connected via a linkage with the marker such that it rotates away from the board.
 
+        \subsubsection{Component Design}
+            At this point the development has produced a design with a competent dynamic model.
+            The developed design does, however, not incorporate the physical component design.
+            Nevertheless, must these components be designed to validate that the SCARA and its components can be constructed.
+            For the mechanical part I used OpenSCAD as CAD software, based on prior experience with the software.
+            With this it was possible to implement all the components that have to be made, as well as the \ac{ots}-components.
+            Using the inverse kinematics model from the basic design of the SCARA, the angles were directly applied on the components in system.
+            Allowing me to change the configuration of the SCARA and inspect the clearance between each component.
+            Following the rectangular path as defined in \autoref{test1}, it revealed that collision occurred between some parts.
+            These collisions were resolved by adding an indentation and moving linkage and are shown in \autoref{fig:scad_clearance}
+            The configuration with the stepper motors, servo and marker is shown in \autoref{fig:scad_carriage}.
+            \begin{figure}
+                \centering
+                \includegraphics[width=0.8\linewidth]{graphics/scad_scara_circles.png}
+                \caption{
+                    CAD of the SCARA configuration, with the end-effector orientated in the lower left corner of the operating area. 
+                    The configuration has been adapted at the two circled points, to resolve collisions in this orientation. 
+                    An indentation was made to ensure that the arm could make the required corner.
+                    Furthermore, the bottom linkage has been moved from above to below the actuated joints, as this linkage would otherwise collide with the end-effector.
+                }
+                \label{fig:scad_clearance}
+            \end{figure}
+
+            \begin{figure}
+                \centering
+                \includegraphics[width=0.8\linewidth]{graphics/scad_carriage.png}
+                \caption{Rendered 3D model of the SCARA, including steppers, marker and servo.}
+                \label{fig:scad_carriage}
+            \end{figure}
+
         \subsubsection{Evaluation}
             The complete development was rather smooth.
             However, this was not without deviating from the original design plan.
@@ -158,18 +188,3 @@
             For example, changing the arm lengths and evaluate the new behavior.
             Did it improve? Is this as expected?
             Implicitly, the system was very often tested and changed based on test results.
-
-            Furthermore, the step from 2D to 3D physics was in no means a small increment in detail.
-            The first four levels of detail, as describe in the previous section, all were implemented in with two dimensions.
-            As the later details required a third dimension, all the detail was directly converted from 2D into 3D.
-            This is a large amount of work, introducing a high cost when the conversion fails.
-            Moreover, it creates a new 3D physics model, parallel to the 2D physics model instead of adding detail to the latter.
-            Alternative approaches for 3D model physics could be:
-            \begin{itemize}
-                \item Ignore 2D and start implementation in 3D modelling.
-                \item Retrace all incremental detail steps of the 2D model in a 3D model.
-            \end{itemize}
-            Both options are not ideal, the first one does not allow a simple basic model and the second approach redoes work.
-            The advantage of starting with 3D is that allows for a continuous development of one model, instead of switching the complete model.
-
-