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content/case_experiment_initial_design.tex

@@ -46,15 +46,16 @@
             This setup is also known as a gantry robot or linear robot.
             It normally consists of two sliders, which behave as a prismatic joint. 
             Because each slider covers a single X or Y axis, the control and dynamics of this system are rather simple.
-            A bigger challenge is the construction of the system, as the vertical slider has to stay vertical during operation.
-            Especially the length of this setup makes twisting of the vertical slider more likely.
+            The biggest challenge is in the construction of the system, especially when the size of the system is increased.
+            The larger system requires bigger length sliders, which are expensive. 
+            Another difficulty is the actuation of both horizontal sliders, if these sliders do not operate synchronous, the vertical slider will rotate.
+            However, this is slider is not allowed to rotate, thus probably breaking the system.
             \begin{figure}
                 \centering
                 \includegraphics[width=8.74cm]{graphics/plotter.pdf}
                 \caption{This Cartesian plotter consists of two horizontal sliders to provide the $x$-movement and one vertical slider to provide the $y$-movement.}
                 \label{fig:plotter}
             \end{figure}
-
             
         \subsubsection{Polar-coordinate robot}
             This robot is a combination of a prismatic and a revolute joint.
@@ -143,7 +144,7 @@
             \begin{figure}
                 \centering
                 \includegraphics[width=10.8cm]{graphics/combined.pdf}
-                \caption{Combined system that integrates the cable bot together with the SCARA. The SCARA in red is mounted on the carriage in blue. This carriage is then suspended by cables.}
+                \caption{Combined system that integrates the cable bot together with the SCARA. The SCARA in red is mounted on the carriage. This carriage is then suspended by cables.}
                 \label{fig:combined}
             \end{figure}
             In the combined system, the SCARA will only be large enough to write a small number of characters at the time.