From 8690f603099fabad9913f5eea56703776b3bf031 Mon Sep 17 00:00:00 2001 From: Wouter Horlings Date: Thu, 21 Jan 2021 14:16:29 +0100 Subject: [PATCH] fixup! Move copied text to includes --- content/case_experiment_scara.tex | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/content/case_experiment_scara.tex b/content/case_experiment_scara.tex index 46657d3..0bc0e0f 100644 --- a/content/case_experiment_scara.tex +++ b/content/case_experiment_scara.tex @@ -76,7 +76,7 @@ The development starts with a basic model model as shown in \autoref{fig:scaraarm}. It consists of the forward and inverse kinematics of the design. With this kinematics model it was easy to find a good configuration of the SCARA. - I tested if the SCARA could reach the required operating area, to be able to satisfy specification \ref{threecharspec}. + I tested if the SCARA could reach the required operating area, to be able to satisfy system specification 14. The operating area is a couple of centimeters away from the base of the SCARA. This is to avoid the singularity point that lies at the base of the SCARA. Resulting in longer arms than strictly necessary but this reduces the operating angles of the joints allowing for simpler construction.