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@@ -76,7 +76,7 @@ |
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The development starts with a basic model model as shown in \autoref{fig:scaraarm}. |
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It consists of the forward and inverse kinematics of the design. |
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With this kinematics model it was easy to find a good configuration of the SCARA. |
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I tested if the SCARA could reach the required operating area, to be able to satisfy specification \ref{threecharspec}. |
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I tested if the SCARA could reach the required operating area, to be able to satisfy system specification 14. |
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The operating area is a couple of centimeters away from the base of the SCARA. |
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This is to avoid the singularity point that lies at the base of the SCARA. |
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Resulting in longer arms than strictly necessary but this reduces the operating angles of the joints allowing for simpler construction. |
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