From 881cdc4ce93c0736c7ae63cf74d7850a6aa9ae4c Mon Sep 17 00:00:00 2001 From: Wouter Horlings Date: Wed, 9 Dec 2020 17:37:55 +0100 Subject: [PATCH] Rework content --- content/case_experiment_initial_design.tex | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/content/case_experiment_initial_design.tex b/content/case_experiment_initial_design.tex index 7b95523..f32d76f 100644 --- a/content/case_experiment_initial_design.tex +++ b/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.