From fe1ff6e7216f3fd15ccb1b33f58f0f984ac06577 Mon Sep 17 00:00:00 2001 From: Wouter Horlings Date: Mon, 18 Jan 2021 17:03:37 +0100 Subject: [PATCH] Remove duplex content --- content/case_experiment_prototype.tex | 29 +++------------------------ 1 file changed, 3 insertions(+), 26 deletions(-) diff --git a/content/case_experiment_prototype.tex b/content/case_experiment_prototype.tex index e4d50aa..7cd1587 100644 --- a/content/case_experiment_prototype.tex +++ b/content/case_experiment_prototype.tex @@ -1,34 +1,11 @@ To ensure that the design method resulted in a functional system, a prototype will be build from the current state of the design. -Although the development only implemented a very small portion of the full design, I determined that a prototype is more valuable than repeating the development cycle for the next feature. +Although the development resulted in only a partial design, I determined that a prototype is more valuable than repeating the development cycle for the next feature. For the construction of the prototype \ac{ots}-parts are used as much as possible and the mechanical linkages of the SCARA will be printed. -To write characters on a whiteboard, drivers and controlloop have to be implemented in software. +To write characters on a whiteboard; drivers and controlloop are implemented in software. -\subsection{Construction} - The construction of the SCARA consists of a 3D printed mechanical structure that is actuated with stepper motors. - The type of stepper motor was already chosen during the development of the SCARA. - For the mechanical part I used OpenSCAD as CAD software, based on prior experience with the software. - As the inverse kinematics were already determined in basic model of the SCARA they could be easily parsed to the CAD software. - This allowed me to check for clearance between the mechanical parts, while repeating \autoref{test1}. - The test revealed that there was collision between some parts. - These collisions were resolved by adding a 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} +\subsection{Mechanical Construction} - \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} \subsection{Implementing Behavior} Now with a physical SCARA, the last step is to implement the behavior.