Remove duplex content

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.