Apm at 19:07, 19 June 2026

2026-06-19T19:07:19Z

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			{{RepRec}}
	The term "poser" will in the [[RepRec]] part of this [[Main Page\|this wiki here]] be used for <br>		The term "poser" will in the [[RepRec]] part of this [[Main Page\|this wiki here]] be used for <br>
	the 6DOF positioning mechanism without the [[RepRec end-effector]]. <br>		the 6DOF positioning mechanism without the [[RepRec end-effector]]. <br>

Apm: /* Related */

2026-06-19T19:05:20Z

← Older revision		Revision as of 21:05, 19 June 2026
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	== Related ==		== Related ==

			* Up: [[RepRec]] & [[RepRec pick-and-place robots]]
			----
	* [[RepRec base-geometry]]		* [[RepRec base-geometry]]
	* [[RepRec positioner]] & [[RepRec positioner]]		* [[RepRec positioner]] & [[RepRec positioner]]

Apm: migrated from desktop wiki with updates and cleanup

2026-06-19T17:35:00Z

migrated from desktop wiki with updates and cleanup

New page

The term "poser" will in the [[RepRec]] part of this [[Main Page|this wiki here]] be used for 
the 6DOF positioning mechanism without the [[RepRec end-effector]]. 
The moving (translating and rotating) part that 
controls the [[pose]] (translation and rotation) of the [[RepRec end-effector]]. 

The mechanical part of a RepRec that puts the parts in the needed pose 
(pose = 6D orientation in space = 3DOF translation + 3DOF rotation), 
such that the parts can be assembled in any combination of place and orientation. 

The tip of the poser where the exchangeable [[RepRec end-effectors]]) go 
will here be called [[RepRec poser to tool flange]] 

See '''[[RepRec system topology]]''' 
{{wikitodo|Upload the diagram and include it here too.}} 

= Separation of Concerns =

The [[RepRec poser]] can be further decomposed / split up into:
* [[RepRec positioner]] (translatory motion; 2+1 position DOFs) and
* [[RepRec orienter]] (rotary motion; 3 angular DOFs)

This works with most designs. 
'''Designs that allow further decomposition include:''' 
* [[RepRec parallel SCARA design]]
* [[RepRec delta-bot design]]
* [[RepRec castesian gantry-bot design]], …

Some parallel stages undecomposably intertwine/entangle those two. 
A notable example for that is the [[RepRec Steward platform]]. 
These stages have very little range of motion in both position and angle 
and are thus suboptimal for [[RepRec]] architectures anyway. 

== Related ==

* [[RepRec base-geometry]]
* [[RepRec positioner]] & [[RepRec positioner]]
----
{{Category:RepRec}}
Page was created (off wiki) 2018-10-24 Wednesday

RepRec poser - Revision history

Apm at 19:07, 19 June 2026

Apm: /* Related */

Apm: migrated from desktop wiki with updates and cleanup