RepRec poser

This page is part of the RepRec project. Short for Replicating Recomposer Systems. For an index of all pages of this project, see the category page RepRec.

The term "poser" will in the RepRec part of this 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
(wiki-TODO: 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

• Up: RepRec & RepRec pick-and-place robots

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• RepRec base-geometry
• RepRec positioner & RepRec positioner

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Most important pages:

• RepRec pick-and-place robots (GemGum)
• RepRec pick-and-place robots (RepRap)

Page was created (off wiki) 2018-10-24 Wednesday