RepRec poser
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:
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
Most important pages:
Page was created (off wiki) 2018-10-24 Wednesday