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mcdp { ''' This models a XYZ arm where X and Y are in parallel and equal and they hold Z. ''' provides workspace [m] 'Dimension of workspace (assuming X=Y=Z for simplicity)' provides payload_mass [g] 'Weight of payload to be moved around' provides precision [1/mm] 'Precision (higher is better) (assuming X=Y=Z)' provides velocity [mm/s] 'Velocity (assuming X=Y=Z)' provides force [N] 'Velocity (assuming X=Y=Z)' provides acceleration [mm/s²] # for a robot arm we could be more precise by constraining acceleration, jerk, etc; # and other properties. For a 3D printer it probably doesn't matter. # let's say # Consider Z first, because Z is attached to X and Y z_joint = instance `Joint workspace provided by z_joint ≽ provided workspace precision provided by z_joint ≽ provided precision payload_mass provided by z_joint ≽ provided payload_mass force provided by z_joint ≽ provided force velocity provided by z_joint ≽ provided velocity acceleration provided by z_joint ≽ provided acceleration mass_total = provided payload_mass + mass required by z_joint x_joint = instance `Joint workspace provided by x_joint ≽ provided workspace precision provided by x_joint ≽ provided precision payload_mass provided by x_joint ≽ mass_total force provided by x_joint ≽ provided force velocity provided by x_joint ≽ provided velocity acceleration provided by x_joint ≽ provided acceleration y_joint = instance `Joint workspace provided by y_joint ≽ provided workspace precision provided by y_joint ≽ provided precision payload_mass provided by y_joint ≽ mass_total force provided by y_joint ≽ provided force velocity provided by y_joint ≽ provided velocity acceleration provided by y_joint ≽ provided acceleration requires budget = ∑ budget required by * requires electric_power = ∑ electric_power required by * requires mass = ∑ mass required by * }		Diagramremove Other informationremove zoom-to-fit re-layout export image Regular Expanded Exploded Pre-processed Processed no icons only simple icons show icons show units hide units Internal representation details Internal representation Internal representation (verbose) YAML representation Compiled DP Compiled DP - YAML representation Poset F Poset R Poset I (implementations) Space B (blueprint-relevant implementations) Map I → B Map solve_f: F → UR Map solve_r: R → LF Map provides: I → F Map requires: I → R Map feasibility: F x R' → Bool Map availability: I → Bool Map solve_f_b: F → UR[B] Map solve_r_b: R → LF[B] Map solve_f_i: F → UR[I] Map solve_r_i: R → LF[I] Figure: ndp_repr_long Figure: ndp_gojs_wrap_expand Figure: ndp_gojs_wrap_expand_never Figure: ndp_gojs_nowrap_expand Figure: ndp_gojs_wrap_noexpand Figure: ndp_gojs_wrap_noexpand_units Figure: ndp_gojs_wrap_noexpand_never Figure: ndp_gojs_nowrap_noexpand Figure: ndp_gojs_nowrap_noexpand_units Figure: ndp_gojs_interface Figure: dp_graph_flow_LR Figure: dp_graph_flow_TB Figure: dp_graph_tree_LR Figure: dp_graph_tree_TB Figure: dp_graph_tree_compact_LR Figure: dp_graph_tree_compact_TB Figure: dp_repr_long (updating)

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