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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/sĀ²]
# 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 ā½ provided workspace
precision provided by z_joint ā½ provided precision
payload_mass provided by z_joint ā½ provided payload_mass
force provided by z_joint ā½ provided force
velocity provided by z_joint ā½ provided velocity
acceleration provided by z_joint ā½ provided acceleration
mass_total = provided payload_mass + mass required by z_joint
x_joint = instance `Joint
workspace provided by x_joint ā½ provided workspace
precision provided by x_joint ā½ provided precision
payload_mass provided by x_joint ā½ mass_total
force provided by x_joint ā½ provided force
velocity provided by x_joint ā½ provided velocity
acceleration provided by x_joint ā½ provided acceleration
y_joint = instance `Joint
workspace provided by y_joint ā½ provided workspace
precision provided by y_joint ā½ provided precision
payload_mass provided by y_joint ā½ mass_total
force provided by y_joint ā½ provided force
velocity provided by y_joint ā½ provided velocity
acceleration provided by y_joint ā½ provided acceleration
requires budget = ā budget required by *
requires electric_power = ā electric_power required by *
requires mass = ā mass required by *
}
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