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paper/figs
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paper/figs
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../tikz/figs
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tikz/figs/rotating_xy_platform.pdf
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tikz/figs/rotating_xy_platform.pdf
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tikz/figs/rotating_xy_platform.png
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tikz/figs/rotating_xy_platform.png
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tikz/figs/rotating_xy_platform.svg
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tikz/figs/rotating_xy_platform.svg
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After Width: | Height: | Size: 63 KiB |
@ -10,18 +10,86 @@
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#+HTML_HEAD: <script src="../js/jquery.stickytableheaders.min.js"></script>
|
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#+HTML_HEAD: <script src="../js/readtheorg.js"></script>
|
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|
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#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{/home/thomas/Cloud/thesis/papers/dehaeze20_contr_stewa_platf/tikz}{config.tex}")
|
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#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{/home/thomas/Cloud/thesis/papers/dehaeze20_contr_stewa_platf/tikz/}{config.tex}")
|
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#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
|
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#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
|
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#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
|
||||
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
|
||||
#+PROPERTY: header-args:latex+ :results file raw replace
|
||||
#+PROPERTY: header-args:latex+ :buffer no
|
||||
#+PROPERTY: header-args:latex+ :eval no-export
|
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#+PROPERTY: header-args:latex+ :exports both
|
||||
#+PROPERTY: header-args:latex+ :mkdirp yes
|
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#+PROPERTY: header-args:latex+ :noweb yes
|
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#+PROPERTY: header-args:latex+ :output-dir figs
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#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
|
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:END:
|
||||
|
||||
Configuration file is accessible [[file:config.org][here]].
|
||||
|
||||
* X-Y Rotating Positioning Platform
|
||||
#+begin_src latex :file rotating_xy_platform.pdf
|
||||
\begin{tikzpicture}
|
||||
% Angle
|
||||
\def\thetau{25}
|
||||
|
||||
% Rotational Stage
|
||||
\draw[fill=black!40!white] (0, 0) circle (4);
|
||||
|
||||
% Label
|
||||
\node[anchor=north west, rotate=\thetau] at (-2.8, 2.8) {\small Rotating Stage};
|
||||
|
||||
% Rotating Scope
|
||||
\begin{scope}[rotate=\thetau]
|
||||
% Rotating Frame
|
||||
\draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
|
||||
% Label
|
||||
\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small X-Y Stage};
|
||||
|
||||
% Mass
|
||||
\draw[fill=white] (-1, -1) rectangle (1, 1);
|
||||
% Label
|
||||
\node[anchor=south west, rotate=\thetau] at (-1, -1) {\small Payload};
|
||||
|
||||
% Attached Points
|
||||
\node[] at (-1, 0){$\bullet$};
|
||||
\draw[] (-1, 0) -- ++(-0.2, 0) coordinate(au);
|
||||
\node[] at (0, -1){$\bullet$};
|
||||
\draw[] (0, -1) -- ++(0, -0.2) coordinate(av);
|
||||
|
||||
% Force Sensors
|
||||
\draw[fill=white] ($(au) + (-0.2, -0.5)$) rectangle ($(au) + (0, 0.5)$);
|
||||
\draw[] ($(au) + (-0.2, -0.5)$)coordinate(actu) -- ($(au) + (0, 0.5)$);
|
||||
\draw[] ($(au) + (-0.2, 0.5)$)coordinate(ku) -- ($(au) + (0, -0.5)$);
|
||||
|
||||
\draw[fill=white] ($(av) + (-0.5, -0.2)$) rectangle ($(av) + (0.5, 0)$);
|
||||
\draw[] ($(av) + ( 0.5, -0.2)$)coordinate(actv) -- ($(av) + (-0.5, 0)$);
|
||||
\draw[] ($(av) + (-0.5, -0.2)$)coordinate(kv) -- ($(av) + ( 0.5, 0)$);
|
||||
|
||||
% Spring and Actuator for U
|
||||
\draw[actuator={0.6}{0.2}] (actu) -- node[above=0.1, rotate=\thetau]{$F_u$} (actu-|-2.6,0);
|
||||
\draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k_u$} (ku-|-2.6,0);
|
||||
|
||||
\draw[actuator={0.6}{0.2}] (actv) -- node[left, rotate=\thetau]{$F_v$} (actv|-0,-2.6);
|
||||
\draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k_v$} (kv|-0,-2.6);
|
||||
\end{scope}
|
||||
|
||||
% Inertial Frame
|
||||
\draw[->] (-4, -4) -- ++(2, 0) node[below]{$\vec{i}_x$};
|
||||
\draw[->] (-4, -4) -- ++(0, 2) node[left]{$\vec{i}_y$};
|
||||
\draw[fill, color=black] (-4, -4) circle (0.06);
|
||||
\node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){};
|
||||
|
||||
\draw[->] (0, 0) -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$};
|
||||
\draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$};
|
||||
\draw[dashed] (0, 0) -- ++(2, 0);
|
||||
\draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$};
|
||||
\node[] at (0,0) {$\bullet$};
|
||||
\node[left] at (0,0) {$(x, y)$};
|
||||
|
||||
% \draw[->] (-4, -4) -- ++(\thetau:2) node[above]{$\vec{i}_u$};
|
||||
% \draw[->] (-4, -4) -- ++(\thetau+90:2) node[left]{$\vec{i}_u$};
|
||||
% \draw[] (-2.5, -4) arc (0:\thetau:1.5) node[midway, right]{$\theta$};
|
||||
\end{tikzpicture}
|
||||
#+end_src
|
||||
|
||||
#+RESULTS:
|
||||
[[file:figs/rotating_xy_platform.png]]
|
||||
|
Loading…
x
Reference in New Issue
Block a user