tdehaeze/dehaeze20_activ_dampin_rotat_platf_integ_force_feedb
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add Schematic

Browse Source
This commit is contained in:
Thomas Dehaeze 2020-06-08 11:28:20 +02:00
parent 972af78d84
commit 9835972b36
5 changed files with 72 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
paper/figs Symbolic link
View File

@ -0,0 +1 @@
../tikz/figs

BIN
tikz/figs/rotating_xy_platform.pdf Normal file
View File

Binary file not shown.

BIN
tikz/figs/rotating_xy_platform.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 69 KiB

BIN
tikz/figs/rotating_xy_platform.svg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 63 KiB

74
tikz/index.org
View File

@ -10,18 +10,86 @@
#+HTML_HEAD: <script src="../js/jquery.stickytableheaders.min.js"></script>
#+HTML_HEAD: <script src="../js/readtheorg.js"></script>
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{/home/thomas/Cloud/thesis/papers/dehaeze20_contr_stewa_platf/tikz}{config.tex}")
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{/home/thomas/Cloud/thesis/papers/dehaeze20_contr_stewa_platf/tikz/}{config.tex}")
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
#+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
#+PROPERTY: header-args:latex+ :exports both
#+PROPERTY: header-args:latex+ :mkdirp yes
#+PROPERTY: header-args:latex+ :noweb yes
#+PROPERTY: header-args:latex+ :output-dir figs
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
: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]]