From 9835972b36ef5e44fdddb8cf8a1ee86408fb01c6 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Mon, 8 Jun 2020 11:28:20 +0200 Subject: [PATCH] Add Schematic --- paper/figs | 1 + tikz/figs/rotating_xy_platform.pdf | Bin 0 -> 45546 bytes tikz/figs/rotating_xy_platform.png | Bin 0 -> 70524 bytes tikz/figs/rotating_xy_platform.svg | Bin 0 -> 64151 bytes tikz/index.org | 74 +++++++++++++++++++++++++++-- 5 files changed, 72 insertions(+), 3 deletions(-) create mode 120000 paper/figs create mode 100644 tikz/figs/rotating_xy_platform.pdf create mode 100644 tikz/figs/rotating_xy_platform.png create mode 100644 tikz/figs/rotating_xy_platform.svg diff --git a/paper/figs b/paper/figs new file mode 120000 index 0000000..9a9cf69 --- /dev/null +++ b/paper/figs @@ -0,0 +1 @@ +../tikz/figs \ No newline at end of file diff --git a/tikz/figs/rotating_xy_platform.pdf b/tikz/figs/rotating_xy_platform.pdf new file mode 100644 index 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"\\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]]