Remove alternative system schematic
This commit is contained in:
161
tikz/index.org
161
tikz/index.org
@@ -67,10 +67,10 @@ Configuration file is accessible [[file:config.org][here]].
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% Spring and Actuator for U
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\draw[actuator={0.6}{0.2}] (actu) -- node[above=0.1, rotate=\thetau]{$F_u$} (actu-|-2.6,0);
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\draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k_u$} (ku-|-2.6,0);
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\draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0);
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\draw[actuator={0.6}{0.2}] (actv) -- node[left, rotate=\thetau]{$F_v$} (actv|-0,-2.6);
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\draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k_v$} (kv|-0,-2.6);
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\draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6);
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% Displacement measurement
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\draw[<->, dashed] (-2.6, -0.8) --node[midway, below, rotate=\thetau]{$d_u$} (-1 , -0.8);
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@@ -97,79 +97,6 @@ Configuration file is accessible [[file:config.org][here]].
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#+RESULTS:
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[[file:figs/rotating_xy_platform.png]]
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#+begin_src latex :file rotating_xy_platform_bis.pdf
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\begin{tikzpicture}
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% Angle
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\def\thetau{25}
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% Rotational Stage
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\draw[fill=black!40!white] (0, 0) circle (4.3);
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\draw[fill=black!20!white] (0, 0) circle (3.8);
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% Label
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\node[anchor=north west, rotate=\thetau] at (-2.5, 2.5) {\small Rotating Stage};
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% Rotating Scope
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\begin{scope}[rotate=\thetau]
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% Mass
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\draw[fill=white] (-1, -1) rectangle (1, 1);
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% Label
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\node[anchor=south west, rotate=\thetau] at (-1, -1) {\small Payload};
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% Attached Points
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\node[] at (-1, 0){$\bullet$};
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\draw[] (-1, 0) -- ++(-0.2, 0) coordinate(au);
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\node[] at (0, -1){$\bullet$};
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\draw[] (0, -1) -- ++(0, -0.2) coordinate(av);
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\node[] at (-3.8, 0){$\bullet$};
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\draw[] (-3.8, 0) -- ++(0.2, 0);
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\draw[] (-3.6, -0.5) -- ++(0, 1);
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\node[] at (0, -3.8){$\bullet$};
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\draw[] (0, -3.8) -- ++(0, 0.2);
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\draw[] (-0.5, -3.6) -- ++(1, 0);
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% Force Sensors
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\draw[fill=white] ($(au) + (-0.2, -0.5)$) rectangle ($(au) + (0, 0.5)$);
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\draw[] ($(au) + (-0.2, -0.5)$)coordinate(actu) -- ($(au) + (0, 0.5)$);
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\draw[] ($(au) + (-0.2, 0.5)$)coordinate(ku) node[above=0.1, rotate=\thetau]{$f_{u}$} -- ($(au) + (0, -0.5)$);
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\draw[fill=white] ($(av) + (-0.5, -0.2)$) rectangle ($(av) + (0.5, 0)$);
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\draw[] ($(av) + ( 0.5, -0.2)$)coordinate(actv) -- ($(av) + (-0.5, 0)$);
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\draw[] ($(av) + (-0.5, -0.2)$)coordinate(kv) node[left=0.1, rotate=\thetau]{$f_{v}$} -- ($(av) + ( 0.5, 0)$);
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% Spring and Actuator for U
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\draw[actuator={0.6}{0.2}] (actu) -- node[above=0.1, rotate=\thetau]{$F_u$} (actu-|-3.6,0);
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\draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k_u$} (ku-|-3.6,0);
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\draw[actuator={0.6}{0.2}] (actv) -- node[left, rotate=\thetau]{$F_v$} (actv|-0,-3.6);
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\draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k_v$} (kv|-0,-3.6);
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% Displacement measurement
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\draw[<->, dashed] (-3.6, -0.8) --node[midway, below, rotate=\thetau]{$d_u$} (-1 , -0.8);
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\draw[<->, dashed] ( 0.8, -3.6) --node[midway, right, rotate=\thetau]{$d_v$} ( 0.8, -1);
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\end{scope}
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% Inertial Frame
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\draw[->] (-4, -4) -- ++(2, 0) node[below]{$\vec{i}_x$};
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\draw[->] (-4, -4) -- ++(0, 2) node[left]{$\vec{i}_y$};
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\draw[fill, color=black] (-4, -4) circle (0.06);
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\node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){};
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\draw[->] (0, 0) -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$};
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\draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$};
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\draw[dashed] (0, 0) -- ++(2, 0);
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\draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$};
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\node[] at (0,0) {$\bullet$};
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\node[left] at (0,0) {$(x, y)$};
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\draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$};
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\end{tikzpicture}
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#+end_src
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#+RESULTS:
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[[file:figs/rotating_xy_platform_bis.png]]
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* X-Y Rotating Positioning Platform with Springs in parallel
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#+begin_src latex :file rotating_xy_platform_springs.pdf
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\begin{tikzpicture}
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@@ -177,10 +104,11 @@ Configuration file is accessible [[file:config.org][here]].
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\def\thetau{25}
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% Rotational Stage
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\draw[fill=black!40!white] (0, 0) circle (4);
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\draw[fill=black!60!white] (0, 0) circle (4.3);
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\draw[fill=black!40!white] (0, 0) circle (3.8);
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% Label
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\node[anchor=north west, rotate=\thetau] at (-2.8, 2.8) {\small Rotating Stage};
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\node[anchor=north west, rotate=\thetau] at (-2.5, 2.5) {\small Rotating Stage};
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% Rotating Scope
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\begin{scope}[rotate=\thetau]
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@@ -202,86 +130,21 @@ Configuration file is accessible [[file:config.org][here]].
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\draw[fill=white] ($(au) + (-0.2, -0.5)$) rectangle ($(au) + (0, 0.5)$);
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\draw[] ($(au) + (-0.2, -0.5)$)coordinate(actu) -- ($(au) + (0, 0.5)$);
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\draw[] ($(au) + (-0.2, 0.5)$)coordinate(ku) -- ($(au) + (0, -0.5)$);
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\node[below=0.1, rotate=\thetau] at ($(au) + (-0.1, -0.5)$) {$f_{u}$}
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\draw[fill=white] ($(av) + (-0.5, -0.2)$) rectangle ($(av) + (0.5, 0)$);
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\draw[] ($(av) + ( 0.5, -0.2)$)coordinate(actv) -- ($(av) + (-0.5, 0)$);
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\draw[] ($(av) + (-0.5, -0.2)$)coordinate(kv) -- ($(av) + ( 0.5, 0)$);
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\draw[] ($(av) + (-0.5, -0.2)$)coordinate(kv) -- ($(av) + ( 0.5, 0)$) ;
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\node[right=0.1, rotate=\thetau] at ($(av) + (0.5, -0.1)$) {$f_{v}$}
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% Spring and Actuator for U
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\draw[actuator={0.6}{0.2}] (actu) -- node[below=0.1, rotate=\thetau]{$F_u$} (actu-|-2.6,0);
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\draw[spring=0.2] (ku) -- node[below=0.1, rotate=\thetau]{$k_u$} (ku-|-2.6,0);
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\draw[spring=0.2] (-1, 0.8) -- node[above=0.1, rotate=\thetau]{$k_{pu}$} (-1, 0.8-|-2.6,0);
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\draw[spring=0.2] (ku) -- node[below=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0);
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\draw[spring=0.2] (-1, 0.8) -- node[above=0.1, rotate=\thetau]{$k_{p}$} (-1, 0.8-|-2.6,0);
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\draw[actuator={0.6}{0.2}] (actv) -- node[right=0.1, rotate=\thetau]{$F_v$} (actv|-0,-2.6);
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\draw[spring=0.2] (kv) -- node[right=0.1, rotate=\thetau]{$k_v$} (kv|-0,-2.6);
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\draw[spring=0.2] (-0.8, -1) -- node[left=0.1, rotate=\thetau]{$k_{pv}$} (-0.8, -1|-0,-2.6);
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\end{scope}
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% Inertial Frame
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\draw[->] (-4, -4) -- ++(2, 0) node[below]{$\vec{i}_x$};
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\draw[->] (-4, -4) -- ++(0, 2) node[left]{$\vec{i}_y$};
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\draw[fill, color=black] (-4, -4) circle (0.06);
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\node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){};
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\draw[->] (0, 0) -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$};
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\draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$};
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\draw[dashed] (0, 0) -- ++(2, 0);
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\draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$};
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\node[] at (0,0) {$\bullet$};
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\node[left] at (0,0) {$(x, y)$};
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\draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$};
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\end{tikzpicture}
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#+end_src
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#+RESULTS:
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[[file:figs/rotating_xy_platform_springs.png]]
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#+begin_src latex :file rotating_xy_platform_springs.pdf
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\begin{tikzpicture}
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% Angle
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\def\thetau{25}
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% Rotational Stage
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\draw[fill=black!40!white] (0, 0) circle (4);
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% Label
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\node[anchor=north west, rotate=\thetau] at (-2.8, 2.8) {\small Rotating Stage};
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% Rotating Scope
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\begin{scope}[rotate=\thetau]
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% Rotating Frame
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\draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6);
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% Label
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\node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small X-Y Stage};
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% Mass
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\draw[fill=white] (-1, -1) rectangle (1, 1);
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% Label
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\node[anchor=south west, rotate=\thetau] at (-1, -1) {\small Payload};
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% Attached Points
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\draw[] (-1, 0) -- ++(-0.2, 0) coordinate(au);
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\draw[] (0, -1) -- ++(0, -0.2) coordinate(av);
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\draw[] ($(au) + (0, -0.8)$) -- ($(au) + (0, 0.8)$)coordinate(kpu);
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% Force Sensors
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\draw[fill=white] ($(au) + (-0.2, -0.8)$) rectangle (au);
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\draw[] ($(au) + (-0.2, -0.8)$)coordinate(actu) -- (au);
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\draw[] ($(au) + (-0.2, 0)$)coordinate(ku) -- ($(au) + (0, -0.8)$);
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\draw[fill=white] ($(av) + (-0.5, -0.2)$) rectangle ($(av) + (0.5, 0)$);
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\draw[] ($(av) + ( 0.5, -0.2)$)coordinate(actv) -- ($(av) + (-0.5, 0)$);
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\draw[] ($(av) + (-0.5, -0.2)$)coordinate(kv) -- ($(av) + ( 0.5, 0)$);
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% Spring and Actuator for U
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\draw[actuator={0.6}{0.2}] (actu) -- (actu-|-2.6,0);
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\draw[spring=0.2] (ku) -- (ku-|-2.6,0);
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\draw[spring=0.2] (kpu) -- (kpu-|-2.6,0);
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\draw[actuator={0.6}{0.2}] (actv) -- (actv|-0,-2.6);
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\draw[spring=0.2] (kv) -- (kv|-0,-2.6);
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\draw[spring=0.2] (-0.8, -1) -- (-0.8, -1|-0,-2.6);
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\draw[spring=0.2] (kv) -- node[right=0.1, rotate=\thetau]{$k$} (kv|-0,-2.6);
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\draw[spring=0.2] (-0.8, -1) -- node[left=0.1, rotate=\thetau]{$k_{p}$} (-0.8, -1|-0,-2.6);
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\end{scope}
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% Inertial Frame
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