51 lines
2.2 KiB
Matlab
51 lines
2.2 KiB
Matlab
function [stewart] = initializeCylindricalStruts(stewart, args)
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% initializeCylindricalStruts - Define the mass and moment of inertia of cylindrical struts
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%
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% Syntax: [stewart] = initializeCylindricalStruts(args)
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%
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% Inputs:
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% - args - Structure with the following fields:
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% - Fsm [1x1] - Mass of the Fixed part of the struts [kg]
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% - Fsh [1x1] - Height of cylinder for the Fixed part of the struts [m]
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% - Fsr [1x1] - Radius of cylinder for the Fixed part of the struts [m]
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% - Msm [1x1] - Mass of the Mobile part of the struts [kg]
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% - Msh [1x1] - Height of cylinder for the Mobile part of the struts [m]
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% - Msr [1x1] - Radius of cylinder for the Mobile part of the struts [m]
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%
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% Outputs:
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% - stewart - updated Stewart structure with the added fields:
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% - struts_F [struct] - structure with the following fields:
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% - M [6x1] - Mass of the Fixed part of the struts [kg]
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% - I [3x3x6] - Moment of Inertia for the Fixed part of the struts [kg*m^2]
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% - H [6x1] - Height of cylinder for the Fixed part of the struts [m]
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% - R [6x1] - Radius of cylinder for the Fixed part of the struts [m]
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% - struts_M [struct] - structure with the following fields:
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% - M [6x1] - Mass of the Mobile part of the struts [kg]
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% - I [3x3x6] - Moment of Inertia for the Mobile part of the struts [kg*m^2]
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% - H [6x1] - Height of cylinder for the Mobile part of the struts [m]
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% - R [6x1] - Radius of cylinder for the Mobile part of the struts [m]
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arguments
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stewart
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args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 0.1
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args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
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args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3
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args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 0.1
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args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
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args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3
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end
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stewart.struts_M.type = 1;
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stewart.struts_M.M = args.Msm;
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stewart.struts_M.R = args.Msr;
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stewart.struts_M.H = args.Msh;
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stewart.struts_F.type = 1;
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stewart.struts_F.M = args.Fsm;
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stewart.struts_F.R = args.Fsr;
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stewart.struts_F.H = args.Fsh;
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end
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