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C2-test-bench-flexible-joints/test_joints_2_bench_dimensioning.m

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+%% Clear Workspace and Close figures
+clear; close all; clc;
+
+%% Intialize Laplace variable
+s = zpk('s');
+
+%% Path for functions, data and scripts
+addpath('./mat/'); % Path for data
+
+%% Colors for the figures
+colors = colororder;
+
+%% Parameters for study
+kRx = 5;       % Bending Stiffness [Nm/rad]
+Rxmax = 25e-3; % Bending Stroke [rad]
+h = 22.5e-3;     % Height [m]
+
+%% Estimation of the force to test the full stroke
+Fxmax = kRx*Rxmax/h; % Force to induce maximum stroke [N]
+
+%% Estimated maximum stroke [m]
+dxmax = h*tan(Rxmax);
+
+%% Stiffness
+ka = 94e6; % Axial Stiffness [N/m]
+ks = 13e6; % Shear Stiffness [N/m]
+kb = 5;    % Bending Stiffness [Nm/rad]
+kt = 260;  % Torsional Stiffness [Nm/rad]
+
+%% Maximum force
+Fa = 469;    % Axial Force before yield [N]
+Fs = 242;    % Shear Force before yield [N]
+Fb = 0.118;  % Bending Force before yield [Nm]
+Ft = 1.508; % Torsional Force before yield [Nm]
+
+%% Compute the corresponding stroke
+Xa = Fa/ka; % Axial Stroke before yield [m]
+Xs = Fs/ks; % Shear Stroke before yield [m]
+Xb = Fb/kb; % Bending Stroke before yield [rad]
+Xt = Ft/kt; % Torsional Stroke before yield [rad]
+
+%% Height between the joint's center and the force application point
+h = 22.5e-3; % [m]
+
+%% Estimated error due to shear
+epsilon_s = 100*abs(1-1/(1 + kb/(ks*h^2))); % Error in %
+
+%% Estimated error due to limited load cell stiffness
+kF = 50/0.05e-3; % Estimated load cell stiffness [N/m]
+epsilon_f = 100*abs(1-1/(1 + kb/(kF*h^2))); % Error in %