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<title>Compliance Measurement of the Micro Station</title>
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<meta name="author" content="Dehaeze Thomas" />
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@@ -35,32 +30,32 @@
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#orgaec7e8e">1. Setup</a>
<li><a href="#org6d3ca7a">1. Setup</a>
<ul>
<li><a href="#org43be1a2">1.1. Position of inertial sensors on top of the micro-hexapod</a></li>
<li><a href="#org095d116">1.2. Hammer blow position/orientation</a></li>
<li><a href="#org9d1f825">1.1. Position of inertial sensors on top of the micro-hexapod</a></li>
<li><a href="#orgee54e47">1.2. Hammer blow position/orientation</a></li>
</ul>
</li>
<li><a href="#org7140136">2. Results</a>
<li><a href="#orgda5861d">2. Results</a>
<ul>
<li><a href="#org6082142">2.1. Load Data</a></li>
<li><a href="#orgd4012ad">2.2. Compute Transfer Functions</a></li>
<li><a href="#org7af3187">2.3. Diagonal Dynamics</a></li>
<li><a href="#org23b9749">2.4. Equivalent Stiffness and Mass Estimation</a></li>
<li><a href="#org208dda9">2.5. Compare with Model</a></li>
<li><a href="#org94eb6da">2.6. Coupling Dynamics</a></li>
<li><a href="#org981bf00">2.1. Load Data</a></li>
<li><a href="#org890d2d0">2.2. Compute Transfer Functions</a></li>
<li><a href="#org05266f7">2.3. Diagonal Dynamics</a></li>
<li><a href="#orgef95ff7">2.4. Equivalent Stiffness and Mass Estimation</a></li>
<li><a href="#org68cfbfb">2.5. Compare with Model</a></li>
<li><a href="#org0bfb71d">2.6. Coupling Dynamics</a></li>
</ul>
</li>
</ul>
</div>
</div>
<div id="outline-container-orgaec7e8e" class="outline-2">
<h2 id="orgaec7e8e"><span class="section-number-2">1</span> Setup</h2>
<div id="outline-container-org6d3ca7a" class="outline-2">
<h2 id="org6d3ca7a"><span class="section-number-2">1</span> Setup</h2>
<div class="outline-text-2" id="text-1">
</div>
<div id="outline-container-org43be1a2" class="outline-3">
<h3 id="org43be1a2"><span class="section-number-3">1.1</span> Position of inertial sensors on top of the micro-hexapod</h3>
<div id="outline-container-org9d1f825" class="outline-3">
<h3 id="org9d1f825"><span class="section-number-3">1.1</span> Position of inertial sensors on top of the micro-hexapod</h3>
<div class="outline-text-3" id="text-1-1">
<p>
Orientation is relative to the frame determined by the X-ray
@@ -329,8 +324,8 @@ From the acceleration measurement of the 4 accelerometers, we can compute the tr
</div>
</div>
<div id="outline-container-org095d116" class="outline-3">
<h3 id="org095d116"><span class="section-number-3">1.2</span> Hammer blow position/orientation</h3>
<div id="outline-container-orgee54e47" class="outline-3">
<h3 id="orgee54e47"><span class="section-number-3">1.2</span> Hammer blow position/orientation</h3>
<div class="outline-text-3" id="text-1-2">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
@@ -474,12 +469,12 @@ From hammer blows to pure forces / torques:
</div>
</div>
<div id="outline-container-org7140136" class="outline-2">
<h2 id="org7140136"><span class="section-number-2">2</span> Results</h2>
<div id="outline-container-orgda5861d" class="outline-2">
<h2 id="orgda5861d"><span class="section-number-2">2</span> Results</h2>
<div class="outline-text-2" id="text-2">
</div>
<div id="outline-container-org6082142" class="outline-3">
<h3 id="org6082142"><span class="section-number-3">2.1</span> Load Data</h3>
<div id="outline-container-org981bf00" class="outline-3">
<h3 id="org981bf00"><span class="section-number-3">2.1</span> Load Data</h3>
<div class="outline-text-3" id="text-2-1">
<div class="org-src-container">
<pre class="src src-matlab">m1 = load(<span class="org-string">'data/Measurement1.mat'</span>);
@@ -497,8 +492,8 @@ m10 = load(<span class="org-string">'data/Measurement10.mat'</span>);
</div>
</div>
<div id="outline-container-orgd4012ad" class="outline-3">
<h3 id="orgd4012ad"><span class="section-number-3">2.2</span> Compute Transfer Functions</h3>
<div id="outline-container-org890d2d0" class="outline-3">
<h3 id="org890d2d0"><span class="section-number-3">2.2</span> Compute Transfer Functions</h3>
<div class="outline-text-3" id="text-2-2">
<div class="org-src-container">
<pre class="src src-matlab">freqs = m3.FFT1_H1_1_13_X_Val;
@@ -589,8 +584,8 @@ G<span class="org-type">(6,6,:) </span>= 1<span class="org-type">/</span>A<span
</div>
</div>
<div id="outline-container-org7af3187" class="outline-3">
<h3 id="org7af3187"><span class="section-number-3">2.3</span> Diagonal Dynamics</h3>
<div id="outline-container-org05266f7" class="outline-3">
<h3 id="org05266f7"><span class="section-number-3">2.3</span> Diagonal Dynamics</h3>
<div class="outline-text-3" id="text-2-3">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
@@ -622,7 +617,7 @@ xlim([30, 300]);
</div>
<div id="orgf9adbb6" class="figure">
<div id="org3b79c32" class="figure">
<p><img src="figs/compliance_diagonal_translations.png" alt="compliance_diagonal_translations.png" />
</p>
<p><span class="figure-number">Figure 1: </span>Dynamics from Forces to Translations</p>
@@ -658,7 +653,7 @@ xlim([30, 300]);
</div>
<div id="org1468ca5" class="figure">
<div id="orgd6380a4" class="figure">
<p><img src="figs/compliance_diagonal_rotations.png" alt="compliance_diagonal_rotations.png" />
</p>
<p><span class="figure-number">Figure 2: </span>Dynamics from Torques to Rotations</p>
@@ -666,8 +661,8 @@ xlim([30, 300]);
</div>
</div>
<div id="outline-container-org23b9749" class="outline-3">
<h3 id="org23b9749"><span class="section-number-3">2.4</span> Equivalent Stiffness and Mass Estimation</h3>
<div id="outline-container-orgef95ff7" class="outline-3">
<h3 id="orgef95ff7"><span class="section-number-3">2.4</span> Equivalent Stiffness and Mass Estimation</h3>
<div class="outline-text-3" id="text-2-4">
<div class="org-src-container">
<pre class="src src-matlab">K = [1e7, 1e7, 2e8, 5e7, 3e7, 2e7];
@@ -733,8 +728,8 @@ Here is the inertia / stiffness to the granite that can represent the micro-stat
</div>
</div>
<div id="outline-container-org208dda9" class="outline-3">
<h3 id="org208dda9"><span class="section-number-3">2.5</span> Compare with Model</h3>
<div id="outline-container-org68cfbfb" class="outline-3">
<h3 id="org68cfbfb"><span class="section-number-3">2.5</span> Compare with Model</h3>
<div class="outline-text-3" id="text-2-5">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./mat/model.mat'</span>, <span class="org-string">'Gm'</span>);
@@ -779,7 +774,7 @@ xlim([30, 300]);
</div>
<div id="orgbdba037" class="figure">
<div id="org17d53d6" class="figure">
<p><img src="figs/compliance_diagonal_translations_comp_model.png" alt="compliance_diagonal_translations_comp_model.png" />
</p>
<p><span class="figure-number">Figure 3: </span>Dynamics from Forces to Translations</p>
@@ -823,7 +818,7 @@ xlim([30, 300]);
</div>
<div id="org3c85450" class="figure">
<div id="org5de58b2" class="figure">
<p><img src="figs/compliance_diagonal_rotations_comp_model.png" alt="compliance_diagonal_rotations_comp_model.png" />
</p>
<p><span class="figure-number">Figure 4: </span>Dynamics from Torques to Rotations</p>
@@ -887,8 +882,8 @@ xlim([30, 300]);
</div>
</div>
<div id="outline-container-org94eb6da" class="outline-3">
<h3 id="org94eb6da"><span class="section-number-3">2.6</span> Coupling Dynamics</h3>
<div id="outline-container-org0bfb71d" class="outline-3">
<h3 id="org0bfb71d"><span class="section-number-3">2.6</span> Coupling Dynamics</h3>
<div class="outline-text-3" id="text-2-6">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
@@ -965,7 +960,7 @@ xlim([30, 300]);
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-11-03 mar. 09:32</p>
<p class="date">Created: 2020-11-12 jeu. 10:28</p>
</div>
</body>
</html>