39 lines
1.2 KiB
Mathematica
39 lines
1.2 KiB
Mathematica
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% Cedrat Actuator
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% :PROPERTIES:
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% :header-args:matlab+: :tangle ../src/initializeCedratPiezo.m
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% :header-args:matlab+: :comments org :mkdirp yes
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% :header-args:matlab+: :eval no :results none
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% :END:
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% <<sec:initializeCedratPiezo>>
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% This Matlab function is accessible [[file:../src/initializeCedratPiezo.m][here]].
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function [cedrat] = initializeCedratPiezo(opts_param)
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%% Default values for opts
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opts = struct();
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%% Populate opts with input parameters
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if exist('opts_param','var')
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for opt = fieldnames(opts_param)'
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opts.(opt{1}) = opts_param.(opt{1});
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end
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end
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%% Stewart Object
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cedrat = struct();
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cedrat.k = 10e7; % Linear Stiffness of each "blade" [N/m]
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cedrat.ka = 10e7; % Linear Stiffness of the stack [N/m]
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cedrat.c = 0.1*sqrt(1*cedrat.k); % [N/(m/s)]
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cedrat.ca = 0.1*sqrt(1*cedrat.ka); % [N/(m/s)]
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cedrat.L = 80; % Total Width of the Actuator[mm]
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cedrat.H = 45; % Total Height of the Actuator [mm]
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cedrat.L2 = sqrt((cedrat.L/2)^2 + (cedrat.H/2)^2); % Length of the elipsoidal sections [mm]
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cedrat.alpha = 180/pi*atan2(cedrat.L/2, cedrat.H/2); % [deg]
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%% Save
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save('./mat/stages.mat', 'cedrat', '-append');
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end
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