nass-simscape/src/initializeRy.m

function [ry] = initializeRy(opts_param)
    %% Default values for opts
    opts = struct('rigid', false);

    %% Populate opts with input parameters
    if exist('opts_param','var')
      for opt = fieldnames(opts_param)'
        opts.(opt{1}) = opts_param.(opt{1});
      end
    end

    %%
    ry = struct();

    %% Tilt Stage - Static Properties
    % Ry - Guide for the tilt stage
    ry.guide.density = 7800; % [kg/m3]
    ry.guide.color   = [0.792 0.820 0.933];
    ry.guide.STEP    = './STEPS/ry/Tilt_Guide.STEP';
    % Ry - Rotor of the motor
    ry.rotor.density = 2400; % [kg/m3]
    ry.rotor.color   = [0.792 0.820 0.933];
    ry.rotor.STEP    = './STEPS/ry/Tilt_Motor_Axis.STEP';
    % Ry - Motor
    ry.motor.density = 3200; % [kg/m3]
    ry.motor.color   = [0.792 0.820 0.933];
    ry.motor.STEP    = './STEPS/ry/Tilt_Motor.STEP';
    % Ry - Plateau Tilt
    ry.stage.density = 7800; % [kg/m3]
    ry.stage.color   = [0.792 0.820 0.933];
    ry.stage.STEP    = './STEPS/ry/Tilt_Stage.STEP';

    ry.m = 800; % TODO [kg]

    %% Tilt Stage - Dynamical Properties
    if opts.rigid
      ry.k.tilt = 1e10; % Rotation stiffness around y [N*m/deg]
      ry.k.h    = 1e12; % Stiffness in the direction of the guidance [N/m]
      ry.k.rad  = 1e12; % Stiffness in the top direction [N/m]
      ry.k.rrad = 1e12; % Stiffness in the side direction [N/m]
    else
      ry.k.tilt = 1e4; % Rotation stiffness around y [N*m/deg]
      ry.k.h    = 1e8; % Stiffness in the direction of the guidance [N/m]
      ry.k.rad  = 1e8; % Stiffness in the top direction [N/m]
      ry.k.rrad = 1e8; % Stiffness in the side direction [N/m]
    end

    ry.c.h    = 0.1*sqrt(ry.k.h*ry.m);
    ry.c.rad  = 0.1*sqrt(ry.k.rad*ry.m);
    ry.c.rrad = 0.1*sqrt(ry.k.rrad*ry.m);
    ry.c.tilt = 0.1*sqrt(ry.k.tilt*ry.m);

    %% Positioning parameters
    ry.z_offset = 0.58178; % Z-Offset so that the center of rotation matches the sample center [m]

    %% Save
    save('./mat/stages.mat', 'ry', '-append');
end