nass-simscape/kinematics/displacement_init.m

%%
clear; close all; clc;

%% Initialize simulation configuration
opts_sim = struct(...
    'Tsim', 30 ...
);

initializeSimConf(opts_sim);

%% Initialize Inputs
load('./mat/sim_conf.mat', 'sim_conf')

time_vector = 0:sim_conf.Ts:sim_conf.Tsim;

% Translation Stage
T_ty = 4;
ty = zeros(length(time_vector), 1);
ty(1:T_ty/sim_conf.Ts) = 10e-3*sin(2*pi*(1/2)*time_vector(1:T_ty/sim_conf.Ts));

% Tilt Stage
T_ry = 4;
ry = zeros(length(time_vector), 1);
ry((T_ty)/sim_conf.Ts:(T_ty+T_ry)/sim_conf.Ts) = 2*pi*(3/360)*sin(2*pi*(1/2)*time_vector(T_ty/sim_conf.Ts:(T_ty+T_ry)/sim_conf.Ts));

% Spindle
T_rz = 4;

rz = zeros(length(time_vector), 1);
rz((T_ty+T_ry)/sim_conf.Ts:(T_ty+T_ry+T_rz)/sim_conf.Ts) = 2*pi*0.5*(time_vector((T_ty+T_ry)/sim_conf.Ts:(T_ty+T_ry+T_rz)/sim_conf.Ts)-time_vector((T_ty+T_ry)/sim_conf.Ts));
rz((T_ty+T_ry+T_rz)/sim_conf.Ts:end) = rz((T_ty+T_ry+T_rz)/sim_conf.Ts);

% Micro Hexapod
T_u_hexa = 10;
u_hexa = zeros(length(time_vector), 6);
% Tz
u_hexa((T_ty+T_ry+T_rz)/sim_conf.Ts:(T_ty+T_ry+T_rz+2)/sim_conf.Ts, 3) = 10e-3*sin(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz)/sim_conf.Ts:(T_ty+T_ry+T_rz+2)/sim_conf.Ts)));
% Tx-Ty
u_hexa((T_ty+T_ry+T_rz+2)/sim_conf.Ts:(T_ty+T_ry+T_rz+3)/sim_conf.Ts, 1) = 10e-3*(time_vector((T_ty+T_ry+T_rz+2)/sim_conf.Ts:(T_ty+T_ry+T_rz+3)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+2)/sim_conf.Ts));
u_hexa((T_ty+T_ry+T_rz+3)/sim_conf.Ts:(T_ty+T_ry+T_rz+5)/sim_conf.Ts, 1) = 10e-3*cos(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz+3)/sim_conf.Ts:(T_ty+T_ry+T_rz+5)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+3)/sim_conf.Ts)));
u_hexa((T_ty+T_ry+T_rz+3)/sim_conf.Ts:(T_ty+T_ry+T_rz+5)/sim_conf.Ts, 2) = 10e-3*sin(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz+3)/sim_conf.Ts:(T_ty+T_ry+T_rz+5)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+3)/sim_conf.Ts)));
u_hexa((T_ty+T_ry+T_rz+5)/sim_conf.Ts:(T_ty+T_ry+T_rz+6)/sim_conf.Ts, 1) = 10e-3 - 10e-3*(time_vector((T_ty+T_ry+T_rz+5)/sim_conf.Ts:(T_ty+T_ry+T_rz+6)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+5)/sim_conf.Ts));
% Theta x Theta y
u_hexa((T_ty+T_ry+T_rz+6)/sim_conf.Ts:(T_ty+T_ry+T_rz+7)/sim_conf.Ts, 1) = 2*pi*(3/360)*(time_vector((T_ty+T_ry+T_rz+6)/sim_conf.Ts:(T_ty+T_ry+T_rz+7)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+6)/sim_conf.Ts));
u_hexa((T_ty+T_ry+T_rz+7)/sim_conf.Ts:(T_ty+T_ry+T_rz+9)/sim_conf.Ts, 1) = 2*pi*(3/360)*cos(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz+7)/sim_conf.Ts:(T_ty+T_ry+T_rz+9)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+7)/sim_conf.Ts)));
u_hexa((T_ty+T_ry+T_rz+7)/sim_conf.Ts:(T_ty+T_ry+T_rz+9)/sim_conf.Ts, 2) = 2*pi*(3/360)*sin(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz+7)/sim_conf.Ts:(T_ty+T_ry+T_rz+9)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+7)/sim_conf.Ts)));
u_hexa((T_ty+T_ry+T_rz+9)/sim_conf.Ts:(T_ty+T_ry+T_rz+10)/sim_conf.Ts, 1) = 2*pi*(3/360) - 2*pi*(3/360)*(time_vector((T_ty+T_ry+T_rz+9)/sim_conf.Ts:(T_ty+T_ry+T_rz+10)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+9)/sim_conf.Ts));

% Gravity Compensator system
T_mass_start = T_ty+T_ry+T_rz+T_u_hexa;
mass = zeros(length(time_vector), 2);

mass((T_mass_start)/sim_conf.Ts:(T_mass_start+2)/sim_conf.Ts, 1) = 2*pi*( 20/360)*(time_vector((T_mass_start)/sim_conf.Ts:(T_mass_start+2)/sim_conf.Ts)-time_vector(T_mass_start/sim_conf.Ts));
mass((T_mass_start)/sim_conf.Ts:(T_mass_start+2)/sim_conf.Ts, 2) = 2*pi*(-10/360)*(time_vector((T_mass_start)/sim_conf.Ts:(T_mass_start+2)/sim_conf.Ts)-time_vector(T_mass_start/sim_conf.Ts));
mass((T_mass_start+2)/sim_conf.Ts:(T_mass_start+3)/sim_conf.Ts, 1) = mass((T_mass_start+2)/sim_conf.Ts, 1);
mass((T_mass_start+2)/sim_conf.Ts:(T_mass_start+3)/sim_conf.Ts, 2) = mass((T_mass_start+2)/sim_conf.Ts, 2);
mass((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts, 1) = mass((T_mass_start+2)/sim_conf.Ts, 1)-2*pi*( 20/360)*(time_vector((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts)-time_vector((T_mass_start+3)/sim_conf.Ts));
mass((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts, 2) = mass((T_mass_start+2)/sim_conf.Ts, 2)-2*pi*(-10/360)*(time_vector((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts)-time_vector((T_mass_start+3)/sim_conf.Ts));

opts_inputs = struct(...
    'Dy', ty, ...
    'Ry', ry, ...
    'Rz', rz, ...
    'Dh', u_hexa, ...
    'Rm', mass ...
);

initializeInputs(opts_inputs);

%% Initialize SolidWorks Data
initializeSolids();

%% Initialize Ground
initializeGround();

%% Initialize Granite
initializeGranite();

%% Initialize Translation stage
initializeTy();

%% Initialize Tilt Stage
initializeRy();

%% Initialize Spindle
initializeRz();

%% Initialize Hexapod Sym<EFBFBD>trie
initializeMicroHexapod();

%% Initialize Center of Gravity compensation
initializeAxisc();

%% Initialize NASS
initializeNanoHexapod(struct('actuator', 'lorentz'));

%% Initialize Sample
initializeSample(struct('mass', 20));