54 lines
2.2 KiB
Mathematica
54 lines
2.2 KiB
Mathematica
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function [stewart] = initializeCylindricalPlatforms(stewart, args)
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% initializeCylindricalPlatforms - Initialize the geometry of the Fixed and Mobile Platforms
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%
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% Syntax: [stewart] = initializeCylindricalPlatforms(args)
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%
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% Inputs:
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% - args - Structure with the following fields:
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% - Fpm [1x1] - Fixed Platform Mass [kg]
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% - Fph [1x1] - Fixed Platform Height [m]
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% - Fpr [1x1] - Fixed Platform Radius [m]
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% - Mpm [1x1] - Mobile Platform Mass [kg]
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% - Mph [1x1] - Mobile Platform Height [m]
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% - Mpr [1x1] - Mobile Platform Radius [m]
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%
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% Outputs:
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% - stewart - updated Stewart structure with the added fields:
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% - platforms [struct] - structure with the following fields:
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% - Fpm [1x1] - Fixed Platform Mass [kg]
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% - Msi [3x3] - Mobile Platform Inertia matrix [kg*m^2]
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% - Fph [1x1] - Fixed Platform Height [m]
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% - Fpr [1x1] - Fixed Platform Radius [m]
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% - Mpm [1x1] - Mobile Platform Mass [kg]
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% - Fsi [3x3] - Fixed Platform Inertia matrix [kg*m^2]
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% - Mph [1x1] - Mobile Platform Height [m]
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% - Mpr [1x1] - Mobile Platform Radius [m]
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arguments
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stewart
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args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
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args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 125e-3
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args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
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args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
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end
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platforms = struct();
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platforms.Fpm = args.Fpm;
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platforms.Fph = args.Fph;
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platforms.Fpr = args.Fpr;
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platforms.Fpi = diag([1/12 * platforms.Fpm * (3*platforms.Fpr^2 + platforms.Fph^2), ...
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1/12 * platforms.Fpm * (3*platforms.Fpr^2 + platforms.Fph^2), ...
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1/2 * platforms.Fpm * platforms.Fpr^2]);
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platforms.Mpm = args.Mpm;
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platforms.Mph = args.Mph;
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platforms.Mpr = args.Mpr;
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platforms.Mpi = diag([1/12 * platforms.Mpm * (3*platforms.Mpr^2 + platforms.Mph^2), ...
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1/12 * platforms.Mpm * (3*platforms.Mpr^2 + platforms.Mph^2), ...
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1/2 * platforms.Mpm * platforms.Mpr^2]);
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stewart.platforms = platforms;
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