59 lines
2.7 KiB
Mathematica
59 lines
2.7 KiB
Mathematica
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function [stewart] = initializeCylindricalStruts(stewart, args)
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% initializeCylindricalStruts - Define the mass and moment of inertia of cylindrical struts
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%
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% Syntax: [stewart] = initializeCylindricalStruts(args)
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%
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% Inputs:
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% - args - Structure with the following fields:
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% - Fsm [1x1] - Mass of the Fixed part of the struts [kg]
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% - Fsh [1x1] - Height of cylinder for the Fixed part of the struts [m]
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% - Fsr [1x1] - Radius of cylinder for the Fixed part of the struts [m]
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% - Msm [1x1] - Mass of the Mobile part of the struts [kg]
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% - Msh [1x1] - Height of cylinder for the Mobile part of the struts [m]
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% - Msr [1x1] - Radius of cylinder for the Mobile part of the struts [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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% - struts [struct] - structure with the following fields:
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% - Fsm [6x1] - Mass of the Fixed part of the struts [kg]
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% - Fsi [3x3x6] - Moment of Inertia for the Fixed part of the struts [kg*m^2]
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% - Msm [6x1] - Mass of the Mobile part of the struts [kg]
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% - Msi [3x3x6] - Moment of Inertia for the Mobile part of the struts [kg*m^2]
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% - Fsh [6x1] - Height of cylinder for the Fixed part of the struts [m]
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% - Fsr [6x1] - Radius of cylinder for the Fixed part of the struts [m]
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% - Msh [6x1] - Height of cylinder for the Mobile part of the struts [m]
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% - Msr [6x1] - Radius of cylinder for the Mobile part of the struts [m]
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arguments
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stewart
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args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 0.1
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args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
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args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3
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args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 0.1
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args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
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args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3
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end
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struts = struct();
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struts.Fsm = ones(6,1).*args.Fsm;
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struts.Msm = ones(6,1).*args.Msm;
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struts.Fsh = ones(6,1).*args.Fsh;
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struts.Fsr = ones(6,1).*args.Fsr;
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struts.Msh = ones(6,1).*args.Msh;
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struts.Msr = ones(6,1).*args.Msr;
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struts.Fsi = zeros(3, 3, 6);
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struts.Msi = zeros(3, 3, 6);
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for i = 1:6
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struts.Fsi(:,:,i) = diag([1/12 * struts.Fsm(i) * (3*struts.Fsr(i)^2 + struts.Fsh(i)^2), ...
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1/12 * struts.Fsm(i) * (3*struts.Fsr(i)^2 + struts.Fsh(i)^2), ...
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1/2 * struts.Fsm(i) * struts.Fsr(i)^2]);
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struts.Msi(:,:,i) = diag([1/12 * struts.Msm(i) * (3*struts.Msr(i)^2 + struts.Msh(i)^2), ...
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1/12 * struts.Msm(i) * (3*struts.Msr(i)^2 + struts.Msh(i)^2), ...
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1/2 * struts.Msm(i) * struts.Msr(i)^2]);
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end
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stewart.struts = struts;
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