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Update few figures

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This commit is contained in:
Thomas Dehaeze
2020-05-05 11:27:37 +02:00
parent 5038151490
commit 135a1f4fe6
14 changed files with 374 additions and 310 deletions
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24
src/initializeJointDynamics.m
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@@ -11,10 +11,14 @@ function [stewart] = initializeJointDynamics(stewart, args)
% - Kt_M [6x1] - Torsion (Rz) Stiffness for each top joints [(N.m)/rad]
% - Cf_M [6x1] - Bending (Rx, Ry) Damping of each top joint [(N.m)/(rad/s)]
% - Ct_M [6x1] - Torsion (Rz) Damping of each top joint [(N.m)/(rad/s)]
% - Kz_M [6x1] - Translation (Tz) Stiffness for each top joints [N/m]
% - Cz_M [6x1] - Translation (Tz) Damping of each top joint [N/m]
% - Kf_F [6x1] - Bending (Rx, Ry) Stiffness for each bottom joints [(N.m)/rad]
% - Kt_F [6x1] - Torsion (Rz) Stiffness for each bottom joints [(N.m)/rad]
% - Cf_F [6x1] - Bending (Rx, Ry) Damping of each bottom joint [(N.m)/(rad/s)]
% - Cf_F [6x1] - Torsion (Rz) Damping of each bottom joint [(N.m)/(rad/s)]
% - Kz_F [6x1] - Translation (Tz) Stiffness for each bottom joints [N/m]
% - Cz_F [6x1] - Translation (Tz) Damping of each bottom joint [N/m]
%
% Outputs:
% - stewart - updated Stewart structure with the added fields:
@@ -29,16 +33,20 @@ function [stewart] = initializeJointDynamics(stewart, args)
arguments
stewart
args.type_F char {mustBeMember(args.type_F,{'universal', 'spherical', 'universal_p', 'spherical_p'})} = 'universal'
args.type_M char {mustBeMember(args.type_M,{'universal', 'spherical', 'universal_p', 'spherical_p'})} = 'spherical'
args.type_F char {mustBeMember(args.type_F,{'universal', 'spherical', 'universal_p', 'spherical_p', 'universal_3dof'})} = 'universal'
args.type_M char {mustBeMember(args.type_M,{'universal', 'spherical', 'universal_p', 'spherical_p', 'spherical_3dof'})} = 'spherical'
args.Kf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 15*ones(6,1)
args.Cf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.Kt_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 20*ones(6,1)
args.Ct_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1)
args.Kz_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 60e6*ones(6,1)
args.Cz_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e2*ones(6,1)
args.Kf_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 15*ones(6,1)
args.Cf_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.Kt_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 20*ones(6,1)
args.Ct_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1)
args.Kz_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 60e6*ones(6,1)
args.Cz_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e2*ones(6,1)
end
switch args.type_F
@@ -50,6 +58,8 @@ switch args.type_F
stewart.joints_F.type = 3;
case 'spherical_p'
stewart.joints_F.type = 4;
case 'universal_3dof'
stewart.joints_F.type = 5;
end
switch args.type_M
@@ -61,23 +71,25 @@ switch args.type_M
stewart.joints_M.type = 3;
case 'spherical_p'
stewart.joints_M.type = 4;
case 'spherical_3dof'
stewart.joints_M.type = 6;
end
stewart.joints_M.Kx = zeros(6,1);
stewart.joints_M.Ky = zeros(6,1);
stewart.joints_M.Kz = zeros(6,1);
stewart.joints_M.Kz = args.Kz_M;
stewart.joints_F.Kx = zeros(6,1);
stewart.joints_F.Ky = zeros(6,1);
stewart.joints_F.Kz = zeros(6,1);
stewart.joints_F.Kz = args.Kz_F;
stewart.joints_M.Cx = zeros(6,1);
stewart.joints_M.Cy = zeros(6,1);
stewart.joints_M.Cz = zeros(6,1);
stewart.joints_M.Cz = args.Cz_M;
stewart.joints_F.Cx = zeros(6,1);
stewart.joints_F.Cy = zeros(6,1);
stewart.joints_F.Cz = zeros(6,1);
stewart.joints_F.Cz = args.Cz_F;
stewart.joints_M.Kf = args.Kf_M;
stewart.joints_M.Kt = args.Kf_M;

14
src/initializeNanoHexapod.m
View File

@@ -17,16 +17,20 @@ arguments
args.k (1,1) double {mustBeNumeric} = -1
args.c (1,1) double {mustBeNumeric} = -1
% initializeJointDynamics
args.type_F char {mustBeMember(args.type_F,{'universal', 'spherical', 'universal_p', 'spherical_p'})} = 'universal'
args.type_M char {mustBeMember(args.type_M,{'universal', 'spherical', 'universal_p', 'spherical_p'})} = 'spherical'
args.type_F char {mustBeMember(args.type_F,{'universal', 'spherical', 'universal_p', 'spherical_p', 'universal_3dof'})} = 'universal'
args.type_M char {mustBeMember(args.type_M,{'universal', 'spherical', 'universal_p', 'spherical_p', 'spherical_3dof'})} = 'spherical'
args.Kf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 15*ones(6,1)
args.Cf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.Kt_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 20*ones(6,1)
args.Ct_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1)
args.Kz_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 60e6*ones(6,1)
args.Cz_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e2*ones(6,1)
args.Kf_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 15*ones(6,1)
args.Cf_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.Kt_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 20*ones(6,1)
args.Ct_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1)
args.Kz_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 60e6*ones(6,1)
args.Cz_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e2*ones(6,1)
% initializeCylindricalPlatforms
args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1
args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
@@ -77,10 +81,14 @@ stewart = initializeJointDynamics(stewart, ...
'Cf_M' , args.Cf_M, ...
'Kt_M' , args.Kt_M, ...
'Ct_M' , args.Ct_M, ...
'Kz_M' , args.Kz_M, ...
'Cz_M' , args.Cz_M, ...
'Kf_F' , args.Kf_F, ...
'Cf_F' , args.Cf_F, ...
'Kt_F' , args.Kt_F, ...
'Ct_F' , args.Ct_F);
'Ct_F' , args.Ct_F, ...
'Kz_F' , args.Kz_F, ...
'Cz_F' , args.Cz_F);
stewart = initializeCylindricalPlatforms(stewart, 'Fpm', args.Fpm, 'Fph', args.Fph, 'Fpr', args.Fpr, 'Mpm', args.Mpm, 'Mph', args.Mph, 'Mpr', args.Mpr);