Update all the initialization function
Generally, remove the unused parameters, Remove the colors and other no important parameters.
This commit is contained in:
parent
d9a15470ab
commit
3318694d53
@ -1,31 +1,21 @@
|
|||||||
function [axisc] = initializeAxisc()
|
function [axisc] = initializeAxisc()
|
||||||
%%
|
|
||||||
axisc = struct();
|
|
||||||
|
|
||||||
%% Axis Compensator - Static Properties
|
axisc = struct();
|
||||||
% Structure
|
|
||||||
axisc.structure.density = 3400; % [kg/m3]
|
|
||||||
axisc.structure.color = [0.792 0.820 0.933];
|
|
||||||
axisc.structure.STEP = './STEPS/axisc/axisc_structure.STEP';
|
|
||||||
% Wheel
|
|
||||||
axisc.wheel.density = 2700; % [kg/m3]
|
|
||||||
axisc.wheel.color = [0.753 0.753 0.753];
|
|
||||||
axisc.wheel.STEP = './STEPS/axisc/axisc_wheel.STEP';
|
|
||||||
% Mass
|
|
||||||
axisc.mass.density = 7800; % [kg/m3]
|
|
||||||
axisc.mass.color = [0.792 0.820 0.933];
|
|
||||||
axisc.mass.STEP = './STEPS/axisc/axisc_mass.STEP';
|
|
||||||
% Gear
|
|
||||||
axisc.gear.density = 7800; % [kg/m3]
|
|
||||||
axisc.gear.color = [0.792 0.820 0.933];
|
|
||||||
axisc.gear.STEP = './STEPS/axisc/axisc_gear.STEP';
|
|
||||||
|
|
||||||
axisc.m = 40; % TODO [kg]
|
% Structure
|
||||||
|
axisc.structure.density = 3400; % [kg/m3]
|
||||||
|
axisc.structure.STEP = './STEPS/axisc/axisc_structure.STEP';
|
||||||
|
|
||||||
%% Axis Compensator - Dynamical Properties
|
% Wheel
|
||||||
% axisc.k.ax = 1; % TODO [N*m/deg)]
|
axisc.wheel.density = 2700; % [kg/m3]
|
||||||
% axisc.c.ax = (1/1)*sqrt(axisc.k.ax/axisc.m);
|
axisc.wheel.STEP = './STEPS/axisc/axisc_wheel.STEP';
|
||||||
|
|
||||||
%% Save
|
% Mass
|
||||||
save('./mat/stages.mat', 'axisc', '-append');
|
axisc.mass.density = 7800; % [kg/m3]
|
||||||
end
|
axisc.mass.STEP = './STEPS/axisc/axisc_mass.STEP';
|
||||||
|
|
||||||
|
% Gear
|
||||||
|
axisc.gear.density = 7800; % [kg/m3]
|
||||||
|
axisc.gear.STEP = './STEPS/axisc/axisc_gear.STEP';
|
||||||
|
|
||||||
|
save('./mat/stages.mat', 'axisc', '-append');
|
||||||
|
|||||||
@ -1,47 +1,29 @@
|
|||||||
function [granite] = initializeGranite(args)
|
function [granite] = initializeGranite(args)
|
||||||
arguments
|
|
||||||
args.rigid logical {mustBeNumericOrLogical} = false
|
|
||||||
end
|
|
||||||
|
|
||||||
%%
|
arguments
|
||||||
granite = struct();
|
args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3]
|
||||||
|
args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m]
|
||||||
%% Static Properties
|
args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m]
|
||||||
granite.density = 2800; % [kg/m3]
|
args.z0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Z direction [m]
|
||||||
granite.volume = 0.749; % [m3] TODO - should
|
|
||||||
granite.mass = granite.density*granite.volume; % [kg]
|
|
||||||
granite.color = [1 1 1];
|
|
||||||
granite.STEP = './STEPS/granite/granite.STEP';
|
|
||||||
|
|
||||||
granite.mass_top = 4000; % [kg] TODO
|
|
||||||
|
|
||||||
%% Dynamical Properties
|
|
||||||
if args.rigid
|
|
||||||
granite.k.x = 1e12; % [N/m]
|
|
||||||
granite.k.y = 1e12; % [N/m]
|
|
||||||
granite.k.z = 1e12; % [N/m]
|
|
||||||
granite.k.rx = 1e10; % [N*m/deg]
|
|
||||||
granite.k.ry = 1e10; % [N*m/deg]
|
|
||||||
granite.k.rz = 1e10; % [N*m/deg]
|
|
||||||
else
|
|
||||||
granite.k.x = 4e9; % [N/m]
|
|
||||||
granite.k.y = 3e8; % [N/m]
|
|
||||||
granite.k.z = 8e8; % [N/m]
|
|
||||||
granite.k.rx = 1e4; % [N*m/deg]
|
|
||||||
granite.k.ry = 1e4; % [N*m/deg]
|
|
||||||
granite.k.rz = 1e6; % [N*m/deg]
|
|
||||||
end
|
|
||||||
|
|
||||||
granite.c.x = 0.1*sqrt(granite.mass_top*granite.k.x); % [N/(m/s)]
|
|
||||||
granite.c.y = 0.1*sqrt(granite.mass_top*granite.k.y); % [N/(m/s)]
|
|
||||||
granite.c.z = 0.5*sqrt(granite.mass_top*granite.k.z); % [N/(m/s)]
|
|
||||||
granite.c.rx = 0.1*sqrt(granite.mass_top*granite.k.rx); % [N*m/(deg/s)]
|
|
||||||
granite.c.ry = 0.1*sqrt(granite.mass_top*granite.k.ry); % [N*m/(deg/s)]
|
|
||||||
granite.c.rz = 0.1*sqrt(granite.mass_top*granite.k.rz); % [N*m/(deg/s)]
|
|
||||||
|
|
||||||
%% Positioning parameters
|
|
||||||
granite.sample_pos = 0.8; % Z-offset for the initial position of the sample [m]
|
|
||||||
|
|
||||||
%% Save
|
|
||||||
save('./mat/stages.mat', 'granite', '-append');
|
|
||||||
end
|
end
|
||||||
|
|
||||||
|
granite = struct();
|
||||||
|
|
||||||
|
granite.density = args.density; % [kg/m3]
|
||||||
|
granite.STEP = './STEPS/granite/granite.STEP';
|
||||||
|
|
||||||
|
granite.k.x = 4e9; % [N/m]
|
||||||
|
granite.k.y = 3e8; % [N/m]
|
||||||
|
granite.k.z = 8e8; % [N/m]
|
||||||
|
|
||||||
|
granite.c.x = 4.0e5; % [N/(m/s)]
|
||||||
|
granite.c.y = 1.1e5; % [N/(m/s)]
|
||||||
|
granite.c.z = 9.0e5; % [N/(m/s)]
|
||||||
|
|
||||||
|
granite.x0 = args.x0;
|
||||||
|
granite.y0 = args.y0;
|
||||||
|
granite.z0 = args.z0;
|
||||||
|
|
||||||
|
granite.sample_pos = 0.8; % [m]
|
||||||
|
|
||||||
|
save('./mat/stages.mat', 'granite', '-append');
|
||||||
|
|||||||
@ -1,11 +1,8 @@
|
|||||||
function [ground] = initializeGround()
|
function [ground] = initializeGround()
|
||||||
%%
|
|
||||||
ground = struct();
|
|
||||||
|
|
||||||
ground.shape = [2, 2, 0.5]; % [m]
|
ground = struct();
|
||||||
ground.density = 2800; % [kg/m3]
|
|
||||||
ground.color = [0.5, 0.5, 0.5];
|
|
||||||
|
|
||||||
%% Save
|
ground.shape = [2, 2, 0.5]; % [m]
|
||||||
save('./mat/stages.mat', 'ground', '-append');
|
ground.density = 2800; % [kg/m3]
|
||||||
end
|
|
||||||
|
save('./mat/stages.mat', 'ground', '-append');
|
||||||
|
|||||||
@ -1,196 +1,51 @@
|
|||||||
function [micro_hexapod] = initializeMicroHexapod(args)
|
function [micro_hexapod] = initializeMicroHexapodNew(args)
|
||||||
arguments
|
|
||||||
args.rigid logical {mustBeNumericOrLogical} = false
|
arguments
|
||||||
|
% initializeFramesPositions
|
||||||
|
args.H (1,1) double {mustBeNumeric, mustBePositive} = 350e-3
|
||||||
|
args.MO_B (1,1) double {mustBeNumeric} = 270e-3
|
||||||
|
% generateGeneralConfiguration
|
||||||
|
args.FH (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
|
||||||
|
args.FR (1,1) double {mustBeNumeric, mustBePositive} = 175.5e-3
|
||||||
|
args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180)
|
||||||
|
args.MH (1,1) double {mustBeNumeric, mustBePositive} = 45e-3
|
||||||
|
args.MR (1,1) double {mustBeNumeric, mustBePositive} = 118e-3
|
||||||
|
args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180)
|
||||||
|
% initializeStrutDynamics
|
||||||
|
args.Ki (6,1) double {mustBeNumeric, mustBeNonnegative} = 2e7*ones(6,1)
|
||||||
|
args.Ci (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.4e3*ones(6,1)
|
||||||
|
% initializeCylindricalPlatforms
|
||||||
|
args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 10
|
||||||
|
args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
|
||||||
|
args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 207.5e-3
|
||||||
|
args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 10
|
||||||
|
args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
|
||||||
|
args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 150e-3
|
||||||
|
% initializeCylindricalStruts
|
||||||
|
args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 1
|
||||||
|
args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
|
||||||
|
args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
|
||||||
|
args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 1
|
||||||
|
args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
|
||||||
|
args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
|
||||||
|
% inverseKinematics
|
||||||
args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
|
args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
|
||||||
args.ARB (3,3) double {mustBeNumeric} = eye(3)
|
args.ARB (3,3) double {mustBeNumeric} = eye(3)
|
||||||
end
|
% Equilibrium position of each leg
|
||||||
|
args.dLeq (6,1) double {mustBeNumeric} = zeros(6,1)
|
||||||
%% Stewart Object
|
|
||||||
micro_hexapod = struct();
|
|
||||||
micro_hexapod.h = 350; % Total height of the platform [mm]
|
|
||||||
micro_hexapod.jacobian = 270; % Distance from the top of the mobile platform to the Jacobian point [mm]
|
|
||||||
|
|
||||||
%% Bottom Plate - Mechanical Design
|
|
||||||
BP = struct();
|
|
||||||
|
|
||||||
BP.rad.int = 110; % Internal Radius [mm]
|
|
||||||
BP.rad.ext = 207.5; % External Radius [mm]
|
|
||||||
BP.thickness = 26; % Thickness [mm]
|
|
||||||
BP.leg.rad = 175.5; % Radius where the legs articulations are positionned [mm]
|
|
||||||
BP.leg.ang = 9.5; % Angle Offset [deg]
|
|
||||||
BP.density = 8000; % Density of the material [kg/m^3]
|
|
||||||
BP.color = [0.6 0.6 0.6]; % Color [rgb]
|
|
||||||
BP.shape = [BP.rad.int BP.thickness; BP.rad.int 0; BP.rad.ext 0; BP.rad.ext BP.thickness];
|
|
||||||
|
|
||||||
%% Top Plate - Mechanical Design
|
|
||||||
TP = struct();
|
|
||||||
|
|
||||||
TP.rad.int = 82; % Internal Radius [mm]
|
|
||||||
TP.rad.ext = 150; % Internal Radius [mm]
|
|
||||||
TP.thickness = 26; % Thickness [mm]
|
|
||||||
TP.leg.rad = 118; % Radius where the legs articulations are positionned [mm]
|
|
||||||
TP.leg.ang = 12.1; % Angle Offset [deg]
|
|
||||||
TP.density = 8000; % Density of the material [kg/m^3]
|
|
||||||
TP.color = [0.6 0.6 0.6]; % Color [rgb]
|
|
||||||
TP.shape = [TP.rad.int TP.thickness; TP.rad.int 0; TP.rad.ext 0; TP.rad.ext TP.thickness];
|
|
||||||
|
|
||||||
%% Struts
|
|
||||||
Leg = struct();
|
|
||||||
|
|
||||||
Leg.stroke = 10e-3; % Maximum Stroke of each leg [m]
|
|
||||||
if args.rigid
|
|
||||||
Leg.k.ax = 1e12; % Stiffness of each leg [N/m]
|
|
||||||
else
|
|
||||||
Leg.k.ax = 2e7; % Stiffness of each leg [N/m]
|
|
||||||
end
|
|
||||||
Leg.ksi.ax = 0.1; % Modal damping ksi = 1/2*c/sqrt(km) []
|
|
||||||
Leg.rad.bottom = 25; % Radius of the cylinder of the bottom part [mm]
|
|
||||||
Leg.rad.top = 17; % Radius of the cylinder of the top part [mm]
|
|
||||||
Leg.density = 8000; % Density of the material [kg/m^3]
|
|
||||||
Leg.color.bottom = [0.5 0.5 0.5]; % Color [rgb]
|
|
||||||
Leg.color.top = [0.5 0.5 0.5]; % Color [rgb]
|
|
||||||
|
|
||||||
Leg.sphere.bottom = Leg.rad.bottom; % Size of the sphere at the end of the leg [mm]
|
|
||||||
Leg.sphere.top = Leg.rad.top; % Size of the sphere at the end of the leg [mm]
|
|
||||||
Leg.m = TP.density*((pi*(TP.rad.ext/1000)^2)*(TP.thickness/1000)-(pi*(TP.rad.int/1000^2))*(TP.thickness/1000))/6; % TODO [kg]
|
|
||||||
Leg = updateDamping(Leg);
|
|
||||||
|
|
||||||
|
|
||||||
%% Sphere
|
|
||||||
SP = struct();
|
|
||||||
|
|
||||||
SP.height.bottom = 27; % [mm]
|
|
||||||
SP.height.top = 27; % [mm]
|
|
||||||
SP.density.bottom = 8000; % [kg/m^3]
|
|
||||||
SP.density.top = 8000; % [kg/m^3]
|
|
||||||
SP.color.bottom = [0.6 0.6 0.6]; % [rgb]
|
|
||||||
SP.color.top = [0.6 0.6 0.6]; % [rgb]
|
|
||||||
SP.k.ax = 0; % [N*m/deg]
|
|
||||||
SP.ksi.ax = 10;
|
|
||||||
|
|
||||||
SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm]
|
|
||||||
SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm]
|
|
||||||
SP.rad.bottom = Leg.sphere.bottom; % [mm]
|
|
||||||
SP.rad.top = Leg.sphere.top; % [mm]
|
|
||||||
SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); % TODO [kg]
|
|
||||||
|
|
||||||
SP = updateDamping(SP);
|
|
||||||
|
|
||||||
%%
|
|
||||||
Leg.support.bottom = [0 SP.thickness.bottom; 0 0; SP.rad.bottom 0; SP.rad.bottom SP.height.bottom];
|
|
||||||
Leg.support.top = [0 SP.thickness.top; 0 0; SP.rad.top 0; SP.rad.top SP.height.top];
|
|
||||||
|
|
||||||
%%
|
|
||||||
micro_hexapod.BP = BP;
|
|
||||||
micro_hexapod.TP = TP;
|
|
||||||
micro_hexapod.Leg = Leg;
|
|
||||||
micro_hexapod.SP = SP;
|
|
||||||
|
|
||||||
%%
|
|
||||||
micro_hexapod = initializeParameters(micro_hexapod);
|
|
||||||
|
|
||||||
%% Setup equilibrium position of each leg
|
|
||||||
micro_hexapod.L0 = inverseKinematicsHexapod(micro_hexapod, args.AP, args.ARB);
|
|
||||||
|
|
||||||
%% Save
|
|
||||||
save('./mat/stages.mat', 'micro_hexapod', '-append');
|
|
||||||
|
|
||||||
%%
|
|
||||||
function [element] = updateDamping(element)
|
|
||||||
field = fieldnames(element.k);
|
|
||||||
for i = 1:length(field)
|
|
||||||
element.c.(field{i}) = 2*element.ksi.(field{i})*sqrt(element.k.(field{i})*element.m);
|
|
||||||
end
|
|
||||||
end
|
|
||||||
|
|
||||||
%%
|
|
||||||
function [stewart] = initializeParameters(stewart)
|
|
||||||
%% Connection points on base and top plate w.r.t. World frame at the center of the base plate
|
|
||||||
stewart.pos_base = zeros(6, 3);
|
|
||||||
stewart.pos_top = zeros(6, 3);
|
|
||||||
|
|
||||||
alpha_b = stewart.BP.leg.ang*pi/180; % angle de décalage par rapport à 120 deg (pour positionner les supports bases)
|
|
||||||
alpha_t = stewart.TP.leg.ang*pi/180; % +- offset angle from 120 degree spacing on top
|
|
||||||
|
|
||||||
height = (stewart.h-stewart.BP.thickness-stewart.TP.thickness-stewart.Leg.sphere.bottom-stewart.Leg.sphere.top-stewart.SP.thickness.bottom-stewart.SP.thickness.top)*0.001; % TODO
|
|
||||||
|
|
||||||
radius_b = stewart.BP.leg.rad*0.001; % rayon emplacement support base
|
|
||||||
radius_t = stewart.TP.leg.rad*0.001; % top radius in meters
|
|
||||||
|
|
||||||
for i = 1:3
|
|
||||||
% base points
|
|
||||||
angle_m_b = (2*pi/3)* (i-1) - alpha_b;
|
|
||||||
angle_p_b = (2*pi/3)* (i-1) + alpha_b;
|
|
||||||
stewart.pos_base(2*i-1,:) = [radius_b*cos(angle_m_b), radius_b*sin(angle_m_b), 0.0];
|
|
||||||
stewart.pos_base(2*i,:) = [radius_b*cos(angle_p_b), radius_b*sin(angle_p_b), 0.0];
|
|
||||||
|
|
||||||
% top points
|
|
||||||
% Top points are 60 degrees offset
|
|
||||||
angle_m_t = (2*pi/3)* (i-1) - alpha_t + 2*pi/6;
|
|
||||||
angle_p_t = (2*pi/3)* (i-1) + alpha_t + 2*pi/6;
|
|
||||||
stewart.pos_top(2*i-1,:) = [radius_t*cos(angle_m_t), radius_t*sin(angle_m_t), height];
|
|
||||||
stewart.pos_top(2*i,:) = [radius_t*cos(angle_p_t), radius_t*sin(angle_p_t), height];
|
|
||||||
end
|
|
||||||
|
|
||||||
% permute pos_top points so that legs are end points of base and top points
|
|
||||||
stewart.pos_top = [stewart.pos_top(6,:); stewart.pos_top(1:5,:)]; %6th point on top connects to 1st on bottom
|
|
||||||
stewart.pos_top_tranform = stewart.pos_top - height*[zeros(6, 2),ones(6, 1)];
|
|
||||||
|
|
||||||
%% leg vectors
|
|
||||||
legs = stewart.pos_top - stewart.pos_base;
|
|
||||||
leg_length = zeros(6, 1);
|
|
||||||
leg_vectors = zeros(6, 3);
|
|
||||||
for i = 1:6
|
|
||||||
leg_length(i) = norm(legs(i,:));
|
|
||||||
leg_vectors(i,:) = legs(i,:) / leg_length(i);
|
|
||||||
end
|
|
||||||
|
|
||||||
stewart.Leg.lenght = 1000*leg_length(1)/1.5;
|
|
||||||
stewart.Leg.shape.bot = [0 0; ...
|
|
||||||
stewart.Leg.rad.bottom 0; ...
|
|
||||||
stewart.Leg.rad.bottom stewart.Leg.lenght; ...
|
|
||||||
stewart.Leg.rad.top stewart.Leg.lenght; ...
|
|
||||||
stewart.Leg.rad.top 0.2*stewart.Leg.lenght; ...
|
|
||||||
0 0.2*stewart.Leg.lenght];
|
|
||||||
|
|
||||||
%% Calculate revolute and cylindrical axes
|
|
||||||
rev1 = zeros(6, 3);
|
|
||||||
rev2 = zeros(6, 3);
|
|
||||||
cyl1 = zeros(6, 3);
|
|
||||||
for i = 1:6
|
|
||||||
rev1(i,:) = cross(leg_vectors(i,:), [0 0 1]);
|
|
||||||
rev1(i,:) = rev1(i,:) / norm(rev1(i,:));
|
|
||||||
|
|
||||||
rev2(i,:) = - cross(rev1(i,:), leg_vectors(i,:));
|
|
||||||
rev2(i,:) = rev2(i,:) / norm(rev2(i,:));
|
|
||||||
|
|
||||||
cyl1(i,:) = leg_vectors(i,:);
|
|
||||||
end
|
|
||||||
|
|
||||||
|
|
||||||
%% Coordinate systems
|
|
||||||
stewart.lower_leg = struct('rotation', eye(3));
|
|
||||||
stewart.upper_leg = struct('rotation', eye(3));
|
|
||||||
|
|
||||||
for i = 1:6
|
|
||||||
stewart.lower_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)'];
|
|
||||||
stewart.upper_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)'];
|
|
||||||
end
|
|
||||||
|
|
||||||
%% Position Matrix
|
|
||||||
stewart.M_pos_base = stewart.pos_base + (height+(stewart.TP.thickness+stewart.Leg.sphere.top+stewart.SP.thickness.top+stewart.jacobian)*1e-3)*[zeros(6, 2),ones(6, 1)];
|
|
||||||
|
|
||||||
%% Compute Jacobian Matrix
|
|
||||||
aa = stewart.pos_top_tranform + (stewart.jacobian - stewart.TP.thickness - stewart.SP.height.top)*1e-3*[zeros(6, 2),ones(6, 1)];
|
|
||||||
stewart.J = getJacobianMatrix(leg_vectors', aa');
|
|
||||||
end
|
|
||||||
|
|
||||||
%%
|
|
||||||
function J = getJacobianMatrix(RM, M_pos_base)
|
|
||||||
% RM: [3x6] unit vector of each leg in the fixed frame
|
|
||||||
% M_pos_base: [3x6] vector of the leg connection at the top platform location in the fixed frame
|
|
||||||
J = zeros(6);
|
|
||||||
J(:, 1:3) = RM';
|
|
||||||
J(:, 4:6) = cross(M_pos_base, RM)';
|
|
||||||
end
|
|
||||||
end
|
end
|
||||||
|
|
||||||
|
micro_hexapod = initializeFramesPositions('H', args.H, 'MO_B', args.MO_B);
|
||||||
|
micro_hexapod = generateGeneralConfiguration(micro_hexapod, 'FH', args.FH, 'FR', args.FR, 'FTh', args.FTh, 'MH', args.MH, 'MR', args.MR, 'MTh', args.MTh);
|
||||||
|
micro_hexapod = computeJointsPose(micro_hexapod);
|
||||||
|
micro_hexapod = initializeStrutDynamics(micro_hexapod, 'Ki', args.Ki, 'Ci', args.Ci);
|
||||||
|
micro_hexapod = initializeCylindricalPlatforms(micro_hexapod, 'Fpm', args.Fpm, 'Fph', args.Fph, 'Fpr', args.Fpr, 'Mpm', args.Mpm, 'Mph', args.Mph, 'Mpr', args.Mpr);
|
||||||
|
micro_hexapod = initializeCylindricalStruts(micro_hexapod, 'Fsm', args.Fsm, 'Fsh', args.Fsh, 'Fsr', args.Fsr, 'Msm', args.Msm, 'Msh', args.Msh, 'Msr', args.Msr);
|
||||||
|
micro_hexapod = computeJacobian(micro_hexapod);
|
||||||
|
[Li, dLi] = inverseKinematics(micro_hexapod, 'AP', args.AP, 'ARB', args.ARB);
|
||||||
|
micro_hexapod.Li = Li;
|
||||||
|
micro_hexapod.dLi = dLi;
|
||||||
|
|
||||||
|
micro_hexapod.dLeq = args.dLeq;
|
||||||
|
|
||||||
|
save('./mat/stages.mat', 'micro_hexapod', '-append');
|
||||||
|
|||||||
@ -1,45 +1,42 @@
|
|||||||
function [] = initializeMirror(args)
|
function [] = initializeMirror(args)
|
||||||
arguments
|
|
||||||
|
arguments
|
||||||
args.shape char {mustBeMember(args.shape,{'spherical', 'conical'})} = 'spherical'
|
args.shape char {mustBeMember(args.shape,{'spherical', 'conical'})} = 'spherical'
|
||||||
args.angle (1,1) double {mustBeNumeric, mustBePositive} = 45
|
args.angle (1,1) double {mustBeNumeric, mustBePositive} = 45 % [deg]
|
||||||
end
|
end
|
||||||
|
|
||||||
%%
|
mirror = struct();
|
||||||
mirror = struct();
|
|
||||||
mirror.h = 50; % height of the mirror [mm]
|
|
||||||
mirror.thickness = 25; % Thickness of the plate supporting the sample [mm]
|
|
||||||
mirror.hole_rad = 120; % radius of the hole in the mirror [mm]
|
|
||||||
mirror.support_rad = 100; % radius of the support plate [mm]
|
|
||||||
mirror.jacobian = 150; % point of interest offset in z (above the top surfave) [mm]
|
|
||||||
mirror.rad = 180; % radius of the mirror (at the bottom surface) [mm]
|
|
||||||
|
|
||||||
mirror.density = 2400; % Density of the mirror [kg/m3]
|
mirror.h = 50; % Height of the mirror [mm]
|
||||||
mirror.color = [0.4 1.0 1.0]; % Color of the mirror
|
mirror.thickness = 25; % Thickness of the plate supporting the sample [mm]
|
||||||
|
mirror.hole_rad = 120; % radius of the hole in the mirror [mm]
|
||||||
|
mirror.support_rad = 100; % radius of the support plate [mm]
|
||||||
|
mirror.jacobian = 150; % point of interest offset in z (above the top surfave) [mm]
|
||||||
|
mirror.rad = 180; % radius of the mirror (at the bottom surface) [mm]
|
||||||
|
|
||||||
mirror.cone_length = mirror.rad*tand(args.angle)+mirror.h+mirror.jacobian; % Distance from Apex point of the cone to jacobian point
|
mirror.density = 2400; % Density of the material [kg/m3]
|
||||||
|
|
||||||
%% Shape
|
mirror.cone_length = mirror.rad*tand(args.angle)+mirror.h+mirror.jacobian; % Distance from Apex point of the cone to jacobian point
|
||||||
mirror.shape = [...
|
|
||||||
|
mirror.shape = [...
|
||||||
0 mirror.h-mirror.thickness
|
0 mirror.h-mirror.thickness
|
||||||
mirror.hole_rad mirror.h-mirror.thickness; ...
|
mirror.hole_rad mirror.h-mirror.thickness; ...
|
||||||
mirror.hole_rad 0; ...
|
mirror.hole_rad 0; ...
|
||||||
mirror.rad 0 ...
|
mirror.rad 0 ...
|
||||||
];
|
];
|
||||||
|
|
||||||
if strcmp(args.shape, 'spherical')
|
if strcmp(args.shape, 'spherical')
|
||||||
mirror.sphere_radius = sqrt((mirror.jacobian+mirror.h)^2+mirror.rad^2); % Radius of the sphere [mm]
|
mirror.sphere_radius = sqrt((mirror.jacobian+mirror.h)^2+mirror.rad^2); % Radius of the sphere [mm]
|
||||||
|
|
||||||
for z = linspace(0, mirror.h, 101)
|
for z = linspace(0, mirror.h, 101)
|
||||||
mirror.shape = [mirror.shape; sqrt(mirror.sphere_radius^2-(z-mirror.jacobian-mirror.h)^2) z];
|
mirror.shape = [mirror.shape; sqrt(mirror.sphere_radius^2-(z-mirror.jacobian-mirror.h)^2) z];
|
||||||
end
|
end
|
||||||
elseif strcmp(args.shape, 'conical')
|
elseif strcmp(args.shape, 'conical')
|
||||||
mirror.shape = [mirror.shape; mirror.rad+mirror.h/tand(args.angle) mirror.h];
|
mirror.shape = [mirror.shape; mirror.rad+mirror.h/tand(args.angle) mirror.h];
|
||||||
else
|
else
|
||||||
error('Shape should be either conical or spherical');
|
error('Shape should be either conical or spherical');
|
||||||
end
|
|
||||||
|
|
||||||
mirror.shape = [mirror.shape; 0 mirror.h];
|
|
||||||
|
|
||||||
%% Save
|
|
||||||
save('./mat/stages.mat', 'mirror', '-append');
|
|
||||||
end
|
end
|
||||||
|
|
||||||
|
mirror.shape = [mirror.shape; 0 mirror.h];
|
||||||
|
|
||||||
|
save('./mat/stages.mat', 'mirror', '-append');
|
||||||
|
|||||||
@ -1,15 +1,16 @@
|
|||||||
function [nano_hexapod] = initializeNanoHexapod(args)
|
function [nano_hexapod] = initializeNanoHexapod(args)
|
||||||
arguments
|
|
||||||
|
arguments
|
||||||
% initializeFramesPositions
|
% initializeFramesPositions
|
||||||
args.H (1,1) double {mustBeNumeric, mustBePositive} = 90e-3
|
args.H (1,1) double {mustBeNumeric, mustBePositive} = 90e-3
|
||||||
args.MO_B (1,1) double {mustBeNumeric} = 175e-3
|
args.MO_B (1,1) double {mustBeNumeric} = 175e-3
|
||||||
% generateGeneralConfiguration
|
% generateGeneralConfiguration
|
||||||
args.FH (1,1) double {mustBeNumeric, mustBePositive} = 15e-3
|
args.FH (1,1) double {mustBeNumeric, mustBePositive} = 15e-3
|
||||||
args.FR (1,1) double {mustBeNumeric, mustBePositive} = 100e-3;
|
args.FR (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
|
||||||
args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180);
|
args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180)
|
||||||
args.MH (1,1) double {mustBeNumeric, mustBePositive} = 15e-3
|
args.MH (1,1) double {mustBeNumeric, mustBePositive} = 15e-3
|
||||||
args.MR (1,1) double {mustBeNumeric, mustBePositive} = 90e-3;
|
args.MR (1,1) double {mustBeNumeric, mustBePositive} = 90e-3
|
||||||
args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180);
|
args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180)
|
||||||
% initializeStrutDynamics
|
% initializeStrutDynamics
|
||||||
args.actuator char {mustBeMember(args.actuator,{'piezo', 'lorentz'})} = 'piezo'
|
args.actuator char {mustBeMember(args.actuator,{'piezo', 'lorentz'})} = 'piezo'
|
||||||
% initializeCylindricalPlatforms
|
% initializeCylindricalPlatforms
|
||||||
@ -29,34 +30,27 @@ function [nano_hexapod] = initializeNanoHexapod(args)
|
|||||||
% inverseKinematics
|
% inverseKinematics
|
||||||
args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
|
args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
|
||||||
args.ARB (3,3) double {mustBeNumeric} = eye(3)
|
args.ARB (3,3) double {mustBeNumeric} = eye(3)
|
||||||
end
|
% Equilibrium position of each leg
|
||||||
|
args.dLeq (6,1) double {mustBeNumeric} = zeros(6,1)
|
||||||
stewart = initializeFramesPositions('H', args.H, 'MO_B', args.MO_B);
|
|
||||||
|
|
||||||
stewart = generateGeneralConfiguration(stewart, 'FH', args.FH, 'FR', args.FR, 'FTh', args.FTh, 'MH', args.MH, 'MR', args.MR, 'MTh', args.MTh);
|
|
||||||
|
|
||||||
stewart = computeJointsPose(stewart);
|
|
||||||
|
|
||||||
if strcmp(args.actuator, 'piezo')
|
|
||||||
stewart = initializeStrutDynamics(stewart, 'Ki', 1e7*ones(6,1), ...
|
|
||||||
'Ci', 1e2*ones(6,1));
|
|
||||||
elseif strcmp(args.actuator, 'lorentz')
|
|
||||||
stewart = initializeStrutDynamics(stewart, 'Ki', 1e4*ones(6,1), ...
|
|
||||||
'Ci', 1e2*ones(6,1));
|
|
||||||
else
|
|
||||||
error('args.actuator should be piezo or lorentz');
|
|
||||||
end
|
|
||||||
|
|
||||||
stewart = initializeCylindricalPlatforms(stewart, 'Fpm', args.Fpm, 'Fph', args.Fph, 'Fpr', args.Fpr, 'Mpm', args.Mpm, 'Mph', args.Mph, 'Mpr', args.Mpr);
|
|
||||||
|
|
||||||
stewart = initializeCylindricalStruts(stewart, 'Fsm', args.Fsm, 'Fsh', args.Fsh, 'Fsr', args.Fsr, 'Msm', args.Msm, 'Msh', args.Msh, 'Msr', args.Msr);
|
|
||||||
|
|
||||||
stewart = computeJacobian(stewart);
|
|
||||||
|
|
||||||
[Li, dLi] = inverseKinematics(stewart, 'AP', args.AP, 'ARB', args.ARB);
|
|
||||||
|
|
||||||
nano_hexapod = stewart;
|
|
||||||
|
|
||||||
%% Save
|
|
||||||
save('./mat/stages.mat', 'nano_hexapod', '-append');
|
|
||||||
end
|
end
|
||||||
|
|
||||||
|
nano_hexapod = initializeFramesPositions('H', args.H, 'MO_B', args.MO_B);
|
||||||
|
nano_hexapod = generateGeneralConfiguration(nano_hexapod, 'FH', args.FH, 'FR', args.FR, 'FTh', args.FTh, 'MH', args.MH, 'MR', args.MR, 'MTh', args.MTh);
|
||||||
|
nano_hexapod = computeJointsPose(nano_hexapod);
|
||||||
|
if strcmp(args.actuator, 'piezo')
|
||||||
|
nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', 1e7*ones(6,1), 'Ci', 1e2*ones(6,1));
|
||||||
|
elseif strcmp(args.actuator, 'lorentz')
|
||||||
|
nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', 1e4*ones(6,1), 'Ci', 1e2*ones(6,1));
|
||||||
|
else
|
||||||
|
error('args.actuator should be piezo or lorentz');
|
||||||
|
end
|
||||||
|
nano_hexapod = initializeCylindricalPlatforms(nano_hexapod, 'Fpm', args.Fpm, 'Fph', args.Fph, 'Fpr', args.Fpr, 'Mpm', args.Mpm, 'Mph', args.Mph, 'Mpr', args.Mpr);
|
||||||
|
nano_hexapod = initializeCylindricalStruts(nano_hexapod, 'Fsm', args.Fsm, 'Fsh', args.Fsh, 'Fsr', args.Fsr, 'Msm', args.Msm, 'Msh', args.Msh, 'Msr', args.Msr);
|
||||||
|
nano_hexapod = computeJacobian(nano_hexapod);
|
||||||
|
[Li, dLi] = inverseKinematics(nano_hexapod, 'AP', args.AP, 'ARB', args.ARB);
|
||||||
|
nano_hexapod.Li = Li;
|
||||||
|
nano_hexapod.dLi = dLi;
|
||||||
|
|
||||||
|
nano_hexapod.dLeq = args.dLeq;
|
||||||
|
|
||||||
|
save('./mat/stages.mat', 'nano_hexapod', '-append');
|
||||||
|
|||||||
@ -161,7 +161,7 @@ switch args.Dh_type
|
|||||||
0 cos(tx) -sin(tx);
|
0 cos(tx) -sin(tx);
|
||||||
0 sin(tx) cos(tx)];
|
0 sin(tx) cos(tx)];
|
||||||
|
|
||||||
[Dhl] = inverseKinematicsHexapod(micro_hexapod, AP, ARB);
|
[~, Dhl] = inverseKinematics(micro_hexapod, 'AP', AP, 'ARB', ARB);
|
||||||
Dhl = [Dhl, Dhl];
|
Dhl = [Dhl, Dhl];
|
||||||
otherwise
|
otherwise
|
||||||
warning('Dh_type is not set correctly');
|
warning('Dh_type is not set correctly');
|
||||||
|
|||||||
@ -1,52 +1,61 @@
|
|||||||
function [ry] = initializeRy(args)
|
function [ry] = initializeRy(args)
|
||||||
arguments
|
|
||||||
args.rigid logical {mustBeNumericOrLogical} = false
|
|
||||||
end
|
|
||||||
|
|
||||||
%%
|
arguments
|
||||||
ry = struct();
|
args.x11 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
|
args.y11 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
%% Tilt Stage - Static Properties
|
args.z11 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
% Ry - Guide for the tilt stage
|
args.x12 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
ry.guide.density = 7800; % [kg/m3]
|
args.y12 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
ry.guide.color = [0.792 0.820 0.933];
|
args.z12 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
ry.guide.STEP = './STEPS/ry/Tilt_Guide.STEP';
|
args.x21 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
% Ry - Rotor of the motor
|
args.y21 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
ry.rotor.density = 2400; % [kg/m3]
|
args.z21 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
ry.rotor.color = [0.792 0.820 0.933];
|
args.x22 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
ry.rotor.STEP = './STEPS/ry/Tilt_Motor_Axis.STEP';
|
args.y22 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
% Ry - Motor
|
args.z22 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
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 args.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
|
end
|
||||||
|
|
||||||
|
ry = struct();
|
||||||
|
|
||||||
|
% Ry - Guide for the tilt stage
|
||||||
|
ry.guide.density = 7800; % [kg/m3]
|
||||||
|
ry.guide.STEP = './STEPS/ry/Tilt_Guide.STEP';
|
||||||
|
|
||||||
|
% Ry - Rotor of the motor
|
||||||
|
ry.rotor.density = 2400; % [kg/m3]
|
||||||
|
ry.rotor.STEP = './STEPS/ry/Tilt_Motor_Axis.STEP';
|
||||||
|
|
||||||
|
% Ry - Motor
|
||||||
|
ry.motor.density = 3200; % [kg/m3]
|
||||||
|
ry.motor.STEP = './STEPS/ry/Tilt_Motor.STEP';
|
||||||
|
|
||||||
|
% Ry - Plateau Tilt
|
||||||
|
ry.stage.density = 7800; % [kg/m3]
|
||||||
|
ry.stage.STEP = './STEPS/ry/Tilt_Stage.STEP';
|
||||||
|
|
||||||
|
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]
|
||||||
|
|
||||||
|
ry.c.tilt = 2.8e2;
|
||||||
|
ry.c.h = 2.8e4;
|
||||||
|
ry.c.rad = 2.8e4;
|
||||||
|
ry.c.rrad = 2.8e4;
|
||||||
|
|
||||||
|
ry.x0_11 = args.x11;
|
||||||
|
ry.y0_11 = args.y11;
|
||||||
|
ry.z0_11 = args.z11;
|
||||||
|
ry.x0_12 = args.x12;
|
||||||
|
ry.y0_12 = args.y12;
|
||||||
|
ry.z0_12 = args.z12;
|
||||||
|
ry.x0_21 = args.x21;
|
||||||
|
ry.y0_21 = args.y21;
|
||||||
|
ry.z0_21 = args.z21;
|
||||||
|
ry.x0_22 = args.x22;
|
||||||
|
ry.y0_22 = args.y22;
|
||||||
|
ry.z0_22 = args.z22;
|
||||||
|
|
||||||
|
ry.z_offset = 0.58178; % [m]
|
||||||
|
|
||||||
|
save('./mat/stages.mat', 'ry', '-append');
|
||||||
|
|||||||
@ -1,48 +1,42 @@
|
|||||||
function [rz] = initializeRz(args)
|
function [rz] = initializeRz(args)
|
||||||
arguments
|
|
||||||
|
arguments
|
||||||
args.rigid logical {mustBeNumericOrLogical} = false
|
args.rigid logical {mustBeNumericOrLogical} = false
|
||||||
end
|
args.x0 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
|
args.y0 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
%%
|
args.z0 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
rz = struct();
|
args.rx0 (1,1) double {mustBeNumeric} = 0 % [rad]
|
||||||
|
args.ry0 (1,1) double {mustBeNumeric} = 0 % [rad]
|
||||||
%% Spindle - Static Properties
|
|
||||||
% Spindle - Slip Ring
|
|
||||||
rz.slipring.density = 7800; % [kg/m3]
|
|
||||||
rz.slipring.color = [0.792 0.820 0.933];
|
|
||||||
rz.slipring.STEP = './STEPS/rz/Spindle_Slip_Ring.STEP';
|
|
||||||
% Spindle - Rotor
|
|
||||||
rz.rotor.density = 7800; % [kg/m3]
|
|
||||||
rz.rotor.color = [0.792 0.820 0.933];
|
|
||||||
rz.rotor.STEP = './STEPS/rz/Spindle_Rotor.STEP';
|
|
||||||
% Spindle - Stator
|
|
||||||
rz.stator.density = 7800; % [kg/m3]
|
|
||||||
rz.stator.color = [0.792 0.820 0.933];
|
|
||||||
rz.stator.STEP = './STEPS/rz/Spindle_Stator.STEP';
|
|
||||||
|
|
||||||
% Estimated mass of the mooving part
|
|
||||||
rz.m = 250; % [kg]
|
|
||||||
|
|
||||||
%% Spindle - Dynamical Properties
|
|
||||||
|
|
||||||
if args.rigid
|
|
||||||
rz.k.rot = 1e10; % Rotational Stiffness (Rz) [N*m/deg]
|
|
||||||
rz.k.tilt = 1e10; % Rotational Stiffness (Rx, Ry) [N*m/deg]
|
|
||||||
rz.k.ax = 1e12; % Axial Stiffness (Z) [N/m]
|
|
||||||
rz.k.rad = 1e12; % Radial Stiffness (X, Y) [N/m]
|
|
||||||
else
|
|
||||||
rz.k.rot = 1e6; % TODO - Rotational Stiffness (Rz) [N*m/deg]
|
|
||||||
rz.k.tilt = 1e6; % Rotational Stiffness (Rx, Ry) [N*m/deg]
|
|
||||||
rz.k.ax = 2e9; % Axial Stiffness (Z) [N/m]
|
|
||||||
rz.k.rad = 7e8; % Radial Stiffness (X, Y) [N/m]
|
|
||||||
end
|
|
||||||
|
|
||||||
% Damping
|
|
||||||
rz.c.ax = 0.1*sqrt(rz.k.ax*rz.m);
|
|
||||||
rz.c.rad = 0.1*sqrt(rz.k.rad*rz.m);
|
|
||||||
rz.c.tilt = 0.1*sqrt(rz.k.tilt*rz.m);
|
|
||||||
rz.c.rot = 0.1*sqrt(rz.k.rot*rz.m);
|
|
||||||
|
|
||||||
%% Save
|
|
||||||
save('./mat/stages.mat', 'rz', '-append');
|
|
||||||
end
|
end
|
||||||
|
|
||||||
|
rz = struct();
|
||||||
|
|
||||||
|
% Spindle - Slip Ring
|
||||||
|
rz.slipring.density = 7800; % [kg/m3]
|
||||||
|
rz.slipring.STEP = './STEPS/rz/Spindle_Slip_Ring.STEP';
|
||||||
|
|
||||||
|
% Spindle - Rotor
|
||||||
|
rz.rotor.density = 7800; % [kg/m3]
|
||||||
|
rz.rotor.STEP = './STEPS/rz/Spindle_Rotor.STEP';
|
||||||
|
|
||||||
|
% Spindle - Stator
|
||||||
|
rz.stator.density = 7800; % [kg/m3]
|
||||||
|
rz.stator.STEP = './STEPS/rz/Spindle_Stator.STEP';
|
||||||
|
|
||||||
|
rz.k.rot = 1e6; % TODO - Rotational Stiffness (Rz) [N*m/deg]
|
||||||
|
rz.k.tilt = 1e6; % Rotational Stiffness (Rx, Ry) [N*m/deg]
|
||||||
|
rz.k.ax = 2e9; % Axial Stiffness (Z) [N/m]
|
||||||
|
rz.k.rad = 7e8; % Radial Stiffness (X, Y) [N/m]
|
||||||
|
|
||||||
|
rz.c.rot = 1.6e3;
|
||||||
|
rz.c.tilt = 1.6e3;
|
||||||
|
rz.c.ax = 7.1e4;
|
||||||
|
rz.c.rad = 4.2e4;
|
||||||
|
|
||||||
|
rz.x0 = args.x0;
|
||||||
|
rz.y0 = args.y0;
|
||||||
|
rz.z0 = args.z0;
|
||||||
|
rz.rx0 = args.rx0;
|
||||||
|
rz.ry0 = args.ry0;
|
||||||
|
|
||||||
|
save('./mat/stages.mat', 'rz', '-append');
|
||||||
|
|||||||
@ -1,23 +1,33 @@
|
|||||||
function [sample] = initializeSample(sample)
|
function [sample] = initializeSample(args)
|
||||||
arguments
|
|
||||||
sample.radius (1,1) double {mustBeNumeric, mustBePositive} = 100 % [mm]
|
|
||||||
sample.height (1,1) double {mustBeNumeric, mustBePositive} = 300 % [mm]
|
|
||||||
sample.mass (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg]
|
|
||||||
sample.freq (1,1) double {mustBeNumeric, mustBePositive} = 100 % [Hz]
|
|
||||||
sample.offset (1,1) double {mustBeNumeric} = 0 % [mm]
|
|
||||||
sample.color (1,3) double {mustBeNumeric} = [0.45, 0.45, 0.45]
|
|
||||||
end
|
|
||||||
|
|
||||||
%%
|
arguments
|
||||||
sample.k.x = sample.mass * (2*pi * sample.freq)^2;
|
args.radius (1,1) double {mustBeNumeric, mustBePositive} = 0.1 % [m]
|
||||||
sample.c.x = 0.1*sqrt(sample.k.x*sample.mass);
|
args.height (1,1) double {mustBeNumeric, mustBePositive} = 0.3 % [m]
|
||||||
|
args.mass (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg]
|
||||||
sample.k.y = sample.mass * (2*pi * sample.freq)^2;
|
args.freq (1,1) double {mustBeNumeric, mustBePositive} = 100 % [Hz]
|
||||||
sample.c.y = 0.1*sqrt(sample.k.y*sample.mass);
|
args.offset (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
|
args.x0 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
sample.k.z = sample.mass * (2*pi * sample.freq)^2;
|
args.y0 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
sample.c.z = 0.1*sqrt(sample.k.z*sample.mass);
|
args.z0 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
|
|
||||||
%% Save
|
|
||||||
save('./mat/stages.mat', 'sample', '-append');
|
|
||||||
end
|
end
|
||||||
|
|
||||||
|
sample = struct();
|
||||||
|
|
||||||
|
sample.radius = args.radius; % [m]
|
||||||
|
sample.height = args.height; % [m]
|
||||||
|
sample.mass = args.mass; % [kg]
|
||||||
|
sample.offset = args.offset; % [m]
|
||||||
|
|
||||||
|
sample.k.x = sample.mass * (2*pi * args.freq)^2; % [N/m]
|
||||||
|
sample.k.y = sample.mass * (2*pi * args.freq)^2; % [N/m]
|
||||||
|
sample.k.z = sample.mass * (2*pi * args.freq)^2; % [N/m]
|
||||||
|
|
||||||
|
sample.c.x = 0.1*sqrt(sample.k.x*sample.mass); % [N/(m/s)]
|
||||||
|
sample.c.y = 0.1*sqrt(sample.k.y*sample.mass); % [N/(m/s)]
|
||||||
|
sample.c.z = 0.1*sqrt(sample.k.z*sample.mass); % [N/(m/s)]
|
||||||
|
|
||||||
|
sample.x0 = args.x0; % [m]
|
||||||
|
sample.y0 = args.y0; % [m]
|
||||||
|
sample.z0 = args.z0; % [m]
|
||||||
|
|
||||||
|
save('./mat/stages.mat', 'sample', '-append');
|
||||||
|
|||||||
@ -1,63 +1,67 @@
|
|||||||
function [ty] = initializeTy(args)
|
function [ty] = initializeTy(args)
|
||||||
arguments
|
|
||||||
args.rigid logical {mustBeNumericOrLogical} = false
|
|
||||||
end
|
|
||||||
|
|
||||||
%%
|
arguments
|
||||||
ty = struct();
|
args.x11 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
|
args.z11 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
%% Y-Translation - Static Properties
|
args.x21 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
% Ty Granite frame
|
args.z21 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
ty.granite_frame.density = 7800; % [kg/m3]
|
args.x12 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
ty.granite_frame.color = [0.753 1 0.753];
|
args.z12 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
ty.granite_frame.STEP = './STEPS/Ty/Ty_Granite_Frame.STEP';
|
args.x22 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
% Guide Translation Ty
|
args.z22 (1,1) double {mustBeNumeric} = 0 % [m]
|
||||||
ty.guide.density = 7800; % [kg/m3]
|
|
||||||
ty.guide.color = [0.792 0.820 0.933];
|
|
||||||
ty.guide.STEP = './STEPS/ty/Ty_Guide.STEP';
|
|
||||||
% Ty - Guide_Translation12
|
|
||||||
ty.guide12.density = 7800; % [kg/m3]
|
|
||||||
ty.guide12.color = [0.792 0.820 0.933];
|
|
||||||
ty.guide12.STEP = './STEPS/Ty/Ty_Guide_12.STEP';
|
|
||||||
% Ty - Guide_Translation11
|
|
||||||
ty.guide11.density = 7800; % [kg/m3]
|
|
||||||
ty.guide11.color = [0.792 0.820 0.933];
|
|
||||||
ty.guide11.STEP = './STEPS/ty/Ty_Guide_11.STEP';
|
|
||||||
% Ty - Guide_Translation22
|
|
||||||
ty.guide22.density = 7800; % [kg/m3]
|
|
||||||
ty.guide22.color = [0.792 0.820 0.933];
|
|
||||||
ty.guide22.STEP = './STEPS/ty/Ty_Guide_22.STEP';
|
|
||||||
% Ty - Guide_Translation21
|
|
||||||
ty.guide21.density = 7800; % [kg/m3]
|
|
||||||
ty.guide21.color = [0.792 0.820 0.933];
|
|
||||||
ty.guide21.STEP = './STEPS/Ty/Ty_Guide_21.STEP';
|
|
||||||
% Ty - Plateau translation
|
|
||||||
ty.frame.density = 7800; % [kg/m3]
|
|
||||||
ty.frame.color = [0.792 0.820 0.933];
|
|
||||||
ty.frame.STEP = './STEPS/ty/Ty_Stage.STEP';
|
|
||||||
% Ty Stator Part
|
|
||||||
ty.stator.density = 5400; % [kg/m3]
|
|
||||||
ty.stator.color = [0.792 0.820 0.933];
|
|
||||||
ty.stator.STEP = './STEPS/ty/Ty_Motor_Stator.STEP';
|
|
||||||
% Ty Rotor Part
|
|
||||||
ty.rotor.density = 5400; % [kg/m3]
|
|
||||||
ty.rotor.color = [0.792 0.820 0.933];
|
|
||||||
ty.rotor.STEP = './STEPS/ty/Ty_Motor_Rotor.STEP';
|
|
||||||
|
|
||||||
ty.m = 1000; % TODO [kg]
|
|
||||||
|
|
||||||
%% Y-Translation - Dynamicals Properties
|
|
||||||
if args.rigid
|
|
||||||
ty.k.ax = 1e12; % Axial Stiffness for each of the 4 guidance (y) [N/m]
|
|
||||||
ty.k.rad = 1e12; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]
|
|
||||||
else
|
|
||||||
ty.k.ax = 5e8; % Axial Stiffness for each of the 4 guidance (y) [N/m]
|
|
||||||
ty.k.rad = 5e7; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]
|
|
||||||
end
|
|
||||||
|
|
||||||
ty.c.ax = 0.1*sqrt(ty.k.ax*ty.m);
|
|
||||||
ty.c.rad = 0.1*sqrt(ty.k.rad*ty.m);
|
|
||||||
|
|
||||||
%% Save
|
|
||||||
save('./mat/stages.mat', 'ty', '-append');
|
|
||||||
end
|
end
|
||||||
|
|
||||||
|
ty = struct();
|
||||||
|
|
||||||
|
% Ty Granite frame
|
||||||
|
ty.granite_frame.density = 7800; % [kg/m3] => 43kg
|
||||||
|
ty.granite_frame.STEP = './STEPS/Ty/Ty_Granite_Frame.STEP';
|
||||||
|
|
||||||
|
% Guide Translation Ty
|
||||||
|
ty.guide.density = 7800; % [kg/m3] => 76kg
|
||||||
|
ty.guide.STEP = './STEPS/ty/Ty_Guide.STEP';
|
||||||
|
|
||||||
|
% Ty - Guide_Translation12
|
||||||
|
ty.guide12.density = 7800; % [kg/m3]
|
||||||
|
ty.guide12.STEP = './STEPS/Ty/Ty_Guide_12.STEP';
|
||||||
|
|
||||||
|
% Ty - Guide_Translation11
|
||||||
|
ty.guide11.density = 7800; % [kg/m3]
|
||||||
|
ty.guide11.STEP = './STEPS/ty/Ty_Guide_11.STEP';
|
||||||
|
|
||||||
|
% Ty - Guide_Translation22
|
||||||
|
ty.guide22.density = 7800; % [kg/m3]
|
||||||
|
ty.guide22.STEP = './STEPS/ty/Ty_Guide_22.STEP';
|
||||||
|
|
||||||
|
% Ty - Guide_Translation21
|
||||||
|
ty.guide21.density = 7800; % [kg/m3]
|
||||||
|
ty.guide21.STEP = './STEPS/Ty/Ty_Guide_21.STEP';
|
||||||
|
|
||||||
|
% Ty - Plateau translation
|
||||||
|
ty.frame.density = 7800; % [kg/m3]
|
||||||
|
ty.frame.STEP = './STEPS/ty/Ty_Stage.STEP';
|
||||||
|
|
||||||
|
% Ty Stator Part
|
||||||
|
ty.stator.density = 5400; % [kg/m3]
|
||||||
|
ty.stator.STEP = './STEPS/ty/Ty_Motor_Stator.STEP';
|
||||||
|
|
||||||
|
% Ty Rotor Part
|
||||||
|
ty.rotor.density = 5400; % [kg/m3]
|
||||||
|
ty.rotor.STEP = './STEPS/ty/Ty_Motor_Rotor.STEP';
|
||||||
|
|
||||||
|
ty.k.ax = 5e8; % Axial Stiffness for each of the 4 guidance (y) [N/m]
|
||||||
|
ty.k.rad = 5e7; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]
|
||||||
|
|
||||||
|
ty.c.ax = 70710; % [N/(m/s)]
|
||||||
|
ty.c.rad = 22360; % [N/(m/s)]
|
||||||
|
|
||||||
|
ty.x0_11 = args.x11;
|
||||||
|
ty.z0_11 = args.z11;
|
||||||
|
ty.x0_12 = args.x12;
|
||||||
|
ty.z0_12 = args.z12;
|
||||||
|
ty.x0_21 = args.x21;
|
||||||
|
ty.z0_21 = args.z21;
|
||||||
|
ty.x0_22 = args.x22;
|
||||||
|
ty.z0_22 = args.z22;
|
||||||
|
|
||||||
|
save('./mat/stages.mat', 'ty', '-append');
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user