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Align the centers of rotation of Ry, Hexa, NASS with the sample

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This commit is contained in:
Thomas Dehaeze
2018-10-30 14:37:19 +01:00
parent ef6f4613b1
commit 389fd66ba4
27 changed files with 90 additions and 32 deletions
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12
initialize/initializeExperiment.m
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@@ -8,18 +8,20 @@ function [] = initializeExperiment(exp_name, sys_mass)
if strcmp(sys_mass, 'light')
opts_inputs = struct(...
'ground_motion', true, ...
'rz', 60 ... % rpm
'Dw', true, ...
'Rz', 60 ... % rpm
);
elseif strcpm(sys_mass, 'heavy')
opts_inputs = struct(...
'ground_motion', true, ...
'rz', 1 ... % rpm
'Dw', true, ...
'Rz', 1 ... % rpm
);
else
error('sys_mass should be light or heavy');
end
initializeInputs(opts_inputs);
elseif
else
error('exp_name is only configured for tomography');
end
end

3
initialize/initializeGranite.m
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@@ -19,6 +19,9 @@ function [granite] = initializeGranite()
granite.k.z = 1e8; % [N/m]
granite.c.z = 1e4; % [N/(m/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

2
initialize/initializeInputs.m
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@@ -62,7 +62,7 @@ function [inputs] = initializeInputs(opts_param)
elseif islogical(opts.Rz) && opts.Rz == false
Rz = zeros(length(t), 1);
elseif isnumeric(opts.Rz) && length(opts.Rz) == 1
Rz = opts.Rz*(2*pi/360)*ones(length(t), 1);
Rz = opts.Rz*(2*pi/60)*t;
else
Rz = opts.Rz;
end

3
initialize/initializeMicroHexapod.m
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@@ -12,7 +12,8 @@ function [micro_hexapod] = initializeMicroHexapod(opts_param)
%% Stewart Object
micro_hexapod = struct();
micro_hexapod.h = 350; % Total height of the platform [mm]
micro_hexapod.jacobian = 265; % Distance from the top platform to the Jacobian point [mm]
% micro_hexapod.jacobian = 269.26; % Distance from the top platform to the Jacobian point [mm]
micro_hexapod.jacobian = 270; % Distance from the top platform to the Jacobian point [mm]
%% Bottom Plate - Mechanical Design
BP = struct();

1
initialize/initializeNanoHexapod.m
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@@ -13,6 +13,7 @@ function [nano_hexapod] = initializeNanoHexapod(opts_param)
nano_hexapod = struct();
nano_hexapod.h = 90; % Total height of the platform [mm]
nano_hexapod.jacobian = 175; % Point where the Jacobian is computed => Center of rotation [mm]
% nano_hexapod.jacobian = 174.26; % Point where the Jacobian is computed => Center of rotation [mm]
%% Bottom Plate
BP = struct();

3
initialize/initializeRy.m
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@@ -47,6 +47,9 @@ function [ry] = initializeRy(opts_param)
ry.c.rad = 10*(1/5)*sqrt(ry.k.rad/ry.m);
ry.c.rrad = 10*(1/5)*sqrt(ry.k.rrad/ry.m);
ry.c.tilt = 10*(1/1)*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');