diff --git a/cedrat-actuator/index.html b/cedrat-actuator/index.html index b3ceb5d..29c856d 100644 --- a/cedrat-actuator/index.html +++ b/cedrat-actuator/index.html @@ -3,7 +3,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
- ++
+cedrat.L = 80; % Total Width of the Actuator[mm] @@ -343,8 +350,8 @@ dummy_mass = 1; -3 Identification
++3 Identification
-%% Options for Linearized @@ -369,22 +376,22 @@ G.OutputName = { --4 Integral Force Feedback
++4 Integral Force Feedback
-+-@@ -394,16 +401,16 @@ G.OutputName = { --
Figure 2: Transfer function from \(F\) to \(F_m\) (png, pdf)
+Figure 3: Transfer function from \(F\) to \(F_m\) (png, pdf)
-5 Damped System
++5 Damped System
diff --git a/cedrat-actuator/index.org b/cedrat-actuator/index.org index f7c42c3..fa9129c 100644 --- a/cedrat-actuator/index.org +++ b/cedrat-actuator/index.org @@ -46,11 +46,38 @@ - Stiffness: $10.8\ N/\mu m$ - Resonance (free-free): $6450\ Hz$ - Resonance (blocked-free): $1750\ Hz$ -- Height: $45\ mm$ -- Length: $80\ mm$ +- Height: $H = 45\ mm$ +- Length: $L = 80\ mm$ - Width: $22\ mm$ - Mass: $160\ g$ +#+begin_src latex :file cedrat_geometry.pdf :post pdf2svg(file=*this*, ext="png") :exports results + \begin{tikzpicture} + \node[branch] (O) at ( 0, 0){}; + \node[branch] (A) at (-3, 1.5){}; + \node[branch] (C) at ( 0, 1.5){}; + \node[branch] (B) at ( 3, 1.5){}; + \node[branch] (T) at ( 0, 3){}; + + \draw[] (O) -- (A); + \draw[] (O) -- node[midway, below]{$L_2$} (B); + \draw[] (A) -- (C); + \draw[] (C) -- (B); + \draw[] (A) -- (T); + \draw[] (B) -- (T); + + \draw[dashed] (O) -- (T); + \draw[dashed] (0, 0.5) arc (90:26:0.5) node[midway, above]{$\alpha$}; + + \draw[dashed, <->] ($(O) + (3.5, 0)$) -- node[right]{$H$} ($(T) + (3.5, 0)$); + \draw[dashed, <->] ($(A) + (0, -2)$) -- node[below]{$L$} ($(B) + (0, -2)$); + \end{tikzpicture} +#+end_src + +#+RESULTS: +[[file:figs/cedrat_geometry.png]] + + * Matlab Init :noexport:ignore: #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) < -> diff --git a/figs/cedrat_geometry.png b/figs/cedrat_geometry.png new file mode 100644 index 0000000..95eafa8 Binary files /dev/null and b/figs/cedrat_geometry.png differ