Add sample object and remove sample script
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<?xml version='1.0' encoding='UTF-8'?>
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<Info Ref="stewart-simscape/src" Type="Relative" />
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BIN
Assemblage.slx
BIN
Assemblage.slx
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7
Sample.m
7
Sample.m
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%% Sample Design
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rs = 0.1 ; % (m) sample radius
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ls = 0.33007; % (m) sample lenght
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ms = 50 ; % (kg) sample mass
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%% Sample position
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raddec =0 ; % (m) decentralization radius
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@@ -1,12 +1,13 @@
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clear; close all; clc;
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%%
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run Assemblage_DataFile.m
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run Sample.m
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run init_solidworks_data.m
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%% Solver Configuration
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Ts = 1e-4; % Sampling time [s]
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Tsim = 1; % Simulation time [s]
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%% Gravity
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%% Gravity
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g = 0 ; % Gravity along the z axis [m/s^2]
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%% Ground
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@@ -29,7 +30,7 @@ ty = struct();
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ty.m = smiData.Solid(4).mass+smiData.Solid(6).mass+smiData.Solid(7).mass+smiData.Solid(8).mass+smiData.Solid(9).mass+4*smiData.Solid(11).mass+smiData.Solid(24).mass+smiData.Solid(25).mass+smiData.Solid(28).mass;
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ty.k.ax = 1e7/4; % Axial Stiffness for each of the 4 guidance (y) [N/m]
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ty.k.rad = 9e9/4; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]
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ty.k.rad = 9e9/4; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]
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ty.ksi.ax = 10;
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ty.ksi.rad = 10;
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@@ -72,14 +73,9 @@ rz.ksi.rot = 1;
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rz = updateDamping(rz);
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%% Hexapod Symétrie
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% TODO - is now defined by the stewart-simscape project
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hexapod = struct();
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hexapod.m = smiData.Solid(16).mass;
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hexapod.k.ax = (138e6/6)*1.2; % Leg stiffness [N/m]
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hexapod.ksi.ax = 10;
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hexapod = updateDamping(hexapod);
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run stewart-simscape\params_micro_hexapod.m;
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micro_hexapod = stewart;
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clear stewart;
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%% Center of gravity compensation
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axisc = struct();
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@@ -91,14 +87,18 @@ axisc.ksi.ax = 1;
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axisc = updateDamping(axisc);
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%% NASS
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% TODO - is now defined by the stewart-simscape project
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nass = struct();
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run stewart-simscape\params_micro_hexapod.m;
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nano_hexapod = stewart;
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clear stewart;
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nass.m = smiData.Solid(27).mass;
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nass.k.ax = 5e7; % Leg stiffness [N/m]
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nass.ksi.ax = 10;
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%% Sample
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sample = struct();
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nass = updateDamping(nass);
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sample.radius = 100; % Sample radius [mm]
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sample.height = 300; % Sample height [mm]
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sample.mass = 50; % Sample mass [kg]
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sample.offset = 0; % Decentralization offset [mm]
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sample.color = [0.9 0.1 0.1]; % Sample color
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%%
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function element = updateDamping(element)
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Submodule stewart-simscape updated: 9a8f587904...17c9de54fb
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