tdehaeze/nass-simscape
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Add sample object and remove sample script

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This commit is contained in:
Thomas Dehaeze 2018-06-07 14:20:06 +02:00
parent 88b903e8d2
commit 92d4ac9b2b
6 changed files with 21 additions and 26 deletions
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2
.SimulinkProject/Root.type.ProjectPath/394b5507-3405-4742-9ff1-cb1569440644.type.Reference.xml Normal file
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<?xml version='1.0' encoding='UTF-8'?>
<Info Ref="stewart-simscape/src" Type="Relative" />

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Assemblage.slx
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Sample.m
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%% Sample Design
rs = 0.1 ; % (m) sample radius
ls = 0.33007; % (m) sample lenght
ms = 50 ; % (kg) sample mass
%% Sample position
raddec =0 ; % (m) decentralization radius

36
Data.m → init_data.m
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@ -1,12 +1,13 @@
clear; close all; clc;
%% %%
run Assemblage_DataFile.m run init_solidworks_data.m
run Sample.m
%% Solver Configuration %% Solver Configuration
Ts = 1e-4; % Sampling time [s] Ts = 1e-4; % Sampling time [s]
Tsim = 1; % Simulation time [s] Tsim = 1; % Simulation time [s]
%% Gravity %% Gravity
g = 0 ; % Gravity along the z axis [m/s^2] g = 0 ; % Gravity along the z axis [m/s^2]
%% Ground %% Ground
@ -29,7 +30,7 @@ ty = struct();
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; 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;
ty.k.ax = 1e7/4; % Axial Stiffness for each of the 4 guidance (y) [N/m] ty.k.ax = 1e7/4; % Axial Stiffness for each of the 4 guidance (y) [N/m]
ty.k.rad = 9e9/4; % Radial Stiffness for each of the 4 guidance (x-z) [N/m] ty.k.rad = 9e9/4; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]
ty.ksi.ax = 10; ty.ksi.ax = 10;
ty.ksi.rad = 10; ty.ksi.rad = 10;
@ -72,14 +73,9 @@ rz.ksi.rot = 1;
rz = updateDamping(rz); rz = updateDamping(rz);
%% Hexapod Symétrie %% Hexapod Symétrie
% TODO - is now defined by the stewart-simscape project run stewart-simscape\params_micro_hexapod.m;
hexapod = struct(); micro_hexapod = stewart;
clear stewart;
hexapod.m = smiData.Solid(16).mass;
hexapod.k.ax = (138e6/6)*1.2; % Leg stiffness [N/m]
hexapod.ksi.ax = 10;
hexapod = updateDamping(hexapod);
%% Center of gravity compensation %% Center of gravity compensation
axisc = struct(); axisc = struct();
@ -91,14 +87,18 @@ axisc.ksi.ax = 1;
axisc = updateDamping(axisc); axisc = updateDamping(axisc);
%% NASS %% NASS
% TODO - is now defined by the stewart-simscape project run stewart-simscape\params_micro_hexapod.m;
nass = struct(); nano_hexapod = stewart;
clear stewart;
nass.m = smiData.Solid(27).mass; %% Sample
nass.k.ax = 5e7; % Leg stiffness [N/m] sample = struct();
nass.ksi.ax = 10;
nass = updateDamping(nass); sample.radius = 100; % Sample radius [mm]
sample.height = 300; % Sample height [mm]
sample.mass = 50; % Sample mass [kg]
sample.offset = 0; % Decentralization offset [mm]
sample.color = [0.9 0.1 0.1]; % Sample color
%% %%
function element = updateDamping(element) function element = updateDamping(element)

0
Assemblage_DataFile.m → init_solidworks_data.m
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stewart-simscape

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Subproject commit 9a8f58790461132ed9addbebf1564395a139718b Subproject commit 17c9de54fb551cb5280283186ca58d4a7f48c39c