From b3474428592f180e9b048dbc9340b199a281bb3b Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Wed, 11 Jul 2018 15:44:16 +0200 Subject: [PATCH] Add metrology mirror initialization. Change J-height of hexapods --- .gitignore | 1 + Assemblage.slx | Bin 231996 -> 232744 bytes init_data.m | 5 ++- init_simulation.m | 1 + initialize/initializeMicroHexapod.m | 2 +- initialize/initializeMirror.m | 55 ++++++++++++++++++++++++++++ initialize/initializeNanoHexapod.m | 4 +- mat/mirror.mat | Bin 0 -> 1370 bytes readme.org | 5 ++- 9 files changed, 68 insertions(+), 5 deletions(-) create mode 100644 initialize/initializeMirror.m create mode 100644 mat/mirror.mat diff --git a/.gitignore b/.gitignore index 1415e77..86c0039 100644 --- a/.gitignore +++ b/.gitignore @@ -28,3 +28,4 @@ octave-workspace Assemblage_grt_rtw/ Figures/ data/ +Videos/ diff --git a/Assemblage.slx b/Assemblage.slx index 5c7a7a1b377854d58913e7a4daa2ba3a0feb3194..8e8cc6fcadeeed76ece19b72f8abffba965cc98b 100644 GIT binary patch delta 178355 zcmZ6yWl$bZ(C&@9yE}p47F>h71b2cH+_{m(-Cb^i1=rvNhu{vu-QC?^{?BvjoT~Rj z_wMxe%xq0;gX$5Wv`X&oV2#5|S2ngb|iC}25 z1U?jKJt>$384qBEdIyQ|Lf?79$&_F|o0?x+Zc1k^r_l!WSC>iv)G28ZVqd4O#*+am 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'ground_motion', false, ... - 'rz', true ... + 'rz', false ... ); initializeInputs(opts_inputs); @@ -45,6 +45,9 @@ opts_nano_hexapod = struct('actuator', 'lorentz'); initializeNanoHexapod(opts_nano_hexapod); +%% Initialize the Mirror +initializeMirror(); + %% Initialize Sample opts_sample = struct('mass', 20); diff --git a/init_simulation.m b/init_simulation.m index 0ed59f2..fcdcb06 100644 --- a/init_simulation.m +++ b/init_simulation.m @@ -13,6 +13,7 @@ load('./mat/rz.mat', 'rz'); load('./mat/micro_hexapod.mat', 'micro_hexapod'); load('./mat/axisc.mat', 'axisc'); load('./mat/nano_hexapod.mat', 'nano_hexapod'); +load('./mat/mirror.mat', 'mirror'); load('./mat/sample.mat', 'sample'); %% Load Signals Applied to the system diff --git a/initialize/initializeMicroHexapod.m b/initialize/initializeMicroHexapod.m index 0751184..0c09274 100644 --- a/initialize/initializeMicroHexapod.m +++ b/initialize/initializeMicroHexapod.m @@ -12,7 +12,7 @@ function [micro_hexapod] = initializeMicroHexapod(opts_param) %% Stewart Object micro_hexapod = struct(); micro_hexapod.h = 350; % Total height of the platform [mm] - micro_hexapod.jacobian = 435; % Point where the Jacobian is computed => Center of rotation [mm] + micro_hexapod.jacobian = 265; % Point where the Jacobian is computed => Center of rotation [mm] %% Bottom Plate BP = struct(); diff --git a/initialize/initializeMirror.m b/initialize/initializeMirror.m new file mode 100644 index 0000000..ee075d7 --- /dev/null +++ b/initialize/initializeMirror.m @@ -0,0 +1,55 @@ +function [mirror] = initializeMirror(opts_param) + %% Default values for opts + opts = struct(... + 'shape', 'spherical', ... % spherical or conical + 'angle', 45 ... + ); + + %% Populate opts with input parameters + if exist('opts_param','var') + for opt = fieldnames(opts_param)' + opts.(opt{1}) = opts_param.(opt{1}); + end + end + + %% + 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.cone_length = mirror.rad*tand(opts.angle)+mirror.h+mirror.jacobian; % Distance from Apex point of the cone to jacobian point + + %% Shape + mirror.shape = [... + 0 mirror.h-mirror.thickness + mirror.hole_rad mirror.h-mirror.thickness; ... + mirror.hole_rad 0; ... + mirror.rad 0 ... + ]; + + if strcmp(opts.shape, 'spherical') + mirror.sphere_radius = sqrt((mirror.jacobian+mirror.h)^2+mirror.rad^2); % Radius of the sphere [mm] + + for z = linspace(0, mirror.h, 101) + mirror.shape = [mirror.shape; sqrt(mirror.sphere_radius^2-(z-mirror.jacobian-mirror.h)^2) z]; + end + elseif strcmp(opts.shape, 'conical') + mirror.shape = [mirror.shape; mirror.rad+mirror.h/tand(opts.ang) mirror.h]; + else + error('Shape should be either conical or spherical'); + end + + mirror.shape = [mirror.shape; 0 mirror.h]; + + %% + if nargout == 0 + save('./mat/mirror.mat', 'mirror') + end +end + diff --git a/initialize/initializeNanoHexapod.m b/initialize/initializeNanoHexapod.m index 28b7a62..4b30953 100644 --- a/initialize/initializeNanoHexapod.m +++ b/initialize/initializeNanoHexapod.m @@ -11,8 +11,8 @@ function [nano_hexapod] = initializeNanoHexapod(opts_param) %% Stewart Object nano_hexapod = struct(); - nano_hexapod.h = 90; % Total height of the platform [mm] - nano_hexapod.jacobian = 174.5; % Point where the Jacobian is computed => Center of rotation [mm] + nano_hexapod.h = 90; % Total height of the platform [mm] + nano_hexapod.jacobian = 175; % Point where the Jacobian is computed => Center of rotation [mm] %% Bottom Plate BP = struct(); diff --git a/mat/mirror.mat b/mat/mirror.mat new file mode 100644 index 0000000000000000000000000000000000000000..643192a7af2c45100b6627e8051433ada0293541 GIT binary patch literal 1370 zcma)yc|6k#0Ki=x=<$*cS^903Tw!y>UWSd@m=NYzXzxwJXdOWO*h%km_)WYlY`n><&_n+_gkFTwT6V3t!80zQ&wiZq&F8Y$awE=rFG4x_! 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