Add metrology mirror initialization. Change J-height of hexapods

.gitignore

@@ -28,3 +28,4 @@ octave-workspace
 Assemblage_grt_rtw/
 Figures/
 data/
+Videos/

init_data.m

@@ -11,7 +11,7 @@ initializeSimConf(opts_sim);
 %% Initialize Inputs
 opts_inputs = struct(...
     '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);
 

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

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();

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
+

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.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.jacobian = 175; % Point where the Jacobian is computed => Center of rotation [mm]
 
     %% Bottom Plate
     BP = struct();

readme.org

@@ -3,5 +3,8 @@
 * Description of the files
 
 * List of things to do
-** TODO Apply some MIMO control
+** SOMEDAY Apply some MIMO control
 ** TODO Create multiple folder inside the ~mat~ folder.
+** DONE Add the mirror instead of the interface piece
+   CLOSED: [2018-07-11 Wed 15:42]
+- Be carefull abouth the height of the mirror so that the interested point is still the same.