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Model flexible nano-hexapod elements

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This commit is contained in:
Thomas Dehaeze
2020-11-03 09:45:50 +01:00
parent 184c755fb8
commit bd054638b2
23 changed files with 2872 additions and 2739 deletions
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8
src/describeStewartPlatform.m
View File

@@ -46,6 +46,10 @@ switch stewart.joints_F.type
fprintf('- The joints on the fixed based are universal joints\n')
case 2
fprintf('- The joints on the fixed based are spherical joints\n')
case 3
fprintf('- The joints on the fixed based are perfect universal joints\n')
case 4
fprintf('- The joints on the fixed based are perfect spherical joints\n')
end
switch stewart.joints_M.type
@@ -53,6 +57,10 @@ switch stewart.joints_M.type
fprintf('- The joints on the mobile based are universal joints\n')
case 2
fprintf('- The joints on the mobile based are spherical joints\n')
case 3
fprintf('- The joints on the mobile based are perfect universal joints\n')
case 4
fprintf('- The joints on the mobile based are perfect spherical joints\n')
end
fprintf('- The position of the joints on the fixed based with respect to {F} are (in [mm]):\n')

3
src/initializeGranite.m
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@@ -9,6 +9,7 @@ arguments
args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m]
args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m]
args.z0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Z direction [m]
args.sample_pos (1,1) double {mustBeNumeric} = 0.8 % Height of the measurment point [m]
end
granite = struct();
@@ -29,7 +30,7 @@ end
granite.density = args.density; % [kg/m3]
granite.STEP = './STEPS/granite/granite.STEP';
granite.sample_pos = 0.8; % [m]
granite.sample_pos = args.sample_pos; % [m]
granite.K = args.K; % [N/m]
granite.C = args.C; % [N/(m/s)]

125
src/initializeJointDynamics.m
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@@ -11,14 +11,10 @@ function [stewart] = initializeJointDynamics(stewart, args)
% - Kt_M [6x1] - Torsion (Rz) Stiffness for each top joints [(N.m)/rad]
% - Cf_M [6x1] - Bending (Rx, Ry) Damping of each top joint [(N.m)/(rad/s)]
% - Ct_M [6x1] - Torsion (Rz) Damping of each top joint [(N.m)/(rad/s)]
% - Kz_M [6x1] - Translation (Tz) Stiffness for each top joints [N/m]
% - Cz_M [6x1] - Translation (Tz) Damping of each top joint [N/m]
% - Kf_F [6x1] - Bending (Rx, Ry) Stiffness for each bottom joints [(N.m)/rad]
% - Kt_F [6x1] - Torsion (Rz) Stiffness for each bottom joints [(N.m)/rad]
% - Cf_F [6x1] - Bending (Rx, Ry) Damping of each bottom joint [(N.m)/(rad/s)]
% - Cf_F [6x1] - Torsion (Rz) Damping of each bottom joint [(N.m)/(rad/s)]
% - Kz_F [6x1] - Translation (Tz) Stiffness for each bottom joints [N/m]
% - Cz_F [6x1] - Translation (Tz) Damping of each bottom joint [N/m]
%
% Outputs:
% - stewart - updated Stewart structure with the added fields:
@@ -33,20 +29,34 @@ function [stewart] = initializeJointDynamics(stewart, args)
arguments
stewart
args.type_F char {mustBeMember(args.type_F,{'universal', 'spherical', 'universal_p', 'spherical_p', 'universal_3dof'})} = 'universal'
args.type_M char {mustBeMember(args.type_M,{'universal', 'spherical', 'universal_p', 'spherical_p', 'spherical_3dof'})} = 'spherical'
args.Kf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 15*ones(6,1)
args.type_F char {mustBeMember(args.type_F,{'universal', 'spherical', 'universal_p', 'spherical_p', 'universal_3dof', 'spherical_3dof', 'flexible'})} = 'universal'
args.type_M char {mustBeMember(args.type_M,{'universal', 'spherical', 'universal_p', 'spherical_p', 'universal_3dof', 'spherical_3dof', 'flexible'})} = 'spherical'
args.Kf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 33*ones(6,1)
args.Cf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.Kt_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 20*ones(6,1)
args.Kt_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 236*ones(6,1)
args.Ct_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1)
args.Kz_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 60e6*ones(6,1)
args.Cz_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e2*ones(6,1)
args.Kf_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 15*ones(6,1)
args.Kf_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 33*ones(6,1)
args.Cf_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.Kt_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 20*ones(6,1)
args.Kt_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 236*ones(6,1)
args.Ct_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1)
args.Kz_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 60e6*ones(6,1)
args.Cz_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e2*ones(6,1)
args.Ka_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.2e8*ones(6,1)
args.Ca_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
args.Kr_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.1e7*ones(6,1)
args.Cr_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
args.Ka_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.2e8*ones(6,1)
args.Ca_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
args.Kr_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.1e7*ones(6,1)
args.Cr_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
args.K_M double {mustBeNumeric} = zeros(6,6)
args.M_M double {mustBeNumeric} = zeros(6,6)
args.n_xyz_M double {mustBeNumeric} = zeros(2,3)
args.xi_M double {mustBeNumeric} = 0.1
args.step_file_M char {} = ''
args.K_F double {mustBeNumeric} = zeros(6,6)
args.M_F double {mustBeNumeric} = zeros(6,6)
args.n_xyz_F double {mustBeNumeric} = zeros(2,3)
args.xi_F double {mustBeNumeric} = 0.1
args.step_file_F char {} = ''
end
switch args.type_F
@@ -55,11 +65,15 @@ switch args.type_F
case 'spherical'
stewart.joints_F.type = 2;
case 'universal_p'
stewart.joints_F.type = 1;
stewart.joints_F.type = 3;
case 'spherical_p'
stewart.joints_F.type = 2;
case 'universal_3dof'
stewart.joints_F.type = 4;
case 'flexible'
stewart.joints_F.type = 5;
case 'universal_3dof'
stewart.joints_F.type = 6;
case 'spherical_3dof'
stewart.joints_F.type = 7;
end
switch args.type_M
@@ -68,59 +82,50 @@ switch args.type_M
case 'spherical'
stewart.joints_M.type = 2;
case 'universal_p'
stewart.joints_M.type = 1;
stewart.joints_M.type = 3;
case 'spherical_p'
stewart.joints_M.type = 2;
case 'spherical_3dof'
stewart.joints_M.type = 4;
case 'flexible'
stewart.joints_M.type = 5;
case 'universal_3dof'
stewart.joints_M.type = 6;
case 'spherical_3dof'
stewart.joints_M.type = 7;
end
stewart.joints_M.Kx = zeros(6,1);
stewart.joints_M.Ky = zeros(6,1);
stewart.joints_M.Kz = zeros(6,1);
stewart.joints_F.Kx = zeros(6,1);
stewart.joints_F.Ky = zeros(6,1);
stewart.joints_F.Kz = zeros(6,1);
stewart.joints_M.Ka = args.Ka_M;
stewart.joints_M.Kr = args.Kr_M;
stewart.joints_M.Kf = zeros(6,1);
stewart.joints_M.Kt = zeros(6,1);
stewart.joints_F.Kf = zeros(6,1);
stewart.joints_F.Kt = zeros(6,1);
stewart.joints_F.Ka = args.Ka_F;
stewart.joints_F.Kr = args.Kr_F;
stewart.joints_M.Cx = zeros(6,1);
stewart.joints_M.Cy = zeros(6,1);
stewart.joints_M.Cz = zeros(6,1);
stewart.joints_F.Cx = zeros(6,1);
stewart.joints_F.Cy = zeros(6,1);
stewart.joints_F.Cz = zeros(6,1);
stewart.joints_M.Ca = args.Ca_M;
stewart.joints_M.Cr = args.Cr_M;
stewart.joints_M.Cf = zeros(6,1);
stewart.joints_M.Ct = zeros(6,1);
stewart.joints_F.Cf = zeros(6,1);
stewart.joints_F.Ct = zeros(6,1);
stewart.joints_F.Ca = args.Ca_F;
stewart.joints_F.Cr = args.Cr_F;
if ~strcmp(args.type_M, 'universal_p') || ~strcmp(args.type_M, 'spherical_p')
stewart.joints_M.Kz = args.Kz_M;
stewart.joints_M.Cz = args.Cz_M;
end
stewart.joints_M.Kf = args.Kf_M;
stewart.joints_M.Kt = args.Kt_M;
if ~strcmp(args.type_F, 'universal_p') || ~strcmp(args.type_F, 'spherical_p')
stewart.joints_F.Kz = args.Kz_F;
stewart.joints_F.Cz = args.Cz_F;
end
stewart.joints_F.Kf = args.Kf_F;
stewart.joints_F.Kt = args.Kt_F;
if ~strcmp(args.type_M, 'universal_p') || ~strcmp(args.type_M, 'spherical_p')
stewart.joints_M.Kf = args.Kf_M;
stewart.joints_M.Cf = args.Cf_M;
stewart.joints_M.Cf = args.Cf_M;
stewart.joints_M.Ct = args.Ct_M;
stewart.joints_M.Kt = args.Kt_M;
stewart.joints_M.Ct = args.Ct_M;
end
stewart.joints_F.Cf = args.Cf_F;
stewart.joints_F.Ct = args.Ct_F;
if ~strcmp(args.type_F, 'universal_p') || ~strcmp(args.type_F, 'spherical_p')
stewart.joints_F.Kf = args.Kf_F;
stewart.joints_F.Cf = args.Cf_F;
stewart.joints_F.M = args.M_F;
stewart.joints_F.K = args.K_F;
stewart.joints_F.n_xyz = args.n_xyz_F;
stewart.joints_F.xi = args.xi_F;
stewart.joints_F.xi = args.xi_F;
stewart.joints_F.step_file = args.step_file_F;
stewart.joints_F.Kt = args.Kt_F;
stewart.joints_F.Ct = args.Ct_F;
end
stewart.joints_M.M = args.M_M;
stewart.joints_M.K = args.K_M;
stewart.joints_M.n_xyz = args.n_xyz_M;
stewart.joints_M.xi = args.xi_M;
stewart.joints_M.step_file = args.step_file_M;

8
src/initializeMirror.m
View File

@@ -32,7 +32,7 @@ mirror.Deq = zeros(6,1);
mirror.h = 0.05; % Height of the mirror [m]
mirror.thickness = 0.025; % Thickness of the plate supporting the sample [m]
mirror.thickness = 0.02; % Thickness of the plate supporting the sample [m]
mirror.hole_rad = 0.125; % radius of the hole in the mirror [m]
@@ -41,11 +41,11 @@ mirror.support_rad = 0.1; % radius of the support plate [m]
% point of interest offset in z (above the top surfave) [m]
switch args.type
case 'none'
mirror.jacobian = 0.20;
mirror.jacobian = 0.205;
case 'rigid'
mirror.jacobian = 0.20 - mirror.h;
mirror.jacobian = 0.205 - mirror.h;
case 'flexible'
mirror.jacobian = 0.20 - mirror.h;
mirror.jacobian = 0.205 - mirror.h;
end
mirror.rad = 0.180; % radius of the mirror (at the bottom surface) [m]

62
src/initializeNanoHexapod.m
View File

@@ -3,8 +3,8 @@ function [nano_hexapod] = initializeNanoHexapod(args)
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'init'})} = 'flexible'
% initializeFramesPositions
args.H (1,1) double {mustBeNumeric, mustBePositive} = 90e-3
args.MO_B (1,1) double {mustBeNumeric} = 175e-3
args.H (1,1) double {mustBeNumeric, mustBePositive} = 95e-3
args.MO_B (1,1) double {mustBeNumeric} = 170e-3
% generateGeneralConfiguration
args.FH (1,1) double {mustBeNumeric, mustBePositive} = 15e-3
args.FR (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
@@ -18,25 +18,28 @@ arguments
args.ke (1,1) double {mustBeNumeric} = 5e6
args.ka (1,1) double {mustBeNumeric} = 60e6
args.c1 (1,1) double {mustBeNumeric} = 10
args.ce (1,1) double {mustBeNumeric} = 10
args.ca (1,1) double {mustBeNumeric} = 10
args.F_gain (1,1) double {mustBeNumeric} = 1
args.k (1,1) double {mustBeNumeric} = -1
args.c (1,1) double {mustBeNumeric} = -1
% initializeJointDynamics
args.type_F char {mustBeMember(args.type_F,{'universal', 'spherical', 'universal_p', 'spherical_p', 'universal_3dof'})} = 'universal'
args.type_M char {mustBeMember(args.type_M,{'universal', 'spherical', 'universal_p', 'spherical_p', 'spherical_3dof'})} = 'spherical'
args.Kf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 15*ones(6,1)
args.type_F char {mustBeMember(args.type_F,{'universal', 'spherical', 'universal_p', 'spherical_p', 'universal_3dof', 'spherical_3dof', 'flexible'})} = 'universal'
args.type_M char {mustBeMember(args.type_M,{'universal', 'spherical', 'universal_p', 'spherical_p', 'universal_3dof', 'spherical_3dof', 'flexible'})} = 'spherical'
args.Ka_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.2e8*ones(6,1)
args.Ca_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
args.Kr_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.1e7*ones(6,1)
args.Cr_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
args.Kf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 33*ones(6,1)
args.Cf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.Kt_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 20*ones(6,1)
args.Kt_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 236*ones(6,1)
args.Ct_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1)
args.Kz_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 60e6*ones(6,1)
args.Cz_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e2*ones(6,1)
args.Kf_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 15*ones(6,1)
args.Kf_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 33*ones(6,1)
args.Cf_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.Kt_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 20*ones(6,1)
args.Kt_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 236*ones(6,1)
args.Ct_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1)
args.Kz_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 60e6*ones(6,1)
args.Cz_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e2*ones(6,1)
args.Ka_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.2e8*ones(6,1)
args.Ca_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
args.Kr_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.1e7*ones(6,1)
args.Cr_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
% initializeCylindricalPlatforms
args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1
args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
@@ -81,9 +84,8 @@ elseif strcmp(args.actuator, 'amplified')
'k1', args.k1*ones(6,1), ...
'c1', args.c1*ones(6,1), ...
'ka', args.ka*ones(6,1), ...
'ca', args.ca*ones(6,1), ...
'ke', args.ke*ones(6,1), ...
'ce', args.ce*ones(6,1));
'F_gain', args.F_gain*ones(6,1));
else
error('args.actuator should be piezo, lorentz or amplified');
end
@@ -91,18 +93,22 @@ end
stewart = initializeJointDynamics(stewart, ...
'type_F', args.type_F, ...
'type_M', args.type_M, ...
'Kf_M' , args.Kf_M, ...
'Cf_M' , args.Cf_M, ...
'Kt_M' , args.Kt_M, ...
'Ct_M' , args.Ct_M, ...
'Kz_M' , args.Kz_M, ...
'Cz_M' , args.Cz_M, ...
'Kf_F' , args.Kf_F, ...
'Cf_F' , args.Cf_F, ...
'Kt_F' , args.Kt_F, ...
'Ct_F' , args.Ct_F, ...
'Kz_F' , args.Kz_F, ...
'Cz_F' , args.Cz_F);
'Kf_M', args.Kf_M, ...
'Cf_M', args.Cf_M, ...
'Kt_M', args.Kt_M, ...
'Ct_M', args.Ct_M, ...
'Kf_F', args.Kf_F, ...
'Cf_F', args.Cf_F, ...
'Kt_F', args.Kt_F, ...
'Ct_F', args.Ct_F, ...
'Ka_F', args.Ka_F, ...
'Ca_F', args.Ca_F, ...
'Kr_F', args.Kr_F, ...
'Cr_F', args.Cr_F, ...
'Ka_M', args.Ka_M, ...
'Ca_M', args.Ca_M, ...
'Kr_M', args.Kr_M, ...
'Cr_M', args.Cr_M);
stewart = initializeCylindricalPlatforms(stewart, 'Fpm', args.Fpm, 'Fph', args.Fph, 'Fpr', args.Fpr, 'Mpm', args.Mpm, 'Mph', args.Mph, 'Mpr', args.Mpr);

20
src/initializeStrutDynamics.m
View File

@@ -19,14 +19,13 @@ arguments
args.type char {mustBeMember(args.type,{'classical', 'amplified'})} = 'classical'
args.K (6,1) double {mustBeNumeric, mustBeNonnegative} = 20e6*ones(6,1)
args.C (6,1) double {mustBeNumeric, mustBeNonnegative} = 2e1*ones(6,1)
args.k1 (6,1) double {mustBeNumeric} = 1e6
args.ke (6,1) double {mustBeNumeric} = 5e6
args.ka (6,1) double {mustBeNumeric} = 60e6
args.c1 (6,1) double {mustBeNumeric} = 10
args.ce (6,1) double {mustBeNumeric} = 10
args.ca (6,1) double {mustBeNumeric} = 10
args.me (6,1) double {mustBeNumeric} = 0.05
args.ma (6,1) double {mustBeNumeric} = 0.05
args.k1 (6,1) double {mustBeNumeric} = 1e6*ones(6,1)
args.ke (6,1) double {mustBeNumeric} = 5e6*ones(6,1)
args.ka (6,1) double {mustBeNumeric} = 60e6*ones(6,1)
args.c1 (6,1) double {mustBeNumeric} = 10*ones(6,1)
args.F_gain (6,1) double {mustBeNumeric} = 1*ones(6,1)
args.me (6,1) double {mustBeNumeric} = 0.01*ones(6,1)
args.ma (6,1) double {mustBeNumeric} = 0.01*ones(6,1)
end
if strcmp(args.type, 'classical')
@@ -42,10 +41,9 @@ stewart.actuators.k1 = args.k1;
stewart.actuators.c1 = args.c1;
stewart.actuators.ka = args.ka;
stewart.actuators.ca = args.ca;
stewart.actuators.ke = args.ke;
stewart.actuators.ce = args.ce;
stewart.actuators.F_gain = args.F_gain;
stewart.actuators.ma = args.ma;
stewart.actuators.me = args.me;