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Add model of the nano-hexapod

Browse Source 
- STEPS files from SolidWorks
- configurable APA, flexible joints, etc.
This commit is contained in:
Thomas Dehaeze 2021-04-19 15:06:05 +02:00
parent f9c8a7b5fb
commit f287dc9227
59 changed files with 74149 additions and 0 deletions
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STEPS/nano_hexapod/apa300ml.STEP Normal file
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ISO-10303-21;
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54
mat/APA300ML_b_out_nodes_3D.txt Normal file
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@ -0,0 +1,54 @@
LIST ALL SELECTED NODES. DSYS= 0
*** ANSYS - ENGINEERING ANALYSIS SYSTEM RELEASE 2020 R2 20.2 ***
DISTRIBUTED ANSYS Mechanical Enterprise
00208316 VERSION=WINDOWS x64 11:07:02 MAR 25, 2021 CP= 2.062
Unknown
NODE X Y Z THXY THYZ THZX
840914 0.0000 0.0000 0.28000E-001 0.00 0.00 0.00
840915 0.0000 0.0000 -0.28000E-001 0.00 0.00 0.00
840916 -0.34000E-001 0.0000 0.0000 0.00 0.00 0.00
840917 0.34000E-001 0.0000 0.0000 0.00 0.00 0.00
LIST MASTERS ON ALL SELECTED NODES.
CURRENT DOF SET= UX UY UZ ROTX ROTY ROTZ
*** ANSYS - ENGINEERING ANALYSIS SYSTEM RELEASE 2020 R2 20.2 ***
DISTRIBUTED ANSYS Mechanical Enterprise
00208316 VERSION=WINDOWS x64 11:07:02 MAR 25, 2021 CP= 2.188
Unknown
NODE LABEL SUPPORT
840914 UX
840914 UY
840914 UZ
840914 ROTX
840914 ROTY
840914 ROTZ
840915 UX
840915 UY
840915 UZ
840915 ROTX
840915 ROTY
840915 ROTZ
840916 UX
840916 UY
840916 UZ
840916 ROTX
840916 ROTY
840916 ROTZ
840917 UX
840917 UY
840917 UZ
840917 ROTX
840917 ROTY
840917 ROTZ

36
mat/APA300ML_full_mat_K.CSV Normal file
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61
mat/APA300ML_full_out_nodes_3D.txt Normal file
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@ -0,0 +1,61 @@
LIST ALL SELECTED NODES. DSYS= 0
*** ANSYS - ENGINEERING ANALYSIS SYSTEM RELEASE 2020 R2 20.2 ***
DISTRIBUTED ANSYS Mechanical Enterprise
00208316 VERSION=WINDOWS x64 14:16:37 MAR 25, 2021 CP= 2.219
Unknown
NODE X Y Z THXY THYZ THZX
1 0.0000 0.0000 0.28000E-001 0.00 0.00 0.00
840915 0.0000 0.0000 -0.28000E-001 0.00 0.00 0.00
840916 -0.30000E-001 0.0000 0.0000 0.00 0.00 0.00
840917 0.10000E-001 0.0000 0.0000 0.00 0.00 0.00
840918 0.30000E-001 0.0000 0.0000 0.00 0.00 0.00
LIST MASTERS ON ALL SELECTED NODES.
CURRENT DOF SET= UX UY UZ ROTX ROTY ROTZ
*** ANSYS - ENGINEERING ANALYSIS SYSTEM RELEASE 2020 R2 20.2 ***
DISTRIBUTED ANSYS Mechanical Enterprise
00208316 VERSION=WINDOWS x64 14:16:37 MAR 25, 2021 CP= 2.219
Unknown
NODE LABEL SUPPORT
1 UX
1 UY
1 UZ
1 ROTX
1 ROTY
1 ROTZ
840915 UX
840915 UY
840915 UZ
840915 ROTX
840915 ROTY
840915 ROTZ
840916 UX
840916 UY
840916 UZ
840916 ROTX
840916 ROTY
840916 ROTZ
840917 UX
840917 UY
840917 UZ
840917 ROTX
840917 ROTY
840917 ROTZ
840918 UX
840918 UY
840918 UZ
840918 ROTX
840918 ROTY
840918 ROTZ

162
mat/APA300ML_mat_K.CSV Normal file
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mat/APA300ML_out_nodes_3D.txt Normal file
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@ -0,0 +1,75 @@
LIST ALL SELECTED NODES. DSYS= 0
*** ANSYS - ENGINEERING ANALYSIS SYSTEM RELEASE 2020 R2 20.2 ***
DISTRIBUTED ANSYS Academic Research
00208316 VERSION=WINDOWS x64 15:15:04 AUG 26, 2020 CP= 2.625
Piezo-APA300ML-param--Modal (B5)
NODE X Y Z THXY THYZ THZX
697783 0.0000 0.0000 -0.15000E-001 0.00 0.00 0.00
697784 0.0000 0.0000 0.15000E-001 0.00 0.00 0.00
697785 -0.32500E-001 0.0000 0.0000 0.00 0.00 0.00
697786 -0.12500E-001 0.0000 0.0000 0.00 0.00 0.00
697787 -0.75000E-002 0.0000 0.0000 0.00 0.00 0.00
697788 0.12500E-001 0.0000 0.0000 0.00 0.00 0.00
697789 0.32500E-001 0.0000 0.0000 0.00 0.00 0.00
LIST MASTERS ON ALL SELECTED NODES.
CURRENT DOF SET= UX UY UZ ROTX ROTY ROTZ
*** ANSYS - ENGINEERING ANALYSIS SYSTEM RELEASE 2020 R2 20.2 ***
DISTRIBUTED ANSYS Academic Research
00208316 VERSION=WINDOWS x64 15:15:04 AUG 26, 2020 CP= 2.750
Piezo-APA300ML-param--Modal (B5)
NODE LABEL SUPPORT
697783 UX
697783 UY
697783 UZ
697783 ROTX
697783 ROTY
697783 ROTZ
697784 UX
697784 UY
697784 UZ
697784 ROTX
697784 ROTY
697784 ROTZ
697785 UX
697785 UY
697785 UZ
697785 ROTX
697785 ROTY
697785 ROTZ
697786 UX
697786 UY
697786 UZ
697786 ROTX
697786 ROTY
697786 ROTZ
697787 UX
697787 UY
697787 UZ
697787 ROTX
697787 ROTY
697787 ROTZ
697788 UX
697788 UY
697788 UZ
697788 ROTX
697788 ROTY
697788 ROTZ
697789 UX
697789 UY
697789 UZ
697789 ROTX
697789 ROTY
697789 ROTZ

30
mat/apa300ml_frame_mat_K.CSV Normal file
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54
mat/apa300ml_frame_out_nodes_3D.txt Normal file
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LIST ALL SELECTED NODES. DSYS= 0
*** ANSYS - ENGINEERING ANALYSIS SYSTEM RELEASE 2020 R2 20.2 ***
DISTRIBUTED ANSYS Mechanical Enterprise
00208316 VERSION=WINDOWS x64 15:36:08 MAR 18, 2021 CP= 4.797
Piezo-APA300ML-frame--Modal (C5)
NODE X Y Z THXY THYZ THZX
840914 0.0000 0.0000 0.28000E-001 0.00 0.00 0.00
840915 0.0000 0.0000 -0.28000E-001 0.00 0.00 0.00
840916 -0.34000E-001 0.0000 0.0000 0.00 0.00 0.00
840917 0.34000E-001 0.0000 0.0000 0.00 0.00 0.00
LIST MASTERS ON ALL SELECTED NODES.
CURRENT DOF SET= UX UY UZ ROTX ROTY ROTZ
*** ANSYS - ENGINEERING ANALYSIS SYSTEM RELEASE 2020 R2 20.2 ***
DISTRIBUTED ANSYS Mechanical Enterprise
00208316 VERSION=WINDOWS x64 15:36:08 MAR 18, 2021 CP= 5.047
Piezo-APA300ML-frame--Modal (C5)
NODE LABEL SUPPORT
840914 UX
840914 UY
840914 UZ
840914 ROTX
840914 ROTY
840914 ROTZ
840915 UX
840915 UY
840915 UZ
840915 ROTX
840915 ROTY
840915 ROTZ
840916 UX
840916 UY
840916 UZ
840916 ROTX
840916 ROTY
840916 ROTZ
840917 UX
840917 UY
840917 UZ
840917 ROTX
840917 ROTY
840917 ROTZ

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src/initializeNanoHexapodFinal.m Normal file
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function [nano_hexapod] = initializeNanoHexapodFinal(args)
arguments
%% Bottom Flexible Joints
args.flex_bot_type char {mustBeMember(args.flex_bot_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
args.flex_bot_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
args.flex_bot_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
args.flex_bot_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
args.flex_bot_kz (6,1) double {mustBeNumeric} = ones(6,1)*1e8 % Axial Stiffness [N/m]
args.flex_bot_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % X bending Damping [Nm/(rad/s)]
args.flex_bot_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Y bending Damping [Nm/(rad/s)]
args.flex_bot_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Torsionnal Damping [Nm/(rad/s)]
args.flex_bot_cz (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
%% Top Flexible Joints
args.flex_top_type char {mustBeMember(args.flex_top_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
args.flex_top_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
args.flex_top_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
args.flex_top_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
args.flex_top_kz (6,1) double {mustBeNumeric} = ones(6,1)*1e8 % Axial Stiffness [N/m]
args.flex_top_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % X bending Damping [Nm/(rad/s)]
args.flex_top_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Y bending Damping [Nm/(rad/s)]
args.flex_top_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Torsionnal Damping [Nm/(rad/s)]
args.flex_top_cz (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
%% Relative Motion Sensor
args.motion_sensor_type char {mustBeMember(args.motion_sensor_type,{'struts', 'plates'})} = 'struts'
%% Actuators
args.actuator_type char {mustBeMember(args.actuator_type,{'2dof', 'flexible frame', 'flexible'})} = 'flexible'
args.actuator_Ga (6,1) double {mustBeNumeric} = ones(6,1)*1 % Actuator gain [N/V]
args.actuator_Gs (6,1) double {mustBeNumeric} = ones(6,1)*1 % Sensor gain [V/m]
% For 2DoF
args.actuator_k (6,1) double {mustBeNumeric} = ones(6,1)*0.35e6 % [N/m]
args.actuator_ke (6,1) double {mustBeNumeric} = ones(6,1)*1.5e6 % [N/m]
args.actuator_ka (6,1) double {mustBeNumeric} = ones(6,1)*43e6 % [N/m]
args.actuator_c (6,1) double {mustBeNumeric} = ones(6,1)*3e1 % [N/(m/s)]
args.actuator_ce (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
args.actuator_ca (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
args.actuator_Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056 % [m]
% For Flexible Frame
args.actuator_ks (6,1) double {mustBeNumeric} = ones(6,1)*235e6 % Stiffness of one stack [N/m]
args.actuator_cs (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % Stiffness of one stack [N/m]
% For Flexible
args.actuator_xi (1,1) double {mustBeNumeric} = 0.01 % Sensor gain [V/m]
end
nano_hexapod = struct();
nano_hexapod.flex_bot = struct();
switch args.flex_bot_type
case '2dof'
nano_hexapod.flex_bot.type = 1;
case '3dof'
nano_hexapod.flex_bot.type = 2;
case '4dof'
nano_hexapod.flex_bot.type = 3;
case 'flexible'
nano_hexapod.flex_bot.type = 4;
end
nano_hexapod.flex_bot.kRx = args.flex_bot_kRx; % X bending stiffness [Nm/rad]
nano_hexapod.flex_bot.kRy = args.flex_bot_kRy; % Y bending stiffness [Nm/rad]
nano_hexapod.flex_bot.kRz = args.flex_bot_kRz; % Torsionnal stiffness [Nm/rad]
nano_hexapod.flex_bot.kz = args.flex_bot_kz; % Axial stiffness [N/m]
nano_hexapod.flex_bot.cRx = args.flex_bot_cRx; % [Nm/(rad/s)]
nano_hexapod.flex_bot.cRy = args.flex_bot_cRy; % [Nm/(rad/s)]
nano_hexapod.flex_bot.cRz = args.flex_bot_cRz; % [Nm/(rad/s)]
nano_hexapod.flex_bot.cz = args.flex_bot_cz; %[N/(m/s)]
nano_hexapod.flex_top = struct();
switch args.flex_top_type
case '2dof'
nano_hexapod.flex_top.type = 1;
case '3dof'
nano_hexapod.flex_top.type = 2;
case '4dof'
nano_hexapod.flex_top.type = 3;
case 'flexible'
nano_hexapod.flex_top.type = 4;
end
nano_hexapod.flex_top.kRx = args.flex_top_kRx; % X bending stiffness [Nm/rad]
nano_hexapod.flex_top.kRy = args.flex_top_kRy; % Y bending stiffness [Nm/rad]
nano_hexapod.flex_top.kRz = args.flex_top_kRz; % Torsionnal stiffness [Nm/rad]
nano_hexapod.flex_top.kz = args.flex_top_kz; % Axial stiffness [N/m]
nano_hexapod.flex_top.cRx = args.flex_top_cRx; % [Nm/(rad/s)]
nano_hexapod.flex_top.cRy = args.flex_top_cRy; % [Nm/(rad/s)]
nano_hexapod.flex_top.cRz = args.flex_top_cRz; % [Nm/(rad/s)]
nano_hexapod.flex_top.cz = args.flex_top_cz; %[N/(m/s)]
nano_hexapod.motion_sensor = struct();
switch args.motion_sensor_type
case 'struts'
nano_hexapod.motion_sensor.type = 1;
case 'plates'
nano_hexapod.motion_sensor.type = 2;
end
nano_hexapod.actuator = struct();
switch args.actuator_type
case '2dof'
nano_hexapod.actuator.type = 1;
case 'flexible frame'
nano_hexapod.actuator.type = 2;
case 'flexible'
nano_hexapod.actuator.type = 3;
end
nano_hexapod.actuator.Ga = args.actuator_Ga; % Actuator gain [N/V]
nano_hexapod.actuator.Gs = args.actuator_Gs; % Sensor gain [V/m]
nano_hexapod.actuator.k = args.actuator_k; % [N/m]
nano_hexapod.actuator.ke = args.actuator_ke; % [N/m]
nano_hexapod.actuator.ka = args.actuator_ka; % [N/m]
nano_hexapod.actuator.c = args.actuator_c; % [N/(m/s)]
nano_hexapod.actuator.ce = args.actuator_ce; % [N/(m/s)]
nano_hexapod.actuator.ca = args.actuator_ca; % [N/(m/s)]
nano_hexapod.actuator.Leq = args.actuator_Leq; % [m]
switch args.actuator_type
case 'flexible frame'
nano_hexapod.actuator.K = readmatrix('APA300ML_b_mat_K.CSV'); % Stiffness Matrix
nano_hexapod.actuator.M = readmatrix('APA300ML_b_mat_M.CSV'); % Mass Matrix
nano_hexapod.actuator.P = extractNodes('APA300ML_b_out_nodes_3D.txt'); % Node coordinates [m]
case 'flexible'
nano_hexapod.actuator.K = readmatrix('APA300ML_full_mat_K.CSV'); % Stiffness Matrix
nano_hexapod.actuator.M = readmatrix('APA300ML_full_mat_M.CSV'); % Mass Matrix
nano_hexapod.actuator.P = extractNodes('APA300ML_full_out_nodes_3D.txt'); % Node coordiantes [m]
end
nano_hexapod.actuator.xi = args.actuator_xi; % Damping ratio
nano_hexapod.actuator.ks = args.actuator_ks; % Stiffness of one stack [N/m]
nano_hexapod.actuator.cs = args.actuator_cs; % Damping of one stack [N/m]
save('./mat/stages.mat', 'nano_hexapod', '-append');