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Second rewrite

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This commit is contained in:
Thomas Dehaeze
2025-04-03 10:35:31 +02:00
parent 049ab757b0
commit ab39bbdf0a
13 changed files with 238 additions and 279 deletions
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40
matlab/detail_kinematics_2_cubic.m
View File

@@ -1,3 +1,20 @@
%% Clear Workspace and Close figures
clear; close all; clc;
%% Intialize Laplace variable
s = zpk('s');
%% Path for functions, data and scripts
addpath('./mat/'); % Path for data
addpath('./src/'); % Path for functions
addpath('./subsystems/'); % Path for Subsystems Simulink files
% Simulink Model name
mdl = 'nano_hexapod_model';
%% Colors for the figures
colors = colororder;
%% Example of a typical "cubic" architecture
MO_B = -50e-3; % Position {B} with respect to {M} [m]
@@ -20,7 +37,8 @@ stewart = computeJacobian(stewart);
stewart = initializeStewartPose(stewart);
displayArchitecture(stewart, 'labels', false, 'frames', false);
plotCube(stewart, 'Hc', Hc, 'FOc', FOc, 'color', [0,0,0,0.5], 'link_to_struts', true);
plotCube(stewart, 'Hc', Hc, 'FOc', FOc, 'color', [0,0,0,0.2], 'link_to_struts', false);
view([40, 5]);
%% Example of a typical "cubic" architecture
MO_B = -20e-3; % Position {B} with respect to {M} [m]
@@ -41,24 +59,8 @@ stewart = computeJacobian(stewart);
stewart = initializeCylindricalPlatforms(stewart, 'Fpr', 150e-3, 'Mpr', 150e-3);
displayArchitecture(stewart, 'labels', false, 'frames', false);
plotCube(stewart, 'Hc', Hc, 'FOc', FOc, 'color', [0,0,0,0.5], 'link_to_struts', true);
%% Clear Workspace and Close figures
clear; close all; clc;
%% Intialize Laplace variable
s = zpk('s');
%% Path for functions, data and scripts
addpath('./mat/'); % Path for data
addpath('./src/'); % Path for functions
addpath('./subsystems/'); % Path for Subsystems Simulink files
% Simulink Model name
mdl = 'nano_hexapod_model';
%% Colors for the figures
colors = colororder;
plotCube(stewart, 'Hc', Hc, 'FOc', FOc, 'color', [0,0,0,0.2], 'link_to_struts', false);
view([40, 5]);
%% Analytical formula for Stiffness matrix of the Cubic Stewart platform
% Define symbolic variables

2
matlab/detail_kinematics_3_nano_hexapod.m
View File

@@ -34,7 +34,7 @@ nano_hexapod = computeJacobian(nano_hexapod);
nano_hexapod = initializeCylindricalPlatforms(nano_hexapod, 'Fpr', 125e-3, 'Mpr', 115e-3);
%% Obtained architecture for the Nano Hexapod
displayArchitecture(nano_hexapod, 'labels', true, 'frames', false);
displayArchitecture(nano_hexapod, 'labels', true, 'frames', true);
% Bottom circle
h = 15e-3;
r = 120e-3;