Update beam height (remove 25mm to match the experiments)

matlab/src/initializeGranite.m

@@ -8,7 +8,7 @@
         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]
+        args.sample_pos (1,1) double {mustBeNumeric} = 0.775 % Height of the measurment point [m]
     end
 
     granite = struct();
@@ -25,6 +25,7 @@
     granite.density = args.density; % [kg/m3]
     granite.STEP    = 'granite.STEP';
 
+    % Z-offset for the initial position of the sample with respect to the granite top surface.
     granite.sample_pos = args.sample_pos; % [m]
 
     granite.K = args.K; % [N/m]
@@ -43,3 +44,5 @@ elseif exist('./matlab', 'dir')
             save('matlab/mat/nass_model_stages.mat', 'granite');
         end
     end
+
+end

matlab/src/initializeGround.m

@@ -32,3 +32,4 @@ elseif exist('./matlab', 'dir')
             save('matlab/mat/nass_model_stages.mat', 'ground');
         end
     end
+end

matlab/src/initializeMicroHexapod.m

@@ -105,3 +105,4 @@ elseif exist('./matlab', 'dir')
             save('matlab/mat/nass_model_stages.mat', 'micro_hexapod');
         end
     end
+end

matlab/src/initializeRy.m

@@ -32,6 +32,7 @@
     ry.stage.density = 7800; % [kg/m3]
     ry.stage.STEP    = 'Tilt_Stage.STEP';
 
+    % Z-Offset so that the center of rotation matches the sample center;
     ry.z_offset = 0.58178; % [m]
 
     ry.Ry_init = args.Ry_init; % [rad]
@@ -52,3 +53,5 @@ elseif exist('./matlab', 'dir')
             save('matlab/mat/nass_model_stages.mat', 'ry');
         end
     end
+
+end

matlab/src/initializeRz.m

@@ -43,3 +43,5 @@ elseif exist('./matlab', 'dir')
             save('matlab/mat/nass_model_stages.mat', 'rz');
         end
     end
+
+end

matlab/src/initializeTy.m

@@ -67,3 +67,5 @@ elseif exist('./matlab', 'dir')
             save('matlab/mat/nass_model_stages.mat', 'ty');
         end
     end
+
+end

simscape-micro-station.org

@@ -3202,55 +3202,28 @@ function   [xc,yc,R,a] = circlefit(x,y)
 
 ** Initialize Micro-Station Stages
 *** =initializeGround=: Ground
-:PROPERTIES:
+#+begin_src matlab :tangle matlab/src/initializeGround.m :comments none :mkdirp yes :eval no
-:header-args:matlab+: :tangle matlab/src/initializeGround.m
-:header-args:matlab+: :comments none :mkdirp yes :eval no
-:END:
-
-**** Function description
-#+begin_src matlab
 function [ground] = initializeGround(args)
-#+end_src
 
-**** Optional Parameters
-#+begin_src matlab
     arguments
         args.type char {mustBeMember(args.type,{'none', 'rigid'})} = 'rigid'
         args.rot_point (3,1) double {mustBeNumeric} = zeros(3,1) % Rotation point for the ground motion [m]
     end
-#+end_src
 
-**** Structure initialization
-First, we initialize the =granite= structure.
-#+begin_src matlab
     ground = struct();
-#+end_src
 
-**** Add Type
-#+begin_src matlab
     switch args.type
       case 'none'
         ground.type = 0;
       case 'rigid'
         ground.type = 1;
     end
-#+end_src
 
-**** Ground Solid properties
-We set the shape and density of the ground solid element.
-#+begin_src matlab
     ground.shape   = [2, 2, 0.5]; % [m]
     ground.density = 2800;        % [kg/m3]
-#+end_src
 
-**** Rotation Point
-
-#+begin_src matlab
     ground.rot_point = args.rot_point;
-#+end_src
 
-**** Save the Structure
-#+begin_src matlab
     if exist('./mat', 'dir')
         if exist('./mat/nass_model_stages.mat', 'file')
             save('mat/nass_model_stages.mat', 'ground', '-append');
@@ -3264,21 +3237,13 @@ elseif exist('./matlab', 'dir')
             save('matlab/mat/nass_model_stages.mat', 'ground');
         end
     end
+end
 #+end_src
 
 *** =initializeGranite=: Granite
-:PROPERTIES:
+#+begin_src matlab :tangle matlab/src/initializeGranite.m :comments none :mkdirp yes :eval no
-:header-args:matlab+: :tangle matlab/src/initializeGranite.m
-:header-args:matlab+: :comments none :mkdirp yes :eval no
-:END:
-
-**** Function description
-#+begin_src matlab
 function [granite] = initializeGranite(args)
-#+end_src
 
-**** Optional Parameters
-#+begin_src matlab
     arguments
         args.type          char    {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible'
         args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3]
@@ -3287,18 +3252,11 @@ end
         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]
+        args.sample_pos (1,1) double {mustBeNumeric} = 0.775 % Height of the measurment point [m]
     end
-#+end_src
 
-**** Structure initialization
-First, we initialize the =granite= structure.
-#+begin_src matlab
     granite = struct();
-#+end_src
 
-**** Add Granite Type
-#+begin_src matlab
     switch args.type
       case 'none'
         granite.type = 0;
@@ -3307,30 +3265,16 @@ First, we initialize the =granite= structure.
       case 'flexible'
         granite.type = 2;
     end
-#+end_src
 
-**** Material and Geometry
-
-Properties of the Material and link to the geometry of the granite.
-#+begin_src matlab
     granite.density = args.density; % [kg/m3]
     granite.STEP    = 'granite.STEP';
-#+end_src
 
-Z-offset for the initial position of the sample with respect to the granite top surface.
+    % Z-offset for the initial position of the sample with respect to the granite top surface.
-#+begin_src matlab
     granite.sample_pos = args.sample_pos; % [m]
-#+end_src
 
-**** Stiffness and Damping properties
-
-#+begin_src matlab
     granite.K = args.K; % [N/m]
     granite.C = args.C; % [N/(m/s)]
-#+end_src
 
-**** Save the Structure
-#+begin_src matlab
     if exist('./mat', 'dir')
         if exist('./mat/nass_model_stages.mat', 'file')
             save('mat/nass_model_stages.mat', 'granite', '-append');
@@ -3344,34 +3288,20 @@ elseif exist('./matlab', 'dir')
             save('matlab/mat/nass_model_stages.mat', 'granite');
         end
     end
-#+end_src
 
-*** =initializeTy=: Translation Stage
-:PROPERTIES:
-:header-args:matlab+: :tangle matlab/src/initializeTy.m
-:header-args:matlab+: :comments none :mkdirp yes :eval no
-:END:
-
-**** Function description
-#+begin_src matlab
-  function [ty] = initializeTy(args)
-#+end_src
-
-**** Optional Parameters
-#+begin_src matlab
-  arguments
-    args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
 end
 #+end_src
 
-**** Structure initialization
+*** =initializeTy=: Translation Stage
-First, we initialize the =ty= structure.
+#+begin_src matlab :tangle matlab/src/initializeTy.m :comments none :mkdirp yes :eval no
-#+begin_src matlab
+function [ty] = initializeTy(args)
-  ty = struct();
+
-#+end_src
+    arguments
+        args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
+    end
+
+    ty = struct();
 
-**** Add Translation Stage Type
-#+begin_src matlab
     switch args.type
       case 'none'
         ty.type = 0;
@@ -3380,11 +3310,7 @@ First, we initialize the =ty= structure.
       case 'flexible'
         ty.type = 2;
     end
-#+end_src
 
-**** Material and Geometry
-Define the density of the materials as well as the geometry (STEP files).
-#+begin_src matlab
     % Ty Granite frame
     ty.granite_frame.density = 7800; % [kg/m3] => 43kg
     ty.granite_frame.STEP    = 'Ty_Granite_Frame.STEP';
@@ -3420,17 +3346,10 @@ Define the density of the materials as well as the geometry (STEP files).
     % Ty Rotor Part
     ty.rotor.density         = 5400; % [kg/m3]
     ty.rotor.STEP            = 'Ty_Motor_Rotor.STEP';
-#+end_src
 
-**** Stiffness and Damping properties
-
-#+begin_src matlab
     ty.K = [2e8; 1e8; 2e8; 6e7; 9e7; 6e7]; % [N/m, N*m/rad]
     ty.C = [8e4; 5e4; 8e4; 2e4; 3e4; 1e4]; % [N/(m/s), N*m/(rad/s)]
-#+end_src
 
-**** Save the Structure
-#+begin_src matlab
     if exist('./mat', 'dir')
         if exist('./mat/nass_model_stages.mat', 'file')
             save('mat/nass_model_stages.mat', 'ty', '-append');
@@ -3444,36 +3363,21 @@ elseif exist('./matlab', 'dir')
             save('matlab/mat/nass_model_stages.mat', 'ty');
         end
     end
+
+end
 #+end_src
 
 *** =initializeRy=: Tilt Stage
-:PROPERTIES:
+#+begin_src matlab :tangle matlab/src/initializeRy.m :comments none :mkdirp yes :eval no
-:header-args:matlab+: :tangle matlab/src/initializeRy.m
-:header-args:matlab+: :comments none :mkdirp yes :eval no
-:END:
-
-**** Function description
-#+begin_src matlab
 function [ry] = initializeRy(args)
-#+end_src
 
-**** Optional Parameters
-#+begin_src matlab
     arguments
         args.type          char    {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
         args.Ry_init (1,1) double  {mustBeNumeric} = 0
     end
-#+end_src
 
-**** Structure initialization
-First, we initialize the =ry= structure.
-#+begin_src matlab
     ry = struct();
-#+end_src
 
-
-**** Add Tilt Type
-#+begin_src matlab
     switch args.type
       case 'none'
         ry.type = 0;
@@ -3482,11 +3386,7 @@ First, we initialize the =ry= structure.
       case 'flexible'
         ry.type = 2;
     end
-#+end_src
 
-**** Material and Geometry
-Properties of the Material and link to the geometry of the Tilt stage.
-#+begin_src matlab
     % Ry - Guide for the tilt stage
     ry.guide.density = 7800; % [kg/m3]
     ry.guide.STEP    = 'Tilt_Guide.STEP';
@@ -3502,26 +3402,15 @@ Properties of the Material and link to the geometry of the Tilt stage.
     % Ry - Plateau Tilt
     ry.stage.density = 7800; % [kg/m3]
     ry.stage.STEP    = 'Tilt_Stage.STEP';
-#+end_src
 
-Z-Offset so that the center of rotation matches the sample center;
+    % Z-Offset so that the center of rotation matches the sample center;
-#+begin_src matlab
     ry.z_offset = 0.58178; % [m]
-#+end_src
 
-#+begin_src matlab
     ry.Ry_init = args.Ry_init; % [rad]
-#+end_src
 
-**** Stiffness and Damping properties
-
-#+begin_src matlab
     ry.K = [3.8e8; 4e8; 3.8e8; 1.2e8; 6e4; 1.2e8];
     ry.C = [1e5;   1e5; 1e5;   3e4;   1e3; 3e4];
-#+end_src
 
-**** Save the Structure
-#+begin_src matlab
     if exist('./mat', 'dir')
         if exist('./mat/nass_model_stages.mat', 'file')
             save('mat/nass_model_stages.mat', 'ry', '-append');
@@ -3535,34 +3424,20 @@ elseif exist('./matlab', 'dir')
             save('matlab/mat/nass_model_stages.mat', 'ry');
         end
     end
-#+end_src
 
-*** =initializeRz=: Spindle
-:PROPERTIES:
-:header-args:matlab+: :tangle matlab/src/initializeRz.m
-:header-args:matlab+: :comments none :mkdirp yes :eval no
-:END:
-
-**** Function description
-#+begin_src matlab
-  function [rz] = initializeRz(args)
-#+end_src
-
-**** Optional Parameters
-#+begin_src matlab
-  arguments
-    args.type    char    {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
 end
 #+end_src
 
-**** Structure initialization
+*** =initializeRz=: Spindle
-First, we initialize the =rz= structure.
+#+begin_src matlab :tangle matlab/src/initializeRz.m :comments none :mkdirp yes :eval no
-#+begin_src matlab
+function [rz] = initializeRz(args)
-  rz = struct();
+
-#+end_src
+    arguments
+        args.type    char    {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
+    end
+
+    rz = struct();
 
-**** Add Spindle Type
-#+begin_src matlab
     switch args.type
       case 'none'
         rz.type = 0;
@@ -3571,12 +3446,7 @@ First, we initialize the =rz= structure.
       case 'flexible'
         rz.type = 2;
     end
-#+end_src
 
-**** Material and Geometry
-
-Properties of the Material and link to the geometry of the spindle.
-#+begin_src matlab
     % Spindle - Slip Ring
     rz.slipring.density = 7800; % [kg/m3]
     rz.slipring.STEP    = 'Spindle_Slip_Ring.STEP';
@@ -3588,17 +3458,10 @@ Properties of the Material and link to the geometry of the spindle.
     % Spindle - Stator
     rz.stator.density   = 7800; % [kg/m3]
     rz.stator.STEP      = 'Spindle_Stator.STEP';
-#+end_src
 
-**** Stiffness and Damping properties
-
-#+begin_src matlab
     rz.K = [7e8; 7e8; 2e9; 1e7; 1e7; 1e7];
     rz.C = [4e4; 4e4; 7e4; 1e4; 1e4; 1e4];
-#+end_src
 
-**** Save the Structure
-#+begin_src matlab
     if exist('./mat', 'dir')
         if exist('./mat/nass_model_stages.mat', 'file')
             save('mat/nass_model_stages.mat', 'rz', '-append');
@@ -3612,21 +3475,15 @@ elseif exist('./matlab', 'dir')
             save('matlab/mat/nass_model_stages.mat', 'rz');
         end
     end
+
+end
 #+end_src
 
 *** =initializeMicroHexapod=: Micro Hexapod
-:PROPERTIES:
-:header-args:matlab+: :tangle matlab/src/initializeMicroHexapod.m
-:header-args:matlab+: :comments none :mkdirp yes :eval no
-:END:
 
-**** Function description
+#+begin_src matlab :tangle matlab/src/initializeMicroHexapod.m :comments none :mkdirp yes :eval no
-#+begin_src matlab
 function [micro_hexapod] = initializeMicroHexapod(args)
-#+end_src
 
-**** Optional Parameters
-#+begin_src matlab
     arguments
         args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
         % initializeFramesPositions
@@ -3660,10 +3517,7 @@ end
         args.AP  (3,1) double {mustBeNumeric} = zeros(3,1)
         args.ARB (3,3) double {mustBeNumeric} = eye(3)
     end
-#+end_src
 
-**** Function content
-#+begin_src matlab
     stewart = initializeStewartPlatform();
 
     stewart = initializeFramesPositions(stewart, ...
@@ -3679,9 +3533,7 @@ end
                                            'MTh', args.MTh);
 
     stewart = computeJointsPose(stewart);
-#+end_src
 
-#+begin_src matlab
     stewart = initializeStrutDynamics(stewart, ...
                                       'K', args.Ki, ...
                                       'C', args.Ci);
@@ -3689,9 +3541,7 @@ end
     stewart = initializeJointDynamics(stewart, ...
                                       'type_F', 'universal_p', ...
                                       'type_M', 'spherical_p');
-#+end_src
 
-#+begin_src matlab
     stewart = initializeCylindricalPlatforms(stewart, ...
                                              'Fpm', args.Fpm, ...
                                              'Fph', args.Fph, ...
@@ -3713,14 +3563,9 @@ end
     stewart = initializeStewartPose(stewart, ...
                                     'AP', args.AP, ...
                                     'ARB', args.ARB);
-#+end_src
 
-#+begin_src matlab
     stewart = initializeInertialSensor(stewart, 'type', 'none');
-#+end_src
 
-**** Add Type
-#+begin_src matlab
     switch args.type
       case 'none'
         stewart.type = 0;
@@ -3729,10 +3574,7 @@ end
       case 'flexible'
         stewart.type = 2;
     end
-#+end_src
 
-**** Save the Structure
-#+begin_src matlab
     micro_hexapod = stewart;
     if exist('./mat', 'dir')
         if exist('./mat/nass_model_stages.mat', 'file')
@@ -3747,6 +3589,7 @@ elseif exist('./matlab', 'dir')
             save('matlab/mat/nass_model_stages.mat', 'micro_hexapod');
         end
     end
+end
 #+end_src
 
 ** Stewart platform