Update beam height (remove 25mm to match the experiments)
This commit is contained in:
parent
fb81352caf
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647b360342
@ -8,7 +8,7 @@
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args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m]
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args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m]
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args.z0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Z direction [m]
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args.sample_pos (1,1) double {mustBeNumeric} = 0.8 % Height of the measurment point [m]
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args.sample_pos (1,1) double {mustBeNumeric} = 0.775 % Height of the measurment point [m]
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end
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granite = struct();
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@ -25,6 +25,7 @@
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granite.density = args.density; % [kg/m3]
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granite.STEP = 'granite.STEP';
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% Z-offset for the initial position of the sample with respect to the granite top surface.
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granite.sample_pos = args.sample_pos; % [m]
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granite.K = args.K; % [N/m]
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@ -43,3 +44,5 @@ elseif exist('./matlab', 'dir')
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save('matlab/mat/nass_model_stages.mat', 'granite');
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end
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end
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end
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@ -32,3 +32,4 @@ elseif exist('./matlab', 'dir')
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save('matlab/mat/nass_model_stages.mat', 'ground');
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end
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end
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end
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@ -105,3 +105,4 @@ elseif exist('./matlab', 'dir')
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save('matlab/mat/nass_model_stages.mat', 'micro_hexapod');
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end
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end
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end
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@ -32,6 +32,7 @@
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ry.stage.density = 7800; % [kg/m3]
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ry.stage.STEP = 'Tilt_Stage.STEP';
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% Z-Offset so that the center of rotation matches the sample center;
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ry.z_offset = 0.58178; % [m]
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ry.Ry_init = args.Ry_init; % [rad]
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@ -52,3 +53,5 @@ elseif exist('./matlab', 'dir')
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save('matlab/mat/nass_model_stages.mat', 'ry');
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end
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end
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end
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@ -43,3 +43,5 @@ elseif exist('./matlab', 'dir')
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save('matlab/mat/nass_model_stages.mat', 'rz');
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end
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end
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end
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@ -67,3 +67,5 @@ elseif exist('./matlab', 'dir')
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save('matlab/mat/nass_model_stages.mat', 'ty');
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end
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end
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end
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Binary file not shown.
@ -3202,55 +3202,28 @@ function [xc,yc,R,a] = circlefit(x,y)
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** Initialize Micro-Station Stages
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*** =initializeGround=: Ground
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:PROPERTIES:
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:header-args:matlab+: :tangle matlab/src/initializeGround.m
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:header-args:matlab+: :comments none :mkdirp yes :eval no
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:END:
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**** Function description
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#+begin_src matlab
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#+begin_src matlab :tangle matlab/src/initializeGround.m :comments none :mkdirp yes :eval no
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function [ground] = initializeGround(args)
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#+end_src
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**** Optional Parameters
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#+begin_src matlab
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arguments
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args.type char {mustBeMember(args.type,{'none', 'rigid'})} = 'rigid'
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args.rot_point (3,1) double {mustBeNumeric} = zeros(3,1) % Rotation point for the ground motion [m]
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end
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#+end_src
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**** Structure initialization
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First, we initialize the =granite= structure.
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#+begin_src matlab
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ground = struct();
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#+end_src
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**** Add Type
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#+begin_src matlab
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switch args.type
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case 'none'
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ground.type = 0;
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case 'rigid'
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ground.type = 1;
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end
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#+end_src
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**** Ground Solid properties
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We set the shape and density of the ground solid element.
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#+begin_src matlab
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ground.shape = [2, 2, 0.5]; % [m]
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ground.density = 2800; % [kg/m3]
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#+end_src
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**** Rotation Point
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#+begin_src matlab
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ground.rot_point = args.rot_point;
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#+end_src
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**** Save the Structure
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#+begin_src matlab
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if exist('./mat', 'dir')
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if exist('./mat/nass_model_stages.mat', 'file')
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save('mat/nass_model_stages.mat', 'ground', '-append');
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@ -3264,21 +3237,13 @@ elseif exist('./matlab', 'dir')
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save('matlab/mat/nass_model_stages.mat', 'ground');
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end
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end
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end
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#+end_src
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*** =initializeGranite=: Granite
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:PROPERTIES:
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:header-args:matlab+: :tangle matlab/src/initializeGranite.m
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:header-args:matlab+: :comments none :mkdirp yes :eval no
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:END:
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**** Function description
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#+begin_src matlab
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#+begin_src matlab :tangle matlab/src/initializeGranite.m :comments none :mkdirp yes :eval no
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function [granite] = initializeGranite(args)
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#+end_src
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**** Optional Parameters
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#+begin_src matlab
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arguments
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args.type char {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible'
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args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3]
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@ -3287,18 +3252,11 @@ end
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args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m]
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args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m]
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args.z0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Z direction [m]
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args.sample_pos (1,1) double {mustBeNumeric} = 0.8 % Height of the measurment point [m]
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args.sample_pos (1,1) double {mustBeNumeric} = 0.775 % Height of the measurment point [m]
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end
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#+end_src
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**** Structure initialization
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First, we initialize the =granite= structure.
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#+begin_src matlab
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granite = struct();
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#+end_src
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**** Add Granite Type
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#+begin_src matlab
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switch args.type
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case 'none'
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granite.type = 0;
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@ -3307,30 +3265,16 @@ First, we initialize the =granite= structure.
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case 'flexible'
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granite.type = 2;
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end
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#+end_src
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**** Material and Geometry
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Properties of the Material and link to the geometry of the granite.
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#+begin_src matlab
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granite.density = args.density; % [kg/m3]
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granite.STEP = 'granite.STEP';
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#+end_src
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Z-offset for the initial position of the sample with respect to the granite top surface.
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#+begin_src matlab
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% Z-offset for the initial position of the sample with respect to the granite top surface.
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granite.sample_pos = args.sample_pos; % [m]
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#+end_src
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**** Stiffness and Damping properties
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#+begin_src matlab
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granite.K = args.K; % [N/m]
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granite.C = args.C; % [N/(m/s)]
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#+end_src
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**** Save the Structure
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#+begin_src matlab
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if exist('./mat', 'dir')
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if exist('./mat/nass_model_stages.mat', 'file')
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save('mat/nass_model_stages.mat', 'granite', '-append');
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@ -3344,34 +3288,20 @@ elseif exist('./matlab', 'dir')
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save('matlab/mat/nass_model_stages.mat', 'granite');
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end
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end
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#+end_src
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*** =initializeTy=: Translation Stage
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:PROPERTIES:
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:header-args:matlab+: :tangle matlab/src/initializeTy.m
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:header-args:matlab+: :comments none :mkdirp yes :eval no
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:END:
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**** Function description
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#+begin_src matlab
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function [ty] = initializeTy(args)
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#+end_src
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**** Optional Parameters
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#+begin_src matlab
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arguments
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args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
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end
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#+end_src
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**** Structure initialization
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First, we initialize the =ty= structure.
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#+begin_src matlab
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ty = struct();
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#+end_src
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*** =initializeTy=: Translation Stage
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#+begin_src matlab :tangle matlab/src/initializeTy.m :comments none :mkdirp yes :eval no
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function [ty] = initializeTy(args)
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arguments
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args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
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end
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ty = struct();
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**** Add Translation Stage Type
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#+begin_src matlab
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switch args.type
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case 'none'
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ty.type = 0;
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@ -3380,11 +3310,7 @@ First, we initialize the =ty= structure.
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case 'flexible'
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ty.type = 2;
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end
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#+end_src
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**** Material and Geometry
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Define the density of the materials as well as the geometry (STEP files).
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#+begin_src matlab
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% Ty Granite frame
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ty.granite_frame.density = 7800; % [kg/m3] => 43kg
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ty.granite_frame.STEP = 'Ty_Granite_Frame.STEP';
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@ -3420,17 +3346,10 @@ Define the density of the materials as well as the geometry (STEP files).
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% Ty Rotor Part
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ty.rotor.density = 5400; % [kg/m3]
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ty.rotor.STEP = 'Ty_Motor_Rotor.STEP';
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#+end_src
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**** Stiffness and Damping properties
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#+begin_src matlab
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ty.K = [2e8; 1e8; 2e8; 6e7; 9e7; 6e7]; % [N/m, N*m/rad]
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ty.C = [8e4; 5e4; 8e4; 2e4; 3e4; 1e4]; % [N/(m/s), N*m/(rad/s)]
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#+end_src
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**** Save the Structure
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#+begin_src matlab
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if exist('./mat', 'dir')
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if exist('./mat/nass_model_stages.mat', 'file')
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save('mat/nass_model_stages.mat', 'ty', '-append');
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@ -3444,36 +3363,21 @@ elseif exist('./matlab', 'dir')
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save('matlab/mat/nass_model_stages.mat', 'ty');
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end
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end
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end
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#+end_src
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*** =initializeRy=: Tilt Stage
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:PROPERTIES:
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:header-args:matlab+: :tangle matlab/src/initializeRy.m
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:header-args:matlab+: :comments none :mkdirp yes :eval no
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:END:
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**** Function description
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#+begin_src matlab
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#+begin_src matlab :tangle matlab/src/initializeRy.m :comments none :mkdirp yes :eval no
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function [ry] = initializeRy(args)
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#+end_src
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**** Optional Parameters
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#+begin_src matlab
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arguments
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args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
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args.Ry_init (1,1) double {mustBeNumeric} = 0
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end
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#+end_src
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**** Structure initialization
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First, we initialize the =ry= structure.
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#+begin_src matlab
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ry = struct();
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#+end_src
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**** Add Tilt Type
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#+begin_src matlab
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switch args.type
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case 'none'
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ry.type = 0;
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@ -3482,11 +3386,7 @@ First, we initialize the =ry= structure.
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case 'flexible'
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ry.type = 2;
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end
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#+end_src
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**** Material and Geometry
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Properties of the Material and link to the geometry of the Tilt stage.
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#+begin_src matlab
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% Ry - Guide for the tilt stage
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ry.guide.density = 7800; % [kg/m3]
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ry.guide.STEP = 'Tilt_Guide.STEP';
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@ -3502,26 +3402,15 @@ Properties of the Material and link to the geometry of the Tilt stage.
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% Ry - Plateau Tilt
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ry.stage.density = 7800; % [kg/m3]
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ry.stage.STEP = 'Tilt_Stage.STEP';
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#+end_src
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Z-Offset so that the center of rotation matches the sample center;
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#+begin_src matlab
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% Z-Offset so that the center of rotation matches the sample center;
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ry.z_offset = 0.58178; % [m]
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#+end_src
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#+begin_src matlab
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ry.Ry_init = args.Ry_init; % [rad]
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#+end_src
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**** Stiffness and Damping properties
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#+begin_src matlab
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ry.K = [3.8e8; 4e8; 3.8e8; 1.2e8; 6e4; 1.2e8];
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ry.C = [1e5; 1e5; 1e5; 3e4; 1e3; 3e4];
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#+end_src
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**** Save the Structure
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#+begin_src matlab
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if exist('./mat', 'dir')
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if exist('./mat/nass_model_stages.mat', 'file')
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save('mat/nass_model_stages.mat', 'ry', '-append');
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@ -3535,34 +3424,20 @@ elseif exist('./matlab', 'dir')
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save('matlab/mat/nass_model_stages.mat', 'ry');
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end
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end
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#+end_src
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*** =initializeRz=: Spindle
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:PROPERTIES:
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:header-args:matlab+: :tangle matlab/src/initializeRz.m
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:header-args:matlab+: :comments none :mkdirp yes :eval no
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:END:
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**** Function description
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#+begin_src matlab
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function [rz] = initializeRz(args)
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#+end_src
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**** Optional Parameters
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#+begin_src matlab
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arguments
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args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
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end
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#+end_src
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**** Structure initialization
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First, we initialize the =rz= structure.
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#+begin_src matlab
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rz = struct();
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#+end_src
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*** =initializeRz=: Spindle
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#+begin_src matlab :tangle matlab/src/initializeRz.m :comments none :mkdirp yes :eval no
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function [rz] = initializeRz(args)
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arguments
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args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
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end
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rz = struct();
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**** Add Spindle Type
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#+begin_src matlab
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switch args.type
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case 'none'
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rz.type = 0;
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@ -3571,12 +3446,7 @@ First, we initialize the =rz= structure.
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case 'flexible'
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rz.type = 2;
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end
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#+end_src
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**** Material and Geometry
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Properties of the Material and link to the geometry of the spindle.
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#+begin_src matlab
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% Spindle - Slip Ring
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rz.slipring.density = 7800; % [kg/m3]
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rz.slipring.STEP = 'Spindle_Slip_Ring.STEP';
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@ -3588,17 +3458,10 @@ Properties of the Material and link to the geometry of the spindle.
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% Spindle - Stator
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rz.stator.density = 7800; % [kg/m3]
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rz.stator.STEP = 'Spindle_Stator.STEP';
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#+end_src
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**** Stiffness and Damping properties
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#+begin_src matlab
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rz.K = [7e8; 7e8; 2e9; 1e7; 1e7; 1e7];
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rz.C = [4e4; 4e4; 7e4; 1e4; 1e4; 1e4];
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#+end_src
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**** Save the Structure
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#+begin_src matlab
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if exist('./mat', 'dir')
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if exist('./mat/nass_model_stages.mat', 'file')
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save('mat/nass_model_stages.mat', 'rz', '-append');
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@ -3612,21 +3475,15 @@ elseif exist('./matlab', 'dir')
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save('matlab/mat/nass_model_stages.mat', 'rz');
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end
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end
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end
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#+end_src
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*** =initializeMicroHexapod=: Micro Hexapod
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:PROPERTIES:
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:header-args:matlab+: :tangle matlab/src/initializeMicroHexapod.m
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:header-args:matlab+: :comments none :mkdirp yes :eval no
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:END:
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**** Function description
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#+begin_src matlab
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#+begin_src matlab :tangle matlab/src/initializeMicroHexapod.m :comments none :mkdirp yes :eval no
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function [micro_hexapod] = initializeMicroHexapod(args)
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#+end_src
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**** Optional Parameters
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#+begin_src matlab
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arguments
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args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
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% initializeFramesPositions
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@ -3660,10 +3517,7 @@ end
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args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
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args.ARB (3,3) double {mustBeNumeric} = eye(3)
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end
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#+end_src
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**** Function content
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#+begin_src matlab
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stewart = initializeStewartPlatform();
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stewart = initializeFramesPositions(stewart, ...
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@ -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
|
||||
|
||||
Loading…
Reference in New Issue
Block a user