tdehaeze/phd-simscape-nano-hexapod
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This commit is contained in:
Thomas Dehaeze
2025-03-28 14:31:40 +01:00
parent 38115dd2c6
commit 73de5c5adc
18 changed files with 671 additions and 581 deletions
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4
matlab/src/generateGeneralConfiguration.m
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@@ -19,10 +19,10 @@ function [stewart] = generateGeneralConfiguration(stewart, args)
arguments
stewart
args.FH (1,1) double {mustBeNumeric, mustBePositive} = 15e-3
args.FH (1,1) double {mustBeNumeric, mustBeNonnegative} = 15e-3
args.FR (1,1) double {mustBeNumeric, mustBePositive} = 115e-3;
args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180);
args.MH (1,1) double {mustBeNumeric, mustBePositive} = 15e-3
args.MH (1,1) double {mustBeNumeric, mustBeNonnegative} = 15e-3
args.MR (1,1) double {mustBeNumeric, mustBePositive} = 90e-3;
args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180);
end

4
matlab/src/initializeSimplifiedNanoHexapod.m
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@@ -5,10 +5,10 @@ function [nano_hexapod] = initializeSimplifiedNanoHexapod(args)
args.H (1,1) double {mustBeNumeric, mustBePositive} = 95e-3 % Height of the nano-hexapod [m]
args.MO_B (1,1) double {mustBeNumeric} = 150e-3 % Height of {B} w.r.t. {M} [m]
%% generateGeneralConfiguration
args.FH (1,1) double {mustBeNumeric, mustBePositive} = 15e-3 % Height of fixed joints [m]
args.FH (1,1) double {mustBeNumeric, mustBeNonnegative} = 15e-3 % Height of fixed joints [m]
args.FR (1,1) double {mustBeNumeric, mustBePositive} = 120e-3 % Radius of fixed joints [m]
args.FTh (6,1) double {mustBeNumeric} = [220, 320, 340, 80, 100, 200]*(pi/180) % Angles of fixed joints [rad]
args.MH (1,1) double {mustBeNumeric, mustBePositive} = 15e-3 % Height of mobile joints [m]
args.MH (1,1) double {mustBeNumeric, mustBeNonnegative} = 15e-3 % Height of mobile joints [m]
args.MR (1,1) double {mustBeNumeric, mustBePositive} = 110e-3 % Radius of mobile joints [m]
args.MTh (6,1) double {mustBeNumeric} = [255, 285, 15, 45, 135, 165]*(pi/180) % Angles of fixed joints [rad]
%% Actuators