Add configuration for added parallel stiffness

matlab/src/describeStewartPlatform.m

@@ -29,13 +29,16 @@ fprintf('ACTUATORS:\n')
 if stewart.actuators.type == 1
     fprintf('- The actuators are modelled as 1DoF.\n')
     fprintf('- The Stiffness and Damping of each actuators is:\n')
-    fprintf('\t k = %.0e [N/m] \t c = %.0e [N/(m/s)]\n', stewart.actuators.K(1), stewart.actuators.C(1))
+    fprintf('\t k = %.0e [N/m] \t c = %.0e [N/(m/s)]\n', stewart.actuators.k(1), stewart.actuators.c(1))
+    if stewart.actuators.kp > 0
+    fprintf('\t Added parallel stiffness: kp = %.0e [N/m] \t c = %.0e [N/(m/s)]\n', stewart.actuators.kp(1))
+    end
 elseif stewart.actuators.type == 2
     fprintf('- The actuators are modelled as 2DoF (APA).\n')
     fprintf('- The vertical stiffness and damping contribution of the piezoelectric stack is:\n')
-    fprintf('\t ka = %.0e [N/m] \t ca = %.0e [N/(m/s)]\n', stewart.actuators.Ka(1), stewart.actuators.Ca(1))
+    fprintf('\t ka = %.0e [N/m] \t ca = %.0e [N/(m/s)]\n', stewart.actuators.ka(1), stewart.actuators.ca(1))
     fprintf('- Vertical stiffness when the piezoelectric stack is removed is:\n')
-    fprintf('\t kr = %.0e [N/m] \t cr = %.0e [N/(m/s)]\n', stewart.actuators.Kr(1), stewart.actuators.Cr(1))
+    fprintf('\t kr = %.0e [N/m] \t cr = %.0e [N/(m/s)]\n', stewart.actuators.kr(1), stewart.actuators.cr(1))
 elseif stewart.actuators.type == 3
     fprintf('- The actuators are modelled with a flexible element (FEM).\n')
 end

matlab/src/initializeSimplifiedNanoHexapod.m

@@ -5,18 +5,20 @@ 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} = 20e-3 % Height of fixed joints [m]
+        args.FH  (1,1) double {mustBeNumeric, mustBePositive} = 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} = 20e-3 % Height of mobile joints [m]
+        args.MH  (1,1) double {mustBeNumeric, mustBePositive} = 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
         args.actuator_type char {mustBeMember(args.actuator_type,{'1dof', '2dof', 'flexible'})} = '1dof'
         args.actuator_k   (1,1) double {mustBeNumeric, mustBePositive} = 380000
+        args.actuator_kp  (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
         args.actuator_ke  (1,1) double {mustBeNumeric, mustBePositive} = 4952605
         args.actuator_ka  (1,1) double {mustBeNumeric, mustBePositive} = 2476302
         args.actuator_c   (1,1) double {mustBeNumeric, mustBePositive} = 5
+        args.actuator_cp  (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
         args.actuator_ce  (1,1) double {mustBeNumeric, mustBePositive} = 100
         args.actuator_ca  (1,1) double {mustBeNumeric, mustBePositive} = 50
         %% initializeCylindricalPlatforms
@@ -76,9 +78,11 @@ function [nano_hexapod] = initializeSimplifiedNanoHexapod(args)
     stewart = initializeStrutDynamics(stewart, ...
                                       'type', args.actuator_type, ...
                                       'k',  args.actuator_k, ...
+                                      'kp',  args.actuator_kp, ...
                                       'ke', args.actuator_ke, ...
                                       'ka', args.actuator_ka, ...
                                       'c',  args.actuator_c, ...
+                                      'cp',  args.actuator_cp, ...
                                       'ce', args.actuator_ce, ...
                                       'ca', args.actuator_ca);
 

matlab/src/initializeStrutDynamics.m

@@ -18,9 +18,11 @@ function [stewart] = initializeStrutDynamics(stewart, args)
         stewart
         args.type char {mustBeMember(args.type,{'1dof', '2dof', 'flexible'})} = '1dof'
         args.k  (1,1) double {mustBeNumeric, mustBeNonnegative} = 20e6
+        args.kp (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
         args.ke (1,1) double {mustBeNumeric, mustBeNonnegative} = 5e6
         args.ka (1,1) double {mustBeNumeric, mustBeNonnegative} = 60e6
         args.c  (1,1) double {mustBeNumeric, mustBeNonnegative} = 2e1
+        args.cp (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
         args.ce (1,1) double {mustBeNumeric, mustBeNonnegative} = 1e6
         args.ca (1,1) double {mustBeNumeric, mustBeNonnegative} = 10
 
@@ -40,6 +42,10 @@ function [stewart] = initializeStrutDynamics(stewart, args)
     stewart.actuators.k = args.k;
     stewart.actuators.c = args.c;
 
+    % Parallel stiffness
+    stewart.actuators.kp = args.kp;
+    stewart.actuators.cp = args.cp;
+
     stewart.actuators.ka = args.ka;
     stewart.actuators.ca = args.ca;