81 lines
3.0 KiB
Mathematica
81 lines
3.0 KiB
Mathematica
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function [] = describeStewartPlatform(stewart)
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% describeStewartPlatform - Display some text describing the current defined Stewart Platform
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%
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% Syntax: [] = describeStewartPlatform(args)
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%
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% Inputs:
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% - stewart
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%
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% Outputs:
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arguments
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stewart
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end
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fprintf('GEOMETRY:\n')
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fprintf('- The height between the fixed based and the top platform is %.3g [mm].\n', 1e3*stewart.geometry.H)
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if stewart.platform_M.MO_B(3) > 0
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fprintf('- Frame {A} is located %.3g [mm] above the top platform.\n', 1e3*stewart.platform_M.MO_B(3))
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else
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fprintf('- Frame {A} is located %.3g [mm] below the top platform.\n', - 1e3*stewart.platform_M.MO_B(3))
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end
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fprintf('- The initial length of the struts are:\n')
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fprintf('\t %.3g, %.3g, %.3g, %.3g, %.3g, %.3g [mm]\n', 1e3*stewart.geometry.l)
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fprintf('\n')
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fprintf('ACTUATORS:\n')
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if stewart.actuators.type == 1
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fprintf('- The actuators are modelled as 1DoF.\n')
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fprintf('- The Stiffness and Damping of each actuators is:\n')
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fprintf('\t k = %.0e [N/m] \t c = %.0e [N/(m/s)]\n', stewart.actuators.k(1), stewart.actuators.c(1))
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if stewart.actuators.kp > 0
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fprintf('\t Added parallel stiffness: kp = %.0e [N/m] \t c = %.0e [N/(m/s)]\n', stewart.actuators.kp(1))
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end
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elseif stewart.actuators.type == 2
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fprintf('- The actuators are modelled as 2DoF (APA).\n')
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fprintf('- The vertical stiffness and damping contribution of the piezoelectric stack is:\n')
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fprintf('\t ka = %.0e [N/m] \t ca = %.0e [N/(m/s)]\n', stewart.actuators.ka(1), stewart.actuators.ca(1))
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fprintf('- Vertical stiffness when the piezoelectric stack is removed is:\n')
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fprintf('\t kr = %.0e [N/m] \t cr = %.0e [N/(m/s)]\n', stewart.actuators.kr(1), stewart.actuators.cr(1))
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elseif stewart.actuators.type == 3
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fprintf('- The actuators are modelled with a flexible element (FEM).\n')
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end
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fprintf('\n')
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fprintf('JOINTS:\n')
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switch stewart.joints_F.type
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case 1
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fprintf('- The joints on the fixed based are universal joints (2DoF)\n')
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case 2
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fprintf('- The joints on the fixed based are spherical joints (3DoF)\n')
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end
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switch stewart.joints_M.type
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case 1
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fprintf('- The joints on the mobile based are universal joints (2DoF)\n')
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case 2
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fprintf('- The joints on the mobile based are spherical joints (3DoF)\n')
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end
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fprintf('- The position of the joints on the fixed based with respect to {F} are (in [mm]):\n')
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fprintf('\t % .3g \t % .3g \t % .3g\n', 1e3*stewart.platform_F.Fa)
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fprintf('- The position of the joints on the mobile based with respect to {M} are (in [mm]):\n')
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fprintf('\t % .3g \t % .3g \t % .3g\n', 1e3*stewart.platform_M.Mb)
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fprintf('\n')
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fprintf('KINEMATICS:\n')
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if isfield(stewart.kinematics, 'K')
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fprintf('- The Stiffness matrix K is (in [N/m]):\n')
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fprintf('\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n', stewart.kinematics.K)
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end
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if isfield(stewart.kinematics, 'C')
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fprintf('- The Damping matrix C is (in [m/N]):\n')
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fprintf('\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n', stewart.kinematics.C)
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end
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