Remove two figures

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Thomas Dehaeze 2024-04-06 00:29:59 +02:00
parent 57bf1e0b80
commit bb1364416b
9 changed files with 9 additions and 91 deletions

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@ -1167,66 +1167,15 @@ exportFig('figs/test_joints_bend_stiff_hist.pdf', 'width', 'half', 'height', 'no
#+end_subfigure
#+end_figure
#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*)
data2orgtable([kRx; kRy]', {'1','2','3','4','5','6','7','8','9','10','11','12','13','14','15','16'}, {'$R_{R_x}$ [Nm/rad]', '$k_{R_y}$ [Nm/rad]'}, ' %.1f ');
#+end_src
#+name: tab:test_joints_meas_results_x_dir
#+caption: Measured bending stiffnesses
#+attr_latex: :environment tabularx :width 0.6\linewidth :align Xccc
#+attr_latex: :center t :booktabs t :float t
#+RESULTS:
| | $R_{R_x}$ [Nm/rad] | $k_{R_y}$ [Nm/rad] | |
|----+--------------------+--------------------+---|
| 1 | 4.4 | 4.6 | X |
| 2 | 5.0 | 4.8 | X |
| 3 | 5.0 | 4.8 | X |
| 4 | 4.7 | 4.6 | X |
| 5 | 4.6 | 4.7 | X |
| 6 | 4.6 | 4.7 | X |
| 7 | 4.7 | 4.3 | |
| 8 | 4.7 | 4.7 | X |
| 9 | 4.7 | 4.6 | X |
| 10 | 4.9 | 4.8 | X |
| 11 | 4.0 | 3.9 | |
| 12 | 4.9 | 4.8 | X |
| 13 | 4.9 | 4.9 | X |
| 14 | 4.7 | 4.7 | X |
| 15 | 4.6 | 4.4 | |
| 16 | 4.9 | 4.3 | |
#+begin_src matlab :exports none
load('flex_meas_dim.mat', 'meas_flex');
figure;
hold on;
plot((meas_flex(:,1)+meas_flex(:,2))/2, kRx, 'o', 'DisplayName', '$x$')
plot((meas_flex(:,3)+meas_flex(:,4))/2, kRy, 'o', 'DisplayName', '$y$')
hold off;
xlabel('Flexible Beam Thickness [$\mu m$]');
ylabel('Bending Stiffness [Nm/rad]');
legend('location', 'southeast', 'FontSize', 8);
#+end_src
#+begin_src matlab :tangle no :exports results :results file replace
exportFig('figs/test_joints_thickness_stiffness.pdf', 'width', 'wide', 'height', 'normal');
#+end_src
#+name: fig:test_joints_thickness_stiffness
#+caption: Measured bending stiffness as a function of the estimated flexible beam thickness
#+RESULTS:
[[file:figs/test_joints_thickness_stiffness.png]]
** Conclusion
:PROPERTIES:
:UNNUMBERED: t
:END:
#+begin_important
The measured bending stiffness and bending stroke of the flexible joints are very close to the estimated one using a Finite Element Model.
The characteristics of all the flexible joints are also quite close to each other.
This should allow us to model them with unique parameters.
#+end_important
* Conclusion
<<sec:test_joints_conclusion>>

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@ -1,4 +1,4 @@
% Created 2024-04-06 Sat 00:18
% Created 2024-04-06 Sat 00:30
% Intended LaTeX compiler: pdflatex
\documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt}
@ -415,7 +415,7 @@ However, the estimated non-linearity is bellow \(1\,\%\) for forces between \(0.
\end{center}
\subcaption{\label{fig:test_joints_force_sensor_calib_fit}Measured two force and linear fit}
\end{subfigure}
\caption{\label{fig:test_joints_force_sensor_calib}Caption with reference to sub figure (\subref{fig:test_joints_force_sensor_calib_picture}), (\subref{fig:test_joints_force_sensor_calib_fit})}
\caption{\label{fig:test_joints_force_sensor_calib}Estimation of the load cell accuracy. A picture of the measurement bench is shown in (\subref{fig:test_joints_force_sensor_calib_picture}). Comparison of the two measured forces is made in (\subref{fig:test_joints_force_sensor_calib_fit})}
\end{figure}
\section{Load Cell Stiffness}
The objective of this measurement is to estimate the stiffness \(k_F\) of the force sensor.
@ -429,7 +429,7 @@ The load cell stiffness can then be estimated by computing a linear fit, and is
\begin{center}
\includegraphics[scale=1,height=5.5cm]{figs/test_joints_meas_force_sensor_stiffness_picture.jpg}
\end{center}
\subcaption{\label{fig:test_joints_meas_force_sensor_stiffness_picture}Picture of the test}
\subcaption{\label{fig:test_joints_meas_force_sensor_stiffness_picture}Picture of the measurement bench}
\end{subfigure}
\begin{subfigure}{0.49\textwidth}
\begin{center}
@ -466,7 +466,11 @@ The bending stroke can also be estimated as shown in Figure \ref{fig:test_joints
\end{figure}
\section{Measured flexible joint stiffnesses}
The same measurement is performed for all the 16 flexible joints, both in the \(x\) and \(y\) directions.
The measured torque and angular motion are all shown in Figure \ref{fig:test_joints_meas_bending_all_raw_data}.
The measured angular motion as a function of the applied torque are shown in Figure \ref{fig:test_joints_meas_bending_all_raw_data} for all the 16 flexible joints.
This gives a first idea of the dispersion of the measured bending stiffnesses (i.e. slope of the linear region) and of the angular stroke.
An histogram of the measured bending stiffnesses is show in Figure \ref{fig:test_joints_bend_stiff_hist}.
Most of the bending stiffnesses are between \(4.6\,Nm/rad\) and \(5.0\,Nm/rad\).
\begin{figure}[htbp]
\begin{subfigure}{0.49\textwidth}
@ -481,48 +485,13 @@ The measured torque and angular motion are all shown in Figure \ref{fig:test_joi
\end{center}
\subcaption{\label{fig:test_joints_bend_stiff_hist}Histogram of the measured bending stiffness in the x and y directions}
\end{subfigure}
\caption{\label{fig:test_joints_meas_bending_results}Result of measured stiffnesses for all the flexible joints. Raw data are shown in (\subref{fig:test_joints_meas_bending_all_raw_data}). An histogram of the measured stiffnesses is shown in (\subref{fig:test_joints_bend_stiff_hist})}
\end{figure}
\begin{table}[htbp]
\caption{\label{tab:test_joints_meas_results_x_dir}Measured bending stiffnesses}
\centering
\begin{tabularx}{0.6\linewidth}{Xccc}
\toprule
& \(R_{R_x}\) {[}Nm/rad] & \(k_{R_y}\) {[}Nm/rad] & \\
\midrule
1 & 4.4 & 4.6 & X\\
2 & 5.0 & 4.8 & X\\
3 & 5.0 & 4.8 & X\\
4 & 4.7 & 4.6 & X\\
5 & 4.6 & 4.7 & X\\
6 & 4.6 & 4.7 & X\\
7 & 4.7 & 4.3 & \\
8 & 4.7 & 4.7 & X\\
9 & 4.7 & 4.6 & X\\
10 & 4.9 & 4.8 & X\\
11 & 4.0 & 3.9 & \\
12 & 4.9 & 4.8 & X\\
13 & 4.9 & 4.9 & X\\
14 & 4.7 & 4.7 & X\\
15 & 4.6 & 4.4 & \\
16 & 4.9 & 4.3 & \\
\bottomrule
\end{tabularx}
\end{table}
\begin{figure}[htbp]
\centering
\includegraphics[scale=1]{figs/test_joints_thickness_stiffness.png}
\caption{\label{fig:test_joints_thickness_stiffness}Measured bending stiffness as a function of the estimated flexible beam thickness}
\caption{\label{fig:test_joints_meas_bending_results}Result of measured \(k_{R_x}\) and \(k_{R_y}\) stiffnesses for all the 16 flexible joints. Raw data are shown in (\subref{fig:test_joints_meas_bending_all_raw_data}). An histogram of the measured stiffnesses is shown in (\subref{fig:test_joints_bend_stiff_hist})}
\end{figure}
\section*{Conclusion}
\begin{important}
The measured bending stiffness and bending stroke of the flexible joints are very close to the estimated one using a Finite Element Model.
The characteristics of all the flexible joints are also quite close to each other.
This should allow us to model them with unique parameters.
\end{important}
\chapter{Conclusion}
\label{sec:test_joints_conclusion}
\printbibliography[heading=bibintoc,title={Bibliography}]