diff --git a/figs/test_joints_bend_stroke_hist.pdf b/figs/test_joints_bend_stroke_hist.pdf deleted file mode 100644 index bec18af..0000000 Binary files a/figs/test_joints_bend_stroke_hist.pdf and /dev/null differ diff --git a/figs/test_joints_bend_stroke_hist.png b/figs/test_joints_bend_stroke_hist.png deleted file mode 100644 index 9935c98..0000000 Binary files a/figs/test_joints_bend_stroke_hist.png and /dev/null differ diff --git a/figs/test_joints_size_hist.pdf b/figs/test_joints_size_hist.pdf deleted file mode 100644 index 38c08a1..0000000 Binary files a/figs/test_joints_size_hist.pdf and /dev/null differ diff --git a/figs/test_joints_size_hist.png b/figs/test_joints_size_hist.png deleted file mode 100644 index cd20957..0000000 Binary files a/figs/test_joints_size_hist.png and /dev/null differ diff --git a/figs/test_joints_thickness_stiffness.pdf b/figs/test_joints_thickness_stiffness.pdf deleted file mode 100644 index af4f782..0000000 Binary files a/figs/test_joints_thickness_stiffness.pdf and /dev/null differ diff --git a/figs/test_joints_thickness_stiffness.png b/figs/test_joints_thickness_stiffness.png deleted file mode 100644 index 92a8268..0000000 Binary files a/figs/test_joints_thickness_stiffness.png and /dev/null differ diff --git a/test-bench-flexible-joints.org b/test-bench-flexible-joints.org index 2a14225..b18c456 100644 --- a/test-bench-flexible-joints.org +++ b/test-bench-flexible-joints.org @@ -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 <> diff --git a/test-bench-flexible-joints.pdf b/test-bench-flexible-joints.pdf index 2d5c138..cc0d8a2 100644 Binary files a/test-bench-flexible-joints.pdf and b/test-bench-flexible-joints.pdf differ diff --git a/test-bench-flexible-joints.tex b/test-bench-flexible-joints.tex index 2ecfc31..29ecc94 100644 --- a/test-bench-flexible-joints.tex +++ b/test-bench-flexible-joints.tex @@ -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}]