Remove two figures

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
 <<sec:test_joints_conclusion>>

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})}
+\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}
-
-\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}
 \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}]