51 lines
1.4 KiB
Matlab
51 lines
1.4 KiB
Matlab
%% Clear Workspace and Close figures
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clear; close all; clc;
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%% Intialize Laplace variable
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s = zpk('s');
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%% Path for functions, data and scripts
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addpath('./mat/'); % Path for data
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%% Colors for the figures
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colors = colororder;
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%% Parameters for study
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kRx = 5; % Bending Stiffness [Nm/rad]
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Rxmax = 25e-3; % Bending Stroke [rad]
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h = 22.5e-3; % Height [m]
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%% Estimation of the force to test the full stroke
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Fxmax = kRx*Rxmax/h; % Force to induce maximum stroke [N]
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%% Estimated maximum stroke [m]
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dxmax = h*tan(Rxmax);
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%% Stiffness
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ka = 94e6; % Axial Stiffness [N/m]
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ks = 13e6; % Shear Stiffness [N/m]
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kb = 5; % Bending Stiffness [Nm/rad]
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kt = 260; % Torsional Stiffness [Nm/rad]
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%% Maximum force
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Fa = 469; % Axial Force before yield [N]
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Fs = 242; % Shear Force before yield [N]
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Fb = 0.118; % Bending Force before yield [Nm]
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Ft = 1.508; % Torsional Force before yield [Nm]
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%% Compute the corresponding stroke
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Xa = Fa/ka; % Axial Stroke before yield [m]
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Xs = Fs/ks; % Shear Stroke before yield [m]
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Xb = Fb/kb; % Bending Stroke before yield [rad]
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Xt = Ft/kt; % Torsional Stroke before yield [rad]
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%% Height between the joint's center and the force application point
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h = 22.5e-3; % [m]
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%% Estimated error due to shear
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epsilon_s = 100*abs(1-1/(1 + kb/(ks*h^2))); % Error in %
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%% Estimated error due to limited load cell stiffness
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kF = 50/0.05e-3; % Estimated load cell stiffness [N/m]
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epsilon_f = 100*abs(1-1/(1 + kb/(kF*h^2))); % Error in %
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