36 lines
1.3 KiB
Mathematica
36 lines
1.3 KiB
Mathematica
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function [stewart] = initializeFramesPositions(stewart, args)
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% initializeFramesPositions - Initialize the positions of frames {A}, {B}, {F} and {M}
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%
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% Syntax: [stewart] = initializeFramesPositions(stewart, args)
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%
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% Inputs:
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% - args - Can have the following fields:
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% - H [1x1] - Total Height of the Stewart Platform (height from {F} to {M}) [m]
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% - MO_B [1x1] - Height of the frame {B} with respect to {M} [m]
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%
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% Outputs:
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% - stewart - A structure with the following fields:
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% - geometry.H [1x1] - Total Height of the Stewart Platform [m]
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% - geometry.FO_M [3x1] - Position of {M} with respect to {F} [m]
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% - platform_M.MO_B [3x1] - Position of {B} with respect to {M} [m]
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% - platform_F.FO_A [3x1] - Position of {A} with respect to {F} [m]
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arguments
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stewart
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args.H (1,1) double {mustBeNumeric, mustBePositive} = 90e-3
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args.MO_B (1,1) double {mustBeNumeric} = 50e-3
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end
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H = args.H; % Total Height of the Stewart Platform [m]
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FO_M = [0; 0; H]; % Position of {M} with respect to {F} [m]
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MO_B = [0; 0; args.MO_B]; % Position of {B} with respect to {M} [m]
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FO_A = MO_B + FO_M; % Position of {A} with respect to {F} [m]
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stewart.geometry.H = H;
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stewart.geometry.FO_M = FO_M;
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stewart.platform_M.MO_B = MO_B;
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stewart.platform_F.FO_A = FO_A;
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