51 lines
2.1 KiB
Matlab
51 lines
2.1 KiB
Matlab
function [stewart] = generateCubicConfiguration(stewart, args)
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% generateCubicConfiguration - Generate a Cubic Configuration
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%
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% Syntax: [stewart] = generateCubicConfiguration(stewart, args)
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%
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% Inputs:
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% - stewart - A structure with the following fields
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% - geometry.H [1x1] - Total height of the platform [m]
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% - args - Can have the following fields:
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% - Hc [1x1] - Height of the "useful" part of the cube [m]
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% - FOc [1x1] - Height of the center of the cube with respect to {F} [m]
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% - FHa [1x1] - Height of the plane joining the points ai with respect to the frame {F} [m]
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% - MHb [1x1] - Height of the plane joining the points bi with respect to the frame {M} [m]
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%
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% Outputs:
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% - stewart - updated Stewart structure with the added fields:
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% - platform_F.Fa [3x6] - Its i'th column is the position vector of joint ai with respect to {F}
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% - platform_M.Mb [3x6] - Its i'th column is the position vector of joint bi with respect to {M}
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arguments
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stewart
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args.Hc (1,1) double {mustBeNumeric, mustBePositive} = 60e-3
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args.FOc (1,1) double {mustBeNumeric} = 50e-3
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args.FHa (1,1) double {mustBeNumeric, mustBeNonnegative} = 15e-3
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args.MHb (1,1) double {mustBeNumeric, mustBeNonnegative} = 15e-3
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end
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assert(isfield(stewart.geometry, 'H'), 'stewart.geometry should have attribute H')
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H = stewart.geometry.H;
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sx = [ 2; -1; -1];
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sy = [ 0; 1; -1];
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sz = [ 1; 1; 1];
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R = [sx, sy, sz]./vecnorm([sx, sy, sz]);
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L = args.Hc*sqrt(3);
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Cc = R'*[[0;0;L],[L;0;L],[L;0;0],[L;L;0],[0;L;0],[0;L;L]] - [0;0;1.5*args.Hc];
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CCf = [Cc(:,1), Cc(:,3), Cc(:,3), Cc(:,5), Cc(:,5), Cc(:,1)]; % CCf(:,i) corresponds to the bottom cube's vertice corresponding to the i'th leg
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CCm = [Cc(:,2), Cc(:,2), Cc(:,4), Cc(:,4), Cc(:,6), Cc(:,6)]; % CCm(:,i) corresponds to the top cube's vertice corresponding to the i'th leg
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CSi = (CCm - CCf)./vecnorm(CCm - CCf);
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Fa = CCf + [0; 0; args.FOc] + ((args.FHa-(args.FOc-args.Hc/2))./CSi(3,:)).*CSi;
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Mb = CCf + [0; 0; args.FOc-H] + ((H-args.MHb-(args.FOc-args.Hc/2))./CSi(3,:)).*CSi;
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stewart.platform_F.Fa = Fa;
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stewart.platform_M.Mb = Mb;
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