stewart-simscape/study_architecture.m

%%
run stewart_parameters.m
format short

%% Study the effect of the radius of the top platform position of the legs
leg_radius = 50:1:150;
max_disp   = zeros(length(leg_radius), 6);
stiffness  = zeros(length(leg_radius), 6, 6);

for i_leg = 1:length(leg_radius)
    TP.leg.rad = leg_radius(i_leg);
    run stewart_init.m;
    max_disp(i_leg, :) = getMaxPureDisplacement(Leg, J)';
    stiffness(i_leg, :, :) = getStiffnessMatrix(Leg, J);
end

%% Plot everything
% figure;
% hold on;
% plot(leg_radius, max_disp(:, 1))
% plot(leg_radius, max_disp(:, 2))
% plot(leg_radius, max_disp(:, 3))
% hold off;
% legend({'tx', 'ty', 'tz'})
% xlabel('Leg Radius at the platform'); ylabel('Maximum translation (m)');
% 
% figure;
% hold on;
% plot(leg_radius, max_disp(:, 4))
% plot(leg_radius, max_disp(:, 5))
% plot(leg_radius, max_disp(:, 6))
% hold off;
% legend({'rx', 'ry', 'rz'})
% xlabel('Leg Radius at the platform'); ylabel('Maximum rotations (rad)');
% 
% figure;
% hold on;
% plot(leg_radius, stiffness(:, 1, 1))
% plot(leg_radius, stiffness(:, 2, 2))
% plot(leg_radius, stiffness(:, 3, 3))
% hold off;
% legend({'kx', 'ky', 'kz'})
% xlabel('Leg Radius at the platform'); ylabel('Stiffness in translation (N/m)');
% 
% figure;
% hold on;
% plot(leg_radius, stiffness(:, 4, 4))
% plot(leg_radius, stiffness(:, 5, 5))
% plot(leg_radius, stiffness(:, 6, 6))
% hold off;
% legend({'mx', 'my', 'mz'})
% xlabel('Leg Radius at the platform'); ylabel('Stiffness in rotations (N/(m/rad))');