stewart-simscape/old/study_architecture.m

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%%
clear; close all; clc;
2018-06-07 13:54:15 +02:00
%%
run stewart_parameters.m
%% Study the effect of the radius of the top platform position of the legs
leg_radius = 50:1:120;
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))');