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Study: estimation of the required joint stroke

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This commit is contained in:
Thomas Dehaeze
2020-08-05 13:26:15 +02:00
parent fbabac3c5c
commit 08f3f2faea
8 changed files with 227 additions and 12 deletions
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2
src/initializeAmplifiedStrutDynamics.m
View File

@@ -40,4 +40,4 @@ stewart.actuators.Kr = args.Kr;
stewart.actuators.Cr = args.Cr;
stewart.actuators.K = K;
stewart.actuators.C = K;
stewart.actuators.C = C;

16
src/initializeCylindricalStruts.m
View File

@@ -27,6 +27,8 @@ function [stewart] = initializeCylindricalStruts(stewart, args)
arguments
stewart
args.type_F char {mustBeMember(args.type_F,{'cylindrical', 'none'})} = 'cylindrical'
args.type_M char {mustBeMember(args.type_M,{'cylindrical', 'none'})} = 'cylindrical'
args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 0.1
args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3
@@ -56,14 +58,24 @@ for i = 1:6
1/2 * Msm(i) * Msr(i)^2]);
end
stewart.struts_M.type = 1;
switch args.type_M
case 'cylindrical'
stewart.struts_M.type = 1;
case 'none'
stewart.struts_M.type = 2;
end
stewart.struts_M.I = I_M;
stewart.struts_M.M = Msm;
stewart.struts_M.R = Msr;
stewart.struts_M.H = Msh;
stewart.struts_F.type = 1;
switch args.type_F
case 'cylindrical'
stewart.struts_F.type = 1;
case 'none'
stewart.struts_F.type = 2;
end
stewart.struts_F.I = I_F;
stewart.struts_F.M = Fsm;

31
src/initializeJointDynamics.m
View File

@@ -29,8 +29,8 @@ function [stewart] = initializeJointDynamics(stewart, args)
arguments
stewart
args.type_F char {mustBeMember(args.type_F,{'universal', 'spherical', 'universal_p', 'spherical_p'})} = 'universal'
args.type_M char {mustBeMember(args.type_M,{'universal', 'spherical', 'universal_p', 'spherical_p'})} = 'spherical'
args.type_F char {mustBeMember(args.type_F,{'universal', 'spherical', 'universal_p', 'spherical_p', 'flexible'})} = 'universal'
args.type_M char {mustBeMember(args.type_M,{'universal', 'spherical', 'universal_p', 'spherical_p', 'flexible'})} = 'spherical'
args.Kf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 15*ones(6,1)
args.Cf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.Kt_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 20*ones(6,1)
@@ -39,6 +39,16 @@ arguments
args.Cf_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.Kt_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 20*ones(6,1)
args.Ct_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1)
args.K_M double {mustBeNumeric} = zeros(6,6)
args.M_M double {mustBeNumeric} = zeros(6,6)
args.n_xyz_M double {mustBeNumeric} = zeros(2,3)
args.xi_M double {mustBeNumeric} = 0.1
args.step_file_M char {} = ''
args.K_F double {mustBeNumeric} = zeros(6,6)
args.M_F double {mustBeNumeric} = zeros(6,6)
args.n_xyz_F double {mustBeNumeric} = zeros(2,3)
args.xi_F double {mustBeNumeric} = 0.1
args.step_file_F char {} = ''
end
switch args.type_F
@@ -50,6 +60,8 @@ switch args.type_F
stewart.joints_F.type = 3;
case 'spherical_p'
stewart.joints_F.type = 4;
case 'flexible'
stewart.joints_F.type = 5;
end
switch args.type_M
@@ -61,6 +73,8 @@ switch args.type_M
stewart.joints_M.type = 3;
case 'spherical_p'
stewart.joints_M.type = 4;
case 'flexible'
stewart.joints_M.type = 5;
end
stewart.joints_M.Kx = zeros(6,1);
@@ -90,3 +104,16 @@ stewart.joints_M.Ct = args.Cf_M;
stewart.joints_F.Cf = args.Cf_F;
stewart.joints_F.Ct = args.Cf_F;
stewart.joints_F.M = args.M_F;
stewart.joints_F.K = args.K_F;
stewart.joints_F.n_xyz = args.n_xyz_F;
stewart.joints_F.xi = args.xi_F;
stewart.joints_F.xi = args.xi_F;
stewart.joints_F.step_file = args.step_file_F;
stewart.joints_M.M = args.M_M;
stewart.joints_M.K = args.K_M;
stewart.joints_M.n_xyz = args.n_xyz_M;
stewart.joints_M.xi = args.xi_M;
stewart.joints_M.step_file = args.step_file_M;