diff --git a/src/computeGeometricalProperties.m b/src/computeGeometricalProperties.m deleted file mode 100644 index 8278cb2..0000000 --- a/src/computeGeometricalProperties.m +++ /dev/null @@ -1,59 +0,0 @@ -function [stewart] = computeGeometricalProperties(stewart, opts_param) - -opts = struct(... - 'Jd_pos', [0, 0, 30], ... % Position of the Jacobian for displacement estimation from the top of the mobile platform [mm] - 'Jf_pos', [0, 0, 30] ... % Position of the Jacobian for force location from the top of the mobile platform [mm] - ); - -if exist('opts_param','var') - for opt = fieldnames(opts_param)' - opts.(opt{1}) = opts_param.(opt{1}); - end -end - -leg_length = zeros(6, 1); % [mm] -leg_vectors = zeros(6, 3); - -legs = stewart.Ab - stewart.Aa; - -for i = 1:6 - leg_length(i) = norm(legs(i,:)); - leg_vectors(i,:) = legs(i,:) / leg_length(i); -end - -stewart.Rm = struct('R', eye(3)); - -for i = 1:6 - sx = cross(leg_vectors(i,:), [1 0 0]); - sx = sx/norm(sx); - - sy = -cross(sx, leg_vectors(i,:)); - sy = sy/norm(sy); - - sz = leg_vectors(i,:); - sz = sz/norm(sz); - - stewart.Rm(i).R = [sx', sy', sz']; -end - -Jd = zeros(6); - -for i = 1:6 - Jd(i, 1:3) = leg_vectors(i, :); - Jd(i, 4:6) = cross(0.001*(stewart.Bb(i, :) - opts.Jd_pos), leg_vectors(i, :)); -end - -stewart.Jd = Jd; -stewart.Jd_inv = inv(Jd); - -Jf = zeros(6); - -for i = 1:6 - Jf(i, 1:3) = leg_vectors(i, :); - Jf(i, 4:6) = cross(0.001*(stewart.Bb(i, :) - opts.Jf_pos), leg_vectors(i, :)); -end - -stewart.Jf = Jf; -stewart.Jf_inv = inv(Jf); - -end diff --git a/src/initializeGeneralConfiguration.m b/src/initializeGeneralConfiguration.m deleted file mode 100644 index 05ec300..0000000 --- a/src/initializeGeneralConfiguration.m +++ /dev/null @@ -1,47 +0,0 @@ -function [stewart] = initializeGeneralConfiguration(opts_param) - -opts = struct(... - 'H_tot', 90, ... % Height of the platform [mm] - 'H_joint', 15, ... % Height of the joints [mm] - 'H_plate', 10, ... % Thickness of the fixed and mobile platforms [mm] - 'R_bot', 100, ... % Radius where the legs articulations are positionned [mm] - 'R_top', 80, ... % Radius where the legs articulations are positionned [mm] - 'a_bot', 10, ... % Angle Offset [deg] - 'a_top', 40, ... % Angle Offset [deg] - 'da_top', 0 ... % Angle Offset from 0 position [deg] - ); - -if exist('opts_param','var') - for opt = fieldnames(opts_param)' - opts.(opt{1}) = opts_param.(opt{1}); - end -end - -Aa = zeros(6, 3); % [mm] -Ab = zeros(6, 3); % [mm] -Bb = zeros(6, 3); % [mm] - -for i = 1:3 - Aa(2*i-1,:) = [opts.R_bot*cos( pi/180*(120*(i-1) - opts.a_bot) ), ... - opts.R_bot*sin( pi/180*(120*(i-1) - opts.a_bot) ), ... - opts.H_plate+opts.H_joint]; - Aa(2*i,:) = [opts.R_bot*cos( pi/180*(120*(i-1) + opts.a_bot) ), ... - opts.R_bot*sin( pi/180*(120*(i-1) + opts.a_bot) ), ... - opts.H_plate+opts.H_joint]; - - Ab(2*i-1,:) = [opts.R_top*cos( pi/180*(120*(i-1) + opts.da_top - opts.a_top) ), ... - opts.R_top*sin( pi/180*(120*(i-1) + opts.da_top - opts.a_top) ), ... - opts.H_tot - opts.H_plate - opts.H_joint]; - Ab(2*i,:) = [opts.R_top*cos( pi/180*(120*(i-1) + opts.da_top + opts.a_top) ), ... - opts.R_top*sin( pi/180*(120*(i-1) + opts.da_top + opts.a_top) ), ... - opts.H_tot - opts.H_plate - opts.H_joint]; -end - -Bb = Ab - opts.H_tot*[0,0,1]; - -stewart = struct(); - stewart.Aa = Aa; - stewart.Ab = Ab; - stewart.Bb = Bb; - stewart.H_tot = opts.H_tot; -end diff --git a/src/initializeMechanicalElements.m b/src/initializeMechanicalElements.m deleted file mode 100644 index 1ec9077..0000000 --- a/src/initializeMechanicalElements.m +++ /dev/null @@ -1,94 +0,0 @@ -function [stewart] = initializeMechanicalElements(stewart, opts_param) - -opts = struct(... - 'thickness', 10, ... % Thickness of the base and platform [mm] - 'density', 1000, ... % Density of the material used for the hexapod [kg/m3] - 'k_ax', 1e8, ... % Stiffness of each actuator [N/m] - 'c_ax', 1000, ... % Damping of each actuator [N/(m/s)] - 'stroke', 50e-6 ... % Maximum stroke of each actuator [m] - ); - -if exist('opts_param','var') - for opt = fieldnames(opts_param)' - opts.(opt{1}) = opts_param.(opt{1}); - end -end - -BP = struct(); - -BP.Rint = 0; % Internal Radius [mm] -BP.Rext = 150; % External Radius [mm] - -BP.H = opts.thickness; % Thickness of the Bottom Plate [mm] - -BP.density = opts.density; % Density of the material [kg/m3] - -BP.color = [0.7 0.7 0.7]; % Color [RGB] - -BP.shape = [BP.Rint BP.H; BP.Rint 0; BP.Rext 0; BP.Rext BP.H]; % [mm] - -stewart.BP = BP; - -TP = struct(); - -TP.Rint = 0; % [mm] -TP.Rext = 100; % [mm] - -TP.H = 10; % [mm] - -TP.density = opts.density; % Density of the material [kg/m3] - -TP.color = [0.7 0.7 0.7]; % Color [RGB] - -TP.shape = [TP.Rint TP.H; TP.Rint 0; TP.Rext 0; TP.Rext TP.H]; - -stewart.TP = TP; - -Leg = struct(); - -Leg.stroke = opts.stroke; % [m] - -Leg.k_ax = opts.k_ax; % Stiffness of each leg [N/m] -Leg.c_ax = opts.c_ax; % Damping of each leg [N/(m/s)] - -Leg.Rtop = 10; % Radius of the cylinder of the top part of the leg[mm] -Leg.Rbot = 12; % Radius of the cylinder of the bottom part of the leg [mm] - -Leg.density = opts.density; % Density of the material used for the legs [kg/m3] - -Leg.color = [0.5 0.5 0.5]; % Color of the top part of the leg [RGB] - -Leg.R = 1.3*Leg.Rbot; % Size of the sphere at the extremity of the leg [mm] - -legs = stewart.Ab - stewart.Aa; -Leg.lenght = norm(legs(1,:))/1.5; - -Leg.shape.bot = ... - [0 0; ... - Leg.Rbot 0; ... - Leg.Rbot Leg.lenght; ... - Leg.Rtop Leg.lenght; ... - Leg.Rtop 0.2*Leg.lenght; ... - 0 0.2*Leg.lenght]; - -stewart.Leg = Leg; - -SP = struct(); - -SP.k = 0; % [N*m/deg] -SP.c = 0; % [N*m/deg] - -SP.H = stewart.Aa(1, 3) - BP.H; % [mm] - -SP.R = Leg.R; % [mm] - -SP.section = [0 SP.H-SP.R; - 0 0; - SP.R 0; - SP.R SP.H]; - -SP.density = opts.density; % [kg/m^3] - -SP.color = [0.7 0.7 0.7]; % [RGB] - -stewart.SP = SP; diff --git a/src/initializeSample.m b/src/initializeSample.m deleted file mode 100644 index 1ae05e8..0000000 --- a/src/initializeSample.m +++ /dev/null @@ -1,20 +0,0 @@ -function [] = initializeSample(opts_param) - -sample = struct( ... - 'radius', 100, ... % radius of the cylinder [mm] - 'height', 100, ... % height of the cylinder [mm] - 'mass', 10, ... % mass of the cylinder [kg] - 'measheight', 50, ... % measurement point z-offset [mm] - 'offset', [0, 0, 0], ... % offset position of the sample [mm] - 'color', [0.9 0.1 0.1] ... - ); - -if exist('opts_param','var') - for opt = fieldnames(opts_param)' - sample.(opt{1}) = opts_param.(opt{1}); - end -end - -save('./mat/sample.mat', 'sample'); - -end