tdehaeze/stewart-simscape
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Removed old functions

Browse Source
This commit is contained in:
Thomas Dehaeze
2020-02-06 17:31:42 +01:00
parent bfc62cac82
commit 3002bd2589
4 changed files with 0 additions and 220 deletions
Download Patch File Download Diff File Expand all files Collapse all files

59
src/computeGeometricalProperties.m
View File

@@ -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

47
src/initializeGeneralConfiguration.m
View File

@@ -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

94
src/initializeMechanicalElements.m
View File

@@ -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;

20
src/initializeSample.m
View File

@@ -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