Removed old functions
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bfc62cac82
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@ -1,59 +0,0 @@
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function [stewart] = computeGeometricalProperties(stewart, opts_param)
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opts = struct(...
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'Jd_pos', [0, 0, 30], ... % Position of the Jacobian for displacement estimation from the top of the mobile platform [mm]
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'Jf_pos', [0, 0, 30] ... % Position of the Jacobian for force location from the top of the mobile platform [mm]
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);
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if exist('opts_param','var')
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for opt = fieldnames(opts_param)'
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opts.(opt{1}) = opts_param.(opt{1});
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end
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end
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leg_length = zeros(6, 1); % [mm]
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leg_vectors = zeros(6, 3);
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legs = stewart.Ab - stewart.Aa;
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for i = 1:6
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leg_length(i) = norm(legs(i,:));
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leg_vectors(i,:) = legs(i,:) / leg_length(i);
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end
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stewart.Rm = struct('R', eye(3));
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for i = 1:6
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sx = cross(leg_vectors(i,:), [1 0 0]);
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sx = sx/norm(sx);
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sy = -cross(sx, leg_vectors(i,:));
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sy = sy/norm(sy);
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sz = leg_vectors(i,:);
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sz = sz/norm(sz);
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stewart.Rm(i).R = [sx', sy', sz'];
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end
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Jd = zeros(6);
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for i = 1:6
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Jd(i, 1:3) = leg_vectors(i, :);
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Jd(i, 4:6) = cross(0.001*(stewart.Bb(i, :) - opts.Jd_pos), leg_vectors(i, :));
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end
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stewart.Jd = Jd;
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stewart.Jd_inv = inv(Jd);
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Jf = zeros(6);
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for i = 1:6
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Jf(i, 1:3) = leg_vectors(i, :);
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Jf(i, 4:6) = cross(0.001*(stewart.Bb(i, :) - opts.Jf_pos), leg_vectors(i, :));
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end
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stewart.Jf = Jf;
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stewart.Jf_inv = inv(Jf);
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end
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@ -1,47 +0,0 @@
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function [stewart] = initializeGeneralConfiguration(opts_param)
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opts = struct(...
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'H_tot', 90, ... % Height of the platform [mm]
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'H_joint', 15, ... % Height of the joints [mm]
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'H_plate', 10, ... % Thickness of the fixed and mobile platforms [mm]
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'R_bot', 100, ... % Radius where the legs articulations are positionned [mm]
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'R_top', 80, ... % Radius where the legs articulations are positionned [mm]
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'a_bot', 10, ... % Angle Offset [deg]
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'a_top', 40, ... % Angle Offset [deg]
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'da_top', 0 ... % Angle Offset from 0 position [deg]
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);
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if exist('opts_param','var')
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for opt = fieldnames(opts_param)'
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opts.(opt{1}) = opts_param.(opt{1});
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end
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end
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Aa = zeros(6, 3); % [mm]
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Ab = zeros(6, 3); % [mm]
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Bb = zeros(6, 3); % [mm]
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for i = 1:3
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Aa(2*i-1,:) = [opts.R_bot*cos( pi/180*(120*(i-1) - opts.a_bot) ), ...
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opts.R_bot*sin( pi/180*(120*(i-1) - opts.a_bot) ), ...
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opts.H_plate+opts.H_joint];
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Aa(2*i,:) = [opts.R_bot*cos( pi/180*(120*(i-1) + opts.a_bot) ), ...
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opts.R_bot*sin( pi/180*(120*(i-1) + opts.a_bot) ), ...
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opts.H_plate+opts.H_joint];
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Ab(2*i-1,:) = [opts.R_top*cos( pi/180*(120*(i-1) + opts.da_top - opts.a_top) ), ...
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opts.R_top*sin( pi/180*(120*(i-1) + opts.da_top - opts.a_top) ), ...
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opts.H_tot - opts.H_plate - opts.H_joint];
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Ab(2*i,:) = [opts.R_top*cos( pi/180*(120*(i-1) + opts.da_top + opts.a_top) ), ...
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opts.R_top*sin( pi/180*(120*(i-1) + opts.da_top + opts.a_top) ), ...
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opts.H_tot - opts.H_plate - opts.H_joint];
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end
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Bb = Ab - opts.H_tot*[0,0,1];
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stewart = struct();
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stewart.Aa = Aa;
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stewart.Ab = Ab;
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stewart.Bb = Bb;
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stewart.H_tot = opts.H_tot;
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end
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@ -1,94 +0,0 @@
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function [stewart] = initializeMechanicalElements(stewart, opts_param)
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opts = struct(...
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'thickness', 10, ... % Thickness of the base and platform [mm]
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'density', 1000, ... % Density of the material used for the hexapod [kg/m3]
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'k_ax', 1e8, ... % Stiffness of each actuator [N/m]
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'c_ax', 1000, ... % Damping of each actuator [N/(m/s)]
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'stroke', 50e-6 ... % Maximum stroke of each actuator [m]
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);
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if exist('opts_param','var')
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for opt = fieldnames(opts_param)'
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opts.(opt{1}) = opts_param.(opt{1});
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end
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end
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BP = struct();
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BP.Rint = 0; % Internal Radius [mm]
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BP.Rext = 150; % External Radius [mm]
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BP.H = opts.thickness; % Thickness of the Bottom Plate [mm]
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BP.density = opts.density; % Density of the material [kg/m3]
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BP.color = [0.7 0.7 0.7]; % Color [RGB]
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BP.shape = [BP.Rint BP.H; BP.Rint 0; BP.Rext 0; BP.Rext BP.H]; % [mm]
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stewart.BP = BP;
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TP = struct();
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TP.Rint = 0; % [mm]
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TP.Rext = 100; % [mm]
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TP.H = 10; % [mm]
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TP.density = opts.density; % Density of the material [kg/m3]
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TP.color = [0.7 0.7 0.7]; % Color [RGB]
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TP.shape = [TP.Rint TP.H; TP.Rint 0; TP.Rext 0; TP.Rext TP.H];
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stewart.TP = TP;
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Leg = struct();
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Leg.stroke = opts.stroke; % [m]
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Leg.k_ax = opts.k_ax; % Stiffness of each leg [N/m]
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Leg.c_ax = opts.c_ax; % Damping of each leg [N/(m/s)]
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Leg.Rtop = 10; % Radius of the cylinder of the top part of the leg[mm]
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Leg.Rbot = 12; % Radius of the cylinder of the bottom part of the leg [mm]
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Leg.density = opts.density; % Density of the material used for the legs [kg/m3]
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Leg.color = [0.5 0.5 0.5]; % Color of the top part of the leg [RGB]
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Leg.R = 1.3*Leg.Rbot; % Size of the sphere at the extremity of the leg [mm]
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legs = stewart.Ab - stewart.Aa;
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Leg.lenght = norm(legs(1,:))/1.5;
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Leg.shape.bot = ...
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[0 0; ...
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Leg.Rbot 0; ...
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Leg.Rbot Leg.lenght; ...
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Leg.Rtop Leg.lenght; ...
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Leg.Rtop 0.2*Leg.lenght; ...
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0 0.2*Leg.lenght];
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stewart.Leg = Leg;
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SP = struct();
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SP.k = 0; % [N*m/deg]
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SP.c = 0; % [N*m/deg]
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SP.H = stewart.Aa(1, 3) - BP.H; % [mm]
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SP.R = Leg.R; % [mm]
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SP.section = [0 SP.H-SP.R;
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0 0;
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SP.R 0;
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SP.R SP.H];
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SP.density = opts.density; % [kg/m^3]
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SP.color = [0.7 0.7 0.7]; % [RGB]
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stewart.SP = SP;
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@ -1,20 +0,0 @@
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function [] = initializeSample(opts_param)
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sample = struct( ...
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'radius', 100, ... % radius of the cylinder [mm]
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'height', 100, ... % height of the cylinder [mm]
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'mass', 10, ... % mass of the cylinder [kg]
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'measheight', 50, ... % measurement point z-offset [mm]
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'offset', [0, 0, 0], ... % offset position of the sample [mm]
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'color', [0.9 0.1 0.1] ...
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);
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if exist('opts_param','var')
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for opt = fieldnames(opts_param)'
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sample.(opt{1}) = opts_param.(opt{1});
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end
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end
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save('./mat/sample.mat', 'sample');
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end
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