Remove unused scripts
This commit is contained in:
Thomas Dehaeze
parent
86069beda1
commit
31a59fcca3
@ -1,73 +0,0 @@
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run study_architecture.m
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format shortEnG
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%% tx
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tx=[leg_radius', max_disp(:, 1)]';
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tx1=find(tx(2,:)==max(tx(2,:)));
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tx2=max(tx(2,:));
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ltx=[tx1,tx2]
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%% ty
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ty=[leg_radius', max_disp(:, 2)]';
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ty1=find(ty(2,:)==max(ty(2,:)));
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ty2=max(ty(2,:));
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lty=[ty1,ty2]
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%% tz
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tz=[leg_radius', max_disp(:,3)]';
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tz1=find(tz(2,:)==max(tz(2,:)));
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tz2=max(tz(2,:));
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ltz=[tz1,tz2]
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%% rx
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rx=[leg_radius', max_disp(:,4)]';
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rx1=find(rx(2,:)==max(rx(2,:)));
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rx2=max(rx(2,:));
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lrx=[rx1,rx2]
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%% rx
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ry=[leg_radius', max_disp(:,5)]';
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ry1=find(ry(2,:)==max(ry(2,:)));
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ry2=max(ry(2,:));
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lry=[ry1,ry2]
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%% rx
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rz=[leg_radius', max_disp(:,6)]';
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rz1=find(rz(2,:)==max(rz(2,:)));
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rz2=max(rz(2,:));
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lrz=[rz1,rz2]
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%% kx
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kx=[leg_radius', stiffness(:, 1, 1)]';
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kx1=find(kx(2,:)==max(kx(2,:)));
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kx2=max(kx(2,:));
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lkx=[kx1,kx2]
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%% ky
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ky=[leg_radius', stiffness(:, 2, 2)]';
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ky1=find(ky(2,:)==max(ky(2,:)));
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ky2=max(ky(2,:));
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lky=[ky1,ky2]
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%% kz
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kz=[leg_radius', stiffness(:, 3, 3)]';
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kz1=find(kz(2,:)==max(kz(2,:)));
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kz2=max(kz(2,:));
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lkz=[kz1,kz2]
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%% mx
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mx=[leg_radius', stiffness(:, 4, 4)]';
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mx1=find(mx(2,:)==max(mx(2,:)));
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mx2=max(mx(2,:));
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lmx=[mx1,mx2]
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%% my
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my=[leg_radius', stiffness(:, 5, 5)]';
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my1=find(my(2,:)==max(my(2,:)));
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my2=max(my(2,:));
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lmy=[my1,my2]
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%% my
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mz=[leg_radius', stiffness(:, 6, 6)]';
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mz1=find(mz(2,:)==max(mz(2,:)));
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mz2=max(mz(2,:));
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lmz=[mz1,mz2]
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59
Test.m
59
Test.m
@ -1,59 +0,0 @@
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%% Variable parameters
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BP_leg_radius = 100:10:150;
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TP_leg_radius = 50:10:100;
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BP_leg_ang = 0:1:30;
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TP_leg_ang = 0:1:30;
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%%
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intervalle1=10e-6;
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intervalle2=10e-3;
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% variation=1e-3;
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%% Study the effect of the radius of the top platform position of the legs
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max_disp = zeros(length(BP_leg_radius),length(TP_leg_radius),length(BP_leg_ang),length(TP_leg_ang), 6);
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stiffness = zeros(length(BP_leg_radius),length(TP_leg_radius),length(BP_leg_ang),length(TP_leg_ang), 6, 6);
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for Blri = 1:length(BP_leg_radius)
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for Tlri = 1:length(TP_leg_radius)
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for Blai = 1:length(BP_leg_ang)
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for Tlai = 1:length(TP_leg_ang)
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BP.leg.rad = BP_leg_radius(Blri);
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TP.leg.rad = TP_leg_radius(Tlri);
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BP.leg.ang = BP_leg_ang(Blai);
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TP.leg.ang = TP_leg_ang(Tlai);
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run stewart_init.m;
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max_disp(Blri,Tlri,Blai,Tlai, :) = getMaxPureDisplacement(Leg, J)';
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stiffness(Blri,Tlri,Blai,Tlai, :, :) = getStiffnessMatrix(Leg, J);
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end
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end
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end
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end
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%%
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M = min(max_disp(:, : , :, :, 1), max_disp(:, : , :, :, 2));
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[C,I] = max(M(:));
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[I1,I2,I3,I4] = ind2sub(size(max_disp(:, : , :, :, 3)),I);
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BP_leg_radius(I1)
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TP_leg_radius(I2)
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BP_leg_ang(I3)
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TP_leg_ang(I4)
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% %%
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% for Blri = 1:length(BP_leg_radius)
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% for Tlri = 1:length(TP_leg_radius)
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% for Blai = 1:length(BP_leg_ang)
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% for Tlai = 1:length(TP_leg_ang)
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% if max_disp==intervalle1
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% i=i+1;
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% s1(1,i)=BP_leg_radius(Blri);
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% s1(2,i)=TP_leg_radius(Tlri);
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% s1(3,i)=BP_leg_ang(Blai);
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% s1(4,i)=TP_leg_ang(Tlai);
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% else
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% end
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% end
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% end
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% end
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% end
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%
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@ -1,91 +0,0 @@
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%% Define some constant values
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deg2rad = pi/180;
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x_axis = [1 0 0];
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y_axis = [0 1 0];
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z_axis = [0 0 1];
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%% Connection points on base and top plate w.r.t. World frame at the center of the base plate
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pos_base = zeros(6, 3);
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pos_top = zeros(6, 3);
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alpha_b = BP.leg.ang*deg2rad; % angle de décalage par rapport à 120 deg (pour positionner les supports bases)
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alpha_t = TP.leg.ang*deg2rad; % +- offset angle from 120 degree spacing on top
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height = (stewart.h-BP.thickness-TP.thickness-Leg.sphere.bottom-Leg.sphere.top-SP.thickness.bottom-SP.thickness.top)*0.001; % TODO
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radius_b = BP.leg.rad*0.001; % rayon emplacement support base
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radius_t = TP.leg.rad*0.001; % top radius in meters
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for i = 1:3
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% base points
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angle_m_b = (2*pi/3)* (i-1) - alpha_b;
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angle_p_b = (2*pi/3)* (i-1) + alpha_b;
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pos_base(2*i-1,:) = [radius_b*cos(angle_m_b), radius_b*sin(angle_m_b), 0.0];
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pos_base(2*i,:) = [radius_b*cos(angle_p_b), radius_b*sin(angle_p_b), 0.0];
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% top points
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% Top points are 60 degrees offset
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angle_m_t = (2*pi/3)* (i-1) - alpha_t + 2*pi/6;
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angle_p_t = (2*pi/3)* (i-1) + alpha_t + 2*pi/6;
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pos_top(2*i-1,:) = [radius_t*cos(angle_m_t), radius_t*sin(angle_m_t), height];
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pos_top(2*i,:) = [radius_t*cos(angle_p_t), radius_t*sin(angle_p_t), height];
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end
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% permute pos_top points so that legs are end points of base and top points
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pos_top = [pos_top(6,:); pos_top(1:5,:)]; %6th point on top connects to 1st on bottom
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pos_top_tranform = pos_top - height*[zeros(6, 2),ones(6, 1)];
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%% Compute points w.r.t. to the body frame in a 3x6 matrix
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body_pts = pos_top' - height*[zeros(2,6);ones(1,6)];
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%% leg vectors
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legs = pos_top - pos_base;
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leg_length = zeros(6, 1);
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leg_vectors = zeros(6, 3);
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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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Leg.lenght = 1000*leg_length(1)/1.5;
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Leg.shape.bot = [0 0; Leg.rad.bottom 0; Leg.rad.bottom Leg.lenght; Leg.rad.top Leg.lenght; Leg.rad.top 0.2*Leg.lenght; 0 0.2*Leg.lenght];
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%% Calculate revolute and cylindrical axes
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rev1 = zeros(6, 3);
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rev2 = zeros(6, 3);
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rev3 = zeros(6, 3);
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rev4 = zeros(6, 3);
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cyl1 = zeros(6, 3);
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for i = 1:6
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rev1(i,:) = cross(leg_vectors(i,:), z_axis);
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rev1(i,:) = rev1(i,:) / norm(rev1(i,:));
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rev3(i,:) = rev1(i,:);
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rev2(i,:) = - cross(rev1(i,:), leg_vectors(i,:));
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rev2(i,:) = rev2(i,:) / norm(rev2(i,:));
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rev4(i,:) = rev2(i,:);
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cyl1(i,:) = leg_vectors(i,:);
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end
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%% Coordinate systems
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lower_leg = struct('origin', [0 0 0], 'rotation', eye(3), 'end_point', [0 0 0]);
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upper_leg = struct('origin', [0 0 0], 'rotation', eye(3), 'end_point', [0 0 0]);
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for i = 1:6
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lower_leg(i).origin = pos_base(i,:) + (3/8)*legs(i,:);
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lower_leg(i).end_point = pos_base(i,:) + (3/4)*legs(i,:);
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lower_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)'];
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upper_leg(i).origin = pos_base(i,:) + (1-3/8)*legs(i,:);
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upper_leg(i).end_point = pos_base(i,:) + (1/4)*legs(i,:);
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upper_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)'];
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end
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%% Position Matrix
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M_pos_base = pos_base + (height+(TP.thickness+Leg.sphere.top+SP.thickness.top+stewart.jacobian)*1e-3)*[zeros(6, 2),ones(6, 1)];
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%% Compute Jacobian Matrix
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aa = pos_top_tranform + (stewart.jacobian - TP.thickness - SP.height.top)*1e-3*[zeros(6, 2),ones(6, 1)];
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J = getJacobianMatrix(leg_vectors', aa');
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@ -1,74 +0,0 @@
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%% Nass height
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stewart = struct();
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stewart.h = 350; % Total height of the platform [mm]
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stewart.jacobian = 0; % Point where the Jacobian is computed => Center of rotation [mm]
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%% Bottom Plate
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BP = struct();
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BP.rad.int = 110; % Internal Radius [mm]
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BP.rad.ext = 207.5; % External Radius [mm]
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BP.thickness = 26; % Thickness [mm]
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BP.leg.rad = 175.5; % Radius where the legs articulations are positionned [mm]
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BP.leg.ang = 9.5; % Angle Offset [deg]
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BP.density = 8000; % Density of the material [kg/m^3]
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BP.color = [0.5 0.5 0.5]; % Color [rgb]
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%% Top Plate
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TP = struct();
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TP.rad.int = 82; % Internal Radius [mm]
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TP.rad.ext = 150; % Internal Radius [mm]
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TP.thickness = 26; % Thickness [mm]
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TP.leg.rad = 118; % Radius where the legs articulations are positionned [mm]
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TP.leg.ang = 12.1; % Angle Offset [deg]
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TP.density = 8000; % Density of the material [kg/m^3]
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TP.color = [0.5 0.5 0.5]; % Color [rgb]
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%% Leg
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Leg = struct();
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Leg.stroke = 10e-3; % Maximum Stroke of each leg [m]
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Leg.k.ax = 5e7; % Stiffness of each leg [N/m]
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Leg.ksi.ax = 10; % Maximum amplification at resonance []
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Leg.rad.bottom = 25; % Radius of the cylinder of the bottom part [mm]
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Leg.rad.top = 17; % Radius of the cylinder of the top part [mm]
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Leg.density = 8000; % Density of the material [kg/m^3]
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Leg.color.bottom = [0.5 0.5 0.5]; % Color [rgb]
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Leg.color.top = [0.5 0.5 0.5]; % Color [rgb]
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Leg.sphere.bottom = Leg.rad.bottom; % Size of the sphere at the end of the leg [mm]
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Leg.sphere.top = Leg.rad.top; % Size of the sphere at the end of the leg [mm]
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Leg.m = TP.density*((pi*(TP.rad.ext/1000)^2)*(TP.thickness/1000)-(pi*(TP.rad.int/1000^2))*(TP.thickness/1000))/6; % TODO [kg]
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Leg = updateDamping(Leg);
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%% Sphere
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SP = struct();
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SP.height.bottom = 27; % [mm]
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SP.height.top = 27; % [mm]
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SP.density.bottom = 8000; % [kg/m^3]
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SP.density.top = 8000; % [kg/m^3]
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SP.color.bottom = [0.5 0.5 0.5]; % [rgb]
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SP.color.top = [0.5 0.5 0.5]; % [rgb]
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SP.k.ax = 0; % [N*m/deg]
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SP.ksi.ax = 10;
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SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm]
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SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm]
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SP.rad.bottom = Leg.sphere.bottom; % [mm]
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SP.rad.top = Leg.sphere.top; % [mm]
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SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); % TODO [kg]
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SP = updateDamping(SP);
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%%
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function element = updateDamping(element)
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field = fieldnames(element.k);
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for i = 1:length(field)
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element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m);
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end
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end
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@ -1,3 +1,5 @@
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%% TODO - rewrite this script
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%%
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%%
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run stewart_parameters.m
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run stewart_parameters.m
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format shortE
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format shortE
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