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

Remove figs, add table for stiffness matrices

Browse Source
This commit is contained in:
Thomas Dehaeze
2020-02-12 11:23:26 +01:00
parent e241d4e17e
commit 54f86884d5
2 changed files with 60 additions and 57 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
org/cubic-configuration.org
View File

@@ -91,7 +91,7 @@ We here study what makes the Stiffness matrix diagonal when using a cubic config
#+end_src
** Cubic Stewart platform centered with the cube center - Jacobian estimated at the cube center
We create a cubic Stewart platform (figure [[fig:3d-cubic-stewart-aligned]]) in such a way that the center of the cube (black dot) is located at the center of the Stewart platform (blue dot).
We create a cubic Stewart platform (figure [[fig:cubic_conf_centered_J_center]]) in such a way that the center of the cube (black star) is located at the center of the Stewart platform (blue dot).
The Jacobian matrix is estimated at the location of the center of the cube.
#+begin_src matlab
@@ -111,10 +111,6 @@ The Jacobian matrix is estimated at the location of the center of the cube.
stewart = initializeCylindricalPlatforms(stewart, 'Fpr', 175e-3, 'Mpr', 150e-3);
#+end_src
#+name: fig:3d-cubic-stewart-aligned
#+caption: Centered cubic configuration
[[file:figs/3d-cubic-stewart-aligned.png]]
#+begin_src matlab :exports none
displayArchitecture(stewart, 'labels', false);
scatter3(0, 0, FOc, 200, 'kh');
@@ -133,6 +129,8 @@ The Jacobian matrix is estimated at the location of the center of the cube.
data2orgtable(stewart.kinematics.K, {}, {}, ' %.2g ');
#+end_src
#+name: tab:cubic_conf_centered_J_center
#+caption: Stiffness Matrix
#+RESULTS:
| 2 | 0 | -2.5e-16 | 0 | 2.1e-17 | 0 |
| 0 | 2 | 0 | -7.8e-19 | 0 | 0 |
@@ -142,7 +140,7 @@ The Jacobian matrix is estimated at the location of the center of the cube.
| 6.6e-18 | -3.3e-18 | 0 | 1.7e-18 | 0 | 0.06 |
** Cubic Stewart platform centered with the cube center - Jacobian not estimated at the cube center
We create a cubic Stewart platform with center of the cube located at the center of the Stewart platform (figure [[fig:3d-cubic-stewart-aligned]]).
We create a cubic Stewart platform with center of the cube located at the center of the Stewart platform (figure [[fig:cubic_conf_centered_J_not_center]]).
The Jacobian matrix is not estimated at the location of the center of the cube.
#+begin_src matlab
@@ -180,6 +178,8 @@ The Jacobian matrix is not estimated at the location of the center of the cube.
data2orgtable(stewart.kinematics.K, {}, {}, ' %.2g ');
#+end_src
#+name: tab:cubic_conf_centered_J_not_center
#+caption: Stiffness Matrix
#+RESULTS:
| 2 | 0 | -2.5e-16 | 0 | -0.14 | 0 |
| 0 | 2 | 0 | 0.14 | 0 | 0 |
@@ -227,6 +227,8 @@ The Jacobian is estimated at the cube center.
data2orgtable(stewart.kinematics.K, {}, {}, ' %.2g ');
#+end_src
#+name: tab:cubic_conf_not_centered_J_center
#+caption: Stiffness Matrix
#+RESULTS:
| 2 | 0 | -1.7e-16 | 0 | 4.9e-17 | 0 |
| 0 | 2 | 0 | -2.2e-17 | 0 | 2.8e-17 |
@@ -281,6 +283,8 @@ The center of the cube from the top platform is at $z = 110 - 175 = -65$.
data2orgtable(stewart.kinematics.K, {}, {}, ' %.2g ');
#+end_src
#+name: tab:cubic_conf_not_centered_J_stewart_center
#+caption: Stiffness Matrix
#+RESULTS:
| 2 | 0 | 1.5e-16 | 0 | 0.02 | 0 |
| 0 | 2 | 0 | -0.02 | 0 | 0 |
@@ -366,6 +370,8 @@ However, the rotational stiffnesses are increasing with the cube's size but the
data2orgtable(stewart.kinematics.K, {}, {}, ' %.2g ');
#+end_src
#+name: tab:stewart_cubic_conf_type_1
#+caption: Stiffness Matrix
#+RESULTS:
| 2 | 0 | -2.8e-16 | 0 | 2.4e-17 | 0 |
| 0 | 2 | 0 | -2.3e-17 | 0 | 0 |
@@ -405,6 +411,8 @@ However, the rotational stiffnesses are increasing with the cube's size but the
data2orgtable(stewart.kinematics.K, {}, {}, ' %.2g ');
#+end_src
#+name: tab:stewart_cubic_conf_type_2
#+caption: Stiffness Matrix
#+RESULTS:
| 2 | 0 | -1.9e-16 | 0 | 5.6e-17 | 0 |
| 0 | 2 | 0 | -7.6e-17 | 0 | 0 |
@@ -444,6 +452,8 @@ However, the rotational stiffnesses are increasing with the cube's size but the
data2orgtable(stewart.kinematics.K, {}, {}, ' %.2g ');
#+end_src
#+name: tab:stewart_cubic_conf_type_3
#+caption: Stiffness Matrix
#+RESULTS:
| 2 | 0 | -3e-16 | 0 | -8.3e-17 | 0 |
| 0 | 2 | 0 | -2.2e-17 | 0 | 5.6e-17 |