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Add function to initialize cylindrical struts

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This commit is contained in:
Thomas Dehaeze
2020-01-22 13:25:40 +01:00
parent 7cfd4fef39
commit 6f5280cb33
2 changed files with 163 additions and 22 deletions
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src/initializeCylindricalStruts.m Normal file
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function [stewart] = initializeCylindricalStruts(stewart, args)
% initializeCylindricalStruts - Define the mass and moment of inertia of cylindrical struts
%
% Syntax: [stewart] = initializeCylindricalStruts(args)
%
% Inputs:
% - args - Structure with the following fields:
% - Fsm [1x1] - Mass of the Fixed part of the struts [kg]
% - Fsh [1x1] - Height of cylinder for the Fixed part of the struts [m]
% - Fsr [1x1] - Radius of cylinder for the Fixed part of the struts [m]
% - Msm [1x1] - Mass of the Mobile part of the struts [kg]
% - Msh [1x1] - Height of cylinder for the Mobile part of the struts [m]
% - Msr [1x1] - Radius of cylinder for the Mobile part of the struts [m]
%
% Outputs:
% - stewart - updated Stewart structure with the added fields:
% - struts [struct] - structure with the following fields:
% - Fsm [6x1] - Mass of the Fixed part of the struts [kg]
% - Fsi [3x3x6] - Moment of Inertia for the Fixed part of the struts [kg*m^2]
% - Msm [6x1] - Mass of the Mobile part of the struts [kg]
% - Msi [3x3x6] - Moment of Inertia for the Mobile part of the struts [kg*m^2]
% - Fsh [6x1] - Height of cylinder for the Fixed part of the struts [m]
% - Fsr [6x1] - Radius of cylinder for the Fixed part of the struts [m]
% - Msh [6x1] - Height of cylinder for the Mobile part of the struts [m]
% - Msr [6x1] - Radius of cylinder for the Mobile part of the struts [m]
arguments
stewart
args.Fsm (6,1) double {mustBeNumeric, mustBePositive} = 0.1
args.Fsh (6,1) double {mustBeNumeric, mustBePositive} = 50e-3
args.Fsr (6,1) double {mustBeNumeric, mustBePositive} = 5e-3
args.Msm (6,1) double {mustBeNumeric, mustBePositive} = 0.1
args.Msh (6,1) double {mustBeNumeric, mustBePositive} = 50e-3
args.Msr (6,1) double {mustBeNumeric, mustBePositive} = 5e-3
end
struts = struct();
struts.Fsm = ones(6,1).*args.Fsm;
struts.Msm = ones(6,1).*args.Msm;
struts.Fsh = ones(6,1).*args.Fsh;
struts.Fsr = ones(6,1).*args.Fsr;
struts.Msh = ones(6,1).*args.Msh;
struts.Msr = ones(6,1).*args.Msr;
struts.Fsi = zeros(3, 3, 6);
struts.Msi = zeros(3, 3, 6);
for i = 1:6
struts.Fsi(:,:,i) = diag([1/12 * struts.Fsm(i) * (3*struts.Fsr(i)^2 + struts.Fsh(i)^2), ...
1/12 * struts.Fsm(i) * (3*struts.Fsr(i)^2 + struts.Fsh(i)^2), ...
1/2 * struts.Fsm(i) * struts.Fsr(i)^2]);
struts.Msi(:,:,i) = diag([1/12 * struts.Msm(i) * (3*struts.Msr(i)^2 + struts.Msh(i)^2), ...
1/12 * struts.Msm(i) * (3*struts.Msr(i)^2 + struts.Msh(i)^2), ...
1/2 * struts.Msm(i) * struts.Msr(i)^2]);
end
stewart.struts = struts;