This commit is contained in:
Unknown 2018-05-08 11:48:09 +02:00
parent c886022a5f
commit 87101b5fe9
5 changed files with 185 additions and 43 deletions

67
MaxLocalisation.asv Normal file
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@ -0,0 +1,67 @@
run study_architecture.m
format short
%% tx
tx=[leg_radius', max_disp(:, 1)]';
tx1=find(tx(2,:)==max(tx(2,:)));
tx2=max(tx(2,:));
ltx=[tx1,tx2]
%% ty
ty=[leg_radius', max_disp(:, 2)]';
ty1=find(ty(2,:)==max(ty(2,:)));
ty2=max(ty(2,:));
lty=[ty1,ty2]
%% tz
tz=[leg_radius', max_disp(:,3)]';
tz1=find(tz(2,:)==max(tz(2,:)));
tz2=max(tz(2,:));
ltz=[tz1,tz2]
%% rx
rx=[leg_radius', max_disp(:,4)]';
rx1=find(rx(2,:)==max(rx(2,:)));
rx2=max(rx(2,:));
lrx=[rx1,rx2]
%% rx
ry=[leg_radius', max_disp(:,5)]';
ry1=find(ry(2,:)==max(ry(2,:)));
ry2=max(ry(2,:));
lry=[ry1,ry2]
%% rx
rz=[leg_radius', max_disp(:,6)]';
rz1=find(rz(2,:)==max(rz(2,:)));
rz2=max(rz(2,:));
lrz=[rz1,rz2]
%% kx
kx=[leg_radius', stiffness(:, 1, 1)]';
kx1=find(kx(2,:)==max(kx(2,:)));
kx2=max(kx(2,:));
lkx=[kx1,kx2]
%% ky
ky=[leg_radius', stiffness(:, 2, 2)]';
ky1=find(ky(2,:)==max(ky(2,:)));
ky2=max(ky(2,:));
lky=[ky1,ky2]
%% kz
kz=[leg_radius', stiffness(:, 3, 3)]';
kz1=find(kz(2,:)==max(kz(2,:)));
kz2=max(kz(2,:));
lkz=[kz1,kz2]
%% mx
mx=[leg_radius', stiffness(:, 4, 4)]';
mx1=find(mx(2,:)==max(mx(2,:)));
mx2=max(mx(2,:));
lkm=[mx1,mx2]
%% my
my=[leg_radius', stiffness(:, 5, 5)]';
my1=find(my(2,:)==max(my(2,:)));
my2=max(my(2,:));
lkm=[mx1,my2]

73
MaxLocalisation.m Normal file
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@ -0,0 +1,73 @@
run study_architecture.m
format short
%% tx
tx=[leg_radius', max_disp(:, 1)]';
tx1=find(tx(2,:)==max(tx(2,:)));
tx2=max(tx(2,:));
ltx=[tx1,tx2]
%% ty
ty=[leg_radius', max_disp(:, 2)]';
ty1=find(ty(2,:)==max(ty(2,:)));
ty2=max(ty(2,:));
lty=[ty1,ty2]
%% tz
tz=[leg_radius', max_disp(:,3)]';
tz1=find(tz(2,:)==max(tz(2,:)));
tz2=max(tz(2,:));
ltz=[tz1,tz2]
%% rx
rx=[leg_radius', max_disp(:,4)]';
rx1=find(rx(2,:)==max(rx(2,:)));
rx2=max(rx(2,:));
lrx=[rx1,rx2]
%% rx
ry=[leg_radius', max_disp(:,5)]';
ry1=find(ry(2,:)==max(ry(2,:)));
ry2=max(ry(2,:));
lry=[ry1,ry2]
%% rx
rz=[leg_radius', max_disp(:,6)]';
rz1=find(rz(2,:)==max(rz(2,:)));
rz2=max(rz(2,:));
lrz=[rz1,rz2]
%% kx
kx=[leg_radius', stiffness(:, 1, 1)]';
kx1=find(kx(2,:)==max(kx(2,:)));
kx2=max(kx(2,:));
lkx=[kx1,kx2]
%% ky
ky=[leg_radius', stiffness(:, 2, 2)]';
ky1=find(ky(2,:)==max(ky(2,:)));
ky2=max(ky(2,:));
lky=[ky1,ky2]
%% kz
kz=[leg_radius', stiffness(:, 3, 3)]';
kz1=find(kz(2,:)==max(kz(2,:)));
kz2=max(kz(2,:));
lkz=[kz1,kz2]
%% mx
mx=[leg_radius', stiffness(:, 4, 4)]';
mx1=find(mx(2,:)==max(mx(2,:)));
mx2=max(mx(2,:));
lmx=[mx1,mx2]
%% my
my=[leg_radius', stiffness(:, 5, 5)]';
my1=find(my(2,:)==max(my(2,:)));
my2=max(my(2,:));
lmy=[my1,my2]
%% my
mz=[leg_radius', stiffness(:, 6, 6)]';
mz1=find(mz(2,:)==max(mz(2,:)));
mz2=max(mz(2,:));
lmz=[mz1,mz2]

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@ -8,5 +8,6 @@ run stewart_init.m
figure;
hold on;
mesh(X, Y, Z);
grid on;
colorbar;
hold off;

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@ -5,10 +5,10 @@ stewart.jacobian = 174.5; %mm
%% Bottom Plate
BP = struct();
BP.rad.int = 105; %mm
BP.rad.ext = 152.5; %mm
BP.thickness = 8; % mm
BP.leg.rad = 142; %mm
BP.rad.int = 0; %mm
BP.rad.ext = 150; %mm
BP.thickness = 10; % mm
BP.leg.rad = 140; %mm
BP.leg.ang = 5; %deg
BP.density = 8000; %kg/m^3
BP.color = [0.5 0.5 0.5]; %rgb
@ -16,9 +16,9 @@ BP.color = [0.5 0.5 0.5]; %rgb
%% TOP Plate
TP = struct();
TP.rad.int = 0;%mm
TP.rad.ext = 120; %mm
TP.thickness = 8; % mm
TP.leg.rad = 100; %mm
TP.rad.ext = 150; %mm
TP.thickness = 10; % mm
TP.leg.rad = 120; %mm
TP.leg.ang = 5; %deg
TP.density = 8000; %kg/m^3
TP.color = [0.5 0.5 0.5]; %rgb

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@ -1,9 +1,9 @@
%%
run stewart_parameters.m
format shortE
format short
%% Study the effect of the radius of the top platform position of the legs
leg_radius = 50:1:120;
leg_radius = 50:1:150;
max_disp = zeros(length(leg_radius), 6);
stiffness = zeros(length(leg_radius), 6, 6);
@ -15,38 +15,39 @@ for i_leg = 1:length(leg_radius)
end
%% Plot everything
figure;
hold on;
plot(leg_radius, max_disp(:, 1))
plot(leg_radius, max_disp(:, 2))
plot(leg_radius, max_disp(:, 3))
hold off;
legend({'tx', 'ty', 'tz'})
xlabel('Leg Radius at the platform'); ylabel('Maximum translation (m)');
% figure;
% hold on;
% plot(leg_radius, max_disp(:, 1))
% plot(leg_radius, max_disp(:, 2))
% plot(leg_radius, max_disp(:, 3))
% hold off;
% legend({'tx', 'ty', 'tz'})
% xlabel('Leg Radius at the platform'); ylabel('Maximum translation (m)');
%
% figure;
% hold on;
% plot(leg_radius, max_disp(:, 4))
% plot(leg_radius, max_disp(:, 5))
% plot(leg_radius, max_disp(:, 6))
% hold off;
% legend({'rx', 'ry', 'rz'})
% xlabel('Leg Radius at the platform'); ylabel('Maximum rotations (rad)');
%
% figure;
% hold on;
% plot(leg_radius, stiffness(:, 1, 1))
% plot(leg_radius, stiffness(:, 2, 2))
% plot(leg_radius, stiffness(:, 3, 3))
% hold off;
% legend({'kx', 'ky', 'kz'})
% xlabel('Leg Radius at the platform'); ylabel('Stiffness in translation (N/m)');
%
% figure;
% hold on;
% plot(leg_radius, stiffness(:, 4, 4))
% plot(leg_radius, stiffness(:, 5, 5))
% plot(leg_radius, stiffness(:, 6, 6))
% hold off;
% legend({'mx', 'my', 'mz'})
% xlabel('Leg Radius at the platform'); ylabel('Stiffness in rotations (N/(m/rad))');
figure;
hold on;
plot(leg_radius, max_disp(:, 4))
plot(leg_radius, max_disp(:, 5))
plot(leg_radius, max_disp(:, 6))
hold off;
legend({'rx', 'ry', 'rz'})
xlabel('Leg Radius at the platform'); ylabel('Maximum rotations (rad)');
figure;
hold on;
plot(leg_radius, stiffness(:, 1, 1))
plot(leg_radius, stiffness(:, 2, 2))
plot(leg_radius, stiffness(:, 3, 3))
hold off;
legend({'kx', 'ky', 'kz'})
xlabel('Leg Radius at the platform'); ylabel('Stiffness in translation (N/m)');
figure;
hold on;
plot(leg_radius, stiffness(:, 4, 4))
plot(leg_radius, stiffness(:, 5, 5))
plot(leg_radius, stiffness(:, 6, 6))
hold off;
legend({'mx', 'my', 'mz'})
xlabel('Leg Radius at the platform'); ylabel('Stiffness in rotations (N/(m/rad))');