Test

MaxLocalisation.asv

@@ -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]

MaxLocalisation.m

@@ -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]

plot_max_positions.m

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

stewart_parameters.m

@@ -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

study_architecture.m

@@ -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))');