tdehaeze/stewart-simscape
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This commit is contained in:
Thomas Dehaeze 2018-05-18 12:50:38 +02:00
parent 1427883583
commit a45e6a79da
4 changed files with 11 additions and 70 deletions
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59
Test.asv
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@ -1,59 +0,0 @@
%% paramétres variables
BP_leg_radius = 100:10:150;
TP_leg_radius = 50:10:100;
BP_leg_ang = 0:1:30;
TP_leg_ang = 0:1:30;
%% intervalle
intervalle1=10e-6;
intervalle2=10e-3;
% variation=1e-3;
%% Study the effect of the radius of the top platform position of the legs
max_disp = zeros(length(BP_leg_radius),length(TP_leg_radius),length(BP_leg_ang),length(TP_leg_ang), 6);
stiffness = zeros(length(BP_leg_radius),length(TP_leg_radius),length(BP_leg_ang),length(TP_leg_ang), 6, 6);
for Blri = 1:length(BP_leg_radius)
for Tlri = 1:length(TP_leg_radius)
for Blai = 1:length(BP_leg_ang)
for Tlai = 1:length(TP_leg_ang)
BP.leg.rad = BP_leg_radius(Blri);
TP.leg.rad = TP_leg_radius(Tlri);
BP.leg.ang = BP_leg_ang(Blai);
TP.leg.ang = TP_leg_ang(Tlai);
run stewart_init.m;
max_disp(Blri,Tlri,Blai,Tlai, :) = getMaxPureDisplacement(Leg, J)';
stiffness(Blri,Tlri,Blai,Tlai, :, :) = getStiffnessMatrix(Leg, J);
end
end
end
end
%%
M = min(min(stiffness(:, : , :, :, 1, 1), stiffness(:, : , :, :, 2, 2)), stiffness(:, : , :, :, 3, 3));
[C,I] = max(M(:));
[I1,I2,I3,I4] = ind2sub(size(stiffness(:, : , :, :, 3, 3)),I);
BP.leg.rad = BP_leg_radius(I1)
TP.leg.rad = TP_leg_radius(I2)
BP.leg.ang = BP_leg_ang(I3)
TP_leg_ang(I4)
% %%
% for Blri = 1:length(BP_leg_radius)
% for Tlri = 1:length(TP_leg_radius)
% for Blai = 1:length(BP_leg_ang)
% for Tlai = 1:length(TP_leg_ang)
% if max_disp==intervalle1
% i=i+1;
% s1(1,i)=BP_leg_radius(Blri);
% s1(2,i)=TP_leg_radius(Tlri);
% s1(3,i)=BP_leg_ang(Blai);
% s1(4,i)=TP_leg_ang(Tlai);
% else
% end
% end
% end
% end
% end
%

8
Test.m
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@ -1,10 +1,10 @@
%% paramétres variables %% Variable parameters
BP_leg_radius = 100:10:150; BP_leg_radius = 100:10:150;
TP_leg_radius = 50:10:100; TP_leg_radius = 50:10:100;
BP_leg_ang = 0:1:30; BP_leg_ang = 0:1:30;
TP_leg_ang = 0:1:30; TP_leg_ang = 0:1:30;
%% intervalle %%
intervalle1=10e-6; intervalle1=10e-6;
intervalle2=10e-3; intervalle2=10e-3;
% variation=1e-3; % variation=1e-3;
@ -30,10 +30,10 @@ for Blri = 1:length(BP_leg_radius)
end end
%% %%
M = min(min(stiffness(:, : , :, :, 4, 4), stiffness(:, : , :, :, 5, 5)), stiffness(:, : , :, :, 6, 6)); M = min(max_disp(:, : , :, :, 1), max_disp(:, : , :, :, 2));
[C,I] = max(M(:)); [C,I] = max(M(:));
[I1,I2,I3,I4] = ind2sub(size(stiffness(:, : , :, :, 3, 3)),I); [I1,I2,I3,I4] = ind2sub(size(max_disp(:, : , :, :, 3)),I);
BP_leg_radius(I1) BP_leg_radius(I1)
TP_leg_radius(I2) TP_leg_radius(I2)
BP_leg_ang(I3) BP_leg_ang(I3)

8
stewart_parameters.m
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@ -8,7 +8,7 @@ BP = struct();
BP.rad.int = 0; %mm BP.rad.int = 0; %mm
BP.rad.ext = 150; %mm BP.rad.ext = 150; %mm
BP.thickness = 10; % mm BP.thickness = 10; % mm
BP.leg.rad = 140; %mm BP.leg.rad = 100; %mm
BP.leg.ang = 5; %deg BP.leg.ang = 5; %deg
BP.density = 8000; %kg/m^3 BP.density = 8000; %kg/m^3
BP.color = [0.5 0.5 0.5]; %rgb BP.color = [0.5 0.5 0.5]; %rgb
@ -16,9 +16,9 @@ BP.color = [0.5 0.5 0.5]; %rgb
%% TOP Plate %% TOP Plate
TP = struct(); TP = struct();
TP.rad.int = 0;%mm TP.rad.int = 0;%mm
TP.rad.ext = 150; %mm TP.rad.ext = 100; %mm
TP.thickness = 10; % mm TP.thickness = 10; % mm
TP.leg.rad = 100; %mm TP.leg.rad = 90; %mm
TP.leg.ang = 5; %deg TP.leg.ang = 5; %deg
TP.density = 8000; %kg/m^3 TP.density = 8000; %kg/m^3
TP.color = [0.5 0.5 0.5]; %rgb TP.color = [0.5 0.5 0.5]; %rgb
@ -53,7 +53,7 @@ SP.density.top = 8000; %kg/m^3
SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); %kg SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); %kg
SP.color.bottom = [0.5 0.5 0.5]; %rgb SP.color.bottom = [0.5 0.5 0.5]; %rgb
SP.color.top = [0.5 0.5 0.5]; %rgb SP.color.top = [0.5 0.5 0.5]; %rgb
SP.k.ax = 0; % N*m/deg SP.k.ax = 1e2; % N*m/deg
SP.ksi.ax = 10; SP.ksi.ax = 10;
SP = updateDamping(SP); SP = updateDamping(SP);

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stewart_simscape.slx
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