From b853bf4a95e8d89df787954040197d4734fadd9e Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Tue, 5 Jun 2018 13:43:03 +0200 Subject: [PATCH] Change the parametrisation. Add comments. Clean the simulink. --- stewart_init.m | 1 + stewart_parameters.m | 94 +++++++++++++++++++++++-------------------- stewart_simscape.slx | Bin 54171 -> 53398 bytes 3 files changed, 52 insertions(+), 43 deletions(-) diff --git a/stewart_init.m b/stewart_init.m index 3e1a710..fd5b721 100644 --- a/stewart_init.m +++ b/stewart_init.m @@ -48,6 +48,7 @@ for i = 1:6 end Leg.lenght = 1000*leg_length(1)/1.5; +Leg.shape.bot = [0 0; Leg.rad.bottom 0; Leg.rad.bottom Leg.lenght; Leg.rad.top Leg.lenght; Leg.rad.top 0.2*Leg.lenght; 0 0.2*Leg.lenght]; %% Calculate revolute and cylindrical axes rev1 = zeros(6, 3); diff --git a/stewart_parameters.m b/stewart_parameters.m index 5c4959b..673fcdc 100644 --- a/stewart_parameters.m +++ b/stewart_parameters.m @@ -1,60 +1,68 @@ %% Nass height stewart = struct(); -stewart.h = 90; %mm -stewart.jacobian = 174.5; %mm + +stewart.h = 350; % Total height of the platform [mm] +stewart.jacobian = 174.5; % Point where the Jacobian is computed => Center of rotation [mm] %% Bottom Plate BP = struct(); -BP.rad.int = 0; %mm -BP.rad.ext = 150; %mm -BP.thickness = 10; % mm -BP.leg.rad = 100; %mm -BP.leg.ang = 5; %deg -BP.density = 8000; %kg/m^3 -BP.color = [0.5 0.5 0.5]; %rgb -%% TOP Plate +BP.rad.int = 110; % Internal Radius [mm] +BP.rad.ext = 207.5; % External Radius [mm] +BP.thickness = 26; % Thickness [mm] +BP.leg.rad = 175.5; % Radius where the legs articulations are positionned [mm] +BP.leg.ang = 9.5; % Angle Offset [deg] +BP.density = 8000; % Density of the material [kg/m^3] +BP.color = [0.5 0.5 0.5]; % Color [rgb] + +%% Top Plate TP = struct(); -TP.rad.int = 0;%mm -TP.rad.ext = 100; %mm -TP.thickness = 10; % mm -TP.leg.rad = 90; %mm -TP.leg.ang = 5; %deg -TP.density = 8000; %kg/m^3 -TP.color = [0.5 0.5 0.5]; %rgb + +TP.rad.int = 82; % Internal Radius [mm] +TP.rad.ext = 150; % Internal Radius [mm] +TP.thickness = 26; % Thickness [mm] +TP.leg.rad = 118; % Radius where the legs articulations are positionned [mm] +TP.leg.ang = 12.1; % Angle Offset [deg] +TP.density = 8000; % Density of the material [kg/m^3] +TP.color = [0.5 0.5 0.5]; % Color [rgb] %% Leg -Leg = struct(); -Leg.stroke = 80e-6; % m -Leg.rad.bottom = 8; %mm -Leg.rad.top = 5; %mm -Leg.sphere.bottom = 10; % mm -Leg.sphere.top = 8; % mm -Leg.density = 8000; %kg/m^3 -Leg.lenght = stewart.h; % mm (approximate) -Leg.m = Leg.density*2*pi*((Leg.rad.bottom*1e-3)^2)*(Leg.lenght*1e-3); %kg -Leg.color.bottom = [0.5 0.5 0.5]; %rgb -Leg.color.top = [0.5 0.5 0.5]; %rgb -Leg.k.ax = 5e7; % N/m -Leg.ksi.ax = 10; +Leg = struct(); + +Leg.stroke = 10e-3; % Maximum Stroke of each leg [m] +Leg.k.ax = 5e7; % Stiffness of each leg [N/m] +Leg.ksi.ax = 10; % Maximum amplification at resonance [] +Leg.rad.bottom = 25; % Radius of the cylinder of the bottom part [mm] +Leg.rad.top = 17; % Radius of the cylinder of the top part [mm] +Leg.density = 8000; % Density of the material [kg/m^3] +Leg.color.bottom = [0.5 0.5 0.5]; % Color [rgb] +Leg.color.top = [0.5 0.5 0.5]; % Color [rgb] + +Leg.sphere.bottom = Leg.rad.bottom; % Size of the sphere at the end of the leg [mm] +Leg.sphere.top = Leg.rad.top; % Size of the sphere at the end of the leg [mm] +Leg.m = TP.density*((2*pi*TP.rad.ext/1000)*(TP.thickness/1000)-(2*pi*TP.rad.int/1000)*(TP.thickness/1000))/6; % TODO [kg/m^3] + Leg = updateDamping(Leg); %% Sphere SP = struct(); -SP.thickness.bottom = 1; %mm -SP.thickness.top = 1; %mm -SP.rad.bottom = Leg.sphere.bottom; %mm -SP.rad.top = Leg.sphere.top; %mm -SP.height.bottom = 5; %mm -SP.height.top = 5; %mm -SP.density.bottom = 8000; %kg/m^3 -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.color.bottom = [0.5 0.5 0.5]; %rgb -SP.color.top = [0.5 0.5 0.5]; %rgb -SP.k.ax = 1e2; % N*m/deg -SP.ksi.ax = 10; + +SP.height.bottom = 27; % [mm] +SP.height.top = 27; % [mm] +SP.density.bottom = 8000; % [kg/m^3] +SP.density.top = 8000; % [kg/m^3] +SP.color.bottom = [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.ksi.ax = 10; + +SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm] +SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm] +SP.rad.bottom = Leg.sphere.bottom; % [mm] +SP.rad.top = Leg.sphere.top; % [mm] +SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); % [kg] + SP = updateDamping(SP); %% diff --git a/stewart_simscape.slx b/stewart_simscape.slx index d34ba8b63d081d847cad23f2b4ce44ed2ba280cf..deae57cb1d729fd39fc0aab2d9f3c7c41f2db22b 100644 GIT binary patch delta 40740 zcmZs=V{l+w*Dai+V{~lWwmY_M+Z}VqwrzK8+qTgir(-+$&Uv1Czx&>*yMN6+#~5?1 zHEUO`+H+);eM>F)hN>v@4IB*w1Oys{#x7Gf2We8(BmtEbATnkZS0oaUG*8rd`1#yU;<`CO9v$yVN*y*ZkD>3lv5gWspHqqUSb1d z2gFufAu>ZBpe#>69Al*E7JFhju4SR+ceaJ=7)l%lR?N0527Ank9WbD83q6nu`a^_OPbpRs}mS|!#z{V8~ zRRd}jl$ZY0Kgg$3*hDzI&x8~Dp@gxW@W&s1-!+g?^Dpk;W0ecfzP7(D8~)P4ctt%! z#*-&2=t~hs=Yf!dxu||uExB7&uO=1M! zt%3VttsOtFPw?i!w?>Ck#Kv6Ezo6d-r$LC@Q9wXqQ9(d3K#~k+v4Cn#3q@3e-W?># 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