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Transmissibility and Compliance comp IFF/DVF/OL

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Thomas Dehaeze
2020-02-27 14:23:09 +01:00
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docs/cubic-configuration.html
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<title>Cubic configuration for the Stewart Platform</title>
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<li><a href="#orga88e79a">1.2. Cubic Stewart platform centered with the cube center - Jacobian not estimated at the cube center</a></li>
<li><a href="#orge02ec88">1.3. Cubic Stewart platform not centered with the cube center - Jacobian estimated at the cube center</a></li>
<li><a href="#org43fd7e4">1.4. Cubic Stewart platform not centered with the cube center - Jacobian estimated at the Stewart platform center</a></li>
<li><a href="#orgbde7788">1.5. Conclusion</a></li>
<li><a href="#orgd6c60aa">1.5. Conclusion</a></li>
</ul>
</li>
<li><a href="#orgd70418b">2. Configuration with the Cube&rsquo;s center above the mobile platform</a>
<ul>
<li><a href="#org8afa645">2.1. Having Cube&rsquo;s center above the top platform</a></li>
<li><a href="#orgc0314ec">2.2. Conclusion</a></li>
<li><a href="#org78f0f9c">2.2. Conclusion</a></li>
</ul>
</li>
<li><a href="#orgcc4ecce">3. Cubic size analysis</a>
<ul>
<li><a href="#org0029d8c">3.1. Analysis</a></li>
<li><a href="#orgb3ca361">3.2. Conclusion</a></li>
<li><a href="#org53a1ab8">3.2. Conclusion</a></li>
</ul>
</li>
<li><a href="#orgf09da67">4. Dynamic Coupling in the Cartesian Frame</a>
<ul>
<li><a href="#org5fe01ec">4.1. Cube&rsquo;s center at the Center of Mass of the mobile platform</a></li>
<li><a href="#org4cb2a36">4.2. Cube&rsquo;s center not coincident with the Mass of the Mobile platform</a></li>
<li><a href="#orge33568e">4.3. Conclusion</a></li>
<li><a href="#orga0d81dc">4.3. Conclusion</a></li>
</ul>
</li>
<li><a href="#org8f26dc0">5. Dynamic Coupling between actuators and sensors of each strut</a>
<ul>
<li><a href="#org6e391c9">5.1. Coupling between the actuators and sensors - Cubic Architecture</a></li>
<li><a href="#orgafd808d">5.2. Coupling between the actuators and sensors - Non-Cubic Architecture</a></li>
<li><a href="#org1a90044">5.3. Conclusion</a></li>
<li><a href="#org3e2b41c">5.3. Conclusion</a></li>
</ul>
</li>
<li><a href="#org3044455">6. Functions</a>
@@ -848,8 +826,8 @@ stewart = initializeCylindricalPlatforms(stewart, <span class="org-string">'Fpr'
</div>
</div>
<div id="outline-container-orgbde7788" class="outline-3">
<h3 id="orgbde7788"><span class="section-number-3">1.5</span> Conclusion</h3>
<div id="outline-container-orgd6c60aa" class="outline-3">
<h3 id="orgd6c60aa"><span class="section-number-3">1.5</span> Conclusion</h3>
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@@ -1186,8 +1164,8 @@ FOc = H <span class="org-type">+</span> MO_B; <span class="org-comment">% Cente
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<h3 id="orgc0314ec"><span class="section-number-3">2.2</span> Conclusion</h3>
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<h3 id="org78f0f9c"><span class="section-number-3">2.2</span> Conclusion</h3>
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@@ -1273,8 +1251,8 @@ We also find that \(k_{\theta_x} = k_{\theta_y}\) and \(k_{\theta_z}\) are varyi
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<h3 id="orgb3ca361"><span class="section-number-3">3.2</span> Conclusion</h3>
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<h3 id="org53a1ab8"><span class="section-number-3">3.2</span> Conclusion</h3>
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<p>
We observe that \(k_{\theta_x} = k_{\theta_y}\) and \(k_{\theta_z}\) increase linearly with the cube size.
@@ -1629,8 +1607,8 @@ This was expected as the mass matrix is not diagonal (the Center of Mass of the
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<h3 id="orge33568e"><span class="section-number-3">4.3</span> Conclusion</h3>
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<h3 id="orga0d81dc"><span class="section-number-3">4.3</span> Conclusion</h3>
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@@ -1812,8 +1790,8 @@ And we identify the dynamics from the actuator forces \(\tau_{i}\) to the relati
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<div id="outline-container-org1a90044" class="outline-3">
<h3 id="org1a90044"><span class="section-number-3">5.3</span> Conclusion</h3>
<div id="outline-container-org3e2b41c" class="outline-3">
<h3 id="org3e2b41c"><span class="section-number-3">5.3</span> Conclusion</h3>
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<p>
@@ -1984,7 +1962,7 @@ stewart.platform_M.Mb = Mb;
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-02-14 ven. 14:11</p>
<p class="date">Created: 2020-02-27 jeu. 14:16</p>
</div>
</body>
</html>