From c576839d450acdff11a69998b5c2c6bd8cd7b0a9 Mon Sep 17 00:00:00 2001 From: Unknown Date: Thu, 3 May 2018 09:29:38 +0200 Subject: [PATCH] Debug leg lenght --- .gitignore | 2 ++ Design_Nass.m | 22 +++++++++++----------- Formule_Nass.m | 2 ++ Nass_Matlab.slx | Bin 44428 -> 44240 bytes 4 files changed, 15 insertions(+), 11 deletions(-) create mode 100644 .gitignore diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..8f3da62 --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +*.autosave +slprj/ diff --git a/Design_Nass.m b/Design_Nass.m index a520ccb..abc14a7 100644 --- a/Design_Nass.m +++ b/Design_Nass.m @@ -5,7 +5,7 @@ Nass.h = 90 ; %mm BP = struct(); BP.rad.int = 105 ; %mm BP.rad.ext = 152.5 ; %mm -BP.thickness = 20; % mm +BP.thickness = 8; % mm BP.leg.rad = 142 ; %mm BP.leg.ang = 5 ; %deg BP.density = 8000 ; %kg/m^3 @@ -14,9 +14,9 @@ BP.color = [0.5 0.5 0.5] ; %rgb %% TOP Plate TP = struct(); TP.rad.int = 0 ;%mm -TP.rad.ext = 150 ; %mm -TP.thickness = 20; % mm -TP.leg.rad = 130 ; %mm +TP.rad.ext = 120 ; %mm +TP.thickness = 8; % mm +TP.leg.rad = 100 ; %mm TP.leg.ang = 5 ; %deg TP.density = 8000 ; %kg/m^3 TP.color = [0.5 0.5 0.5] ; %rgb @@ -29,11 +29,11 @@ Leg.sphere.bottom = 10 ; % mm Leg.sphere.top = 8 ; % mm Leg.density = 8000 ; %kg/m^3 Leg.lenght = Nass.h; % mm (approximate) -Leg.m = Leg.density*2*pi*((Leg.rad.bottom)^2)*(Leg.lenght); %kg +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 = 0; % N/m -Leg.ksi.ax = 00 ; +Leg.k.ax = 5e7; % N/m +Leg.ksi.ax = 10 ; Leg = updateDamping(Leg); @@ -43,15 +43,15 @@ 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 = 10 ; %mm -SP.height.top = 10 ; %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)^2)*(SP.height.bottom); %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.top = [0.5 0.5 0.5] ; %rgb SP.k.ax = 0 ; % N*m/deg -SP.ksi.ax = 10 ; +SP.ksi.ax = 5 ; SP = updateDamping(SP); %% diff --git a/Formule_Nass.m b/Formule_Nass.m index 5361a50..291352c 100644 --- a/Formule_Nass.m +++ b/Formule_Nass.m @@ -49,6 +49,8 @@ for i = 1:6, leg_vectors(i,:) = legs(i,:) / leg_length(i); end +Leg.lenght = 1000*leg_length(1)/1.5; + % Calculate revolute and cylindrical axes for i = 1:6, rev1(i,:) = cross(leg_vectors(i,:), z_axis); diff --git a/Nass_Matlab.slx b/Nass_Matlab.slx index 5f3592ebf18d7ad69cb99955a35d9964825e3b76..257609c01f29a135303af59d83bdb2bbf58ae629 100644 GIT binary patch delta 24552 zcmcG#RdgK7maZ#X%oej`F|#aYW(JEbW-c+L#kQE4nVHd+EM{h~n3?g)YpveByYIcD z&l%&Km&jQ;XUxc|moNW6qQaKmk1xE(Qu$NnarU&aY;OxWrJXoCH#Cml&fP$Ei 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