Debug leg lenght

.gitignore

@@ -0,0 +1,2 @@
+*.autosave
+slprj/

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);
 
 %%

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);