Debug leg lenght
This commit is contained in:
parent
cb265fdb81
commit
c576839d45
2
.gitignore
vendored
Normal file
2
.gitignore
vendored
Normal file
@ -0,0 +1,2 @@
|
||||
*.autosave
|
||||
slprj/
|
@ -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);
|
||||
|
||||
%%
|
||||
|
@ -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);
|
||||
|
BIN
Nass_Matlab.slx
BIN
Nass_Matlab.slx
Binary file not shown.
Loading…
Reference in New Issue
Block a user