From cb265fdb81d5793a1607b6b9f65f5839cf0410bb Mon Sep 17 00:00:00 2001 From: Unknown Date: Wed, 2 May 2018 12:06:25 +0200 Subject: [PATCH] Correction for height Hexapod in Formule_Nass.m (without stiffness in all joint) --- Design_Nass.m | 18 +++++++++--------- Formule_Nass.m | 6 +++--- Nass_Matlab.slx | Bin 40574 -> 44428 bytes 3 files changed, 12 insertions(+), 12 deletions(-) diff --git a/Design_Nass.m b/Design_Nass.m index 1c2260b..a520ccb 100644 --- a/Design_Nass.m +++ b/Design_Nass.m @@ -6,8 +6,8 @@ BP = struct(); BP.rad.int = 105 ; %mm BP.rad.ext = 152.5 ; %mm BP.thickness = 20; % mm -BP.leg.rad = 140 ; %mm -BP.leg.ang = 15 ; %deg +BP.leg.rad = 142 ; %mm +BP.leg.ang = 5 ; %deg BP.density = 8000 ; %kg/m^3 BP.color = [0.5 0.5 0.5] ; %rgb @@ -16,7 +16,7 @@ TP = struct(); TP.rad.int = 0 ;%mm TP.rad.ext = 150 ; %mm TP.thickness = 20; % mm -TP.leg.rad = 140 ; %mm +TP.leg.rad = 130 ; %mm TP.leg.ang = 5 ; %deg TP.density = 8000 ; %kg/m^3 TP.color = [0.5 0.5 0.5] ; %rgb @@ -24,16 +24,16 @@ TP.color = [0.5 0.5 0.5] ; %rgb %% Leg Leg = struct(); Leg.rad.bottom = 8 ; %mm -Leg.rad.top = 8 ; %mm +Leg.rad.top = 5 ; %mm Leg.sphere.bottom = 10 ; % mm -Leg.sphere.top = 10 ; % mm +Leg.sphere.top = 8 ; % mm Leg.density = 8000 ; %kg/m^3 -Leg.lenght = 0.8*Nass.h; % mm (approximate) +Leg.lenght = Nass.h; % mm (approximate) Leg.m = Leg.density*2*pi*((Leg.rad.bottom)^2)*(Leg.lenght); %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.k.ax = 0; % N/m +Leg.ksi.ax = 00 ; Leg = updateDamping(Leg); @@ -50,7 +50,7 @@ SP.density.top = 8000 ; %kg/m^3 SP.m = SP.density.bottom*2*pi*((SP.rad.bottom)^2)*(SP.height.bottom); %kg SP.color.bottom = [0.5 0.5 0.5] ; %rgb SP.color.top = [0.5 0.5 0.5] ; %rgb -SP.k.ax = 1e4 ; % N*m/deg +SP.k.ax = 0 ; % N*m/deg SP.ksi.ax = 10 ; SP = updateDamping(SP); diff --git a/Formule_Nass.m b/Formule_Nass.m index 4f02455..5361a50 100644 --- a/Formule_Nass.m +++ b/Formule_Nass.m @@ -17,9 +17,9 @@ pos_base = []; pos_top = []; alpha_b = BP.leg.ang*deg2rad; % angle de décalage par rapport à 120 deg (pour positionner les supports bases) alpha_t = TP.leg.ang*deg2rad; % +- offset angle from 120 degree spacing on top -height = 0.10; % 2 meter height in home configuration -radius_b = 0.130; % rayon emplacement support base -radius_t = 0.100; % top radius in meters +height = (Nass.h-BP.thickness-TP.thickness-Leg.sphere.bottom-Leg.sphere.top-SP.thickness.bottom-SP.thickness.top)*0.001 ; % 2 meter height in home configuration +radius_b = BP.leg.rad*0.001; % rayon emplacement support base +radius_t = TP.leg.rad*0.001; % top radius in meters for i = 1:3, % base points angle_m_b = (2*pi/3)* (i-1) - alpha_b; diff --git a/Nass_Matlab.slx b/Nass_Matlab.slx index 5c591d132f34e027b85ed2ab7e504d019f04bc15..5f3592ebf18d7ad69cb99955a35d9964825e3b76 100644 GIT binary patch delta 40198 zcmZ^~1#BNdmptg0V`hpWF*7s9%*@Qp%pNl{vtwpvc4B6TnVFgK=gW7yxBBntZluwa 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