tdehaeze/stewart-simscape
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Correction for height Hexapod in Formule_Nass.m (without stiffness in all joint)

Browse Source
This commit is contained in:
Unknown 2018-05-02 12:06:25 +02:00
parent 470e7aa1f4
commit cb265fdb81
3 changed files with 12 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
Design_Nass.m
View File

@ -6,8 +6,8 @@ BP = struct();
BP.rad.int = 105 ; %mm BP.rad.int = 105 ; %mm
BP.rad.ext = 152.5 ; %mm BP.rad.ext = 152.5 ; %mm
BP.thickness = 20; % mm BP.thickness = 20; % mm
BP.leg.rad = 140 ; %mm BP.leg.rad = 142 ; %mm
BP.leg.ang = 15 ; %deg BP.leg.ang = 5 ; %deg
BP.density = 8000 ; %kg/m^3 BP.density = 8000 ; %kg/m^3
BP.color = [0.5 0.5 0.5] ; %rgb BP.color = [0.5 0.5 0.5] ; %rgb
@ -16,7 +16,7 @@ TP = struct();
TP.rad.int = 0 ;%mm TP.rad.int = 0 ;%mm
TP.rad.ext = 150 ; %mm TP.rad.ext = 150 ; %mm
TP.thickness = 20; % mm TP.thickness = 20; % mm
TP.leg.rad = 140 ; %mm TP.leg.rad = 130 ; %mm
TP.leg.ang = 5 ; %deg TP.leg.ang = 5 ; %deg
TP.density = 8000 ; %kg/m^3 TP.density = 8000 ; %kg/m^3
TP.color = [0.5 0.5 0.5] ; %rgb TP.color = [0.5 0.5 0.5] ; %rgb
@ -24,16 +24,16 @@ TP.color = [0.5 0.5 0.5] ; %rgb
%% Leg %% Leg
Leg = struct(); Leg = struct();
Leg.rad.bottom = 8 ; %mm Leg.rad.bottom = 8 ; %mm
Leg.rad.top = 8 ; %mm Leg.rad.top = 5 ; %mm
Leg.sphere.bottom = 10 ; % mm Leg.sphere.bottom = 10 ; % mm
Leg.sphere.top = 10 ; % mm Leg.sphere.top = 8 ; % mm
Leg.density = 8000 ; %kg/m^3 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.m = Leg.density*2*pi*((Leg.rad.bottom)^2)*(Leg.lenght); %kg
Leg.color.bottom = [0.5 0.5 0.5] ; %rgb Leg.color.bottom = [0.5 0.5 0.5] ; %rgb
Leg.color.top = [0.5 0.5 0.5] ; %rgb Leg.color.top = [0.5 0.5 0.5] ; %rgb
Leg.k.ax = 5e7; % N/m Leg.k.ax = 0; % N/m
Leg.ksi.ax = 10 ; Leg.ksi.ax = 00 ;
Leg = updateDamping(Leg); 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.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.bottom = [0.5 0.5 0.5] ; %rgb
SP.color.top = [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.ksi.ax = 10 ;
SP = updateDamping(SP); SP = updateDamping(SP);

6
Formule_Nass.m
View File

@ -17,9 +17,9 @@ pos_base = [];
pos_top = []; pos_top = [];
alpha_b = BP.leg.ang*deg2rad; % angle de décalage par rapport à 120 deg (pour positionner les supports bases) 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 alpha_t = TP.leg.ang*deg2rad; % +- offset angle from 120 degree spacing on top
height = 0.10; % 2 meter height in home configuration 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 = 0.130; % rayon emplacement support base radius_b = BP.leg.rad*0.001; % rayon emplacement support base
radius_t = 0.100; % top radius in meters radius_t = TP.leg.rad*0.001; % top radius in meters
for i = 1:3, for i = 1:3,
% base points % base points
angle_m_b = (2*pi/3)* (i-1) - alpha_b; angle_m_b = (2*pi/3)* (i-1) - alpha_b;

BIN
Nass_Matlab.slx
View File

Binary file not shown.