Add data file for design of Nass (WIP)

Design_Nass.m

@@ -1,77 +1,59 @@
 run Formule_Nass.m
 
+%% Nass height
+Nass.h = 90 ; %mm
+
 %% Bottom Plate
 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 = 2.5 ; %deg
 BP.density = 1000 ; %kg/m^3
-BP.k.ax = 1e7/4; %z
+BP.color = [0.5 0.5 0.5] ; %rgb
-BP.k.rad = 9e9/4; %x
+
-BP.k.rrad = 9e9/4; %y
+%% TOP Plate
-BP.ksi.ax = 10;
+TP = struct();
-BP.ksi.rad = 10;
+TP.rad.int = 0 ;%mm
-BP.ksi.rrad = 10;
+TP.rad.ext = 150 ; %mm
-BP = updateDamping(BP);
+TP.thickness = 20 % mm
+TP.leg.rad = 140 ; %mm
+TP.leg.ang = 5 ; %deg
+TP.density = 1000 ; %kg/m^3
+TP.color = [0.5 0.5 0.5] ; %rgb
+
+%% Leg 
+Leg = struct();
+Leg.rad.bottom = 15 ; %mm
+Leg.rad.top = 10 ; %mm
+Leg.sphere.bottom = 20 ; % mm 
+Leg.sphere.top = 10 ; % mm
+Leg.density = 1000 ; %kg/m^3
+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 = updateDamping(Leg);
 
 
-%% Tilt
+%% Sphere
-ry = struct();
+SP = struct();
-ry.m = smiData.Solid(26).mass+smiData.Solid(18).mass+smiData.Solid(10).mass;
+SP.thickness.bottom = 1 ; %mm
-ry.k.h = 357e6/4; %y
+SP.thickness.top = 1 ; %mm
-ry.k.rad = 555e6/4; %x
+SP.rad.bottom = Leg.rad.bottom ; %mm
-ry.k.rrad = 238e6/4; %z
+SP.rad.top = Leg.rad.ttop ; %mm
-ry.k.tilt = 1e4 ; % rz in actuator
+SP.height.bottom = 5 ; %mm
-ry.ksi.h = 10;
+SP.height.top = 5 ; %mm
-ry.ksi.rad = 10;
+SP.density.bottom = 1000 ; %kg/m^3
-ry.ksi.rrad = 10;
+SP.density.top = 1000 ; %kg/m^3
-ry.ksi.tilt = 10;
+SP.m = SP.density*2*pi*((SP.rad.bottom)^2)*(SP.height.bottom); %kg
-ry = updateDamping(ry);
+SP.color.bottom = [0.5 0.5 0.5] ; %rgb
-
+SP.color.top = [0.5 0.5 0.5] ; %rgb
-
+SP.k.ax = 5e7 ; % N*m/deg
-%% Spindle
+SP.ksi.ax = 10 ; 
-rz = struct();
+SP = updateDamping(SP);
-rz.m = smiData.Solid(12).mass+6*smiData.Solid(20).mass+smiData.Solid(19).mass;
-rz.k.ax = 2e9; %x
-rz.k.rad = 7e8; %z
-rz.k.rrad = 7e8; %y
-rz.k.tilt = 1e5;
-rz.k.rot = 1e5;
-rz.ksi.ax = 10;
-rz.ksi.rad = 10;
-rz.ksi.rrad = 10;
-rz.ksi.tilt = 1;
-rz.ksi.rot = 1;
-rz = updateDamping(rz);
-
-%% Hexapod Symétrie
-hexapod = struct();
-hexapod.m = smiData.Solid(16).mass;
-hexapod.k.ax = (138e6/6)*1.2; %z
-hexapod.ksi.ax = 10;
-hexapod = updateDamping(hexapod);
-
-%% Axis Corrector
-axisc = struct();
-axisc.m = smiData.Solid(30).mass;
-axisc.k.ax = 1; % (N*m/deg))
-axisc.ksi.ax = 1;
-axisc = updateDamping(axisc);
-
-%% NASS
-nass = struct();
-nass.m = smiData.Solid(27).mass;
-nass.k.ax = 5e7; %z
-nass.ksi.ax = 10;
-nass = updateDamping(nass);
-
-%% Wobble
-wob = struct();
-wob.m = smiData.Solid(5).mass;
-wob.k.ax = 1e10;
-wob.ksi.ax = 10;
-wob = updateDamping(wob);
 
 %%
 function element = updateDamping(element)

Formule_Nass.m

@@ -65,25 +65,3 @@ for i = 1:6,
   upper_leg(i).end_point = pos_base(i,:) +  (1/4)*legs(i,:);  
   upper_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)'];
 end
-
-% Inertia and mass calculation
-top_thickness = 0.05;
-base_thickness = 0.05;
-inner_radius = 0.03;
-outer_radius = 0.05;
-density = 76e3/9.81; % steel density in Kg/m^3
-
-%leg inertia and mass
-[lower_leg_mass, lower_leg_inertia] = inertiaCylinder(density, ... 
-              0.75*leg_length(1),outer_radius, inner_radius);
-[upper_leg_mass, upper_leg_inertia] = inertiaCylinder(density, ... 
-              0.75*leg_length(1),inner_radius, 0);
-
-% top and base plate mass and inertia
-[top_mass, top_inertia] = inertiaCylinder(density, ... 
-              top_thickness, radius_t, 0);
-[base_mass, base_inertia] = inertiaCylinder(density, ... 
-              base_thickness,radius_b, 0);
-
-% PID controller gains
-Kp = 2e6; Ki = 1e4; Kd = 4.5e4;