94 lines
3.1 KiB
Matlab
94 lines
3.1 KiB
Matlab
%%
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clear; close all; clc;
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%% Stewart Object
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stewart = struct();
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stewart.h = 350; % Total height of the platform [mm]
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stewart.jacobian = 0; % Point where the Jacobian is computed => Center of rotation [mm]
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%% Bottom Plate
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BP = struct();
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BP.rad.int = 110; % Internal Radius [mm]
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BP.rad.ext = 207.5; % External Radius [mm]
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BP.thickness = 26; % Thickness [mm]
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BP.leg.rad = 175.5; % Radius where the legs articulations are positionned [mm]
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BP.leg.ang = 9.5; % Angle Offset [deg]
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BP.density = 8000; % Density of the material [kg/m^3]
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BP.color = [0.6 0.6 0.6]; % Color [rgb]
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BP.shape = [BP.rad.int BP.thickness; BP.rad.int 0; BP.rad.ext 0; BP.rad.ext BP.thickness];
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%% Top Plate
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TP = struct();
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TP.rad.int = 82; % Internal Radius [mm]
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TP.rad.ext = 150; % Internal Radius [mm]
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TP.thickness = 26; % Thickness [mm]
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TP.leg.rad = 118; % Radius where the legs articulations are positionned [mm]
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TP.leg.ang = 12.1; % Angle Offset [deg]
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TP.density = 8000; % Density of the material [kg/m^3]
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TP.color = [0.6 0.6 0.6]; % Color [rgb]
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TP.shape = [TP.rad.int TP.thickness; TP.rad.int 0; TP.rad.ext 0; TP.rad.ext TP.thickness];
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%% Leg
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Leg = struct();
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Leg.stroke = 10e-3; % Maximum Stroke of each leg [m]
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Leg.k.ax = 5e7; % Stiffness of each leg [N/m]
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Leg.ksi.ax = 10; % Maximum amplification at resonance []
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Leg.rad.bottom = 25; % Radius of the cylinder of the bottom part [mm]
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Leg.rad.top = 17; % Radius of the cylinder of the top part [mm]
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Leg.density = 8000; % Density of the material [kg/m^3]
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Leg.color.bottom = [0.5 0.5 0.5]; % Color [rgb]
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Leg.color.top = [0.5 0.5 0.5]; % Color [rgb]
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Leg.sphere.bottom = Leg.rad.bottom; % Size of the sphere at the end of the leg [mm]
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Leg.sphere.top = Leg.rad.top; % Size of the sphere at the end of the leg [mm]
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Leg.m = TP.density*((pi*(TP.rad.ext/1000)^2)*(TP.thickness/1000)-(pi*(TP.rad.int/1000^2))*(TP.thickness/1000))/6; % TODO [kg]
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Leg = updateDamping(Leg);
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%% Sphere
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SP = struct();
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SP.height.bottom = 27; % [mm]
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SP.height.top = 27; % [mm]
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SP.density.bottom = 8000; % [kg/m^3]
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SP.density.top = 8000; % [kg/m^3]
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SP.color.bottom = [0.6 0.6 0.6]; % [rgb]
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SP.color.top = [0.6 0.6 0.6]; % [rgb]
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SP.k.ax = 0; % [N*m/deg]
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SP.ksi.ax = 10;
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SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm]
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SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm]
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SP.rad.bottom = Leg.sphere.bottom; % [mm]
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SP.rad.top = Leg.sphere.top; % [mm]
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SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); % TODO [kg]
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SP = updateDamping(SP);
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%%
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Leg.support.bottom = [0 SP.thickness.bottom; 0 0; SP.rad.bottom 0; SP.rad.bottom SP.height.bottom];
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Leg.support.top = [0 SP.thickness.top; 0 0; SP.rad.top 0; SP.rad.top SP.height.top];
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%%
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stewart.BP = BP;
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stewart.TP = TP;
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stewart.Leg = Leg;
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stewart.SP = SP;
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%%
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stewart = initializeParameters(stewart);
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%%
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clear BP TP Leg SP;
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%%
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function element = updateDamping(element)
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field = fieldnames(element.k);
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for i = 1:length(field)
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element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m);
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end
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end
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