60 lines
1.8 KiB
Matlab
60 lines
1.8 KiB
Matlab
%% paramétres variables
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BP_leg_radius = 100:10:150;
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TP_leg_radius = 50:10:100;
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BP_leg_ang = 0:1:30;
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TP_leg_ang = 0:1:30;
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%% intervalle
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intervalle1=10e-6;
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intervalle2=10e-3;
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% variation=1e-3;
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%% Study the effect of the radius of the top platform position of the legs
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max_disp = zeros(length(BP_leg_radius),length(TP_leg_radius),length(BP_leg_ang),length(TP_leg_ang), 6);
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stiffness = zeros(length(BP_leg_radius),length(TP_leg_radius),length(BP_leg_ang),length(TP_leg_ang), 6, 6);
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for Blri = 1:length(BP_leg_radius)
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for Tlri = 1:length(TP_leg_radius)
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for Blai = 1:length(BP_leg_ang)
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for Tlai = 1:length(TP_leg_ang)
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BP.leg.rad = BP_leg_radius(Blri);
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TP.leg.rad = TP_leg_radius(Tlri);
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BP.leg.ang = BP_leg_ang(Blai);
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TP.leg.ang = TP_leg_ang(Tlai);
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run stewart_init.m;
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max_disp(Blri,Tlri,Blai,Tlai, :) = getMaxPureDisplacement(Leg, J)';
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stiffness(Blri,Tlri,Blai,Tlai, :, :) = getStiffnessMatrix(Leg, J);
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end
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end
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end
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end
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%%
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M = min(min(stiffness(:, : , :, :, 4, 4), stiffness(:, : , :, :, 5, 5)), stiffness(:, : , :, :, 6, 6));
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[C,I] = max(M(:));
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[I1,I2,I3,I4] = ind2sub(size(stiffness(:, : , :, :, 3, 3)),I);
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BP_leg_radius(I1)
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TP_leg_radius(I2)
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BP_leg_ang(I3)
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TP_leg_ang(I4)
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% %%
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% for Blri = 1:length(BP_leg_radius)
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% for Tlri = 1:length(TP_leg_radius)
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% for Blai = 1:length(BP_leg_ang)
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% for Tlai = 1:length(TP_leg_ang)
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% if max_disp==intervalle1
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% i=i+1;
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% s1(1,i)=BP_leg_radius(Blri);
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% s1(2,i)=TP_leg_radius(Tlri);
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% s1(3,i)=BP_leg_ang(Blai);
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% s1(4,i)=TP_leg_ang(Tlai);
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% else
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% end
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% end
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% end
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% end
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% end
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%
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