67 lines
1.6 KiB
Matlab
67 lines
1.6 KiB
Matlab
%% Nass height
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stewart = struct();
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stewart.h = 90; %mm
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stewart.jacobian = 174.5; %mm
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%% Bottom Plate
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BP = struct();
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BP.rad.int = 0; %mm
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BP.rad.ext = 150; %mm
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BP.thickness = 10; % mm
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BP.leg.rad = 100; %mm
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BP.leg.ang = 5; %deg
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BP.density = 8000; %kg/m^3
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BP.color = [0.5 0.5 0.5]; %rgb
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%% TOP Plate
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TP = struct();
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TP.rad.int = 0;%mm
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TP.rad.ext = 100; %mm
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TP.thickness = 10; % mm
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TP.leg.rad = 90; %mm
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TP.leg.ang = 5; %deg
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TP.density = 8000; %kg/m^3
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TP.color = [0.5 0.5 0.5]; %rgb
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%% Leg
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Leg = struct();
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Leg.stroke = 80e-6; % m
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Leg.rad.bottom = 8; %mm
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Leg.rad.top = 5; %mm
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Leg.sphere.bottom = 10; % mm
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Leg.sphere.top = 8; % mm
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Leg.density = 8000; %kg/m^3
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Leg.lenght = stewart.h; % mm (approximate)
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Leg.m = Leg.density*2*pi*((Leg.rad.bottom*1e-3)^2)*(Leg.lenght*1e-3); %kg
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Leg.color.bottom = [0.5 0.5 0.5]; %rgb
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Leg.color.top = [0.5 0.5 0.5]; %rgb
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Leg.k.ax = 5e7; % N/m
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Leg.ksi.ax = 10;
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Leg = updateDamping(Leg);
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%% Sphere
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SP = struct();
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SP.thickness.bottom = 1; %mm
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SP.thickness.top = 1; %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.height.bottom = 5; %mm
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SP.height.top = 5; %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.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); %kg
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SP.color.bottom = [0.5 0.5 0.5]; %rgb
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SP.color.top = [0.5 0.5 0.5]; %rgb
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SP.k.ax = 1e2; % N*m/deg
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SP.ksi.ax = 10;
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SP = updateDamping(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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