52 lines
1.4 KiB
Matlab
52 lines
1.4 KiB
Matlab
%%
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run stewart_parameters.m
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format shortE
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%% Study the effect of the radius of the top platform position of the legs
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leg_radius = 50:1:120;
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max_disp = zeros(length(leg_radius), 6);
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stiffness = zeros(length(leg_radius), 6, 6);
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for i_leg = 1:length(leg_radius)
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TP.leg.rad = leg_radius(i_leg);
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run stewart_init.m;
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max_disp(i_leg, :) = getMaxPureDisplacement(Leg, J)';
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stiffness(i_leg, :, :) = getStiffnessMatrix(Leg, J);
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end
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%% Plot everything
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figure;
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hold on;
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plot(leg_radius, max_disp(:, 1))
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plot(leg_radius, max_disp(:, 2))
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plot(leg_radius, max_disp(:, 3))
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hold off;
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legend({'tx', 'ty', 'tz'})
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xlabel('Leg Radius at the platform'); ylabel('Maximum translation (m)');
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figure;
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hold on;
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plot(leg_radius, max_disp(:, 4))
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plot(leg_radius, max_disp(:, 5))
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plot(leg_radius, max_disp(:, 6))
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hold off;
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legend({'rx', 'ry', 'rz'})
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xlabel('Leg Radius at the platform'); ylabel('Maximum rotations (rad)');
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figure;
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hold on;
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plot(leg_radius, stiffness(:, 1, 1))
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plot(leg_radius, stiffness(:, 2, 2))
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plot(leg_radius, stiffness(:, 3, 3))
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hold off;
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legend({'kx', 'ky', 'kz'})
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xlabel('Leg Radius at the platform'); ylabel('Stiffness in translation (N/m)');
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figure;
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hold on;
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plot(leg_radius, stiffness(:, 4, 4))
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plot(leg_radius, stiffness(:, 5, 5))
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plot(leg_radius, stiffness(:, 6, 6))
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hold off;
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legend({'mx', 'my', 'mz'})
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xlabel('Leg Radius at the platform'); ylabel('Stiffness in rotations (N/(m/rad))'); |