From c73578da26a6ef6935a11d4ae7cd06427cda2ad6 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Fri, 18 Sep 2020 09:29:51 +0200 Subject: [PATCH] Add Stewart Platform Model --- ...rt_Platform_V8.CATPart_Default_sldprt.STEP | 3428 ++++++ ...pring cylinder.CATPart_Default_sldprt.STEP | 2860 +++++ ...rt_Platform_V8.CATPart_Default_sldprt.STEP | 9440 +++++++++++++++++ .../Voice-coil.CATPart_Default_sldprt.STEP | 963 ++ stewart_platform/drone_platform.slx | Bin 0 -> 55018 bytes stewart_platform/drone_platform.xml | 161 + stewart_platform/drone_platform_DataFile.m | 156 + stewart_platform/drone_platform_DataFile1.m | 156 + stewart_platform/drone_platform_R2017a.slx | Bin 0 -> 38931 bytes 9 files changed, 17164 insertions(+) create mode 100644 stewart_platform/STEP/Bottom_Stewart_Platform_V8.CATPart_Default_sldprt.STEP create mode 100644 stewart_platform/STEP/Spring cylinder.CATPart_Default_sldprt.STEP create mode 100644 stewart_platform/STEP/Upper_Stewart_Platform_V8.CATPart_Default_sldprt.STEP create mode 100644 stewart_platform/STEP/Voice-coil.CATPart_Default_sldprt.STEP create mode 100644 stewart_platform/drone_platform.slx create mode 100644 stewart_platform/drone_platform.xml create mode 100644 stewart_platform/drone_platform_DataFile.m create mode 100644 stewart_platform/drone_platform_DataFile1.m create mode 100644 stewart_platform/drone_platform_R2017a.slx diff --git a/stewart_platform/STEP/Bottom_Stewart_Platform_V8.CATPart_Default_sldprt.STEP b/stewart_platform/STEP/Bottom_Stewart_Platform_V8.CATPart_Default_sldprt.STEP new file mode 100644 index 0000000..aac1fe8 --- /dev/null +++ b/stewart_platform/STEP/Bottom_Stewart_Platform_V8.CATPart_Default_sldprt.STEP @@ -0,0 +1,3428 @@ +ISO-10303-21; +HEADER; +FILE_DESCRIPTION (( 'STEP AP203' ), + '1' ); +FILE_NAME ('Bottom_Stewart_Platform_V8.CATPart_Default_sldprt.STEP', + '2019-12-11T12:53:11', + ( '' ), + ( '' ), + 'SwSTEP 2.0', + 'SolidWorks 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-0.81649658092803401 0 -0.5773502691891903 +0.021871493913361 0.023740403071566 0.019383957937758 + + + + +-0.57735026918919119 -7.7261241506550613e-16 -0.81649658092803323 -1.0000000000000005e-15 0.99999999999999989 -2.3914631173884234e-16 0.81649658092803334 6.7842539347001128e-16 -0.57735026918919108 +0.0096240451994409996 0.030811470883434 0.019383957937758 + + + + +-0.28867513459459521 -0.86602540378443937 0.40824829046401545 -0.49999999999962164 0.49999999999999872 0.70710678118681602 -0.81649658092803479 1.8290472843949615e-15 -0.57735026918918919 +-0.031495539112739002 0.0070710678118320004 0.019383957937758 + + + + +0.28867513459459598 -0.86602540378443771 0.40824829046401856 -0.49999999999962402 -0.50000000000000178 -0.70710678118681225 0.81649658092803301 -1.2398266370068536e-15 -0.57735026918919174 +-0.031495539112739002 -0.0070710678119050002 0.019383957937758 + + + + +1 0 0 0 1 0 0 0 1 +0 0 0 + + + + +0.99559443847292006 -0.093764140703102114 0 0.093764140703102114 0.99559443847292006 0 0 0 1 +-0.034999999999978999 -3.7e-14 0.0051574606296499997 + + + + + + + + + + + + + + + + + + +0.036808422349281396 +1.5151381609408908e-11 -2.584273842557644e-11 0.0038488764942888206 +1.6573140175725057e-05 1.6573140156158694e-05 3.2475141872846651e-05 4.9976421207227284e-15 -2.8421200098863714e-15 -1.3395036264003659e-14 + + + + + + + +0.40000000596046448 + + + + + + +0.002953024625510399 +1.9528918640542436e-07 -3.03908697070007e-06 0.0034103846069334764 +9.4245235034989608e-08 9.5111221695610222e-08 6.056497666333128e-08 9.2822238167834427e-13 1.5998098386190716e-09 -2.9934446424201115e-11 + + + + + + + +0.40000000596046448 + + + + + + +0.032807859410420866 +4.3204111866222267e-08 6.4929928363256895e-09 0.022029956321592298 +1.0958807269683137e-05 1.095865147887874e-05 2.1418645161274546e-05 -2.7272640778847974e-12 2.0116845742236025e-12 2.0925824216820959e-12 + + + + + + + +0.40000000596046448 + + + + + + +0.00072851613140055473 +1.6672752107505068e-10 4.9264195897497112e-05 0.0068426699166844653 +2.364206948255963e-08 2.3409631588225184e-08 7.6150552208997043e-09 1.9174011014260876e-10 5.66357422383939e-16 -6.4605353421422726e-16 + + + + + + + +0.40000000596046448 + + + + diff --git a/stewart_platform/drone_platform_DataFile.m b/stewart_platform/drone_platform_DataFile.m new file mode 100644 index 0000000..75cbd76 --- /dev/null +++ b/stewart_platform/drone_platform_DataFile.m @@ -0,0 +1,156 @@ +% Simscape(TM) Multibody(TM) version: 5.1 + +% This is a model data file derived from a Simscape Multibody Import XML file using the smimport function. +% The data in this file sets the block parameter values in an imported Simscape Multibody model. +% For more information on this file, see the smimport function help page in the Simscape Multibody documentation. +% You can modify numerical values, but avoid any other changes to this file. +% Do not add code to this file. Do not edit the physical units shown in comments. + +%%%VariableName:smiData + + +%============= RigidTransform =============% + +%Initialize the RigidTransform structure array by filling in null values. +smiData.RigidTransform(12).translation = [0.0 0.0 0.0]; +smiData.RigidTransform(12).angle = 0.0; +smiData.RigidTransform(12).axis = [0.0 0.0 0.0]; +smiData.RigidTransform(12).ID = ''; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(1).translation = [17.500000000021 30.310889132419 5.1574606296500001]; % mm +smiData.RigidTransform(1).angle = 0.093902078374528131; % rad +smiData.RigidTransform(1).axis = [0 0 1]; +smiData.RigidTransform(1).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Spring cylinder.CATPart-1]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(2).translation = [0 0 0]; % mm +smiData.RigidTransform(2).angle = 0; % rad +smiData.RigidTransform(2).axis = [0 0 0]; +smiData.RigidTransform(2).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Upper_Stewart_Platform_V8.CATPart-1]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(3).translation = [17.500000000021 -30.310889132492001 5.1574606296500001]; % mm +smiData.RigidTransform(3).angle = 0.093902078374528131; % rad +smiData.RigidTransform(3).axis = [0 0 1]; +smiData.RigidTransform(3).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Spring cylinder.CATPart-3]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(4).translation = [9.6240451994409995 -30.811470883506999 19.383957937758002]; % mm +smiData.RigidTransform(4).angle = 3.1415926535897931; % rad +smiData.RigidTransform(4).axis = [0.88807383397699313 6.3170900042374556e-16 -0.45970084338121897]; +smiData.RigidTransform(4).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Voice-coil.CATPart-1]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(5).translation = [21.871493913361999 -23.740403071639001 19.383957937758002]; % mm +smiData.RigidTransform(5).angle = 2.6777446800421498; % rad +smiData.RigidTransform(5).axis = [-0.79025275363749503 -0.45625264004045041 -0.40906492617245471]; +smiData.RigidTransform(5).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Voice-coil.CATPart-2]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(6).translation = [21.871493913361 23.740403071566 19.383957937758002]; % mm +smiData.RigidTransform(6).angle = 2.3226757410894345; % rad +smiData.RigidTransform(6).axis = [0.4840501729431676 0.83839949295006799 -0.25056280708588496]; +smiData.RigidTransform(6).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Voice-coil.CATPart-3]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(7).translation = [9.6240451994409995 30.811470883434001 19.383957937758002]; % mm +smiData.RigidTransform(7).angle = 2.1862760354647519; % rad +smiData.RigidTransform(7).axis = [5.6189562004407762e-16 -1 -1.3924588923326856e-16]; +smiData.RigidTransform(7).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Voice-coil.CATPart-4]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(8).translation = [-31.495539112739003 7.0710678118320001 19.383957937758002]; % mm +smiData.RigidTransform(8).angle = 2.3226757410894345; % rad +smiData.RigidTransform(8).axis = [-0.48405017294316754 0.83839949295006766 0.25056280708588635]; +smiData.RigidTransform(8).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Voice-coil.CATPart-5]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(9).translation = [-31.495539112739003 -7.0710678119050003 19.383957937758002]; % mm +smiData.RigidTransform(9).angle = 2.6777446800421507; % rad +smiData.RigidTransform(9).axis = [0.79025275363749525 -0.45625264004045002 0.40906492617245482]; +smiData.RigidTransform(9).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Voice-coil.CATPart-6]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(10).translation = [0 0 0]; % mm +smiData.RigidTransform(10).angle = 0; % rad +smiData.RigidTransform(10).axis = [0 0 0]; +smiData.RigidTransform(10).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Bottom_Stewart_Platform_V8.CATPart-1]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(11).translation = [-34.999999999978996 -3.7000000000000001e-11 5.1574606296500001]; % mm +smiData.RigidTransform(11).angle = 0.093902078374528131; % rad +smiData.RigidTransform(11).axis = [0 0 1]; +smiData.RigidTransform(11).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Spring cylinder.CATPart-2]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(12).translation = [0 0 0]; % mm +smiData.RigidTransform(12).angle = 0; % rad +smiData.RigidTransform(12).axis = [0 0 0]; +smiData.RigidTransform(12).ID = 'RootGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1]'; + + +%============= Solid =============% +%Center of Mass (CoM) %Moments of Inertia (MoI) %Product of Inertia (PoI) + +%Initialize the Solid structure array by filling in null values. +smiData.Solid(4).mass = 0.0; +smiData.Solid(4).CoM = [0.0 0.0 0.0]; +smiData.Solid(4).MoI = [0.0 0.0 0.0]; +smiData.Solid(4).PoI = [0.0 0.0 0.0]; +smiData.Solid(4).color = [0.0 0.0 0.0]; +smiData.Solid(4).opacity = 0.0; +smiData.Solid(4).ID = ''; + +%Inertia Type - Custom +%Visual Properties - Simple +smiData.Solid(1).mass = 0.002953024625510399; % kg +smiData.Solid(1).CoM = [0.00019528918640542437 -0.0030390869707000701 3.4103846069334764]; % mm +smiData.Solid(1).MoI = [0.094245235034989605 0.095111221695610218 0.060564976663331278]; % kg*mm^2 +smiData.Solid(1).PoI = [9.2822238167834426e-07 0.0015998098386190715 -2.9934446424201115e-05]; % kg*mm^2 +smiData.Solid(1).color = [0.82352941176470584 0.82352941176470584 1]; +smiData.Solid(1).opacity = 1; +smiData.Solid(1).ID = 'Spring cylinder.CATPart*:*Default'; + +%Inertia Type - Custom +%Visual Properties - Simple +smiData.Solid(2).mass = 0.032807859410420866; % kg +smiData.Solid(2).CoM = [4.3204111866222267e-05 6.4929928363256894e-06 22.029956321592298]; % mm +smiData.Solid(2).MoI = [10.958807269683136 10.958651478878741 21.418645161274547]; % kg*mm^2 +smiData.Solid(2).PoI = [-2.7272640778847972e-06 2.0116845742236026e-06 2.0925824216820959e-06]; % kg*mm^2 +smiData.Solid(2).color = [0 1 1]; +smiData.Solid(2).opacity = 1; +smiData.Solid(2).ID = 'Upper_Stewart_Platform_V8.CATPart*:*Default'; + +%Inertia Type - Custom +%Visual Properties - Simple +smiData.Solid(3).mass = 0.00072851613140055473; % kg +smiData.Solid(3).CoM = [1.6672752107505068e-07 0.049264195897497115 6.8426699166844651]; % mm +smiData.Solid(3).MoI = [0.023642069482559629 0.023409631588225184 0.0076150552208997047]; % kg*mm^2 +smiData.Solid(3).PoI = [0.00019174011014260877 5.6635742238393906e-10 -6.4605353421422721e-10]; % kg*mm^2 +smiData.Solid(3).color = [0.82352941176470584 0.82352941176470584 1]; +smiData.Solid(3).opacity = 1; +smiData.Solid(3).ID = 'Voice-coil.CATPart*:*Default'; + +%Inertia Type - Custom +%Visual Properties - Simple +smiData.Solid(4).mass = 0.036808422349281396; % kg +smiData.Solid(4).CoM = [1.5151381609408909e-08 -2.5842738425576439e-08 3.8488764942888207]; % mm +smiData.Solid(4).MoI = [16.573140175725058 16.573140156158694 32.475141872846649]; % kg*mm^2 +smiData.Solid(4).PoI = [4.9976421207227284e-09 -2.8421200098863714e-09 -1.3395036264003659e-08]; % kg*mm^2 +smiData.Solid(4).color = [1 1 0]; +smiData.Solid(4).opacity = 1; +smiData.Solid(4).ID = 'Bottom_Stewart_Platform_V8.CATPart*:*Default'; + diff --git a/stewart_platform/drone_platform_DataFile1.m b/stewart_platform/drone_platform_DataFile1.m new file mode 100644 index 0000000..75cbd76 --- /dev/null +++ b/stewart_platform/drone_platform_DataFile1.m @@ -0,0 +1,156 @@ +% Simscape(TM) Multibody(TM) version: 5.1 + +% This is a model data file derived from a Simscape Multibody Import XML file using the smimport function. +% The data in this file sets the block parameter values in an imported Simscape Multibody model. +% For more information on this file, see the smimport function help page in the Simscape Multibody documentation. +% You can modify numerical values, but avoid any other changes to this file. +% Do not add code to this file. Do not edit the physical units shown in comments. + +%%%VariableName:smiData + + +%============= RigidTransform =============% + +%Initialize the RigidTransform structure array by filling in null values. +smiData.RigidTransform(12).translation = [0.0 0.0 0.0]; +smiData.RigidTransform(12).angle = 0.0; +smiData.RigidTransform(12).axis = [0.0 0.0 0.0]; +smiData.RigidTransform(12).ID = ''; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(1).translation = [17.500000000021 30.310889132419 5.1574606296500001]; % mm +smiData.RigidTransform(1).angle = 0.093902078374528131; % rad +smiData.RigidTransform(1).axis = [0 0 1]; +smiData.RigidTransform(1).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Spring cylinder.CATPart-1]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(2).translation = [0 0 0]; % mm +smiData.RigidTransform(2).angle = 0; % rad +smiData.RigidTransform(2).axis = [0 0 0]; +smiData.RigidTransform(2).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Upper_Stewart_Platform_V8.CATPart-1]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(3).translation = [17.500000000021 -30.310889132492001 5.1574606296500001]; % mm +smiData.RigidTransform(3).angle = 0.093902078374528131; % rad +smiData.RigidTransform(3).axis = [0 0 1]; +smiData.RigidTransform(3).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Spring cylinder.CATPart-3]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(4).translation = [9.6240451994409995 -30.811470883506999 19.383957937758002]; % mm +smiData.RigidTransform(4).angle = 3.1415926535897931; % rad +smiData.RigidTransform(4).axis = [0.88807383397699313 6.3170900042374556e-16 -0.45970084338121897]; +smiData.RigidTransform(4).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Voice-coil.CATPart-1]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(5).translation = [21.871493913361999 -23.740403071639001 19.383957937758002]; % mm +smiData.RigidTransform(5).angle = 2.6777446800421498; % rad +smiData.RigidTransform(5).axis = [-0.79025275363749503 -0.45625264004045041 -0.40906492617245471]; +smiData.RigidTransform(5).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Voice-coil.CATPart-2]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(6).translation = [21.871493913361 23.740403071566 19.383957937758002]; % mm +smiData.RigidTransform(6).angle = 2.3226757410894345; % rad +smiData.RigidTransform(6).axis = [0.4840501729431676 0.83839949295006799 -0.25056280708588496]; +smiData.RigidTransform(6).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Voice-coil.CATPart-3]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(7).translation = [9.6240451994409995 30.811470883434001 19.383957937758002]; % mm +smiData.RigidTransform(7).angle = 2.1862760354647519; % rad +smiData.RigidTransform(7).axis = [5.6189562004407762e-16 -1 -1.3924588923326856e-16]; +smiData.RigidTransform(7).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Voice-coil.CATPart-4]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(8).translation = [-31.495539112739003 7.0710678118320001 19.383957937758002]; % mm +smiData.RigidTransform(8).angle = 2.3226757410894345; % rad +smiData.RigidTransform(8).axis = [-0.48405017294316754 0.83839949295006766 0.25056280708588635]; +smiData.RigidTransform(8).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Voice-coil.CATPart-5]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(9).translation = [-31.495539112739003 -7.0710678119050003 19.383957937758002]; % mm +smiData.RigidTransform(9).angle = 2.6777446800421507; % rad +smiData.RigidTransform(9).axis = [0.79025275363749525 -0.45625264004045002 0.40906492617245482]; +smiData.RigidTransform(9).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Voice-coil.CATPart-6]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(10).translation = [0 0 0]; % mm +smiData.RigidTransform(10).angle = 0; % rad +smiData.RigidTransform(10).axis = [0 0 0]; +smiData.RigidTransform(10).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Bottom_Stewart_Platform_V8.CATPart-1]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(11).translation = [-34.999999999978996 -3.7000000000000001e-11 5.1574606296500001]; % mm +smiData.RigidTransform(11).angle = 0.093902078374528131; % rad +smiData.RigidTransform(11).axis = [0 0 1]; +smiData.RigidTransform(11).ID = 'AssemblyGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1:Spring cylinder.CATPart-2]'; + +%Translation Method - Cartesian +%Rotation Method - Arbitrary Axis +smiData.RigidTransform(12).translation = [0 0 0]; % mm +smiData.RigidTransform(12).angle = 0; % rad +smiData.RigidTransform(12).axis = [0 0 0]; +smiData.RigidTransform(12).ID = 'RootGround[Drone_Stewart_Platform_V8 voice-coil.CATProduct-1]'; + + +%============= Solid =============% +%Center of Mass (CoM) %Moments of Inertia (MoI) %Product of Inertia (PoI) + +%Initialize the Solid structure array by filling in null values. +smiData.Solid(4).mass = 0.0; +smiData.Solid(4).CoM = [0.0 0.0 0.0]; +smiData.Solid(4).MoI = [0.0 0.0 0.0]; +smiData.Solid(4).PoI = [0.0 0.0 0.0]; +smiData.Solid(4).color = [0.0 0.0 0.0]; +smiData.Solid(4).opacity = 0.0; +smiData.Solid(4).ID = ''; + +%Inertia Type - Custom +%Visual Properties - Simple +smiData.Solid(1).mass = 0.002953024625510399; % kg +smiData.Solid(1).CoM = [0.00019528918640542437 -0.0030390869707000701 3.4103846069334764]; % mm +smiData.Solid(1).MoI = [0.094245235034989605 0.095111221695610218 0.060564976663331278]; % kg*mm^2 +smiData.Solid(1).PoI = [9.2822238167834426e-07 0.0015998098386190715 -2.9934446424201115e-05]; % kg*mm^2 +smiData.Solid(1).color = [0.82352941176470584 0.82352941176470584 1]; +smiData.Solid(1).opacity = 1; +smiData.Solid(1).ID = 'Spring cylinder.CATPart*:*Default'; + +%Inertia Type - Custom +%Visual Properties - Simple +smiData.Solid(2).mass = 0.032807859410420866; % kg +smiData.Solid(2).CoM = [4.3204111866222267e-05 6.4929928363256894e-06 22.029956321592298]; % mm +smiData.Solid(2).MoI = [10.958807269683136 10.958651478878741 21.418645161274547]; % kg*mm^2 +smiData.Solid(2).PoI = [-2.7272640778847972e-06 2.0116845742236026e-06 2.0925824216820959e-06]; % kg*mm^2 +smiData.Solid(2).color = [0 1 1]; +smiData.Solid(2).opacity = 1; +smiData.Solid(2).ID = 'Upper_Stewart_Platform_V8.CATPart*:*Default'; + +%Inertia Type - Custom +%Visual Properties - Simple +smiData.Solid(3).mass = 0.00072851613140055473; % kg +smiData.Solid(3).CoM = [1.6672752107505068e-07 0.049264195897497115 6.8426699166844651]; % mm +smiData.Solid(3).MoI = [0.023642069482559629 0.023409631588225184 0.0076150552208997047]; % kg*mm^2 +smiData.Solid(3).PoI = [0.00019174011014260877 5.6635742238393906e-10 -6.4605353421422721e-10]; % kg*mm^2 +smiData.Solid(3).color = [0.82352941176470584 0.82352941176470584 1]; +smiData.Solid(3).opacity = 1; +smiData.Solid(3).ID = 'Voice-coil.CATPart*:*Default'; + +%Inertia Type - Custom +%Visual Properties - Simple +smiData.Solid(4).mass = 0.036808422349281396; % kg +smiData.Solid(4).CoM = [1.5151381609408909e-08 -2.5842738425576439e-08 3.8488764942888207]; % mm +smiData.Solid(4).MoI = [16.573140175725058 16.573140156158694 32.475141872846649]; % kg*mm^2 +smiData.Solid(4).PoI = [4.9976421207227284e-09 -2.8421200098863714e-09 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