Add Stewart Platform Model
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stewart_platform/STEP/Spring cylinder.CATPart_Default_sldprt.STEP
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stewart_platform/STEP/Spring cylinder.CATPart_Default_sldprt.STEP
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stewart_platform/STEP/Voice-coil.CATPart_Default_sldprt.STEP
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stewart_platform/STEP/Voice-coil.CATPart_Default_sldprt.STEP
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END-ISO-10303-21;
|
BIN
stewart_platform/drone_platform.slx
Normal file
BIN
stewart_platform/drone_platform.slx
Normal file
Binary file not shown.
161
stewart_platform/drone_platform.xml
Normal file
161
stewart_platform/drone_platform.xml
Normal file
@ -0,0 +1,161 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
|
||||
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<DataUnits mass="kilogram" length="meter"/>
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||||
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||||
<AssemblyFile name="" type="SolidWorks Assembly"/>
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||||
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||||
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|
||||
<Transform>
|
||||
<Rotation>1 0 0 0 1 0 0 0 1</Rotation>
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||||
<Translation>0 0 0</Translation>
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||||
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||||
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||||
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||||
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||||
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||||
</Instance>
|
||||
<Instance name="Upper_Stewart_Platform_V8.CATPart-1" uid="Upper_Stewart_Platform_V8.CATPart-1" grounded="true" entityUid="Upper_Stewart_Platform_V8.CATPart*:*Default">
|
||||
<Transform>
|
||||
<Rotation>1 0 0 0 1 0 0 0 1</Rotation>
|
||||
<Translation>0 0 0</Translation>
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||||
</Transform>
|
||||
</Instance>
|
||||
<Instance name="Spring cylinder.CATPart-3" uid="Spring cylinder.CATPart-3" grounded="true" entityUid="Spring cylinder.CATPart*:*Default">
|
||||
<Transform>
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||||
<Rotation>0.99559443847292006 -0.093764140703102114 0 0.093764140703102114 0.99559443847292006 0 0 0 1</Rotation>
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||||
</Transform>
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||||
</Instance>
|
||||
<Instance name="Voice-coil.CATPart-1" uid="Voice-coil.CATPart-1" grounded="true" entityUid="Voice-coil.CATPart*:*Default">
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||||
<Transform>
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<Rotation>0.57735026918919186 1.244016935856359e-15 -0.81649658092803279 9.9999999999999988e-16 -1 -8.1649658092803182e-16 -0.81649658092803279 -3.4509206013717914e-16 -0.57735026918919186</Rotation>
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<Translation>0.0096240451994409996 -0.030811470883507001 0.019383957937758</Translation>
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||||
</Transform>
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||||
</Instance>
|
||||
<Instance name="Voice-coil.CATPart-2" uid="Voice-coil.CATPart-2" grounded="true" entityUid="Voice-coil.CATPart*:*Default">
|
||||
<Transform>
|
||||
<Rotation>0.28867513459459598 0.86602540378443804 0.4082482904640175 0.49999999999962402 -0.50000000000000089 0.70710678118681269 0.81649658092803301 5.8261899184318886e-16 -0.57735026918919163</Rotation>
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<Translation>0.021871493913361999 -0.023740403071639 0.019383957937758</Translation>
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||||
</Transform>
|
||||
</Instance>
|
||||
<Instance name="Voice-coil.CATPart-3" uid="Voice-coil.CATPart-3" grounded="true" entityUid="Voice-coil.CATPart*:*Default">
|
||||
<Transform>
|
||||
<Rotation>-0.28867513459459498 0.86602540378443871 0.40824829046401689 0.49999999999962302 0.49999999999999978 -0.70710678118681425 -0.81649658092803401 0 -0.5773502691891903</Rotation>
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||||
<Translation>0.021871493913361 0.023740403071566 0.019383957937758</Translation>
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||||
</Transform>
|
||||
</Instance>
|
||||
<Instance name="Voice-coil.CATPart-4" uid="Voice-coil.CATPart-4" grounded="true" entityUid="Voice-coil.CATPart*:*Default">
|
||||
<Transform>
|
||||
<Rotation>-0.57735026918919119 -7.7261241506550613e-16 -0.81649658092803323 -1.0000000000000005e-15 0.99999999999999989 -2.3914631173884234e-16 0.81649658092803334 6.7842539347001128e-16 -0.57735026918919108</Rotation>
|
||||
<Translation>0.0096240451994409996 0.030811470883434 0.019383957937758</Translation>
|
||||
</Transform>
|
||||
</Instance>
|
||||
<Instance name="Voice-coil.CATPart-5" uid="Voice-coil.CATPart-5" grounded="true" entityUid="Voice-coil.CATPart*:*Default">
|
||||
<Transform>
|
||||
<Rotation>-0.28867513459459521 -0.86602540378443937 0.40824829046401545 -0.49999999999962164 0.49999999999999872 0.70710678118681602 -0.81649658092803479 1.8290472843949615e-15 -0.57735026918918919</Rotation>
|
||||
<Translation>-0.031495539112739002 0.0070710678118320004 0.019383957937758</Translation>
|
||||
</Transform>
|
||||
</Instance>
|
||||
<Instance name="Voice-coil.CATPart-6" uid="Voice-coil.CATPart-6" grounded="true" entityUid="Voice-coil.CATPart*:*Default">
|
||||
<Transform>
|
||||
<Rotation>0.28867513459459598 -0.86602540378443771 0.40824829046401856 -0.49999999999962402 -0.50000000000000178 -0.70710678118681225 0.81649658092803301 -1.2398266370068536e-15 -0.57735026918919174</Rotation>
|
||||
<Translation>-0.031495539112739002 -0.0070710678119050002 0.019383957937758</Translation>
|
||||
</Transform>
|
||||
</Instance>
|
||||
<Instance name="Bottom_Stewart_Platform_V8.CATPart-1" uid="Bottom_Stewart_Platform_V8.CATPart-1" grounded="true" entityUid="Bottom_Stewart_Platform_V8.CATPart*:*Default">
|
||||
<Transform>
|
||||
<Rotation>1 0 0 0 1 0 0 0 1</Rotation>
|
||||
<Translation>0 0 0</Translation>
|
||||
</Transform>
|
||||
</Instance>
|
||||
<Instance name="Spring cylinder.CATPart-2" uid="Spring cylinder.CATPart-2" grounded="true" entityUid="Spring cylinder.CATPart*:*Default">
|
||||
<Transform>
|
||||
<Rotation>0.99559443847292006 -0.093764140703102114 0 0.093764140703102114 0.99559443847292006 0 0 0 1</Rotation>
|
||||
<Translation>-0.034999999999978999 -3.7e-14 0.0051574606296499997</Translation>
|
||||
</Transform>
|
||||
</Instance>
|
||||
</Instance>
|
||||
</InstanceTree>
|
||||
<Constraints>
|
||||
</Constraints>
|
||||
</RootAssembly>
|
||||
<Assemblies>
|
||||
<Assembly name="Drone_Stewart_Platform_V8 voice-coil.CATProduct" uid="Drone_Stewart_Platform_V8 voice-coil.CATProduct" version="104">
|
||||
<ModelUnits mass="kilogram" length="millimeter"/>
|
||||
<AssemblyFile name="Drone_Stewart_Platform_V8 voice-coil.CATProduct.SLDASM" type="SolidWorks Assembly"/>
|
||||
</Assembly>
|
||||
</Assemblies>
|
||||
<Parts>
|
||||
<Part name="Bottom_Stewart_Platform_V8.CATPart" uid="Bottom_Stewart_Platform_V8.CATPart*:*Default" version="104">
|
||||
<ModelUnits mass="kilogram" length="millimeter"/>
|
||||
<PartFile name="Bottom_Stewart_Platform_V8.CATPart.SLDPRT" type="SolidWorks Part"/>
|
||||
<MassProperties>
|
||||
<Mass>0.036808422349281396</Mass>
|
||||
<CenterOfMass>1.5151381609408908e-11 -2.584273842557644e-11 0.0038488764942888206</CenterOfMass>
|
||||
<Inertia>1.6573140175725057e-05 1.6573140156158694e-05 3.2475141872846651e-05 4.9976421207227284e-15 -2.8421200098863714e-15 -1.3395036264003659e-14</Inertia>
|
||||
</MassProperties>
|
||||
<GeometryFile name="Bottom_Stewart_Platform_V8.CATPart_Default_sldprt.STEP" type="STEP"/>
|
||||
<VisualProperties>
|
||||
<Ambient r="1" g="1" b="0" a="1"/>
|
||||
<Diffuse r="1" g="1" b="0" a="1"/>
|
||||
<Specular r="0.5" g="0.5" b="0" a="1"/>
|
||||
<Emissive r="0" g="0" b="0" a="1"/>
|
||||
<Shininess>0.40000000596046448</Shininess>
|
||||
</VisualProperties>
|
||||
</Part>
|
||||
<Part name="Spring cylinder.CATPart" uid="Spring cylinder.CATPart*:*Default" version="104">
|
||||
<ModelUnits mass="kilogram" length="millimeter"/>
|
||||
<PartFile name="Spring cylinder.CATPart.SLDPRT" type="SolidWorks Part"/>
|
||||
<MassProperties>
|
||||
<Mass>0.002953024625510399</Mass>
|
||||
<CenterOfMass>1.9528918640542436e-07 -3.03908697070007e-06 0.0034103846069334764</CenterOfMass>
|
||||
<Inertia>9.4245235034989608e-08 9.5111221695610222e-08 6.056497666333128e-08 9.2822238167834427e-13 1.5998098386190716e-09 -2.9934446424201115e-11</Inertia>
|
||||
</MassProperties>
|
||||
<GeometryFile name="Spring cylinder.CATPart_Default_sldprt.STEP" type="STEP"/>
|
||||
<VisualProperties>
|
||||
<Ambient r="0.82352941176470584" g="0.82352941176470584" b="1" a="1"/>
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||||
<Diffuse r="0.82352941176470584" g="0.82352941176470584" b="1" a="1"/>
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||||
<Specular r="0.41176470588235292" g="0.41176470588235292" b="0.5" a="1"/>
|
||||
<Emissive r="0" g="0" b="0" a="1"/>
|
||||
<Shininess>0.40000000596046448</Shininess>
|
||||
</VisualProperties>
|
||||
</Part>
|
||||
<Part name="Upper_Stewart_Platform_V8.CATPart" uid="Upper_Stewart_Platform_V8.CATPart*:*Default" version="104">
|
||||
<ModelUnits mass="kilogram" length="millimeter"/>
|
||||
<PartFile name="Upper_Stewart_Platform_V8.CATPart.SLDPRT" type="SolidWorks Part"/>
|
||||
<MassProperties>
|
||||
<Mass>0.032807859410420866</Mass>
|
||||
<CenterOfMass>4.3204111866222267e-08 6.4929928363256895e-09 0.022029956321592298</CenterOfMass>
|
||||
<Inertia>1.0958807269683137e-05 1.095865147887874e-05 2.1418645161274546e-05 -2.7272640778847974e-12 2.0116845742236025e-12 2.0925824216820959e-12</Inertia>
|
||||
</MassProperties>
|
||||
<GeometryFile name="Upper_Stewart_Platform_V8.CATPart_Default_sldprt.STEP" type="STEP"/>
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||||
<VisualProperties>
|
||||
<Ambient r="0" g="1" b="1" a="1"/>
|
||||
<Diffuse r="0" g="1" b="1" a="1"/>
|
||||
<Specular r="0" g="0.5" b="0.5" a="1"/>
|
||||
<Emissive r="0" g="0" b="0" a="1"/>
|
||||
<Shininess>0.40000000596046448</Shininess>
|
||||
</VisualProperties>
|
||||
</Part>
|
||||
<Part name="Voice-coil.CATPart" uid="Voice-coil.CATPart*:*Default" version="102">
|
||||
<ModelUnits mass="kilogram" length="millimeter"/>
|
||||
<PartFile name="Voice-coil.CATPart.SLDPRT" type="SolidWorks Part"/>
|
||||
<MassProperties>
|
||||
<Mass>0.00072851613140055473</Mass>
|
||||
<CenterOfMass>1.6672752107505068e-10 4.9264195897497112e-05 0.0068426699166844653</CenterOfMass>
|
||||
<Inertia>2.364206948255963e-08 2.3409631588225184e-08 7.6150552208997043e-09 1.9174011014260876e-10 5.66357422383939e-16 -6.4605353421422726e-16</Inertia>
|
||||
</MassProperties>
|
||||
<GeometryFile name="Voice-coil.CATPart_Default_sldprt.STEP" type="STEP"/>
|
||||
<VisualProperties>
|
||||
<Ambient r="0.82352941176470584" g="0.82352941176470584" b="1" a="1"/>
|
||||
<Diffuse r="0.82352941176470584" g="0.82352941176470584" b="1" a="1"/>
|
||||
<Specular r="0.41176470588235292" g="0.41176470588235292" b="0.5" a="1"/>
|
||||
<Emissive r="0" g="0" b="0" a="1"/>
|
||||
<Shininess>0.40000000596046448</Shininess>
|
||||
</VisualProperties>
|
||||
</Part>
|
||||
</Parts>
|
||||
</SimscapeMultibodyImportXML>
|
156
stewart_platform/drone_platform_DataFile.m
Normal file
156
stewart_platform/drone_platform_DataFile.m
Normal file
@ -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';
|
||||
|
156
stewart_platform/drone_platform_DataFile1.m
Normal file
156
stewart_platform/drone_platform_DataFile1.m
Normal file
@ -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';
|
||||
|
BIN
stewart_platform/drone_platform_R2017a.slx
Normal file
BIN
stewart_platform/drone_platform_R2017a.slx
Normal file
Binary file not shown.
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Reference in New Issue
Block a user