tdehaeze/test-bench-apa300ml
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add many figures and discussions

Browse Source 
Tuned the misalignment of the APA/flexible joints to fit the measured FRF
This commit is contained in:
Thomas Dehaeze 2021-06-16 19:33:39 +02:00
parent 8cf4f44cfb
commit ab0b406d3b
96 changed files with 14527 additions and 7017 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

BIN
figs/2dof_apa_model.pdf Normal file
View File

Binary file not shown.

BIN
figs/2dof_apa_model.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 22 KiB

702
figs/2dof_apa_model.svg Normal file
View File

@ -0,0 +1,702 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://creativecommons.org/ns#"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
xmlns="http://www.w3.org/2000/svg"
xmlns:xlink="http://www.w3.org/1999/xlink"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
width="58.085224mm"
height="67.506966mm"
viewBox="0 0 58.085224 67.506966"
version="1.1"
id="svg3816"
sodipodi:docname="2dof_apa_model.svg"
inkscape:version="1.0.2 (e86c870879, 2021-01-15, custom)">
<defs
id="defs3810">
<marker
style="overflow:visible"
id="marker6142"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow2Mend"
inkscape:isstock="true">
<path
transform="scale(-0.6)"
d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.625;stroke-linejoin:round;stroke-opacity:1"
id="path6140" />
</marker>
<marker
style="overflow:visible"
id="Arrow2Mstart"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow2Mstart"
inkscape:isstock="true">
<path
transform="scale(0.6)"
d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.625;stroke-linejoin:round;stroke-opacity:1"
id="path5748" />
</marker>
<marker
style="overflow:visible"
id="Arrow2Mend"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow2Mend"
inkscape:isstock="true"
inkscape:collect="always">
<path
transform="scale(-0.6)"
d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.625;stroke-linejoin:round;stroke-opacity:1"
id="path5751" />
</marker>
<g
id="g5736">
<symbol
overflow="visible"
id="symbol9674">
<path
style="stroke:none"
d=""
id="path8798" />
</symbol>
<symbol
overflow="visible"
id="symbol9513">
<path
style="stroke:none"
d="m 2.859375,-6.8125 c 0,0 0,-0.109375 -0.125,-0.109375 -0.234375,0 -0.953125,0.078125 -1.21875,0.109375 -0.078125,0 -0.1875,0.015625 -0.1875,0.1875 0,0.125 0.09375,0.125 0.234375,0.125 0.484375,0 0.5,0.0625 0.5,0.171875 L 2.03125,-6.125 0.59375,-0.390625 c -0.046875,0.140625 -0.046875,0.15625 -0.046875,0.21875 0,0.234375 0.203125,0.28125 0.296875,0.28125 0.125,0 0.265625,-0.09375 0.328125,-0.203125 0.046875,-0.09375 0.5,-1.9375 0.5625,-2.1875 0.34375,0.03125 1.15625,0.1875 1.15625,0.84375 0,0.078125 0,0.109375 -0.03125,0.21875 -0.015625,0.109375 -0.03125,0.234375 -0.03125,0.34375 0,0.578125 0.390625,0.984375 0.90625,0.984375 0.296875,0 0.578125,-0.15625 0.796875,-0.53125 0.25,-0.4375 0.359375,-0.984375 0.359375,-1 0,-0.109375 -0.09375,-0.109375 -0.125,-0.109375 -0.09375,0 -0.109375,0.046875 -0.140625,0.1875 -0.203125,0.71875 -0.421875,1.234375 -0.859375,1.234375 -0.203125,0 -0.328125,-0.109375 -0.328125,-0.46875 0,-0.171875 0.046875,-0.40625 0.078125,-0.5625 C 3.5625,-1.3125 3.5625,-1.34375 3.5625,-1.453125 3.5625,-2.09375 2.9375,-2.375 2.078125,-2.5 2.390625,-2.671875 2.71875,-2.984375 2.9375,-3.234375 3.421875,-3.765625 3.875,-4.1875 4.359375,-4.1875 c 0.0625,0 0.078125,0 0.09375,0.015625 0.125,0.015625 0.125,0.015625 0.21875,0.078125 0.015625,0 0.015625,0.015625 0.03125,0.03125 -0.46875,0.03125 -0.5625,0.421875 -0.5625,0.546875 0,0.15625 0.109375,0.34375 0.375,0.34375 0.265625,0 0.546875,-0.21875 0.546875,-0.609375 0,-0.296875 -0.234375,-0.625 -0.671875,-0.625 -0.28125,0 -0.734375,0.078125 -1.453125,0.875 -0.34375,0.375 -0.734375,0.78125 -1.109375,0.921875 z m 0,0"
id="path598" />
</symbol>
<symbol
overflow="visible"
id="symbol5716">
<path
style="stroke:none"
d=""
id="path2790" />
</symbol>
<symbol
overflow="visible"
id="symbol3918">
<path
style="stroke:none"
d="m 2.328125,-4.4375 c 0,-0.1875 0,-0.1875 -0.203125,-0.1875 -0.453125,0.4375 -1.078125,0.4375 -1.359375,0.4375 v 0.25 c 0.15625,0 0.625,0 1,-0.1875 v 3.546875 c 0,0.234375 0,0.328125 -0.6875,0.328125 H 0.8125 V 0 c 0.125,0 0.984375,-0.03125 1.234375,-0.03125 0.21875,0 1.09375,0.03125 1.25,0.03125 V -0.25 H 3.03125 c -0.703125,0 -0.703125,-0.09375 -0.703125,-0.328125 z m 0,0"
id="path9561" />
</symbol>
</g>
<g
id="g3873">
<symbol
overflow="visible"
id="symbol8962">
<path
style="stroke:none"
d=""
id="path3138" />
</symbol>
<symbol
overflow="visible"
id="symbol6682">
<path
style="stroke:none"
d="m 3.953125,-3.78125 c -0.171875,0 -0.296875,0 -0.4375,0.125 -0.171875,0.15625 -0.1875,0.328125 -0.1875,0.390625 0,0.25 0.1875,0.359375 0.375,0.359375 0.28125,0 0.546875,-0.25 0.546875,-0.640625 0,-0.484375 -0.46875,-0.859375 -1.171875,-0.859375 -1.34375,0 -2.671875,1.421875 -2.671875,2.828125 0,0.90625 0.578125,1.6875 1.625,1.6875 1.421875,0 2.25,-1.0625 2.25,-1.171875 0,-0.0625 -0.046875,-0.140625 -0.109375,-0.140625 -0.0625,0 -0.078125,0.03125 -0.140625,0.109375 -0.78125,0.984375 -1.875,0.984375 -1.984375,0.984375 -0.625,0 -0.90625,-0.484375 -0.90625,-1.09375 0,-0.40625 0.203125,-1.375 0.546875,-1.984375 0.3125,-0.578125 0.859375,-1 1.40625,-1 0.328125,0 0.71875,0.125 0.859375,0.40625 z m 0,0"
id="path1306" />
</symbol>
<symbol
overflow="visible"
id="symbol8156">
<path
style="stroke:none"
d=""
id="path6883" />
</symbol>
<symbol
overflow="visible"
id="symbol4832">
<path
style="stroke:none"
d="m 2.328125,-4.4375 c 0,-0.1875 0,-0.1875 -0.203125,-0.1875 -0.453125,0.4375 -1.078125,0.4375 -1.359375,0.4375 v 0.25 c 0.15625,0 0.625,0 1,-0.1875 v 3.546875 c 0,0.234375 0,0.328125 -0.6875,0.328125 H 0.8125 V 0 c 0.125,0 0.984375,-0.03125 1.234375,-0.03125 0.21875,0 1.09375,0.03125 1.25,0.03125 V -0.25 H 3.03125 c -0.703125,0 -0.703125,-0.09375 -0.703125,-0.328125 z m 0,0"
id="path1910" />
</symbol>
</g>
<g
id="g6555">
<symbol
overflow="visible"
id="symbol797">
<path
style="stroke:none"
d=""
id="path3246" />
</symbol>
<symbol
overflow="visible"
id="symbol7378">
<path
style="stroke:none"
d="m 2.859375,-6.8125 c 0,0 0,-0.109375 -0.125,-0.109375 -0.234375,0 -0.953125,0.078125 -1.21875,0.109375 -0.078125,0 -0.1875,0.015625 -0.1875,0.1875 0,0.125 0.09375,0.125 0.234375,0.125 0.484375,0 0.5,0.0625 0.5,0.171875 L 2.03125,-6.125 0.59375,-0.390625 c -0.046875,0.140625 -0.046875,0.15625 -0.046875,0.21875 0,0.234375 0.203125,0.28125 0.296875,0.28125 0.125,0 0.265625,-0.09375 0.328125,-0.203125 0.046875,-0.09375 0.5,-1.9375 0.5625,-2.1875 0.34375,0.03125 1.15625,0.1875 1.15625,0.84375 0,0.078125 0,0.109375 -0.03125,0.21875 -0.015625,0.109375 -0.03125,0.234375 -0.03125,0.34375 0,0.578125 0.390625,0.984375 0.90625,0.984375 0.296875,0 0.578125,-0.15625 0.796875,-0.53125 0.25,-0.4375 0.359375,-0.984375 0.359375,-1 0,-0.109375 -0.09375,-0.109375 -0.125,-0.109375 -0.09375,0 -0.109375,0.046875 -0.140625,0.1875 -0.203125,0.71875 -0.421875,1.234375 -0.859375,1.234375 -0.203125,0 -0.328125,-0.109375 -0.328125,-0.46875 0,-0.171875 0.046875,-0.40625 0.078125,-0.5625 C 3.5625,-1.3125 3.5625,-1.34375 3.5625,-1.453125 3.5625,-2.09375 2.9375,-2.375 2.078125,-2.5 2.390625,-2.671875 2.71875,-2.984375 2.9375,-3.234375 3.421875,-3.765625 3.875,-4.1875 4.359375,-4.1875 c 0.0625,0 0.078125,0 0.09375,0.015625 0.125,0.015625 0.125,0.015625 0.21875,0.078125 0.015625,0 0.015625,0.015625 0.03125,0.03125 -0.46875,0.03125 -0.5625,0.421875 -0.5625,0.546875 0,0.15625 0.109375,0.34375 0.375,0.34375 0.265625,0 0.546875,-0.21875 0.546875,-0.609375 0,-0.296875 -0.234375,-0.625 -0.671875,-0.625 -0.28125,0 -0.734375,0.078125 -1.453125,0.875 -0.34375,0.375 -0.734375,0.78125 -1.109375,0.921875 z m 0,0"
id="path6258" />
</symbol>
<symbol
overflow="visible"
id="symbol565">
<path
style="stroke:none"
d=""
id="path4369" />
</symbol>
<symbol
overflow="visible"
id="symbol7508">
<path
style="stroke:none"
d="m 1.5625,-1.59375 c 0.1875,0 0.75,-0.015625 1.125,-0.140625 0.515625,-0.1875 0.609375,-0.515625 0.609375,-0.71875 0,-0.390625 -0.390625,-0.625 -0.859375,-0.625 -0.84375,0 -1.96875,0.640625 -1.96875,1.84375 0,0.703125 0.4375,1.296875 1.25,1.296875 1.1875,0 1.734375,-0.6875 1.734375,-0.78125 0,-0.046875 -0.0625,-0.125 -0.125,-0.125 -0.03125,0 -0.046875,0.015625 -0.109375,0.078125 C 2.671875,-0.125 1.859375,-0.125 1.734375,-0.125 1.3125,-0.125 1.03125,-0.40625 1.03125,-0.96875 c 0,-0.09375 0,-0.234375 0.09375,-0.625 z M 1.171875,-1.78125 C 1.46875,-2.796875 2.234375,-2.875 2.4375,-2.875 2.734375,-2.875 3,-2.71875 3,-2.453125 3,-1.78125 1.8125,-1.78125 1.515625,-1.78125 Z m 0,0"
id="path3134" />
</symbol>
</g>
<g
id="g9633">
<symbol
overflow="visible"
id="symbol8709">
<path
style="stroke:none"
d=""
id="path4039" />
</symbol>
<symbol
overflow="visible"
id="symbol6221">
<path
style="stroke:none"
d="m 2.859375,-6.8125 c 0,0 0,-0.109375 -0.125,-0.109375 -0.234375,0 -0.953125,0.078125 -1.21875,0.109375 -0.078125,0 -0.1875,0.015625 -0.1875,0.1875 0,0.125 0.09375,0.125 0.234375,0.125 0.484375,0 0.5,0.0625 0.5,0.171875 L 2.03125,-6.125 0.59375,-0.390625 c -0.046875,0.140625 -0.046875,0.15625 -0.046875,0.21875 0,0.234375 0.203125,0.28125 0.296875,0.28125 0.125,0 0.265625,-0.09375 0.328125,-0.203125 0.046875,-0.09375 0.5,-1.9375 0.5625,-2.1875 0.34375,0.03125 1.15625,0.1875 1.15625,0.84375 0,0.078125 0,0.109375 -0.03125,0.21875 -0.015625,0.109375 -0.03125,0.234375 -0.03125,0.34375 0,0.578125 0.390625,0.984375 0.90625,0.984375 0.296875,0 0.578125,-0.15625 0.796875,-0.53125 0.25,-0.4375 0.359375,-0.984375 0.359375,-1 0,-0.109375 -0.09375,-0.109375 -0.125,-0.109375 -0.09375,0 -0.109375,0.046875 -0.140625,0.1875 -0.203125,0.71875 -0.421875,1.234375 -0.859375,1.234375 -0.203125,0 -0.328125,-0.109375 -0.328125,-0.46875 0,-0.171875 0.046875,-0.40625 0.078125,-0.5625 C 3.5625,-1.3125 3.5625,-1.34375 3.5625,-1.453125 3.5625,-2.09375 2.9375,-2.375 2.078125,-2.5 2.390625,-2.671875 2.71875,-2.984375 2.9375,-3.234375 3.421875,-3.765625 3.875,-4.1875 4.359375,-4.1875 c 0.0625,0 0.078125,0 0.09375,0.015625 0.125,0.015625 0.125,0.015625 0.21875,0.078125 0.015625,0 0.015625,0.015625 0.03125,0.03125 -0.46875,0.03125 -0.5625,0.421875 -0.5625,0.546875 0,0.15625 0.109375,0.34375 0.375,0.34375 0.265625,0 0.546875,-0.21875 0.546875,-0.609375 0,-0.296875 -0.234375,-0.625 -0.671875,-0.625 -0.28125,0 -0.734375,0.078125 -1.453125,0.875 -0.34375,0.375 -0.734375,0.78125 -1.109375,0.921875 z m 0,0"
id="path5067" />
</symbol>
<symbol
overflow="visible"
id="symbol8857">
<path
style="stroke:none"
d=""
id="path9869" />
</symbol>
<symbol
overflow="visible"
id="symbol3454">
<path
style="stroke:none"
d="m 2.9375,-2.65625 c -0.140625,-0.234375 -0.375,-0.421875 -0.71875,-0.421875 -0.890625,0 -1.796875,0.984375 -1.796875,1.984375 0,0.6875 0.453125,1.15625 1.0625,1.15625 0.375,0 0.703125,-0.203125 0.984375,-0.484375 C 2.59375,0 3,0.0625 3.1875,0.0625 c 0.25,0 0.421875,-0.140625 0.546875,-0.359375 0.15625,-0.28125 0.25,-0.671875 0.25,-0.703125 0,-0.09375 -0.09375,-0.09375 -0.109375,-0.09375 -0.109375,0 -0.109375,0.03125 -0.15625,0.21875 C 3.625,-0.53125 3.5,-0.125 3.203125,-0.125 3.03125,-0.125 2.96875,-0.28125 2.96875,-0.46875 c 0,-0.109375 0.0625,-0.375 0.109375,-0.546875 0.046875,-0.1875 0.125,-0.46875 0.15625,-0.625 L 3.375,-2.171875 C 3.421875,-2.359375 3.5,-2.6875 3.5,-2.71875 3.5,-2.875 3.375,-2.9375 3.265625,-2.9375 c -0.125,0 -0.28125,0.078125 -0.328125,0.28125 z M 2.5,-0.875 C 2.453125,-0.671875 2.296875,-0.53125 2.140625,-0.40625 2.078125,-0.34375 1.796875,-0.125 1.5,-0.125 c -0.265625,0 -0.515625,-0.1875 -0.515625,-0.671875 0,-0.375 0.203125,-1.140625 0.375,-1.421875 0.3125,-0.5625 0.671875,-0.65625 0.859375,-0.65625 0.484375,0 0.625,0.53125 0.625,0.609375 0,0.015625 -0.015625,0.078125 -0.015625,0.09375 z m 0,0"
id="path3762" />
</symbol>
</g>
<g
id="g9283">
<symbol
overflow="visible"
id="symbol8498">
<path
style="stroke:none"
d=""
id="path1100" />
</symbol>
<symbol
overflow="visible"
id="symbol192">
<path
style="stroke:none"
d="m 2.9375,-3.71875 h 1.671875 c 0.125,0 0.484375,0 0.484375,-0.34375 0,-0.234375 -0.203125,-0.234375 -0.40625,-0.234375 H 1.90625 c -0.203125,0 -0.59375,0 -1.03125,0.46875 -0.328125,0.359375 -0.609375,0.84375 -0.609375,0.890625 0,0.015625 0,0.109375 0.125,0.109375 0.078125,0 0.09375,-0.046875 0.15625,-0.125 C 1.03125,-3.71875 1.609375,-3.71875 1.8125,-3.71875 h 0.828125 l -0.96875,3.203125 C 1.625,-0.40625 1.5625,-0.1875 1.5625,-0.15625 c 0,0.109375 0.078125,0.28125 0.296875,0.28125 0.328125,0 0.375,-0.28125 0.40625,-0.4375 z m 0,0"
id="path1861" />
</symbol>
</g>
<g
id="g2303">
<symbol
overflow="visible"
id="symbol6518">
<path
style="stroke:none"
d=""
id="path5798" />
</symbol>
<symbol
overflow="visible"
id="symbol3061">
<path
style="stroke:none"
d="m 3.015625,-3.234375 h 0.96875 c 0.75,0 0.828125,0.15625 0.828125,0.4375 0,0.078125 0,0.1875 -0.0625,0.5 C 4.71875,-2.25 4.71875,-2.21875 4.71875,-2.1875 c 0,0.078125 0.0625,0.109375 0.109375,0.109375 0.109375,0 0.109375,-0.03125 0.15625,-0.203125 L 5.53125,-4.453125 C 5.5625,-4.5625 5.5625,-4.578125 5.5625,-4.609375 5.5625,-4.625 5.546875,-4.71875 5.4375,-4.71875 5.34375,-4.71875 5.328125,-4.671875 5.296875,-4.5 5.078125,-3.734375 4.859375,-3.546875 4,-3.546875 H 3.09375 l 0.640625,-2.53125 C 3.828125,-6.4375 3.84375,-6.46875 4.28125,-6.46875 h 1.3125 c 1.21875,0 1.453125,0.328125 1.453125,1.09375 0,0.234375 0,0.265625 -0.03125,0.546875 C 7,-4.703125 7,-4.6875 7,-4.65625 c 0,0.046875 0.03125,0.125 0.125,0.125 0.109375,0 0.109375,-0.0625 0.125,-0.25 L 7.453125,-6.515625 C 7.484375,-6.78125 7.4375,-6.78125 7.1875,-6.78125 H 2.296875 c -0.1875,0 -0.296875,0 -0.296875,0.203125 0,0.109375 0.09375,0.109375 0.28125,0.109375 0.375,0 0.65625,0 0.65625,0.171875 0,0.046875 0,0.0625 -0.0625,0.25 L 1.5625,-0.78125 c -0.09375,0.390625 -0.109375,0.46875 -0.90625,0.46875 -0.171875,0 -0.28125,0 -0.28125,0.1875 C 0.375,0 0.5,0 0.53125,0 0.8125,0 1.5625,-0.03125 1.84375,-0.03125 2.171875,-0.03125 3,0 3.328125,0 3.421875,0 3.53125,0 3.53125,-0.1875 3.53125,-0.265625 3.484375,-0.296875 3.484375,-0.296875 3.453125,-0.3125 3.421875,-0.3125 3.203125,-0.3125 c -0.21875,0 -0.265625,0 -0.515625,-0.015625 -0.296875,-0.03125 -0.328125,-0.078125 -0.328125,-0.203125 0,-0.015625 0,-0.078125 0.046875,-0.21875 z m 0,0"
id="path935" />
</symbol>
<symbol
overflow="visible"
id="symbol2658">
<path
style="stroke:none"
d=""
id="path8727" />
</symbol>
<symbol
overflow="visible"
id="symbol7816">
<path
style="stroke:none"
d="m 3.03125,-0.5625 c -0.046875,0.140625 -0.109375,0.375 -0.109375,0.40625 0,0.15625 0.125,0.21875 0.234375,0.21875 0.140625,0 0.25,-0.078125 0.28125,-0.140625 0.03125,-0.0625 0.09375,-0.296875 0.125,-0.4375 0.03125,-0.125 0.109375,-0.453125 0.15625,-0.625 0.03125,-0.15625 0.078125,-0.3125 0.109375,-0.46875 0.078125,-0.296875 0.078125,-0.3125 0.21875,-0.53125 C 4.265625,-2.484375 4.625,-2.875 5.15625,-2.875 c 0.390625,0 0.421875,0.3125 0.421875,0.484375 0,0.421875 -0.296875,1.1875 -0.421875,1.484375 -0.0625,0.203125 -0.09375,0.265625 -0.09375,0.375 0,0.375 0.296875,0.59375 0.65625,0.59375 0.703125,0 1,-0.953125 1,-1.0625 0,-0.09375 -0.078125,-0.09375 -0.109375,-0.09375 -0.09375,0 -0.09375,0.046875 -0.125,0.125 C 6.328125,-0.40625 6.015625,-0.125 5.75,-0.125 c -0.15625,0 -0.1875,-0.09375 -0.1875,-0.25 0,-0.15625 0.046875,-0.25 0.171875,-0.5625 0.078125,-0.21875 0.359375,-0.953125 0.359375,-1.34375 0,-0.109375 0,-0.40625 -0.25,-0.609375 -0.125,-0.078125 -0.328125,-0.1875 -0.65625,-0.1875 -0.625,0 -1,0.421875 -1.234375,0.703125 C 3.90625,-2.96875 3.40625,-3.078125 3.046875,-3.078125 2.46875,-3.078125 2.078125,-2.71875 1.875,-2.4375 1.828125,-2.921875 1.421875,-3.078125 1.125,-3.078125 c -0.296875,0 -0.453125,0.21875 -0.546875,0.375 -0.15625,0.265625 -0.25,0.65625 -0.25,0.703125 0,0.078125 0.09375,0.078125 0.125,0.078125 0.09375,0 0.09375,-0.015625 0.140625,-0.203125 0.109375,-0.40625 0.25,-0.75 0.515625,-0.75 0.1875,0 0.234375,0.15625 0.234375,0.34375 0,0.125 -0.0625,0.390625 -0.125,0.578125 -0.046875,0.1875 -0.109375,0.46875 -0.140625,0.625 L 0.84375,-0.4375 c -0.015625,0.09375 -0.0625,0.265625 -0.0625,0.28125 0,0.15625 0.125,0.21875 0.234375,0.21875 0.125,0 0.234375,-0.078125 0.28125,-0.140625 0.03125,-0.0625 0.078125,-0.296875 0.125,-0.4375 0.03125,-0.125 0.109375,-0.453125 0.140625,-0.625 0.046875,-0.15625 0.09375,-0.3125 0.125,-0.46875 0.078125,-0.28125 0.09375,-0.34375 0.296875,-0.625 C 2.171875,-2.515625 2.5,-2.875 3.03125,-2.875 c 0.390625,0 0.40625,0.359375 0.40625,0.484375 0,0.171875 -0.015625,0.265625 -0.125,0.65625 z m 0,0"
id="path9831" />
</symbol>
</g>
<g
id="g2075">
<symbol
overflow="visible"
id="symbol3949">
<path
style="stroke:none"
d=""
id="path3215" />
</symbol>
<symbol
overflow="visible"
id="symbol915">
<path
style="stroke:none"
d="M 4.609375,-3.375 C 4.65625,-3.59375 4.75,-3.96875 4.75,-4.03125 c 0,-0.171875 -0.140625,-0.265625 -0.28125,-0.265625 -0.125,0 -0.296875,0.078125 -0.375,0.28125 -0.03125,0.0625 -0.5,1.96875 -0.5625,2.234375 C 3.453125,-1.484375 3.4375,-1.3125 3.4375,-1.125 c 0,0.109375 0,0.125 0.015625,0.171875 -0.234375,0.53125 -0.53125,0.84375 -0.921875,0.84375 -0.796875,0 -0.796875,-0.734375 -0.796875,-0.90625 0,-0.3125 0.046875,-0.703125 0.515625,-1.9375 0.109375,-0.296875 0.171875,-0.4375 0.171875,-0.640625 0,-0.4375 -0.328125,-0.8125 -0.8125,-0.8125 -0.953125,0 -1.3125,1.453125 -1.3125,1.53125 0,0.109375 0.09375,0.109375 0.109375,0.109375 0.109375,0 0.109375,-0.03125 0.15625,-0.1875 C 0.84375,-3.875 1.21875,-4.1875 1.578125,-4.1875 c 0.09375,0 0.25,0.015625 0.25,0.328125 0,0.25 -0.109375,0.53125 -0.1875,0.703125 -0.4375,1.171875 -0.546875,1.625 -0.546875,2.015625 0,0.90625 0.65625,1.25 1.40625,1.25 0.171875,0 0.640625,0 1.03125,-0.703125 0.265625,0.640625 0.953125,0.703125 1.25,0.703125 0.75,0 1.1875,-0.625 1.453125,-1.21875 0.328125,-0.78125 0.65625,-2.125 0.65625,-2.59375 0,-0.546875 -0.265625,-0.703125 -0.4375,-0.703125 -0.25,0 -0.5,0.265625 -0.5,0.484375 0,0.125 0.0625,0.1875 0.140625,0.265625 0.109375,0.109375 0.359375,0.359375 0.359375,0.84375 0,0.34375 -0.28125,1.3125 -0.546875,1.828125 -0.25,0.53125 -0.609375,0.875 -1.09375,0.875 -0.46875,0 -0.734375,-0.296875 -0.734375,-0.875 0,-0.265625 0.0625,-0.578125 0.109375,-0.71875 z m 0,0"
id="path836" />
</symbol>
</g>
<g
id="g910">
<symbol
overflow="visible"
id="symbol1409">
<path
style="stroke:none"
d=""
id="path1128" />
</symbol>
<symbol
overflow="visible"
id="symbol7720">
<path
style="stroke:none"
d="M 3.328125,-3.015625 C 3.390625,-3.265625 3.625,-4.1875 4.3125,-4.1875 c 0.046875,0 0.296875,0 0.5,0.125 C 4.53125,-4 4.34375,-3.765625 4.34375,-3.515625 c 0,0.15625 0.109375,0.34375 0.375,0.34375 0.21875,0 0.53125,-0.171875 0.53125,-0.578125 0,-0.515625 -0.578125,-0.65625 -0.921875,-0.65625 -0.578125,0 -0.921875,0.53125 -1.046875,0.75 -0.25,-0.65625 -0.78125,-0.75 -1.078125,-0.75 -1.03125,0 -1.609375,1.28125 -1.609375,1.53125 0,0.109375 0.109375,0.109375 0.125,0.109375 0.078125,0 0.109375,-0.03125 0.125,-0.109375 0.34375,-1.0625 1,-1.3125 1.34375,-1.3125 0.1875,0 0.53125,0.09375 0.53125,0.671875 0,0.3125 -0.171875,0.96875 -0.53125,2.375 -0.15625,0.609375 -0.515625,1.03125 -0.953125,1.03125 -0.0625,0 -0.28125,0 -0.5,-0.125 0.25,-0.0625 0.46875,-0.265625 0.46875,-0.546875 0,-0.265625 -0.21875,-0.34375 -0.359375,-0.34375 -0.3125,0 -0.546875,0.25 -0.546875,0.578125 0,0.453125 0.484375,0.65625 0.921875,0.65625 0.671875,0 1.03125,-0.703125 1.046875,-0.75 0.125,0.359375 0.484375,0.75 1.078125,0.75 1.03125,0 1.59375,-1.28125 1.59375,-1.53125 0,-0.109375 -0.078125,-0.109375 -0.109375,-0.109375 -0.09375,0 -0.109375,0.046875 -0.140625,0.109375 -0.328125,1.078125 -1,1.3125 -1.3125,1.3125 -0.390625,0 -0.546875,-0.3125 -0.546875,-0.65625 0,-0.21875 0.046875,-0.4375 0.15625,-0.875 z m 0,0"
id="path5775" />
</symbol>
</g>
<marker
style="overflow:visible"
id="Arrow2Mend-6"
refX="0"
refY="0"
orient="auto"
inkscape:stockid="Arrow2Mend"
inkscape:isstock="true"
inkscape:collect="always">
<path
transform="scale(-0.6)"
d="M 8.7185878,4.0337352 -2.2072895,0.01601326 8.7185884,-4.0017078 c -1.7454984,2.3720609 -1.7354408,5.6174519 -6e-7,8.035443 z"
style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.625;stroke-linejoin:round;stroke-opacity:1"
id="path5751-6" />
</marker>
</defs>
<sodipodi:namedview
id="base"
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1.0"
inkscape:pageopacity="0.0"
inkscape:pageshadow="2"
inkscape:zoom="2.8"
inkscape:cx="107.99451"
inkscape:cy="160.54114"
inkscape:document-units="mm"
inkscape:current-layer="layer1"
inkscape:document-rotation="0"
showgrid="false"
inkscape:snap-midpoints="true"
inkscape:window-width="2536"
inkscape:window-height="1371"
inkscape:window-x="12"
inkscape:window-y="57"
inkscape:window-maximized="1" />
<metadata
id="metadata3813">
<rdf:RDF>
<cc:Work
rdf:about="">
<dc:format>image/svg+xml</dc:format>
<dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
<dc:title></dc:title>
</cc:Work>
</rdf:RDF>
</metadata>
<g
inkscape:label="Layer 1"
inkscape:groupmode="layer"
id="layer1"
transform="translate(-3.3322247,-1.6458048)">
<path
style="fill:none;stroke:#000000;stroke-width:0.529167;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
d="M 9.5350846,68.888184 H 47.390715"
id="path17442"
sodipodi:nodetypes="cc" />
<path
style="fill:none;stroke:#000000;stroke-width:0.529167;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
d="M 38.666115,68.888184 V 66.19035 l -3.974756,-1.300944 5.882191,-2.185043 -5.882191,-2.22546 5.882191,-2.370815 -5.882191,-2.345002 5.882191,-2.189973 -5.882191,-2.115015 3.974756,-2.57055 v -2.87321"
id="path17444"
sodipodi:nodetypes="ccccccccccc" />
<g
transform="matrix(3.3638469,0,0,3.35098,-82.365538,-195.18743)"
id="g17472"
style="stroke-width:0.157612;stroke-miterlimit:4;stroke-dasharray:none">
<path
sodipodi:nodetypes="cc"
id="path17446"
d="M 31.095537,73.75219 V 70.991163"
style="fill:none;stroke:#000000;stroke-width:0.157612;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
<path
sodipodi:nodetypes="cccc"
id="path17450"
d="m 30.149543,69.433869 v 1.557294 h 1.891987 v -1.557294"
style="fill:none;stroke:#000000;stroke-width:0.157612;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
<path
sodipodi:nodetypes="cc"
id="path17454"
d="m 30.454253,69.814722 h 1.282569"
style="fill:none;stroke:#000000;stroke-width:0.157612;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
<path
sodipodi:nodetypes="cc"
id="path17456"
d="m 31.095537,66.926173 v 2.888549"
style="fill:none;stroke:#000000;stroke-width:0.157612;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
</g>
<rect
y="51.202885"
x="44.748856"
height="12.496727"
width="3.4258323"
id="rect17480"
style="fill:none;fill-opacity:0.450598;fill-rule:evenodd;stroke:#000000;stroke-width:0.529168;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;stop-color:#000000" />
<path
sodipodi:nodetypes="cc"
id="path17482"
d="m 46.46177,46.82691 v 4.375971"
style="fill:none;stroke:#000000;stroke-width:0.529168;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-start:url(#Arrow2Mstart)" />
<path
sodipodi:nodetypes="cc"
style="fill:none;stroke:#000000;stroke-width:0.529168;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-end:url(#marker6142)"
d="m 46.46177,63.699621 v 4.183574"
id="path17482-3" />
<path
style="fill:none;stroke:#000000;stroke-width:0.529168;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:1.05833, 1.05833;stroke-dashoffset:0;stroke-opacity:1"
d="M 47.390715,12.41816 H 57.976142"
id="path5720-4" />
<path
style="fill:none;stroke:#000000;stroke-width:0.529168;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:1.05833, 1.05833;stroke-dashoffset:0;stroke-opacity:1;marker-end:url(#Arrow2Mend-6)"
d="M 54.270926,12.41816 V 5.433973"
id="path5722-0" />
<path
id="rect17717"
style="fill:#000000;fill-opacity:0.2;fill-rule:evenodd;stroke:#000000;stroke-width:0.529167;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;stop-color:#000000"
d="M 33.754567,40.583673 H 50.44353 v 5.216105 H 33.754567 Z"
sodipodi:nodetypes="ccccc" />
<path
style="fill:none;stroke:#000000;stroke-width:0.529167;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
d="m 14.826752,51.954698 v -2.697834 l -3.974756,-1.300944 5.882192,-2.185043 -5.882192,-2.22546 5.882192,-2.370815 -5.882192,-2.345002 5.882192,-2.189973 -5.882192,-2.115015 3.974756,-2.57055 v -2.87321"
id="path17444-3"
sodipodi:nodetypes="ccccccccccc" />
<path
style="fill:none;stroke:#000000;stroke-width:0.529167;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
d="m 42.099048,35.292006 v -2.697834 l -3.974756,-1.300944 5.882191,-2.185043 -5.882191,-2.22546 5.882191,-2.370815 -5.882191,-2.345002 5.882191,-2.189973 -5.882191,-2.115015 3.974756,-2.57055 v -2.87321"
id="path17444-8"
sodipodi:nodetypes="ccccccccccc" />
<path
id="rect17717-0"
style="fill:#000000;fill-opacity:0.2;fill-rule:evenodd;stroke:#000000;stroke-width:0.529167;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;stop-color:#000000"
d="M 9.5350846,1.9103883 H 47.390715 V 12.41816 H 9.5350846 Z"
sodipodi:nodetypes="ccccc" />
<path
style="fill:none;stroke:#000000;stroke-width:0.529167;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
d="M 22.235088,51.954685 V 68.906232"
id="path4708" />
<path
style="fill:none;stroke:#000000;stroke-width:0.529167;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
d="M 14.826751,51.954698 V 68.971975"
id="path4710" />
<path
style="fill:none;stroke:#000000;stroke-width:0.529167;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
d="M 14.826751,29.080852 V 12.41816"
id="path4712" />
<path
style="fill:none;stroke:#000000;stroke-width:0.529167;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
d="M 22.235088,29.080839 V 12.446048"
id="path4714" />
<path
id="rect17717-5"
style="fill:#000000;fill-opacity:0.2;fill-rule:evenodd;stroke:#000000;stroke-width:0.529167;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;stop-color:#000000"
d="m 39.046233,35.292006 h 6.10563 v 5.216105 h -6.10563 z"
sodipodi:nodetypes="ccccc" />
<path
style="fill:none;stroke:#000000;stroke-width:0.529167;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
d="m 39.046233,35.292004 6.105628,5.216107"
id="path4736" />
<path
style="fill:none;stroke:#000000;stroke-width:0.529167;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
d="m 39.046233,40.508111 6.105628,-5.216107"
id="path4738" />
<g
inkscape:label=""
transform="matrix(0.77618407,0,0,0.77618407,-68.442974,-20.193397)"
id="g4845"
style="stroke-width:1.28835">
<g
id="g7123"
style="stroke-width:1.28835">
<g
style="fill:#000000;fill-opacity:1;stroke-width:1.28835"
id="g8514">
<use
xlink:href="#symbol9513"
x="91.925003"
y="81.962997"
id="use5410"
width="100%"
height="100%"
style="stroke-width:1.28835" />
</g>
<g
style="fill:#000000;fill-opacity:1;stroke-width:1.28835"
id="g3987">
<use
xlink:href="#symbol3918"
x="97.112"
y="83.457001"
id="use8647"
width="100%"
height="100%"
style="stroke-width:1.28835" />
</g>
</g>
</g>
<g
inkscape:label=""
transform="matrix(0.77618407,0,0,0.77618407,-45.08023,-21.869742)"
id="g4924"
style="stroke-width:1.28835">
<g
id="g4171"
style="stroke-width:1.28835">
<g
style="fill:#000000;fill-opacity:1;stroke-width:1.28835"
id="g3249">
<use
xlink:href="#symbol6682"
x="91.925003"
y="81.962997"
id="use7233"
width="100%"
height="100%"
style="stroke-width:1.28835" />
</g>
<g
style="fill:#000000;fill-opacity:1;stroke-width:1.28835"
id="g708">
<use
xlink:href="#symbol4832"
x="96.237"
y="83.457001"
id="use8761"
width="100%"
height="100%"
style="stroke-width:1.28835" />
</g>
</g>
</g>
<g
inkscape:label=""
transform="matrix(0.77618407,0,0,0.77618407,-25.885678,-36.518373)"
id="g5018"
style="stroke-width:1.28835">
<g
id="g1305"
style="stroke-width:1.28835">
<g
style="fill:#000000;fill-opacity:1;stroke-width:1.28835"
id="g8456">
<use
xlink:href="#symbol7378"
x="91.925003"
y="81.962997"
id="use882"
width="100%"
height="100%"
style="stroke-width:1.28835" />
</g>
<g
style="fill:#000000;fill-opacity:1;stroke-width:1.28835"
id="g9532">
<use
xlink:href="#symbol7508"
x="97.112"
y="83.457001"
id="use3443"
width="100%"
height="100%"
style="stroke-width:1.28835" />
</g>
</g>
</g>
<g
inkscape:label=""
transform="matrix(0.77618407,0,0,0.77618407,-45.270792,-3.620706)"
id="g5127"
style="stroke-width:1.28835">
<g
id="g2036"
style="stroke-width:1.28835">
<g
style="fill:#000000;fill-opacity:1;stroke-width:1.28835"
id="g3129">
<use
xlink:href="#symbol6221"
x="91.925003"
y="81.962997"
id="use3578"
width="100%"
height="100%"
style="stroke-width:1.28835" />
</g>
<g
style="fill:#000000;fill-opacity:1;stroke-width:1.28835"
id="g6805">
<use
xlink:href="#symbol3454"
x="97.112"
y="83.457001"
id="use3965"
width="100%"
height="100%"
style="stroke-width:1.28835" />
</g>
</g>
</g>
<g
inkscape:label=""
transform="matrix(0.77618407,0,0,0.77618407,-22.180833,-4.3231492)"
id="g5245"
style="stroke-width:1.28835">
<g
id="g4163"
style="stroke-width:1.28835">
<g
style="fill:#000000;fill-opacity:1;stroke-width:1.28835"
id="g6265">
<use
xlink:href="#symbol192"
x="91.925003"
y="81.962997"
id="use8789"
width="100%"
height="100%"
style="stroke-width:1.28835" />
</g>
</g>
</g>
<g
inkscape:label=""
transform="matrix(0.77618407,0,0,0.77618407,-25.074786,-24.221819)"
id="g5372"
style="stroke-width:1.28835">
<g
id="g2242"
style="stroke-width:1.28835">
<g
style="fill:#000000;fill-opacity:1;stroke-width:1.28835"
id="g3622">
<use
xlink:href="#symbol3061"
x="91.925003"
y="81.962997"
id="use8934"
width="100%"
height="100%"
style="stroke-width:1.28835" />
</g>
<g
style="fill:#000000;fill-opacity:1;stroke-width:1.28835"
id="g2527">
<use
xlink:href="#symbol7816"
x="98.332001"
y="83.457001"
id="use1393"
width="100%"
height="100%"
style="stroke-width:1.28835" />
</g>
</g>
</g>
<g
inkscape:label=""
transform="matrix(0.77618407,0,0,0.77618407,-15.281668,1.96209)"
id="g5514"
style="stroke-width:1.28835">
<g
id="g7945"
style="stroke-width:1.28835">
<g
style="fill:#000000;fill-opacity:1;stroke-width:1.28835"
id="g4198">
<use
xlink:href="#symbol915"
x="91.925003"
y="81.962997"
id="use4787"
width="100%"
height="100%"
style="stroke-width:1.28835" />
</g>
</g>
</g>
<g
inkscape:label=""
transform="matrix(0.77618407,0,0,0.77618407,-15.520591,-54.742868)"
id="g5659"
style="stroke-width:1.28835">
<g
id="g5408"
style="stroke-width:1.28835">
<g
style="fill:#000000;fill-opacity:1;stroke-width:1.28835"
id="g7508">
<use
xlink:href="#symbol7720"
x="91.925003"
y="81.962997"
id="use3728"
width="100%"
height="100%"
style="stroke-width:1.28835" />
</g>
</g>
</g>
<path
style="fill:none;stroke:#000000;stroke-width:0.529167;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:1.05833, 1.05833;stroke-dashoffset:0;stroke-opacity:1"
d="M 47.390715,68.888184 H 57.976141"
id="path5720" />
<path
style="fill:none;stroke:#000000;stroke-width:0.529167;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:1.05833, 1.05833;stroke-dashoffset:0;stroke-opacity:1;marker-end:url(#Arrow2Mend)"
d="M 54.270928,68.888184 V 61.903997"
id="path5722" />
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 37 KiB

BIN
figs/apa300ml_ansys.jpg Executable file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 45 KiB

BIN
figs/apa_act_constant_comp.pdf
View File

Binary file not shown.

BIN
figs/apa_act_constant_comp.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 108 KiB

After

Width:  |  Height:  |  Size: 117 KiB

BIN
figs/apa_act_constant_comp_flex.pdf
View File

Binary file not shown.

BIN
figs/apa_act_constant_comp_flex.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 118 KiB

After

Width:  |  Height:  |  Size: 126 KiB

BIN
figs/apa_frf_dvf_plant_coh.pdf
View File

Binary file not shown.

BIN
figs/apa_frf_dvf_plant_coh.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 95 KiB

After

Width:  |  Height:  |  Size: 70 KiB

BIN
figs/apa_frf_dvf_plant_tf.pdf
View File

Binary file not shown.

BIN
figs/apa_frf_dvf_plant_tf.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 142 KiB

After

Width:  |  Height:  |  Size: 142 KiB

BIN
figs/apa_frf_dvf_zoom_res_plant_tf.pdf
View File

Binary file not shown.

BIN
figs/apa_frf_iff_plant_coh.pdf
View File

Binary file not shown.

BIN
figs/apa_frf_iff_plant_coh.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 75 KiB

After

Width:  |  Height:  |  Size: 58 KiB

BIN
figs/apa_frf_iff_plant_tf.pdf
View File

Binary file not shown.

BIN
figs/apa_frf_iff_plant_tf.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 115 KiB

After

Width:  |  Height:  |  Size: 115 KiB

BIN
figs/apa_mode_shapes.gif
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 2.0 MiB

After

Width:  |  Height:  |  Size: 2.0 MiB

BIN
figs/apa_mode_shapes.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 33 KiB

After

Width:  |  Height:  |  Size: 34 KiB

BIN
figs/apa_sens_constant_comp.pdf
View File

Binary file not shown.

BIN
figs/apa_sens_constant_comp.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 100 KiB

After

Width:  |  Height:  |  Size: 103 KiB

BIN
figs/apa_sens_constant_comp_flex.pdf
View File

Binary file not shown.

BIN
figs/apa_sens_constant_comp_flex.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 103 KiB

After

Width:  |  Height:  |  Size: 109 KiB

3592
figs/comp_all_struts_corrected_misalign.pdf Normal file
View File

File diff suppressed because it is too large Load Diff

BIN
figs/comp_all_struts_corrected_misalign.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 229 KiB

4301
figs/comp_apa_plant_after_opt.pdf
View File

File diff suppressed because it is too large Load Diff

BIN
figs/comp_apa_plant_after_opt.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 196 KiB

After

Width:  |  Height:  |  Size: 197 KiB

BIN
figs/comp_enc_frf_align_perfect.pdf Normal file
View File

Binary file not shown.

BIN
figs/comp_enc_frf_align_perfect.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 144 KiB

3832
figs/comp_strut_plant_after_opt.pdf
View File

File diff suppressed because it is too large Load Diff

BIN
figs/comp_strut_plant_after_opt.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 194 KiB

After

Width:  |  Height:  |  Size: 194 KiB

BIN
figs/comp_strut_plant_iff_after_opt.pdf Normal file
View File

Binary file not shown.

BIN
figs/comp_strut_plant_iff_after_opt.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 138 KiB

BIN
figs/effect_enc_axial_stiff.pdf Normal file
View File

Binary file not shown.

BIN
figs/effect_enc_axial_stiff.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 145 KiB

BIN
figs/effect_enc_bending_stiff.pdf Normal file
View File

Binary file not shown.

BIN
figs/effect_enc_bending_stiff.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 123 KiB

BIN
figs/effect_misalignment_x.pdf Normal file
View File

Binary file not shown.

BIN
figs/effect_misalignment_x.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 126 KiB

BIN
figs/effect_misalignment_y.pdf Normal file
View File

Binary file not shown.

BIN
figs/effect_misalignment_y.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 157 KiB

BIN
figs/measurement_setup_X_bending.png
View File

Binary file not shown.
Side by Side

Before

Width:  |  Height:  |  Size: 714 KiB

BIN
figs/measurement_setup_Y_bending.png
View File

Binary file not shown.
Side by Side

Before

Width:  |  Height:  |  Size: 753 KiB

BIN
figs/measurement_setup_torsion.png
View File

Binary file not shown.
Side by Side

Before

Width:  |  Height:  |  Size: 885 KiB

BIN
figs/measurement_setup_torsion_bis.png
View File

Binary file not shown.
Side by Side

Before

Width:  |  Height:  |  Size: 754 KiB

BIN
figs/mesh_APA.pdf Normal file
View File

Binary file not shown.

BIN
figs/mesh_APA.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 149 KiB

BIN
figs/picture_apa_bench.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 120 KiB

BIN
figs/picture_apa_bench.pdf
View File

Binary file not shown.

BIN
figs/picture_apa_bench.png
View File

Binary file not shown.
Side by Side

Before

Width:  |  Height:  |  Size: 635 KiB

BIN
figs/picture_apa_bench_encoder.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 84 KiB

BIN
figs/picture_apa_bench_encoder.pdf
View File

Binary file not shown.

BIN
figs/picture_apa_bench_encoder.png
View File

Binary file not shown.
Side by Side

Before

Width:  |  Height:  |  Size: 487 KiB

BIN
figs/picture_apa_bench_front.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 75 KiB

BIN
figs/picture_apa_bench_front.pdf
View File

Binary file not shown.

BIN
figs/picture_apa_bench_front.png
View File

Binary file not shown.
Side by Side

Before

Width:  |  Height:  |  Size: 446 KiB

BIN
figs/picture_apa_bench_side.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 71 KiB

BIN
figs/picture_apa_bench_side.pdf
View File

Binary file not shown.

BIN
figs/picture_apa_bench_side.png
View File

Binary file not shown.
Side by Side

Before

Width:  |  Height:  |  Size: 390 KiB

BIN
figs/strut_misalign_schematic.pdf Normal file
View File

Binary file not shown.

BIN
figs/strut_misalign_schematic.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 40 KiB

2545
figs/strut_misalign_schematic.svg Normal file
View File

File diff suppressed because it is too large Load Diff
Side by Side

After

Width:  |  Height:  |  Size: 178 KiB

BIN
figs/struts_frf_dvf_plant_coh.pdf
View File

Binary file not shown.

BIN
figs/struts_frf_dvf_plant_coh.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 119 KiB

After

Width:  |  Height:  |  Size: 72 KiB

BIN
figs/struts_frf_dvf_plant_tf.pdf
View File

Binary file not shown.

BIN
figs/struts_frf_dvf_plant_tf.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 158 KiB

After

Width:  |  Height:  |  Size: 156 KiB

BIN
figs/struts_frf_iff_plant_coh.pdf
View File

Binary file not shown.

BIN
figs/struts_frf_iff_plant_coh.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 69 KiB

After

Width:  |  Height:  |  Size: 55 KiB

BIN
figs/struts_frf_iff_plant_tf.pdf
View File

Binary file not shown.

BIN
figs/struts_frf_iff_plant_tf.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 110 KiB

After

Width:  |  Height:  |  Size: 110 KiB

BIN
figs/struts_frf_int_plant_coh.pdf
View File

Binary file not shown.

BIN
figs/struts_frf_int_plant_coh.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 90 KiB

After

Width:  |  Height:  |  Size: 59 KiB

BIN
figs/struts_frf_int_plant_tf.pdf
View File

Binary file not shown.

BIN
figs/struts_frf_int_plant_tf.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 127 KiB

After

Width:  |  Height:  |  Size: 126 KiB

BIN
figs/super_element_simscape.pdf Normal file
View File

Binary file not shown.

BIN
figs/super_element_simscape.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 327 KiB

BIN
figs/test_bench_leg_coder.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 84 KiB

BIN
figs/test_bench_leg_coder.pdf
View File

Binary file not shown.

BIN
figs/test_bench_leg_coder.png
View File

Binary file not shown.
Side by Side

Before

Width:  |  Height:  |  Size: 461 KiB

BIN
figs/test_bench_leg_front.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 99 KiB

BIN
figs/test_bench_leg_front.pdf
View File

Binary file not shown.

BIN
figs/test_bench_leg_front.png
View File

Binary file not shown.
Side by Side

Before

Width:  |  Height:  |  Size: 569 KiB

BIN
figs/test_bench_leg_overview.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 118 KiB

BIN
figs/test_bench_leg_overview.pdf
View File

Binary file not shown.

BIN
figs/test_bench_leg_overview.png
View File

Binary file not shown.
Side by Side

Before

Width:  |  Height:  |  Size: 642 KiB

BIN
figs/test_bench_leg_side.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 112 KiB

BIN
figs/test_bench_leg_side.pdf
View File

Binary file not shown.

BIN
figs/test_bench_leg_side.png
View File

Binary file not shown.
Side by Side

Before

Width:  |  Height:  |  Size: 637 KiB

BIN
matlab/mat/meas_apa_frf.mat Normal file
View File

Binary file not shown.

BIN
matlab/mat/meas_struts_frf.mat Normal file
View File

Binary file not shown.

5
matlab/src/initializeAPA.m
View File

@ -12,6 +12,7 @@ function [actuator] = initializeAPA(args)
arguments
args.type char {mustBeMember(args.type,{'2dof', 'flexible frame', 'flexible'})} = '2dof'
% Actuator and Sensor constants
args.Ga (1,1) double {mustBeNumeric} = 0
args.Gs (1,1) double {mustBeNumeric} = 0
@ -27,7 +28,8 @@ arguments
args.Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056
% Force Flexible APA
args.xi (1,1) double {mustBeNumeric, mustBePositive} = 0.5
args.xi (1,1) double {mustBeNumeric, mustBePositive} = 0.01
args.d_align (3,1) double {mustBeNumeric} = zeros(3,1) % [m]
% For Flexible Frame
args.ks (1,1) double {mustBeNumeric, mustBePositive} = 235e6
@ -90,6 +92,7 @@ switch args.type
actuator.K = readmatrix('full_APA300ML_K.CSV'); % Stiffness Matrix
actuator.M = readmatrix('full_APA300ML_M.CSV'); % Mass Matrix
actuator.P = extractNodes('full_APA300ML_out_nodes_3D.txt'); % Node coordiantes [m]
actuator.d_align = args.d_align;
end
actuator.xi = args.xi; % Damping ratio

10
matlab/src/initializeBotFlexibleJoint.m
View File

@ -15,12 +15,12 @@ arguments
args.kRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*5
args.kRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*5
args.kRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*260
args.kz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1e8
args.kz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*7e7
args.cRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
args.cRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
args.cRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
args.cz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1e2
args.cRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.001
args.cRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.001
args.cRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.001
args.cz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.001
end
flex_bot = struct();

10
matlab/src/initializeTopFlexibleJoint.m
View File

@ -15,12 +15,12 @@ arguments
args.kRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*5
args.kRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*5
args.kRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*260
args.kz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1e8
args.kz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*7e7
args.cRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
args.cRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
args.cRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
args.cz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1e2
args.cRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.001
args.cRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.001
args.cRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.001
args.cz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.001
end
flex_top = struct();

BIN
matlab/test_bench_struts.slx
View File

Binary file not shown.

3033
test-bench-apa300ml.html
View File

File diff suppressed because it is too large Load Diff

3514
test-bench-apa300ml.org
View File

File diff suppressed because it is too large Load Diff