test-bench-apa300ml/figs
2021-06-17 14:48:06 +02:00
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2dof_apa_model.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
2dof_apa_model.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
2dof_apa_model.svg Add many figures and discussions 2021-06-16 19:33:39 +02:00
apa300ml_ansys.jpg Add many figures and discussions 2021-06-16 19:33:39 +02:00
apa300ml_meas_freq_bending_x.pdf Analysis of the resonance frequencies of the APA 2021-05-06 16:17:50 +02:00
apa300ml_meas_freq_bending_x.png Analysis of the resonance frequencies of the APA 2021-05-06 16:17:50 +02:00
apa300ml_meas_freq_bending_y.pdf Analysis of the resonance frequencies of the APA 2021-05-06 16:17:50 +02:00
apa300ml_meas_freq_bending_y.png Analysis of the resonance frequencies of the APA 2021-05-06 16:17:50 +02:00
apa300ml_meas_freq_compare.pdf Analysis of the resonance frequencies of the APA 2021-05-06 16:17:50 +02:00
apa300ml_meas_freq_compare.png Analysis of the resonance frequencies of the APA 2021-05-06 16:17:50 +02:00
apa300ml_meas_freq_torsion_z_comp.pdf Add measurement of spurious resonances 2021-06-01 13:05:03 +02:00
apa300ml_meas_freq_torsion_z_comp.png Add measurement of spurious resonances 2021-06-01 13:05:03 +02:00
apa300ml_meas_freq_torsion_z.pdf Add measurement of spurious resonances 2021-06-01 13:05:03 +02:00
apa300ml_meas_freq_torsion_z.png Add measurement of spurious resonances 2021-06-01 13:05:03 +02:00
apa300ML.pdf Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
apa300ML.png Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
apa_1_coh_dvf.pdf Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
apa_1_coh_dvf.png Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
apa_1_coh_iff.pdf Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
apa_1_coh_iff.png Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
apa_1_frf_dvf.pdf Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
apa_1_frf_dvf.png Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
apa_1_frf_iff.pdf Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
apa_1_frf_iff.png Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
apa_1_meas_stiffness.pdf Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
apa_1_meas_stiffness.png Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
apa_act_constant_comp_flex.pdf Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
apa_act_constant_comp_flex.png Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
apa_act_constant_comp.pdf Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
apa_act_constant_comp.png Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
apa_bench_exc_sweep.pdf Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
apa_bench_exc_sweep.png Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
apa_d_vs_V_1s.pdf Analyze stroke measurements 2021-03-16 14:31:01 +01:00
apa_d_vs_V_1s.png Analyze stroke measurements 2021-03-16 14:31:01 +01:00
apa_d_vs_V_2s.pdf Analyze stroke measurements 2021-03-16 14:31:01 +01:00
apa_d_vs_V_2s.png Analyze stroke measurements 2021-03-16 14:31:01 +01:00
apa_d_vs_V_3s.pdf Analyze stroke measurements 2021-03-16 14:31:01 +01:00
apa_d_vs_V_3s.png Analyze stroke measurements 2021-03-16 14:31:01 +01:00
apa_effect_joint_comp_dl.pdf Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
apa_effect_joint_comp_dl.png Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
apa_effect_joint_comp_vs.pdf Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
apa_effect_joint_comp_vs.png Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
apa_effect_joint_comp_z.pdf Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
apa_effect_joint_comp_z.png Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
apa_frf_dvf_plant_coh.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
apa_frf_dvf_plant_coh.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
apa_frf_dvf_plant_tf.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
apa_frf_dvf_plant_tf.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
apa_frf_dvf_zoom_res_plant_tf.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
apa_frf_dvf_zoom_res_plant_tf.png Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
apa_frf_iff_plant_coh.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
apa_frf_iff_plant_coh.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
apa_frf_iff_plant_tf.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
apa_frf_iff_plant_tf.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
apa_meas_k_time_oc_cc.pdf Analysis all measurements 2021-06-02 23:58:32 +02:00
apa_meas_k_time_oc_cc.png Analysis all measurements 2021-06-02 23:58:32 +02:00
apa_meas_k_time.pdf Analyze all APA measurements 2021-06-04 11:18:55 +02:00
apa_meas_k_time.png Analysis all measurements 2021-06-02 23:58:32 +02:00
apa_mode_shapes.gif Add many figures and discussions 2021-06-16 19:33:39 +02:00
apa_mode_shapes.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
apa_model_bench_bode_dl_z.pdf Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
apa_model_bench_bode_dl_z.png Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
apa_model_bench_bode_vs.pdf Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
apa_model_bench_bode_vs.png Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
apa_model_schematic.pdf Add APA model + explain measurement procedure 2020-12-16 11:07:42 +01:00
apa_model_schematic.png Add APA model + explain measurement procedure 2020-12-16 11:07:42 +01:00
apa_model_schematic.svg Add APA model + explain measurement procedure 2020-12-16 11:07:42 +01:00
apa_sens_constant_comp_flex.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
apa_sens_constant_comp_flex.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
apa_sens_constant_comp.pdf Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
apa_sens_constant_comp.png Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
apa_stroke_time_1s.pdf Analyze stroke measurements 2021-03-16 14:31:01 +01:00
apa_stroke_time_1s.png Analyze stroke measurements 2021-03-16 14:31:01 +01:00
apa_stroke_time_2s.pdf Analyze stroke measurements 2021-03-16 14:31:01 +01:00
apa_stroke_time_2s.png Analyze stroke measurements 2021-03-16 14:31:01 +01:00
apa_stroke_voltage_time.pdf Analyze stroke measurements 2021-03-16 14:31:01 +01:00
apa_stroke_voltage_time.png Analyze stroke measurements 2021-03-16 14:31:01 +01:00
apa-model-simscape-schematic.pdf Add block diagram of piezo model 2020-12-17 14:55:18 +01:00
apa-model-simscape-schematic.png Add block diagram of piezo model 2020-12-17 14:55:18 +01:00
apa-model-simscape-schematic.svg Add block diagram of piezo model 2020-12-17 14:55:18 +01:00
comp_all_struts_corrected_misalign.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
comp_all_struts_corrected_misalign.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
comp_apa_plant_after_opt.pdf Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
comp_apa_plant_after_opt.png Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
comp_enc_frf_align_perfect.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
comp_enc_frf_align_perfect.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
comp_strut_plant_after_opt.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
comp_strut_plant_after_opt.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
comp_strut_plant_iff_after_opt.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
comp_strut_plant_iff_after_opt.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
effect_enc_axial_stiff.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
effect_enc_axial_stiff.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
effect_enc_bending_stiff.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
effect_enc_bending_stiff.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
effect_misalignment_x.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
effect_misalignment_x.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
effect_misalignment_y.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
effect_misalignment_y.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
exc_signal_1_noise.pdf Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
exc_signal_1_noise.png Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
exc_signal_2_sweep.pdf Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
exc_signal_2_sweep.png Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
exc_signal_3_hf_noise.pdf Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
exc_signal_3_hf_noise.png Update analysis of APA Simscape model 2021-06-17 14:48:06 +02:00
expected_hysteresis.pdf Rename file and export to pdf 2021-02-02 19:30:07 +01:00
expected_hysteresis.png Rename file and export to pdf 2021-02-02 19:30:07 +01:00
flatness_meas_setup.jpg Reworked the section about basic measurements 2021-06-17 10:32:56 +02:00
frf_dvf_plant_coh.pdf Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
frf_dvf_plant_coh.png Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
frf_dvf_plant_tf.pdf Analyze all APA measurements 2021-06-04 11:18:55 +02:00
frf_dvf_plant_tf.png Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
frf_dvf_zoom_res_plant_tf.pdf Analyze all APA measurements 2021-06-04 11:18:55 +02:00
frf_dvf_zoom_res_plant_tf.png Analyze all APA measurements 2021-06-04 11:18:55 +02:00
frf_iff_effect_R.pdf Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
frf_iff_effect_R.png Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
frf_iff_plant_coh.pdf Analyze all APA measurements 2021-06-04 11:18:55 +02:00
frf_iff_plant_coh.png Analysis all measurements 2021-06-02 23:58:32 +02:00
frf_iff_plant_tf.pdf Analyze all APA measurements 2021-06-04 11:18:55 +02:00
frf_iff_plant_tf.png Analyze all APA measurements 2021-06-04 11:18:55 +02:00
frf_meas_noise_excitation.pdf Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
frf_meas_noise_excitation.png Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
frf_meas_noise_hf_exc.pdf Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
frf_meas_noise_hf_exc.png Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
frf_meas_sin_excitation.pdf Analyze first measurements 2021-06-01 23:16:49 +02:00
frf_meas_sin_excitation.png Analyze first measurements 2021-06-01 23:16:49 +02:00
frf_meas_sweep_excitation.pdf Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
frf_meas_sweep_excitation.png Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
frf_strut_dvf_comp_effect_enc.pdf Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
frf_strut_dvf_comp_effect_enc.png Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
hyst_exc_signal_time.pdf Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
hyst_exc_signal_time.png Analysis all measurements 2021-06-02 23:58:32 +02:00
hyst_results_multi_ampl.pdf Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
hyst_results_multi_ampl.png Analysis all measurements 2021-06-02 23:58:32 +02:00
IMG_20210224_143505.jpg Add LCR meter doc + picture 2021-03-15 13:34:01 +01:00
IMG_20210601_134417.jpg Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
IMG_20210601_134431.jpg Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
IMG_20210601_134456.jpg Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
IMG_20210601_134513.jpg Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
IMG_20210602_162708.jpg Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
IMG_20210602_162719.jpg Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
IMG_20210602_162731.jpg Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
IMG_20210602_165015.jpg Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
LCR_meter.jpg Reworked the section about basic measurements 2021-06-17 10:32:56 +02:00
measurement_setup_torsion_bis.jpg Add measurement of spurious resonances 2021-06-01 13:05:03 +02:00
measurement_setup_torsion.jpg Add measurement of spurious resonances 2021-06-01 13:05:03 +02:00
measurement_setup_X_bending.jpg Add measurement of spurious resonances 2021-06-01 13:05:03 +02:00
measurement_setup_Y_bending.jpg Add measurement of spurious resonances 2021-06-01 13:05:03 +02:00
mesh_APA.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
mesh_APA.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
mode_bending_x.gif Analysis of the resonance frequencies of the APA 2021-05-06 16:17:50 +02:00
mode_bending_x.png Analysis of the resonance frequencies of the APA 2021-05-06 16:17:50 +02:00
mode_bending_y.gif Analysis of the resonance frequencies of the APA 2021-05-06 16:17:50 +02:00
mode_bending_y.png Analysis of the resonance frequencies of the APA 2021-05-06 16:17:50 +02:00
mode_torsion_z.gif Analysis of the resonance frequencies of the APA 2021-05-06 16:17:50 +02:00
mode_torsion_z.png Analysis of the resonance frequencies of the APA 2021-05-06 16:17:50 +02:00
model_bench_apa.pdf Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
model_bench_apa.png Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
picture_apa_bench_encoder.jpg Add many figures and discussions 2021-06-16 19:33:39 +02:00
picture_apa_bench_front.jpg Add many figures and discussions 2021-06-16 19:33:39 +02:00
picture_apa_bench_side.jpg Add many figures and discussions 2021-06-16 19:33:39 +02:00
picture_apa_bench.jpg Add many figures and discussions 2021-06-16 19:33:39 +02:00
picture_strut_top_view.jpg Reworked the section about basic measurements 2021-06-17 10:32:56 +02:00
received_apa.jpg Reworked the section about basic measurements 2021-06-17 10:32:56 +02:00
souleille18_model_piezo.pdf Reworked the section about basic measurements 2021-06-17 10:32:56 +02:00
souleille18_model_piezo.png Reworked the section about basic measurements 2021-06-17 10:32:56 +02:00
stroke_test_bench.jpg Reworked the section about basic measurements 2021-06-17 10:32:56 +02:00
strut_1_comp_enc_int.pdf Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
strut_1_comp_enc_int.png Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
strut_1_enc_frf_dvf_plant_coh.pdf Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
strut_1_enc_frf_dvf_plant_coh.png Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
strut_1_enc_frf_dvf_plant_tf.pdf Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
strut_1_enc_frf_dvf_plant_tf.png Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
strut_1_enc_frf_iff_plant_tf.pdf Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
strut_1_enc_frf_iff_plant_tf.png Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
strut_1_frf_dvf_plant_coh.pdf Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
strut_1_frf_dvf_plant_coh.png Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
strut_1_frf_dvf_plant_tf.pdf Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
strut_1_frf_dvf_plant_tf.png Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
strut_1_frf_iff_effect_enc.pdf Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
strut_1_frf_iff_effect_enc.png Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
strut_1_frf_iff_plant_coh.pdf Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
strut_1_frf_iff_plant_coh.png Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
strut_1_frf_iff_plant_tf.pdf Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
strut_1_frf_iff_plant_tf.png Analyze results of strut 1 measurements 2021-06-04 11:51:52 +02:00
strut_1_spurious_resonances.pdf Output the analysis both to pdf and html 2021-06-04 12:15:32 +02:00
strut_1_spurious_resonances.png Output the analysis both to pdf and html 2021-06-04 12:15:32 +02:00
strut_bench_model_dvf_bode.pdf Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
strut_bench_model_dvf_bode.png Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
strut_bench_model_iff_bode.pdf Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
strut_bench_model_iff_bode.png Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
strut_effect_joint_comp_dl.pdf Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
strut_effect_joint_comp_dl.png Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
strut_effect_joint_comp_va.pdf Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
strut_effect_joint_comp_va.png Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
strut_effect_joint_comp_vs.pdf Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
strut_effect_joint_comp_vs.png Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
strut_effect_joint_comp_z.pdf Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
strut_effect_joint_comp_z.png Compute sensor/actuator constants 2021-06-07 18:43:31 +02:00
strut_misalign_schematic.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
strut_misalign_schematic.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
strut_misalign_schematic.svg Add many figures and discussions 2021-06-16 19:33:39 +02:00
struts_frf_dvf_plant_coh.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
struts_frf_dvf_plant_coh.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
struts_frf_dvf_plant_tf.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
struts_frf_dvf_plant_tf.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
struts_frf_iff_plant_coh.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
struts_frf_iff_plant_coh.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
struts_frf_iff_plant_tf.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
struts_frf_iff_plant_tf.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
struts_frf_int_plant_coh.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
struts_frf_int_plant_coh.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
struts_frf_int_plant_tf.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
struts_frf_int_plant_tf.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
super_element_simscape.pdf Add many figures and discussions 2021-06-16 19:33:39 +02:00
super_element_simscape.png Add many figures and discussions 2021-06-16 19:33:39 +02:00
test_bench_apa_alone.pdf Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
test_bench_apa_alone.png Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
test_bench_apa_alone.svg Better analysis of APA 1 measurements 2021-06-04 11:13:48 +02:00
test_bench_leg_coder.jpg Add many figures and discussions 2021-06-16 19:33:39 +02:00
test_bench_leg_front.jpg Add many figures and discussions 2021-06-16 19:33:39 +02:00
test_bench_leg_overview.jpg Add many figures and discussions 2021-06-16 19:33:39 +02:00
test_bench_leg_side.jpg Add many figures and discussions 2021-06-16 19:33:39 +02:00