tdehaeze/test-bench-nass-flexible-joints
1
0 Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add CAD view of the bench

Browse Source
This commit is contained in:
tdehaeze committed 2021-02-16 21:24:22 +01:00
1 parent a45916ca7e
commit 77f2339a9d
9 files changed
+579 -78
Download Patch File Download Diff File Expand all files Collapse all files

No files matched your search

figs/test_bench_flex_overview.pdf
BIN
View File
Binary file not shown.
figs/test_bench_flex_overview.png
BIN
View File
Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 286 KiB

figs/test_bench_flex_overview.svg
+262
View File
@@ -0,0 +1,262 @@
<?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"
version="1.1"
id="svg917"
width="487.84247"
height="262.90256"
viewBox="0 0 487.84247 262.90255"
sodipodi:docname="test_bench_flex_overview.svg"
inkscape:version="1.0.1 (3bc2e813f5, 2020-09-07)">
<metadata
id="metadata923">
<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>
<defs
id="defs921">
<marker
style="overflow:visible"
id="marker1529"
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="path1527" />
</marker>
<marker
style="overflow:visible"
id="marker1417"
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="path1415" />
</marker>
<marker
style="overflow:visible"
id="marker1369"
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="path1367" />
</marker>
<marker
style="overflow:visible"
id="marker1267"
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="path1265" />
</marker>
<marker
style="overflow:visible"
id="marker1231"
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="path1229" />
</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="path978" />
</marker>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath3316">
<rect
style="fill:#c9a831;fill-opacity:0.264546;fill-rule:evenodd;stroke:#000000;stroke-linecap:round;stroke-linejoin:round;stroke-dasharray:3, 3;paint-order:markers fill stroke;stop-color:#000000"
id="rect3318"
width="486.42776"
height="259.33301"
x="58.506817"
y="25.838165" />
</clipPath>
</defs>
<sodipodi:namedview
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1"
objecttolerance="10"
gridtolerance="10"
guidetolerance="10"
inkscape:pageopacity="0"
inkscape:pageshadow="2"
inkscape:window-width="2536"
inkscape:window-height="1371"
id="namedview919"
showgrid="false"
inkscape:zoom="2.4464516"
inkscape:cx="258.5588"
inkscape:cy="197.64351"
inkscape:window-x="12"
inkscape:window-y="57"
inkscape:window-maximized="1"
inkscape:current-layer="g925"
inkscape:document-rotation="0" />
<g
inkscape:groupmode="layer"
inkscape:label="Image"
id="g925"
transform="translate(-57.092121,-22.268609)">
<image
width="486.42776"
height="307.86169"
preserveAspectRatio="none"
xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAABg4AAAPVCAYAAAC+7BHjAAAABGdBTUEAALGPC/xhBQAAACBjSFJN AAB6JgAAgIQAAPoAAACA6AAAdTAAAOpgAAA6mAAAF3CculE8AAAABmJLR0QA/wD/AP+gvaeTAAAA B3RJTUUH5QEIEAYWzCGQaQAAABBjYU52AAAGRQAAA/0AAAAaAAAAGcnj9o8AAIAASURBVHja7N11 fBTn1sDx3zMz63EhEIK7tDil7u7ut+566+2tu9+2b93d21tvqSsUaynugQAh7usz87x/BGgpUloI m8D55rOf0snImdlkd/Ocec5RWjsaIYQQ4h/SWqOUQmuN1s1vKRqNQqGUWvk9pVSqQxVCCCGEEEII IYQQ68FKdQBCCCHahhWD/zU1NYz+fDQffvgR4XAEx7ExTZPc3Byqq6vJzc2loaEBj8eD1ppoNI7W LkopgsEAhx16GLvsugs5OTmYhpnq0xJCCCGEEEIIIYQQf6JkxoEQQog1aWxsZOLEidTU1jB2/Fi+ +u5r2ndsT6ceRZg+kz79+9Crby/6D+yPsv5iNoELs2fOZsbUGcyePpvFxYvRSYg2RTjlmFPIzMxk j933wOfzYVmS0xZCCCGEEEIIIYRIJUkcCCGEWEVFbQXDthkGXjjo6IM449wzMC0Tn8+H1+dFodCq +a1DaYVCYdnNg/22ZaOVRrPutxalFa52iUaiJBIJ3njxDZ556BkuPuvfFHXsyAknnICBkepLIYQQ QgghhBBCCLFFksSBEEJs4VzXJZFIcPf/3cOPE37gwEMOpE//PvTfqj+u4eIqd5X1DdfAcA2mTZ7G 1998zaLiEubPmof2ajKyMunUoROBYACvz0NmRibt2rWjqFMR3Xt0J69dHrZlrxaDoQ3cuMtXn3zF px9+Sn1NPVdedCV77LZHqi+PEEIIIYQQQgghxBZHEgdCCLEFW1ZWxrbbjyKUHuKxVx+ja7+uq80Y UCjshE1FRQXhpjBPP/E03331Hdlp2ey1316ccd4ZnHDACbz31Xso3VyyaOaMmUwaP4k5M+awcOFC KmsqiTUlqKypYOK8CXh93jXGo7TCdE3+deS/CFeGef+d9yloV4BCGisLIYQQQgghhBBCbCqSOBBC iC3U6M9Hc8Y5Z3L7vbexzZ7b4EnzrHG9aG2Uo/Y7BstrcNQxR9NzcA/Su6eT0y4HANdxOXvPc3jz 6zfWebx4OM5ph57G4SceztH/Onqd62qtOX6P47ng/AvYZvA2dO/WPdWXSwghhBBCCCGEEGKLIR0o hRBiC7S4dDGPPP0Iuxy0MzsdstNq5Yj+6JM3P+HU609m+322X+P3lVL4fL6/PKbX56Vn/15M/HrS XyYOFAqtNXsduhdnHXM2b732JkrJrAMhhBBCCCGEEEKITUE6TwohxBbo+PNOIG7HGTx08DqTBgD7 Hb4frz/7Or74WpIDCoLB4Dr3YTgGVtLi128ns3TxknWv6xpEqiKccsYpePGSk5fN1BlTU33JhBBC CCGEEEIIIbYYMuNACCG2MPfcey/n33oeRpXBpEmTMFwD11h78sCf6ceIWlTNqyK/Wz4Y4Bpucy+E 5Y9QKLRyfaVVc68Cx2TOtDm89cZbFC9YSH1THUecehi57XLXeBylFZZtcc8d9zCgx0COO+Y4kiQZ P2481nnydiWEEEIIIYQQQgixqchIjBBCbGGmT5/OdudvS1G/ImbOmsWEnyay1dCB+EK+VZoir6A8 ij323I3rLr+euJ2gPlqPa9mkZ6TTrkM7evXtTVlpOd+N/o709HQc2+Wdd99m+qQZtM9pz7ajRnHp w5eSkZuBbdpoteoxDG1QsayCWdNn8c6L77LvXvtw6vGn4OBQU19Ddn42ypQyRUIIIYQQQgghhBCb ijRHFkKILczZZ5/NgTcdSO/83niTXmb8MpNbb7qFY885lgMOPmCd2zqOgx22SUaT2DEb27ZxXU20 IcKvE3/l3bfeZeCQgZxy9imEckIEs9ddwmje7Hm8+OSLjBk9ls8+/pSiwiJ8Hh8KxdwFcznr8rPZ c9892G3UbmwzcJtUXzohhBBCCCGEEEKILYIkDoQQYgszYcIEbn/yDi6443w653UmRAgPHh656xG+ +PIL+vTvS1GPjuy0x04Udi4kkBbY4GM6SYfSJaX8/N3PVJfVMGPCdDp37Ey7vHbsu+++jBgxAoC4 jlNSUsKLL71EWaKM3U/bjSKriPDiMHuP2jvVl26zpLXGtm1qamsoXlDMggULiMViLCsrI+D3E41F SU9Pp76+gRHDh7No0SK6detGjx496NChAz6fD9M0U30aQgghhBBCCCGE2IgkcSCEEFuY1157jSnJ KTx78/NcceNl7HXAXuRm5RIihI/mBsizZs3ilhtvYdxP4wmk+8nNzaXfgH4cfOTBhEJp5LfPA0AZ Cu1qlFJorVGuoqysjHHjxjFz6kzmzpxLl85dGDd2Ar169qCoqIiXXnxpZSwuLg4O9ZF6yivLufn2 m/nm52/5YPz7xKwY8XicUG2IZTOWceSeR6b60rV54XCYhoYGGhsb+ejjj3jk8Udx/DbxaJJe/Xpg GAZFXYvoO7AvwWCQLt260BRpon379syZMYeCggK++OwLSpeUsrRkKdWVNSSbbIJ+P1defiUH7HMA gUCAzMxMDMNAKSkxJYQQQgghhBBCtEWSOBBCiC3MJ59+wnSmk5OZw3dffc/3X33PyK1HcOFZFzKg 3wC8hhcTEw8eDAxs22by5MmEI2GUqYhF4mACLlheEzvpYBoGruuiNZimgatdfB4faaE0hgwZgqEM ADQaBwcXl4ST4PsfvueJp55gUXkJnYd0Yv9D9mfA4AHgBxubRCxBsC7IrDGzOP3I01N96dqkxsZG nnr6KT779nO016HvwL5ss+0oQmlB8trl0bFzRyzrDy2PVHOjale5K/8f4I/tL5T+PSHg2A5LSpZQ XlZOJBzh/Tfep7a8lpOOOYnjjz1+1X0LIYQQQgghhBCiTZDEgRBCbGHGjBnDD3U/kN0um+yMbELe EF99/BXjf5hAxbJythk6ip2335mc9Gz69+xPQX4BGRkZGBh/+1i2bVNWUcbSpUspryynvqmecb+O Z8z4n/AGffTs34MhQ4ewx0F7kPAlcA0XF5ekTuK67srEwbhPx3Hp6Zem+tK1GZFohA8//ZAJv0xg YclC+g3oxzEnHUNmfiau4aKVXtkIW6FQriIZTzJt2jSWLl5K2dJy8jvk4/FYhIIh0tPTyc3NJb9d PqG00MpkgmM4qx3bcixijTGefuRpJo6byJSJ0/jwo/fZZqj0qBBCCCGEEEIIIdoKSRwIIcQWZsrU KXxS8glZBVmkZ6WTlpFGIBDA5/MRioZQCYMJP4znrRfforq6mjmT52J5TdJCaRTkFZCfn09+fj6Z mZkEg0GUUqSnpzN/3nzq6usoKyujurqa6upq4vEkWC55BXkMGzmMI447gkEjB+F4HdygS8JMoNWq b0MavTJxsKJU0acvf8ZtV96a6kvX6jmOg1KKzl06c+wZx3LuJediBkxc013rNsuWLOOSsy9h8vgp FLTP59+X/puvP/maY088lrE/jWX6tOkUFxdTUVGJnXBQpsKTbtGhQ3s+G/vZugOKw+zJs6mtquXj Nz7lpRdfSPUlEkIIIYQQQgghxHqQ+gFCCLGFSUtLA8DQBoZroNzm28ddwyWRmcDQBiMPG8mow0Zh aQtLWdRW1lK2uIzG6kaijVGS0SS2beO6zQPS/jQ/2d2ysXwWgWCAjMwMcjrkUFBYgC/gI0kSjW4u UURiZSxKq1XL4vyJUqr57nYH8RdeeeNVIjrMguJiXv/xdYq6FAHNfST+6McvfmTMN2OYNW0Ojptk x3134tAzDuXW528lPTedX8f+igoZDN1/KEP3H7racepr6lm2dBnRpihnHXwWT7z/xNqD8kHfkX25 +ZKbadctjwsvuoiHHnww1ZdKCCGEEEIIIYQQf0ESB0IIsYUJhUJ89/53HHb6Yc0lawyN1uuefJaT l0NeXh6mMv9WyaI/D1pDc8JibYmCNdGGxvBLk911mb1oNk88/wS9B/bi2nuuXet6NctquPWmW/nX +f/i5NtOXuM6Oe1yUMm1X+/MnEwyczIBCDdECDeECWWE1rq+Vpqd99uZj17+iAMPPJCJv05k+JDh qb5kQgghhBBCCCGEWIe/X7BaCCFEm+bz+ojH483/o0G5auXMAUe3vlv7XeXi8XlSHUarVVJSQkm0 hKiKcMttt6xz3Zz2OWSlZdEut91a1ykoLFiv4xquwcyZM7nh8hsw9No/Tiit+PSdTxm1/SgOPuxg Xn/zjVRfMiGEEEIIIYQQQvwFmXEghBBbGJ/PRzwax3VdFL/fWe66Ltps+bY3hjLWOBNhlXVYdR3T MlN3wVq5j777iF2O3AVN8yD9Oim49IpLeeeDdxm287DmGSdKr2yYDOAP+EkmkjTv8PdNTcdEO5oJ P09gzqw5jJswjj5b96bPwD4rGy2veiiF4RqM/ng0BbkFnHXmWdjapqqmMtWXTAghhBBCCCGEEH9B ZhwIIcQWxvJYxCIxXGf5LAO79c0yMNSqb0+mKYmDtfn0m9Fgwv777sdJJ5yEdted/Nl+x+356osv 2XvbvTnzuDO5//b7+e7L72isbSTSFCEajtIUDhOPxbGTNtFIlHlz5vGvY/7F1h0Hc8PFN5IXyOOZ h5/h7Y/f5owLzli9wbWriYVjHLTnwaiI4s7b7sTEpCnaRK/evVN9yYQQQgghhBBCCPEXZMaBEEJs YSzTIpFIrLZ8XX0OtNJrvKv87/rzTIK/XN8wcA0XZUqPg7XpN6QPcRXn5PNOJjc/lwuPuYhLbv83 3Xp2W+P6junw7HPPorSisbGReDhOssLine truncated
id="image927"
x="58.506817"
y="25.838165"
clip-path="url(#clipPath3316)" />
<text
xml:space="preserve"
style="font-size:13.3333px;line-height:1.25;font-family:'Latin Modern Roman';-inkscape-font-specification:'Latin Modern Roman, Normal';text-align:center;letter-spacing:0px;word-spacing:0px;text-anchor:middle"
x="80.658676"
y="31.521919"
id="text931"><tspan
sodipodi:role="line"
id="tspan929"
x="80.658676"
y="31.521919">Encoder</tspan></text>
<text
xml:space="preserve"
style="font-size:13.3333px;line-height:1.25;font-family:'Latin Modern Roman';-inkscape-font-specification:'Latin Modern Roman, Normal';text-align:center;letter-spacing:0px;word-spacing:0px;text-anchor:middle"
x="485.14532"
y="54.338146"
id="text935"><tspan
sodipodi:role="line"
id="tspan933"
x="485.14532"
y="54.338146">Force Sensor</tspan></text>
<text
xml:space="preserve"
style="font-size:13.3333px;line-height:1.25;font-family:'Latin Modern Roman';-inkscape-font-specification:'Latin Modern Roman, Normal';text-align:center;letter-spacing:0px;word-spacing:0px;text-anchor:middle"
x="488.3187"
y="118.9425"
id="text939"><tspan
sodipodi:role="line"
id="tspan937"
x="488.3187"
y="118.9425">Flexible Joint</tspan></text>
<text
xml:space="preserve"
style="font-size:13.3333px;line-height:1.25;font-family:'Latin Modern Roman';-inkscape-font-specification:'Latin Modern Roman, Normal';text-align:center;letter-spacing:0px;word-spacing:0px;text-anchor:middle"
x="125.02531"
y="262.22742"
id="text943"><tspan
sodipodi:role="line"
id="tspan941"
x="125.02531"
y="262.22742"
style="text-align:end;text-anchor:end">Translation</tspan><tspan
sodipodi:role="line"
x="125.02531"
y="278.89404"
style="text-align:end;text-anchor:end"
id="tspan993">Table</tspan></text>
<text
xml:space="preserve"
style="font-size:13.3333px;line-height:1.25;font-family:'Latin Modern Roman';-inkscape-font-specification:'Latin Modern Roman, Normal';text-align:center;letter-spacing:0px;word-spacing:0px;text-anchor:middle"
x="487.78534"
y="87.688927"
id="text947"><tspan
sodipodi:role="line"
id="tspan945"
x="487.78534"
y="87.688927">Half Cylinder</tspan></text>
<path
style="fill:none;stroke:#000000;stroke-width:1.00157;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:3.00472, 3.00472;stroke-dashoffset:0;stroke-opacity:1;marker-end:url(#Arrow2Mend)"
d="M 445.84333,115.13233 H 372.9926"
id="path949" />
<path
style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:3, 3;stroke-dashoffset:0;stroke-opacity:1;marker-end:url(#marker1231)"
d="M 444.47088,84.088348 H 379.82632 L 362.9417,99.512073"
id="path1227"
sodipodi:nodetypes="ccc" />
<path
style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:3, 3;stroke-dashoffset:0;stroke-opacity:1;marker-end:url(#marker1267)"
d="M 443.51938,50.235381 H 377.69833 L 342.25618,83.209013"
id="path1263"
sodipodi:nodetypes="ccc" />
<path
style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:3, 3;stroke-dashoffset:0;stroke-opacity:1;marker-end:url(#marker1369)"
d="m 127.5101,265.65243 c 1.57118,-0.54771 73.01556,0 73.01556,0 l 51.17743,-55.32361"
id="path1365"
sodipodi:nodetypes="ccc" />
<path
style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:3, 3;stroke-dashoffset:0;stroke-opacity:1;marker-end:url(#marker1417)"
d="m 109.41478,28.830809 h 33.61525 l 19.56708,19.567079"
id="path1413" />
<text
xml:space="preserve"
style="font-size:13.3333px;line-height:1.25;font-family:'Latin Modern Roman';-inkscape-font-specification:'Latin Modern Roman, Normal';text-align:center;letter-spacing:0px;word-spacing:0px;text-anchor:middle"
x="88.811981"
y="133.78874"
id="text1523"><tspan
sodipodi:role="line"
id="tspan1521"
x="88.811981"
y="133.78874">Ruler</tspan></text>
<path
style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:3, 3;stroke-dashoffset:0;stroke-opacity:1;marker-end:url(#marker1529)"
d="m 109.44148,131.08206 h 93.29268 l 32.28936,-37.542635"
id="path1525" />
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 396 KiB

figs/test_bench_flex_side.pdf
BIN
View File
Binary file not shown.
figs/test_bench_flex_side.png
BIN
View File
Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 69 KiB

figs/test_bench_flex_side.svg
+184
View File
@@ -0,0 +1,184 @@
<?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"
version="1.1"
id="svg1681"
width="255.17622"
height="752.06323"
viewBox="0 0 255.17623 752.06323"
sodipodi:docname="test_bench_flex_side.svg"
inkscape:version="1.0.1 (3bc2e813f5, 2020-09-07)">
<metadata
id="metadata1687">
<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 />
</cc:Work>
</rdf:RDF>
</metadata>
<defs
id="defs1685">
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath2257">
<path
id="path2259"
style="fill:#c9a831;fill-opacity:0.264546;fill-rule:evenodd;stroke:#000000;stroke-linecap:round;stroke-linejoin:round;stroke-dasharray:3, 3;paint-order:markers fill stroke;stop-color:#000000"
d="M 857.95367,-24.099882 H 1303.2395 V 752.06326 H 857.95367 Z" />
</clipPath>
<clipPath
id="clip2">
<path
d="m 65,47 h 5.554688 v 9 H 65 Z m 0,0"
id="path2434" />
</clipPath>
<clipPath
clipPathUnits="userSpaceOnUse"
id="clipPath1680">
<rect
style="fill:#c9a831;fill-opacity:0.264546;fill-rule:evenodd;stroke:#000000;stroke-linecap:round;stroke-linejoin:round;stroke-dasharray:3, 3;paint-order:markers fill stroke;stop-color:#000000"
id="rect1682"
width="255.17622"
height="752.06323"
x="1048.0632"
y="1.0349121e-06" />
</clipPath>
</defs>
<sodipodi:namedview
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1"
objecttolerance="10"
gridtolerance="10"
guidetolerance="10"
inkscape:pageopacity="0"
inkscape:pageshadow="2"
inkscape:window-width="2536"
inkscape:window-height="1371"
id="namedview1683"
showgrid="false"
inkscape:zoom="1.0921915"
inkscape:cx="104.29565"
inkscape:cy="437.15096"
inkscape:window-x="12"
inkscape:window-y="57"
inkscape:window-maximized="0"
inkscape:current-layer="g1689"
inkscape:document-rotation="0"
inkscape:snap-midpoints="true"
inkscape:snap-smooth-nodes="true"
inkscape:snap-intersection-paths="true"
inkscape:snap-object-midpoints="false"
inkscape:snap-page="true" />
<g
inkscape:groupmode="layer"
inkscape:label="Image"
id="g1689"
transform="translate(-702.42463,-53.326992)">
<image
width="1581"
height="847"
preserveAspectRatio="none"
xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAABi0AAANPCAYAAACme5wVAAAABGdBTUEAALGPC/xhBQAAACBjSFJN AAB6JgAAgIQAAPoAAACA6AAAdTAAAOpgAAA6mAAAF3CculE8AAAABmJLR0QA/wD/AP+gvaeTAAAA B3RJTUUH5QEIEAchbYcEJwAAABBjYU52AAAGiQAAA40AAABEAAAAK/HpGDcAAIAASURBVHja7N13 nCRHff//d1V3z8yGC3tZF5SzhARIwkgiCCSSQUQRBPbXgGQw5ottsI0N2PwcMQaMseFLciLZBBOF CMIggoUACQECoVNAWTrp7nT5dnemu6vq90fPzM6mu8294fXUY7Q7PT091T19s7v17qqPCcEFAQAA AACAOfPOd71Lb3zjn0zqOcaY9vcnn3yS3ve+9+qCJ14ga23ZuwMAADBjDKEFAAAAAABz61kXX6z7 779vUs/p7u5WT0+PJOmaa76v4447VmvWrNF3vv2dsncHAABgxsRlNwAAAAAAgKVo/fr103i20YYN G+S91xlnnqHvfPs7WrVqVdm7BAAAMG2MIQUAAAAAYI4dOHBAURRN+SZJcRzLWqs4jnXVN64qe5cA AABmBCMtAAAAAGCBeuihh/S+971HSTI728/zXN77w67XaDQUwuFnHq7VapN+/TzPZ2fnJmD58uUz uj3vI/lQXDuYJInieOp/kltb1LeIokgrVqzQBz/4IV36kktLO1YAAAAzhdACAAAAABaobQ9uUwj9 estbXn/YdeN4b9nNXbDyfOWMbCeyAzI2lSRd8KT/kdQ19npRNKzo9njiOFae5zLG6Cc/+UnZhwkA AGBGEFoAAAAAwAJmbINAYpbN1vGdzkiLTsYYTSDjAAAAWBCoaQEAAAAAwAJUhBWmGX6QWgAAgMWB kRYAAAAAAJRgOiMt4jhWFEUKISiEIGOMLn3pUE2LRj3V5z//ubJ3EQAAYNIILQAAAAAAmEPedSu2 9WltY2SBcmOkf/7nlxaPZSv0mte8o+zdBAAAmBJCCwAAAAAAFjyj1avXSJJctkJZSPXxb39c9cb0 wpFO9YN1Pfvxz1bN1LR+3fqydxgAACxShBYAAAAAACwwtVpNpll9u/XVmpokyUeJ6iHVYx7/mBkt dXHtd36gK666QvfsuEfv+qN3lX0IAADAIkVoAQAAAABACaZT06JebyiKIuV5riiKVOQWiSTJKFFs YnXH3TPa3p6kW/GKSPfvu19bb9mqU04+pcSjBwAAFitCCwAAAAAAFhgz5giKiiTJmkQ2WPWoZ0Zf M85i7dm7R2mW6pattxBaAACAWUFoAQAAAADAAlZMD2XUCi28IhlFqqk2o69TCRXFJlZMVwIAAJhF /KYBAAAAAEAJkiSZ8nOtte1aFm2hOT1USGSDmfHQIlEiY4xWrVqlNWvXzPnxAgAASwOhBQAAAAAA c8xYo2q1OuXne+8VRdGIjRahhbWxjKys7Iy22coqMYn2796vh3c+POfHDAAALA2EFgAAAAAAzDmj SqUy4bW998O+GmObX41CCM21imVBZsLbnXSrjZEJs7d9AAAAQgsAAAAAAEow1kiLoQBCcs61vx85 qsJaoziOFUWR8jxvFuaOJAVJRkEzr1atadOWTdq6bWvZhw4AACxihBYAAAAAAJSgc6RFZ0DRCi5G Tf/UwdrhUz8ZI4UQyxgnY5yCn/n21ht13bf7PlXcxEeIAAAATBahBQAAAAAAJZhOTYs0zdqFuEMI RdBhYmkWp4ZSkAYHBmWMUf9A/xwfLQAAsFQQWgAAAAAAUIIoihTHU/uzPI4jRVHUrnGhIBklKqaI miVG6urukiSddNJJc3y0AADAUkFoAQAAAADAHLO2KMRtrS2KW5vhIyRay0ZOA9X5eOdjxYRS/IkP AAAWPn6jARaZRtpQ8KPL7kVxJJe7KWwRwFJnrR26irNDFEVKkqTs5gEAsGB1Tg8VRdGo4EIqfg6P F1wMCy1mo/L2GK/XVeua+wMFAACWFEILYBF56KGH9JvP/0317z6gyA/9wVOv5Fq/ab22Pbit7CYC WICOO+Y43furu9WVDX2u5DaoYXP96KYbxu1IAQAAh9ZZiFsaP7gYa1kpwvCC4QAAALOB0AJYRPI8 V1/XCl3x5S8odlbBen31mm/o3z75H3rLn/+ZHnveuWU3EcAC9NUvf0Uf/7eP6Ddf8BI96ZHnyXqj NPZ6+osuLop+AgCAKZlOIW6p+P1/6Ovs/0z2wSvN0rk4NAAAYAkjtAAWmZA67duxR9UQ6x/e/249 qN264utXzp+rswAsOL9+8TP1jF//dV30xCfr3nNu0ytf9H90oL5Pyvz0Nw4AwBLWmn4xioaKZ0/1 93auIwAAAIsFoQWwyBxxzHq94wN/p5NOOFnLH7FOf/Mn/1B2kwAsAiYy+tY139Zv//blOuHn39PX v3O1lq1dXnazAABY0BqNxqhlnaFFZ5gxnhBCc+Tj7KcW1UpVGzdu1P133T+nxwkAACwthBbAIrP7 zof0b//wft1x8636Re3hspsDYJE54ogjdLTp1f/327+nZ152adnNAQBgQTLGKYRI9XpdxpgJja4Y q4ZUnuftqRrnYqRFI21o2+5t8t7r/vvu1zlnnzPnxw4AACx+hBYAAAAAAMwhYxvKXazBwcFhy8cr xD2WMupKddW6dMzxx+ieO++Z89cGAABLB6EFAAAAAAAlGGt6qJaxRlZ08j60R1rM1fRQg/VB3fPQ PQoK2nzk5rk+XAAAYIkgtAAAAAAAoAQPPvjglJ9rjLR79241Gg01Go1mUe/ZDS5q1Zo2bdqk/r39 SvN0jo8WAABYKggtAAAAAAAowcc//vEpP7darek73/lOe5oo77yCb8gYN2vtrTfquuehe7Rz507t 2LZjzo8XAABYGggtAAAAAAAowe/8zu9M+bn//u//oWc/+9mq1+saGBjQT264QdKAgilGQMzKmIsg HRg4IC9fyvECAABLA6EFAAAAAAALnZGC6rKqS5KC9ao3v58pmTLVltUILQAAwKwitAAAAAAAYIEz kiQvKW9+F+TkOh43h92GC06HWs3JK3O5nJ+9KagAAAAILQAAAAAAWOCMkYJvSKbRXBKUKVNoThQ1 kdCiGK1xiImlrFTrrkqmqG8BAAAwGwgtAAAAAABYwIwxxQgJ44qbpBCkLAyFFsFMrMqFCeOHG5nP NJgOygWnh3c+XPZuAwCARYrQAgAAAACAORRCImvyGd2mNZJRLqkoxO2NV6asPd3ThEZa6NDhRghB qUsVTNDmzZtLOXYAAGDxI7QAAAAAgAXKewoiL0TBJzIzHFpIknO5rC1CC9kR00MFM6Hgwpvxz6k8 ZHLWy1svU5lYCAIAADBZhBYAAAAAsEDt27uv7CZgHvHeyblieiivoFTp5Gpa6NA1LVxwyn0mSdq0 YVPZuwsAABYpQgsAAAAAWKD6VvWV3QTMI41GQ84XIy2C/LCRFhPMLA7JycnLa3BwUJpYiQwAAIBJ I7QAAAAAAGARaKRZeySEN8OnhwrN/w7Hyo77mAte3vn2aA4AAIDZQGgBAAAAAAuYMdQWQKG/v19x MiBJCsarrvqEgopOh1q/Pz4o028UVSL1LOspe3cBAMAiRWgBAAAAAMACFyQ1Grlc3qxp4b0G0oFh hbUPVddiIuFGo9LQ2t61uqP/DvUf6C97lwEAwCJFaAEAAAAAwCLQPzCoOKpLkpxzGjw4qGCbYcSh MgmjYeHGuNvf36/6A3VlWVb2rgIAgEWM0AIAAAAAgEVgYGBQUVRMD+Vyr/pAfSi00MRGU4zF+qLO RT7gVO+vyzWc7r/vfp1z9jll7zIAAFiECC0AAAAAAFjogjQ4OKioNdIidzq47+Cw0MIEIxOmXgOl 3j+oNM2UZZk2b9lc9h4DAIBFitACAAAAAIAFLnfS4MBBGePkfVUuTdU42FCrjEUwoahpMbXBFsVr 5E6VrkQudWXvLgAAWMQILQAAAAAAWOBCkPr7D0iSXC65LNPePXvHXDeKoim9Rv/+fjV21ZU20rJ3 FwAALGKEFgAAAAAALAIH9hf1LHIXlGa5Du47KGOmPh3USP37+9XYTyFuAAAwuwgtAAAAAABYBHbv 3S9Jci6Vy5wO7j04o9tv9NeVN3LleV72rgIAgEWM0AIAAAAAgEVg355+SZJzTj73GmiOvJgpjcGG bLDq7u7WKaecUvbuAgCARYrQAlhETJAGKrmS3Gp/l1McZm4oOABIUlVGe2vS0cwKAQDAvLPvQDGy IrhMyqW4P1aw06i8PVK/VN9f11mPOEu9Pb1l7y4AAFikCC2ARcbZIBuMsihIjNoGMMOspMxKUZDS aAY7QQAAwLQNDDYkScEFnXriqXrB01+gel6fse1vP3m7nvqkp2rD2g1l7yoAAFjECC0AAMCU1JOy WwAAADqlWXHVUnCRJKMLzr2g7CYBAABMGqEFAAAAAABzxsgYL6OZn8r1lb/1xmGvAwAAsBARWgAA AAAAMIeM8ZqNUOGiiy4qe9cAAACmjdACWGB2b9spn+Yaq57evu0PywZbdhMBAAAAAAAAYEoILYAZ ct0vr9M3r/pWcSc0b+r4qnGWjWWcx9NGqn/94Ie1vGeZTHOdpBJJkpzzyrJczge97T//Wfcc2K6D GtTtD9ypEIJsZOS8VxRHcrmTjBQlzYDDSEFBa9asUZqn6unp0bmnn6sTjz+p7MOKQzFBX//213Xf jvv08EMPS8HIRqaYaqB5fvR292rv3n3N1Y1MLi1ftlxpIx22qSRJ1N/fLy8vKysZqZJUJElplkqh WCfLMnX3dCvPcjnr1Mia22leKBjHkXLnxmhr8cXGVqZ52nX3dKvWVdOuXbsUTNCWLVv05HMv1MY1 G8s+sjiEzARdf+/P9Z0ffkvbDz6st7Line truncated
id="image1691"
clip-path="url(#clipPath1680)"
transform="translate(-345.6386,53.326991)" />
<path
style="fill:none;stroke:#000000;stroke-width:0.970477;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:3.8819, 3.8819;stroke-opacity:1"
d="M 814.91107,398.20926 H 945.97616"
id="path2445" />
<path
style="fill:none;stroke:#000000;stroke-width:0.970477;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:3.8819, 3.8819;stroke-opacity:1"
d="M 814.91107,219.46931 H 945.97616"
id="path2447" />
<path
style="fill:none;stroke:#000000;stroke-width:1.94096;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1"
d="M 938.21234,395.12598 V 222.94687"
id="path2449" />
<path
style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.727859;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1"
d="m 942.91314,384.97639 -4.68043,12.72743 -4.68061,-12.72743 c 2.75984,2.03193 6.54064,2.02182 9.36104,0 z m 0,0"
id="path2451" />
<path
style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.727859;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1"
d="m 933.51172,233.10656 4.68042,-12.72742 4.68063,12.72742 c -2.75985,-2.03193 -6.54064,-2.02182 -9.36105,0 z m 0,0"
id="path2453" />
<path
style="fill:none;stroke:#000000;stroke-width:1.94096;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1"
d="m 784.11855,219.46931 h 32.54132"
id="path2455" />
<path
style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.727859;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1"
d="m 806.50032,214.76858 12.72743,4.68052 -12.72743,4.68053 c 2.03179,-2.7598 2.0217,-6.54062 0,-9.36105 z m 0,0"
id="path2457" />
<path
style="fill:none;stroke:#000000;stroke-width:1.94096;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1"
d="m 851.21299,219.51986 h 17.40805"
id="path2459" />
<path
style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.727859;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1"
d="m 858.46131,214.82922 12.72744,4.68052 -12.72744,4.67044 c 2.03199,-2.75979 2.02188,-6.54063 0,-9.35096 z m 0,0"
id="path2461" />
<path
style="fill:none;stroke:#000000;stroke-width:0.970479;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:3.88192, 3.88192;stroke-opacity:1"
d="M 851.44552,397.45109 871.69417,219.4491"
id="path2463" />
<path
style="fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:2.58794"
d="m 866.03297,176.47509 c 0,0 0,-0.28306 -0.32336,-0.28306 -0.4045,0 -2.83069,0.24262 -3.27537,0.28306 -0.20224,0.0404 -0.36392,0.16167 -0.36392,0.48524 0,0.32349 0.24262,0.32349 0.60655,0.32349 1.25346,0 1.29384,0.16169 1.29384,0.44479 l -0.0815,0.52569 -1.53666,6.10593 c -0.48523,-0.97048 -1.2131,-1.65791 -2.38582,-1.65791 -2.99218,0 -6.1868,3.80105 -6.1868,7.56166 0,2.42619 1.41534,4.12454 3.39667,4.12454 0.52581,0 1.81965,-0.12133 3.35631,-1.94097 0.20224,1.09179 1.13216,1.94097 2.34526,1.94097 0.9301,0 1.49628,-0.60655 1.94096,-1.4153 0.4045,-0.93004 0.76842,-2.50708 0.76842,-2.5475 0,-0.28306 -0.24262,-0.28306 -0.32355,-0.28306 -0.24263,0 -0.283,0.12132 -0.36394,0.48524 -0.44487,1.65789 -0.88954,3.19449 -1.94095,3.19449 -0.72786,0 -0.76824,-0.68743 -0.76824,-1.17267 0,-0.64698 0.0408,-0.80872 0.12035,-1.25352 z m -5.33763,14.55719 c -0.16109,0.48522 -0.16109,0.52565 -0.52561,0.97046 -1.13216,1.41529 -2.18357,1.81965 -2.91143,1.81965 -1.29404,0 -1.65796,-1.41529 -1.65796,-2.42619 0,-1.29399 0.80879,-4.44804 1.41533,-5.66113 0.8088,-1.49615 1.94097,-2.46664 2.99238,-2.46664 1.65777,0 2.0217,2.1027 2.0217,2.26447 0,0.16168 -0.0408,0.32348 -0.0815,0.44478 z m 0,0"
id="path2465" />
<path
style="fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:2.58794"
d="m 870.64275,196.06662 c -0.1611,0.60655 -0.76823,1.57704 -1.69835,1.57704 -0.0408,0 -0.60654,0 -0.97046,-0.24263 0.72786,-0.24262 0.80879,-0.8896 0.80879,-1.01091 0,-0.40437 -0.32355,-0.64699 -0.72786,-0.64699 -0.52561,0 -1.05142,0.40437 -1.05142,1.09178 0,0.88963 1.01105,1.29398 1.9006,1.29398 0.84916,0 1.57702,-0.48523 2.02188,-1.25353 0.44468,0.93004 1.41516,1.25353 2.14302,1.25353 2.10283,0 3.19462,-2.22401 3.19462,-2.74969 0,-0.24262 -0.24263,-0.24262 -0.28318,-0.24262 -0.28299,0 -0.28299,0.12131 -0.36393,0.3235 -0.36393,1.25353 -1.45572,2.18358 -2.46657,2.18358 -0.72786,0 -1.09179,-0.48525 -1.09179,-1.17267 0,-0.48524 0.44487,-2.1027 0.9301,-4.12453 0.36393,-1.37485 1.17254,-1.81965 1.77908,-1.81965 0.0408,0 0.56619,0 0.97048,0.24261 -0.56598,0.16168 -0.8086,0.68744 -0.8086,1.01092 0,0.36394 0.32337,0.64698 0.72786,0.64698 0.4043,0 1.01085,-0.32349 1.01085,-1.09179 0,-1.0109 -1.17273,-1.33439 -1.86001,-1.33439 -0.93011,0 -1.65797,0.60653 -2.0219,1.29398 -0.32357,-0.72786 -1.17273,-1.29398 -2.18358,-1.29398 -2.0219,0 -3.15406,2.224 -3.15406,2.79012 0,0.20219 0.24263,0.20219 0.283,0.20219 0.24262,0 0.24262,-0.0404 0.36392,-0.28307 0.44487,-1.41526 1.57702,-2.18357 2.46676,-2.18357 0.60655,0 1.09179,0.32349 1.09179,1.17266 0,0.36393 -0.24261,1.25353 -0.40448,1.90052 z m 0,0"
id="path2467" />
<path
style="fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:2.58794"
d="m 792.17566,180.05616 h 2.50693 c 1.94097,0 2.14322,0.40438 2.14322,1.13223 0,0.20219 0,0.48523 -0.16111,1.29398 -0.0815,0.1213 -0.0815,0.20217 -0.0815,0.28305 0,0.20218 0.1611,0.28304 0.28299,0.28304 0.2832,0 0.2832,-0.0809 0.40451,-0.52566 l 1.41514,-5.62069 c 0.0815,-0.28307 0.0815,-0.3235 0.0815,-0.40438 0,-0.0403 -0.0408,-0.28305 -0.32356,-0.28305 -0.24261,0 -0.28299,0.1213 -0.36393,0.56612 -0.56598,1.98139 -1.13215,2.46663 -3.35609,2.46663 h -2.34546 l 1.65796,-6.55074 c 0.24263,-0.93004 0.28299,-1.0109 1.41535,-1.0109 h 3.39668 c 3.15405,0 3.76059,0.84916 3.76059,2.83055 0,0.60656 0,0.68743 -0.0815,1.41529 -0.0408,0.32348 -0.0408,0.36394 -0.0408,0.44479 0,0.12131 0.0815,0.3235 0.32357,0.3235 0.28318,0 0.28318,-0.16168 0.32355,-0.64698 l 0.52561,-4.48846 c 0.0815,-0.68744 -0.0408,-0.68744 -0.68729,-0.68744 h -12.65679 c -0.48524,0 -0.76823,0 -0.76823,0.52568 0,0.28307 0.24261,0.28307 0.72786,0.28307 0.97047,0 1.69834,0 1.69834,0.44479 0,0.1213 0,0.16168 -0.16111,0.64699 l -3.39667,13.62714 c -0.24262,1.0109 -0.28319,1.21309 -2.34546,1.21309 -0.44467,0 -0.72786,0 -0.72786,0.48525 0,0.32349 0.32357,0.32349 0.40451,0.32349 0.72786,0 2.66881,-0.0809 3.39668,-0.0809 0.84916,0 2.99217,0.0809 3.84134,0.0809 0.24262,0 0.52581,0 0.52581,-0.48523 0,-0.20217 -0.12035,-0.28307 -0.12035,-0.28307 -0.0815,-0.0404 -0.16109,-0.0404 -0.72786,-0.0404 -0.56617,0 -0.68748,0 -1.33441,-0.0404 -0.76841,-0.0809 -0.84916,-0.20218 -0.84916,-0.52567 0,-0.0404 0,-0.20217 0.12034,-0.56611 z m 0,0"
id="path2469" />
<path
style="fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:2.58794"
d="m 805.4388,190.3877 c -0.16109,0.60656 -0.76824,1.57705 -1.69833,1.57705 -0.0408,0 -0.60656,0 -0.97049,-0.24263 0.72786,-0.24262 0.8088,-0.8896 0.8088,-1.01091 0,-0.40436 -0.32355,-0.64698 -0.72786,-0.64698 -0.52581,0 -1.05141,0.40436 -1.05141,1.09179 0,0.88959 1.01085,1.29395 1.90059,1.29395 0.84916,0 1.57702,-0.48522 2.02169,-1.25352 0.44487,0.93004 1.41535,1.25352 2.14321,1.25352 2.10264,0 3.19442,-2.22401 3.19442,-2.74966 0,-0.24263 -0.24261,-0.24263 -0.28299,-0.24263 -0.28299,0 -0.28299,0.12131 -0.36392,0.32348 -0.36394,1.25355 -1.45573,2.18359 -2.46658,2.18359 -0.72786,0 -1.09178,-0.48525 -1.09178,-1.17266 0,-0.48524 0.44468,-2.10271 0.9299,-4.12454 0.36394,-1.37485 1.17273,-1.81964 1.77929,-1.81964 0.0408,0 0.56617,0 0.97048,0.24262 -0.56618,0.16168 -0.8088,0.68741 -0.8088,1.0109 0,0.36394 0.32355,0.64698 0.72786,0.64698 0.40449,0 1.01104,-0.32347 1.01104,-1.09179 0,-1.01091 -1.17273,-1.3344 -1.86021,-1.3344 -0.92992,0 -1.65778,0.60654 -2.0217,1.29398 -0.32355,-0.72786 -1.17273,-1.29398 -2.18359,-1.29398 -2.02189,0 -3.15404,2.22402 -3.15404,2.79013 0,0.2022 0.24261,0.2022 0.28299,0.2022 0.24261,0 0.24261,-0.0403 0.36392,-0.28307 0.44487,-1.41527 1.57704,-2.18357 2.46658,-2.18357 0.60654,0 1.09178,0.32349 1.09178,1.17267 0,0.36392 -0.24262,1.25352 -0.4043,1.90052 z m 0,0"
id="path2471" />
<path
style="fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:2.58794"
d="m 872.20968,358.23766 c 0,-1.69833 -0.44468,-5.2972 -3.07312,-5.2972 -3.59891,0 -7.56158,7.2786 -7.56158,13.18235 0,2.42618 0.72787,5.2972 3.07313,5.2972 3.63929,0 7.56157,-7.3999 7.56157,-13.18235 z m -7.92551,3.518 c 0.44487,-1.61747 0.97049,-3.67974 2.02189,-5.53983 0.68731,-1.25352 1.6174,-2.70925 2.79014,-2.70925 1.25347,0 1.41514,1.65791 1.41514,3.11362 0,1.29397 -0.20205,2.58795 -0.8086,5.13546 z m 5.17595,0.84916 c -0.28318,1.17267 -0.80879,3.35625 -1.81965,5.21632 -0.88973,1.77922 -1.86021,3.03275 -2.99236,3.03275 -0.84918,0 -1.37479,-0.76829 -1.37479,-3.15406 0,-1.09178 0.1611,-2.58792 0.80861,-5.09501 z m 0,0"
id="path2473" />
<path
style="fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:2.58794"
d="m 882.61206,368.21541 c 0.0815,-0.24261 0.0815,-0.28307 0.0815,-0.40438 0,-0.36393 -0.28319,-0.56609 -0.60655,-0.56609 -0.20226,0 -0.5258,0.0809 -0.72786,0.40435 -0.0815,0.12131 -0.20225,0.68743 -0.28319,1.05136 l -0.40429,1.49615 c -0.0815,0.44481 -0.64693,2.70926 -0.72786,2.91143 0,0 -0.8088,1.57703 -2.18359,1.57703 -1.25346,0 -1.25346,-1.17264 -1.25346,-1.49615 0,-0.97048 0.4043,-2.10269 0.97047,-3.51799 0.20206,-0.56611 0.28299,-0.7683 0.28299,-1.09178 0,-0.84917 -0.72786,-1.53659 -1.69833,-1.53659 -1.81965,0 -2.62845,2.46663 -2.62845,2.79011 0,0.2022 0.24262,0.2022 0.32357,0.2022 0.24262,0 0.24262,-0.0809 0.32355,-0.28305 0.44467,-1.49614 1.2131,-2.18359 1.94096,-2.18359 0.28299,0 0.44467,0.20221 0.44467,0.60656 0,0.44481 -0.1611,0.80874 -0.24262,1.05136 -0.88954,2.22401 -1.05122,2.87099 -1.05122,3.67972 0,0.28305 0,1.13223 0.68729,1.73878 0.56617,0.4448 1.33441,0.52566 1.81965,0.52566 0.72786,0 1.37498,-0.24262 1.94096,-0.80872 -0.20206,1.01091 -0.4043,1.7792 -1.17253,2.66881 -0.48525,0.56612 -1.21311,1.13223 -2.18357,1.13223 -0.12036,0 -0.97049,0 -1.33442,-0.56611 0.97048,-0.12133 0.97048,-0.97049 0.97048,-1.01092 0,-0.56612 -0.5258,-0.68743 -0.68749,-0.68743 -0.44486,0 -1.05142,0.36394 -1.05142,1.2131 0,0.88962 0.84918,1.57703 2.14321,1.57703 1.81965,0 4.04359,-1.41527 4.60978,-3.67973 z m 0,0"
id="path2475" />
<path
style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:2.58794"
d="m 855.16574,398.18905 c 0,2.08248 -1.67815,3.77072 -3.76059,3.77072 -2.08245,0 -3.76061,-1.68824 -3.76061,-3.77072 0,-2.07238 1.67816,-3.7606 3.76061,-3.7606 2.08244,0 3.76059,1.68822 3.76059,3.7606 z m 0,0"
id="path2477" />
<path
style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:none;stroke-width:2.58794"
d="m 855.24649,219.39854 c 0,2.08249 -1.68805,3.77072 -3.7707,3.77072 -2.08245,0 -3.7606,-1.68823 -3.7606,-3.77072 0,-2.07237 1.67815,-3.76059 3.7606,-3.76059 2.08265,0 3.7707,1.68822 3.7707,3.76059 z m 0,0"
id="path2479" />
<g
clip-path="url(#clip2)"
clip-rule="nonzero"
id="g2483"
transform="matrix(2.5879433,0,0,2.5879433,771.8158,176.19203)">
<path
style="fill:#000000;fill-opacity:1;fill-rule:nonzero;stroke:none"
d="m 67.976562,48.097656 c 0,0 0,-0.109375 -0.125,-0.109375 -0.234374,0 -0.953124,0.07813 -1.21875,0.109375 -0.07812,0 -0.1875,0.01563 -0.1875,0.1875 0,0.125 0.09375,0.125 0.234376,0.125 0.484374,0 0.5,0.0625 0.5,0.171875 l -0.03125,0.203125 -1.4375,5.734375 c -0.04688,0.140625 -0.04688,0.15625 -0.04688,0.21875 0,0.234375 0.203126,0.28125 0.296876,0.28125 0.15625,0 0.3125,-0.125 0.359374,-0.265625 l 0.1875,-0.75 0.21875,-0.890625 c 0.0625,-0.234375 0.125,-0.453125 0.171876,-0.671875 0.01562,-0.0625 0.109374,-0.390625 0.109374,-0.453125 0.03125,-0.09375 0.34375,-0.640625 0.6875,-0.921875 0.21875,-0.15625 0.515626,-0.34375 0.953126,-0.34375 0.421874,0 0.53125,0.34375 0.53125,0.703125 0,0.53125 -0.375,1.625 -0.609376,2.234375 -0.07812,0.21875 -0.140624,0.34375 -0.140624,0.546875 0,0.46875 0.359374,0.8125 0.828124,0.8125 0.9375,0 1.296876,-1.453125 1.296876,-1.53125 0,-0.109375 -0.07813,-0.109375 -0.109376,-0.109375 -0.109374,0 -0.109374,0.03125 -0.15625,0.1875 -0.140624,0.53125 -0.46875,1.234375 -1.015624,1.234375 -0.171876,0 -0.234376,-0.09375 -0.234376,-0.328125 0,-0.25 0.07813,-0.484375 0.171876,-0.703125 0.15625,-0.4375 0.609374,-1.625 0.609374,-2.203125 0,-0.640625 -0.390624,-1.0625 -1.140624,-1.0625 -0.625,0 -1.109376,0.3125 -1.484376,0.765625 z m 0,0"
id="path2481" />
</g>
<path
style="fill:none;stroke:#000000;stroke-width:1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:3, 3;stroke-dashoffset:0;stroke-opacity:1"
d="m 851.21299,219.51986 0.23253,177.93123"
id="path3131" />
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 110 KiB

test-bench-flexible-joints.html
+124 -76
View File
@@ -3,7 +3,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2021-02-16 mar. 19:15 -->
<!-- 2021-02-16 mar. 21:23 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Flexible Joint - Test Bench</title>
<meta name="generator" content="Org mode" />
@@ -39,27 +39,28 @@
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#org108197d">1. Flexible Joints - Requirements</a></li>
<li><a href="#org0e51a3c">2. Test Bench Description</a>
<li><a href="#org7706130">1. Flexible Joints - Requirements</a></li>
<li><a href="#org2925cfa">2. Test Bench Description</a>
<ul>
<li><a href="#orgd387cac">2.1. Flexible joint Geometry</a></li>
<li><a href="#org8da94ef">2.2. Required external applied force</a></li>
<li><a href="#orgdda06ee">2.3. Required actuator stroke and sensors range</a></li>
<li><a href="#orgb6763c2">2.4. First try with the APA95ML</a></li>
<li><a href="#orge3df316">2.5. Test Bench</a></li>
<li><a href="#org1121b59">2.1. Flexible joint Geometry</a></li>
<li><a href="#org8e5eddc">2.2. Required external applied force</a></li>
<li><a href="#org5baf14d">2.3. Required actuator stroke and sensors range</a></li>
<li><a href="#orge82143e">2.4. First try with the APA95ML</a></li>
<li><a href="#orgfd806d9">2.5. Test Bench</a></li>
</ul>
</li>
<li><a href="#orgb94416f">3. Agreement between the probe and the encoder</a>
<li><a href="#org169b47f">3. Agreement between the probe and the encoder</a>
<ul>
<li><a href="#org57bb37e">3.1. Results</a></li>
<li><a href="#org5ed49b7">3.1. Setup</a></li>
<li><a href="#orga83f29f">3.2. Results</a></li>
</ul>
</li>
<li><a href="#orgaca8c01">4. Measurement of the Millimar 1318 probe stiffness</a>
<li><a href="#org0fbb329">4. Measurement of the Millimar 1318 probe stiffness</a>
<ul>
<li><a href="#org837827a">4.1. Results</a></li>
<li><a href="#orgc7d7173">4.1. Results</a></li>
</ul>
</li>
<li><a href="#orgac55925">5. Experimental measurement</a></li>
<li><a href="#orgda9e689">5. Experimental measurement</a></li>
</ul>
</div>
</div>
@@ -67,8 +68,8 @@
<p>This report is also available as a <a href="./test-bench-flexible-joints.pdf">pdf</a>.</p>
<hr>
<div id="outline-container-org108197d" class="outline-2">
<h2 id="org108197d"><span class="section-number-2">1</span> Flexible Joints - Requirements</h2>
<div id="outline-container-org7706130" class="outline-2">
<h2 id="org7706130"><span class="section-number-2">1</span> Flexible Joints - Requirements</h2>
<div class="outline-text-2" id="text-1">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
@@ -119,8 +120,8 @@
</div>
</div>
<div id="outline-container-org0e51a3c" class="outline-2">
<h2 id="org0e51a3c"><span class="section-number-2">2</span> Test Bench Description</h2>
<div id="outline-container-org2925cfa" class="outline-2">
<h2 id="org2925cfa"><span class="section-number-2">2</span> Test Bench Description</h2>
<div class="outline-text-2" id="text-2">
<p>
The main characteristic of the flexible joint that we want to measure is its bending stiffness \(k_{R_x} \approx k_{R_y}\).
@@ -136,23 +137,23 @@ The basic idea is to measured the angular deflection of the flexible joint as a
</p>
<div id="org43c60ee" class="figure">
<div id="org5c42ee1" class="figure">
<p><img src="figs/test-bench-schematic.png" alt="test-bench-schematic.png" />
</p>
<p><span class="figure-number">Figure 1: </span>Schematic of the test bench to measure the bending stiffness of the flexible joints</p>
</div>
</div>
<div id="outline-container-orgd387cac" class="outline-3">
<h3 id="orgd387cac"><span class="section-number-3">2.1</span> Flexible joint Geometry</h3>
<div id="outline-container-org1121b59" class="outline-3">
<h3 id="org1121b59"><span class="section-number-3">2.1</span> Flexible joint Geometry</h3>
<div class="outline-text-3" id="text-2-1">
<p>
The flexible joint used for the Nano-Hexapod is shown in Figure <a href="#org6500c8a">2</a>.
The flexible joint used for the Nano-Hexapod is shown in Figure <a href="#org4639f1b">2</a>.
Its bending stiffness is foreseen to be \(k_{R_y}\approx 20\,\frac{Nm}{rad}\) and its stroke \(\theta_{y,\text{max}}\approx 20\,mrad\).
</p>
<div id="org6500c8a" class="figure">
<div id="org4639f1b" class="figure">
<p><img src="figs/flexible_joint_geometry.png" alt="flexible_joint_geometry.png" />
</p>
<p><span class="figure-number">Figure 2: </span>Geometry of the flexible joint</p>
@@ -174,8 +175,8 @@ Let&rsquo;s define the parameters on Matlab.
</div>
</div>
<div id="outline-container-org8da94ef" class="outline-3">
<h3 id="org8da94ef"><span class="section-number-3">2.2</span> Required external applied force</h3>
<div id="outline-container-org8e5eddc" class="outline-3">
<h3 id="org8e5eddc"><span class="section-number-3">2.2</span> Required external applied force</h3>
<div class="outline-text-3" id="text-2-2">
<p>
The bending \(\theta_y\) of the flexible joint due to the force \(F_x\) is:
@@ -207,8 +208,8 @@ The measurement range of the force sensor should then be higher than \(20\,N\).
</div>
</div>
<div id="outline-container-orgdda06ee" class="outline-3">
<h3 id="orgdda06ee"><span class="section-number-3">2.3</span> Required actuator stroke and sensors range</h3>
<div id="outline-container-org5baf14d" class="outline-3">
<h3 id="org5baf14d"><span class="section-number-3">2.3</span> Required actuator stroke and sensors range</h3>
<div class="outline-text-3" id="text-2-3">
<p>
The flexible joint is designed to allow a bending motion of \(\pm 20\,mrad\).
@@ -233,8 +234,8 @@ The measurement range of the displacement sensor should also be higher than \(0.
</div>
</div>
<div id="outline-container-orgb6763c2" class="outline-3">
<h3 id="orgb6763c2"><span class="section-number-3">2.4</span> First try with the APA95ML</h3>
<div id="outline-container-orge82143e" class="outline-3">
<h3 id="orge82143e"><span class="section-number-3">2.4</span> First try with the APA95ML</h3>
<div class="outline-text-3" id="text-2-4">
<p>
The APA95ML as a stroke of \(100\,\mu m\) and the encoder in parallel can easily measure the required stroke.
@@ -262,17 +263,25 @@ And the tested angular range is:
</div>
</div>
<div id="outline-container-orge3df316" class="outline-3">
<h3 id="orge3df316"><span class="section-number-3">2.5</span> Test Bench</h3>
<div id="outline-container-orgfd806d9" class="outline-3">
<h3 id="orgfd806d9"><span class="section-number-3">2.5</span> Test Bench</h3>
<div class="outline-text-3" id="text-2-5">
<div id="org2a1f8c7" class="figure">
<p><img src="figs/test-bench-schematic.png" alt="test-bench-schematic.png" />
<div id="org0957ecc" class="figure">
<p><img src="figs/test_bench_flex_overview.png" alt="test_bench_flex_overview.png" />
</p>
<p><span class="figure-number">Figure 3: </span>Schematic of the test bench to measure the bending stiffness of the flexible joints</p>
</div>
<div class="note" id="orgf1de4cf">
<div id="org5b8e491" class="figure">
<p><img src="figs/test_bench_flex_side.png" alt="test_bench_flex_side.png" />
</p>
<p><span class="figure-number">Figure 4: </span>Schematic of the test bench to measure the bending stiffness of the flexible joints</p>
</div>
<div class="note" id="org96d3620">
<ul class="org-ul">
<li><b>Translation Stage</b>: <a href="doc/V-408-Datasheet.pdf">V-408</a></li>
<li><b>Load Cells</b>: <a href="doc/A700000007147087.pdf">FC2231-0000-0010-L</a> and <a href="doc/FRE_DS_XFL212R_FR_A3.pdf">XFL212R</a></li>
@@ -285,73 +294,101 @@ And the tested angular range is:
</div>
</div>
<div id="outline-container-orgb94416f" class="outline-2">
<h2 id="orgb94416f"><span class="section-number-2">3</span> Agreement between the probe and the encoder</h2>
<div id="outline-container-org169b47f" class="outline-2">
<h2 id="org169b47f"><span class="section-number-2">3</span> Agreement between the probe and the encoder</h2>
<div class="outline-text-2" id="text-3">
</div>
<div id="outline-container-org57bb37e" class="outline-3">
<h3 id="org57bb37e"><span class="section-number-3">3.1</span> Results</h3>
<div id="outline-container-org5ed49b7" class="outline-3">
<h3 id="org5ed49b7"><span class="section-number-3">3.1</span> Setup</h3>
<div class="outline-text-3" id="text-3-1">
<p>
The measurement setup is made such that the probe measured the translation table displacement.
It should then measure the same displacement as the encoder.
Using this setup, we should be able to compare the probe and the encoder.
</p>
</div>
</div>
<div id="outline-container-orga83f29f" class="outline-3">
<h3 id="orga83f29f"><span class="section-number-3">3.2</span> Results</h3>
<div class="outline-text-3" id="text-3-2">
<p>
Let&rsquo;s load the measurements.
</p>
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'meas_probe_against_encoder.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'d'</span>, <span class="org-string">'dp'</span>, <span class="org-string">'F'</span>)
</pre>
</div>
<p>
The time domain measured displacement by the probe and by the encoder is shown in Figure <a href="#orgfed4851">5</a>.
</p>
<div id="org090f800" class="figure">
<div id="orgfed4851" class="figure">
<p><img src="figs/comp_encoder_probe_time.png" alt="comp_encoder_probe_time.png" />
</p>
<p><span class="figure-number">Figure 4: </span>Time domain measurement</p>
<p><span class="figure-number">Figure 5: </span>Time domain measurement</p>
</div>
<p>
If we zoom, we see that there is some delay between the encoder and the probe (Figure <a href="#org8b829e0">6</a>).
</p>
<div id="orgeedac3e" class="figure">
<div id="org8b829e0" class="figure">
<p><img src="figs/comp_encoder_probe_time_zoom.png" alt="comp_encoder_probe_time_zoom.png" />
</p>
<p><span class="figure-number">Figure 5: </span>Time domain measurement (Zoom)</p>
<p><span class="figure-number">Figure 6: </span>Time domain measurement (Zoom)</p>
</div>
<div class="org-src-container">
<pre class="src src-matlab">finddelay(d, dp)
</pre>
</div>
<p>
This delay is estimated using the <code>finddelay</code> command.
</p>
<pre class="example">
316
The time delay is approximately 15.8 [ms]
</pre>
<div class="org-src-container">
<pre class="src src-matlab">Ts<span class="org-type">*</span>finddelay(d, dp)
</pre>
</div>
<pre class="example">
0.0158
</pre>
<p>
The measured mismatch between the encoder and the probe with and without compensating for the time delay are shown in Figure <a href="#org325c41d">7</a>.
</p>
<div id="org196ee5e" class="figure">
<div id="org325c41d" class="figure">
<p><img src="figs/comp_encoder_probe_mismatch.png" alt="comp_encoder_probe_mismatch.png" />
</p>
<p><span class="figure-number">Figure 6: </span>Measurement mismatch, with and without delay compensation</p>
<p><span class="figure-number">Figure 7: </span>Measurement mismatch, with and without delay compensation</p>
</div>
<p>
Finally, the displacement of the probe is shown as a function of the displacement of the encoder and a linear fit is made (Figure <a href="#org6b2fa2a">8</a>).
</p>
<div id="org4c16552" class="figure">
<div id="org6b2fa2a" class="figure">
<p><img src="figs/comp_encoder_probe_linear_fit.png" alt="comp_encoder_probe_linear_fit.png" />
</p>
<p><span class="figure-number">Figure 7: </span>Measured displacement by the probe as a function of the measured displacement by the encoder</p>
<p><span class="figure-number">Figure 8: </span>Measured displacement by the probe as a function of the measured displacement by the encoder</p>
</div>
<div class="important" id="orgd63f29c">
<p>
From the measurement, it is shown that the probe is well calibrated.
However, there is some time delay of tens of milliseconds that could induce some measurement errors.
</p>
</div>
</div>
</div>
</div>
<div id="outline-container-orgaca8c01" class="outline-2">
<h2 id="orgaca8c01"><span class="section-number-2">4</span> Measurement of the Millimar 1318 probe stiffness</h2>
<div id="outline-container-org0fbb329" class="outline-2">
<h2 id="org0fbb329"><span class="section-number-2">4</span> Measurement of the Millimar 1318 probe stiffness</h2>
<div class="outline-text-2" id="text-4">
<div class="note" id="org2b211f7">
<div class="note" id="org8fed4a1">
<ul class="org-ul">
<li><b>Translation Stage</b>: <a href="doc/V-408-Datasheet.pdf">V-408</a></li>
<li><b>Load Cell</b>: <a href="doc/A700000007147087.pdf">FC2231-0000-0010-L</a></li>
@@ -362,37 +399,40 @@ And the tested angular range is:
</div>
<div id="org68dec3a" class="figure">
<div id="org2cc75ab" class="figure">
<p><img src="figs/setup_mahr_stiff_meas_side.jpg" alt="setup_mahr_stiff_meas_side.jpg" />
</p>
<p><span class="figure-number">Figure 8: </span>Setup - Side View</p>
<p><span class="figure-number">Figure 9: </span>Setup - Side View</p>
</div>
<div id="org28e5fd0" class="figure">
<div id="org91485ce" class="figure">
<p><img src="figs/setup_mahr_stiff_meas_top.jpg" alt="setup_mahr_stiff_meas_top.jpg" />
</p>
<p><span class="figure-number">Figure 9: </span>Setup - Top View</p>
<p><span class="figure-number">Figure 10: </span>Setup - Top View</p>
</div>
</div>
<div id="outline-container-org837827a" class="outline-3">
<h3 id="org837827a"><span class="section-number-3">4.1</span> Results</h3>
<div id="outline-container-orgc7d7173" class="outline-3">
<h3 id="orgc7d7173"><span class="section-number-3">4.1</span> Results</h3>
<div class="outline-text-3" id="text-4-1">
<p>
Let&rsquo;s load the measurement results.
</p>
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'meas_stiff_probe.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'d'</span>, <span class="org-string">'dp'</span>, <span class="org-string">'F'</span>)
</pre>
</div>
<p>
The time domain measured force and displacement are shown in Figure <a href="#orged81df2">10</a>.
The time domain measured force and displacement are shown in Figure <a href="#orgd45dfc2">11</a>.
</p>
<div id="orged81df2" class="figure">
<div id="orgd45dfc2" class="figure">
<p><img src="figs/mahr_time_domain.png" alt="mahr_time_domain.png" />
</p>
<p><span class="figure-number">Figure 10: </span>Time domain measurements</p>
<p><span class="figure-number">Figure 11: </span>Time domain measurements</p>
</div>
@@ -410,25 +450,33 @@ This is very close to the 0.04 [N/mm] written in the <a href="doc/tmp3m0cvmue_78
</p>
<p>
And compare the linear fit with the raw measurement data (Figure <a href="#orgba688b9">11</a>).
And compare the linear fit with the raw measurement data (Figure <a href="#org4939523">12</a>).
</p>
<div id="orgba688b9" class="figure">
<div id="org4939523" class="figure">
<p><img src="figs/mahr_stiffness_f_d_plot.png" alt="mahr_stiffness_f_d_plot.png" />
</p>
<p><span class="figure-number">Figure 12: </span>Measured displacement as a function of the measured force. Raw data and linear fit</p>
</div>
<div class="summary" id="org18e09dc">
<p>
The Millimar 1318 probe has a stiffness of \(\approx 0.04\,[N/mm]\).
</p>
</div>
</div>
</div>
</div>
<div id="outline-container-orgac55925" class="outline-2">
<h2 id="orgac55925"><span class="section-number-2">5</span> Experimental measurement</h2>
<div id="outline-container-orgda9e689" class="outline-2">
<h2 id="orgda9e689"><span class="section-number-2">5</span> Experimental measurement</h2>
</div>
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2021-02-16 mar. 19:15</p>
<p class="date">Created: 2021-02-16 mar. 21:23</p>
</div>
</body>
</html>
test-bench-flexible-joints.org
+9 -2
View File
@@ -174,9 +174,16 @@ And the tested angular range is:
** Test Bench
#+name: fig:test-bench-schematic
#+name: fig:test_bench_flex_overview
#+caption: Schematic of the test bench to measure the bending stiffness of the flexible joints
[[file:figs/test-bench-schematic.png]]
#+attr_latex: :width 0.8\linewidth
[[file:figs/test_bench_flex_overview.png]]
#+name: fig:test_bench_flex_side
#+caption: Schematic of the test bench to measure the bending stiffness of the flexible joints
#+attr_latex: :width 0.25\linewidth
[[file:figs/test_bench_flex_side.png]]
#+begin_note
- *Translation Stage*: [[file:doc/V-408-Datasheet.pdf][V-408]]
test-bench-flexible-joints.pdf
BIN
View File
Binary file not shown.