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Both sides previous revision Previous revision Next revision | Previous revision Next revision Both sides next revision | ||
parallel_flexure_guide_transfer [2018/05/16 13:50] marijn.nijenhuis |
parallel_flexure_guide_transfer [2020/06/04 12:23] marijn.nijenhuis |
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{{:: | {{:: | ||
- | The state-space equations (from which the transfer function follows) can be computed by specifying the input and output for the transfer function. For this example, actuation force in x-direction on node 3 (a node on the end-effector) is used for input, and displacement in x-direction of node 3 is used for the output. This can be specified with the '' | + | The state-space equations (from which the transfer function follows) can be computed by specifying the input and output for the transfer function. For this example, actuation force in x-direction on node 3 (a node on the end-effector) is used for input. Two desired outputs are specified: the first is the displacement in x-direction of node 3; the second |
<code matlab> | <code matlab> | ||
- | nprops(3).transfer_in | + | nprops(3).transfer_in |
- | nprops(3).transfer_out = {' | + | nprops(3).transfer_out = {' |
+ | nprops(5).transfer_out = {' | ||
... | ... | ||
opt.transfer = {true 0.01}; | opt.transfer = {true 0.01}; | ||
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Note that | Note that | ||
* the state-space equations can only be computed for an undeformed flexure mechanism. Therefore, no external loads (actuation force) or input displacements are allowed when computing state-space equations. (An error message will appear.) | * the state-space equations can only be computed for an undeformed flexure mechanism. Therefore, no external loads (actuation force) or input displacements are allowed when computing state-space equations. (An error message will appear.) | ||
- | * Velocity | + | * velocity |
- | * Relative | + | * relative |
For details, see the [[full_syntax|SPACAR Light full syntax]]. | For details, see the [[full_syntax|SPACAR Light full syntax]]. | ||
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%node 3 | %node 3 | ||
nprops(3).transfer_in | nprops(3).transfer_in | ||
- | nprops(3).transfer_out = {' | + | nprops(3).transfer_out = {' |
+ | nprops(5).transfer_out = {' | ||
%node 4 | %node 4 | ||
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eprops(2).dim | eprops(2).dim | ||
eprops(2).orien | eprops(2).orien | ||
- | eprops(2).nbeams | + | eprops(2).nbeams |
- | eprops(2).color | + | eprops(2).color |
%% OPTIONAL ARGUMENTS | %% OPTIONAL ARGUMENTS | ||
opt.transfer = {true 0.01}; | opt.transfer = {true 0.01}; | ||
+ | opt.filename = ' | ||
%% CALL SPACAR_LIGHT | %% CALL SPACAR_LIGHT |