Add documentation for kinematics model

5 年之前 · 52d5e572bb
--- a/implementation/SCARA/01_kinematics/3D.png
+++ b/implementation/SCARA/01_kinematics/3D.png
--- a/implementation/SCARA/01_kinematics/geometrics.odg
+++ b/implementation/SCARA/01_kinematics/geometrics.odg
--- a/implementation/SCARA/01_kinematics/geometrics.pdf
+++ b/implementation/SCARA/01_kinematics/geometrics.pdf
--- a/implementation/SCARA/01_kinematics/implementation.md
+++ b/implementation/SCARA/01_kinematics/implementation.md
@@ -0,0 +1,32 @@
 # Kinematics model

 This is a really simple model.
 It has some inverse kinematics and forwards kinematics.

 ## Inverse model

 The setpoint on the board is given as a x,y position.
 We have to convert this point in to angles of the SCARA joints.
 We have the following setup:
 ![Geometrics of the scara](geometrics.pdf)

 We can resolve this via the *law of cosines* and *pythagoras theorem*.
 We can find the length of **C** with pythagoras.
 Then with the use of a tangent we can find the angle **phi**.
 Then filling in the *law of cosines* with **C** calculated and **A** and **B** as arm lengths, we can calculate the angles **a**, **b** and **c**.
 As a check we sum these angles and they should add up to the value of Pi.

 Then we add **phi** and **b** to get the corner of the first joint relative to the world frame.
 And **c** - Pi + **phi** + **b** gives the angle of the second joint relative to the world frame.


 ## Forward model
 The forward model is as follows.
 ``` 
 joint1 = A_length*[cos(angle1);sin(angle1)];
 joint2 = B_length*[cos(angle2);sin(angle2)];
 end_effector = joint1 + joint2;
 ```
 This is then drawn as two arms in a 3D viewer.
 ![3D view of forward model](3D.png)
 It follows the outside of the square.
--- a/implementation/SCARA/01_kinematics/kinematics.emx
+++ b/implementation/SCARA/01_kinematics/kinematics.emx
--- a/implementation/SCARA/documentation/compatibility.odg
+++ b/implementation/SCARA/documentation/compatibility.odg
--- a/implementation/SCARA/documentation/compatibility.pdf
+++ b/implementation/SCARA/documentation/compatibility.pdf
--- a/implementation/SCARA/documentation/division.odg
+++ b/implementation/SCARA/documentation/division.odg
--- a/implementation/SCARA/documentation/division.pdf
+++ b/implementation/SCARA/documentation/division.pdf
--- a/implementation/SCARA/documentation/generaldesign.odg
+++ b/implementation/SCARA/documentation/generaldesign.odg
--- a/implementation/SCARA/documentation/generaldesign.pdf
+++ b/implementation/SCARA/documentation/generaldesign.pdf
--- a/implementation/SCARA/documentation/implementation.md
+++ b/implementation/SCARA/documentation/implementation.md
@@ -0,0 +1,59 @@
 # SCARA implementation

 ## Design
 The Scara moves the marker in a small space along the board.
 The Scara has to be quick and precise. Therefore we want to keep it as small and light as possible.
 In the next image we have a general idea of the design.

 ![Rough design idea](generaldesign.pdf)

 ## Specifications
 The Scara has as goal to move the end-effector in a area of 50 mm high and 70 mm wide.
 On of the first tests is to be able to travers that square with in a second.
 Therefore it has to achieve an average speed of 240 mm/s.
 Al be it not for very long. Probably up to 500 mm/s maximum velocity.

 The marker has to be lifted as well. 
 That will be the task of the end-effector.

 ## Details
 The levels of detail that we will implement are at least the following steps.

 ### Kinematics
 A first model is just a kinematics model without any physics.
 If we look at the design it only implements the A and B part of the arms.
 And we can just mathematically calculate the position of the arms.
 This is usefull to check whether we can even reach all the corners of the square.

 ### Simple Physics.
 Start adding some Mass to the arms and the marker.
 We can learn some basic requirements for the motor that we require.
 The current implementation would require some infinite power as we have some instantanious speed.
 Thus we have to update our path and induce some control.

 It is probably to make some pathing block where we can put some set points into. 

 ### Adding motor physics.
 Start the better motor physics.
 What kind of motor do we need to power the setup.

 ### Complex arm structure.
 Add the the C, D and E arms.
 All the arms should now also have complete inertia and mass specifications.

 ### Add parasitics to the arm structure
 This has to be reviewed at the point that we get here.

 ## Division
 The submodels will be divided as follows.
 However, during the design I will probably run in more blocks than normal.

 ![Division of models](division.pdf)

 The submodels in the division should be compatible with each other.
 To avoid that we have to update all our models all the time.
 We will build every part of the model in a library for 20-sim. This way it is easy for 20-sim to find the updated models.

 ![Compatibility solution between different versions](compatibility.pdf)


--- a/implementation/SCARA/spike/inverse_kinematics.emx
+++ b/implementation/SCARA/spike/inverse_kinematics.emx
--- a/implementation/SCARA/spike/motionprofiletest.emx
+++ b/implementation/SCARA/spike/motionprofiletest.emx
@@ -0,0 +1,407 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <Document>
 <Model version="4.8" build="4.8.2.10124">
  <Sidops><![CDATA[model 128 184
 description '<Information>
 <Description>
    <Version>4.8</Version>
 <IsMainModel>0</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <LibraryPath>Z:\home\wouter\Documents\studie\ma\mahd\implementation\submodel\SCARA\spike\motionprofiletest.emx</LibraryPath>
  <TimeStamp>2020-7-9 14:43:21</TimeStamp>
 </Description>
 </Information>';
 type Mainmodel
 end;
 implementation bg
  submodels
   Submodel1 328 200
    description '<Description><Version>4.0</Version>
   <LibraryPath>Template\Submodel-Equation.emx</LibraryPath>
 <IsMainModel>1</IsMainModel>
 <KeepParameterValues>False</KeepParameterValues>
   <TimeStamp>2007-11-1 22:32:1</TimeStamp>
   <AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>';
    type 'Submodel-Equation'
     ports
      signal out output;
    end;
    implementation eq
 /* Equation Submodel
 Enter your equations here. You can use the Toolbar buttons at the top ( Add , f(x) etc. ).
 */
 parameters
 	string dllname = 'MotionProfiles.dll';
 variables
 	real x[3];
 	real t;
 equations
 	// start typing here
 	t = time-0.5;
 	x = dll(dllname,'ProfileCycloidal',t);
 	output = x[1];
 implementation_end;
  end;
  connections
  end;
 implementation_end;
 ]]>
 </Sidops>
 </Model>
 <Experiments>
     <DefaultExperiment><![CDATA[Experiment 1]]>
 </DefaultExperiment>
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--- a/implementation/submodel/endeffector/endeffector.3dm
+++ b/implementation/submodel/endeffector/endeffector.3dm
--- a/implementation/submodel/endeffector/endeffector.emx
+++ b/implementation/submodel/endeffector/endeffector.emx
--- a/implementation/endeffector/endeffector.scn
+++ b/implementation/endeffector/endeffector.scn
--- a/implementation/endeffector/endeffectorIcon.png
+++ b/implementation/endeffector/endeffectorIcon.png
--- a/implementation/submodel/endeffector/gripper.scad
+++ b/implementation/submodel/endeffector/gripper.scad
--- a/implementation/endeffector/gripperbase.stl
+++ b/implementation/endeffector/gripperbase.stl
@@ -0,0 +1,786 @@
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 endsolid OpenSCAD_Model
--- a/implementation/endeffector/markerholder.stl
+++ b/implementation/endeffector/markerholder.stl
--- a/implementation/library/SCARA/inverse_kinematics_v1.emx
+++ b/implementation/library/SCARA/inverse_kinematics_v1.emx
--- a/implementation/library/setpoint/rectanglepath.emx
+++ b/implementation/library/setpoint/rectanglepath.emx
@@ -0,0 +1,17 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <Document>
  <Model version="4.8" build="4.8.2.10124">
    <Sidops>
 <![CDATA[rectanglepath 112 184
 description '<Information>
 <Description>
    <Version>4.8</Version>
  <LibraryPath>setpoint\rectanglepath.emx</LibraryPath>
 <IsMainModel>1</IsMainModel>
  <KeepParameterValues>False</KeepParameterValues>
    <TimeStamp>2020-7-10 12:30:38</TimeStamp>
 <AllowLibraryUpdate>False</AllowLibraryUpdate>
 </Description>
 </Information>';
 type 'Submodel-Equation'
  ports
   signal out output [2,1];
 end;
 implementation eq
/* 
This will generate coordinates for the box that has to be drawn
*/
parameters
	real w = 0.07{m} ;
	real h = 0.05 {m};
	real t  = 1 {s};
	real origin[2] = [0.05,0.05]{m};
variables
	real v {m/s};
	real t_w {s};
	real t_h {s};
	real period {s};
	real test1, test2, test3;
initialequations
	v = (2*w + 2*h)/t;
	t_w = w / v;
	t_h = h / v;
equations
	period = floor(time / t) * t;
	output[1] = v*(ramp(period+t_h) - ramp(period + t_w+t_h) - ramp(period + t_w + t_h + t_h)) + origin[1];
	output[2] = v*(ramp(period) - ramp(period + t_h) - ramp(period + t_h + t_w) + ramp(period + 2 * t_h + t_w))+ origin[2];
implementation_end;
]]>
    </Sidops>
  </Model>
 </Document>