4.1
OVERVIEW OF FILES
File Name
Description
Hexapod User Manual.pdf
This manual describes the hardware of the Hexapod system and
explains how to setup and wire the system for the experiments.
Hexapod Laboratory Guide.pdf
This document demonstrates how to run the QUARC controllers,
gives some background on the PID-based control design, and de-
scribes the Simulink diagrams supplied.
setup_hexapod.m
The main Matlab script that sets the Hexapod motor, sensor, and
configuration-dependent parameters.
Run this file only to setup
the laboratory
.
Hexapod_Brake_Bypass.mdl
Disengages the brake system and enables the amplifier to allow
the joints to be moved manually.
Hexapod_Calibrate.mdl
Moves each joint to the limit switch and resets the encoders.
Run
calibration EVERY TIME the Hexapod is powered ON.
Hexapod_Home.mdl
Moves each of the joints to the mid-stroke position.
Run
this AFTER calibration and BEFORE any of the position-
based controllers
(e.g., Hexapod_Joint_Control.mdlor Hexa-
pod_World_Control.mdl).
Hexapod_Joint_Control.mdl
Controls the position of the linear actuator joints at the base of the
Hexapod system. User can change the amplitude and frequency
of the sine wave position command.
Hexapod_World_Control.mdl
Controls the X, Y, and Z positions as well as the Roll, Pitch, and
Yaw angles of the Hexapod top stage or end-effector. User can
select between applying a sine or square wave for each axis and
vary the amplitude and frequency of each.
Table 4.1: Files supplied with the 6 DOF Hexapod
File Name
Description
q_scale.p
Produces a scaled position trajectory given desired acceleration data.
When ran on the Hexapod, the measured acceleration matches the
given desired acceleration.
construct_quake_trajectory.m
Constructs a time-based array from a matrix of data and the sampling
time.
init_earthquake_data.m
Re-formats raw earthquake data file.
NGA_no_1105_HIK000.AT2
Sample Kobe earthquake acceleration data file (direction 000).
NGA_no_1105_HIK090.AT2
Sample Kobe earthquake acceleration data file (direction 090).
NGA_no_1105_HIK-UP.AT2
Sample Kobe earthquake acceleration data file (direction UP).
NGA_no_1086_SYL090.AT2
Sample Northridge earthquake acceleration data file (direction 090).
NGA_no_1086_SYL360.AT2
Sample Northridge earthquake acceleration data file (direction 360).
NGA_no_1086_SYL-UP.AT2
Sample Northridge earthquake acceleration data file (direction UP).
NGA_no_180_H-E05140.AT2
Sample El-Centro earthquake acceleration data file (direction 140).
NGA_no_180_H-E05230.AT2
Sample El-Centro earthquake acceleration data file (direction 230).
NGA_no_180_H-E05-UP.AT2
Sample El-Centro earthquake acceleration data file (direction UP).
NGA_no_825_CPM000.AT2
Sample Mendocino earthquake acceleration data file (direction 000).
NGA_no_825_CPM090.AT2
Sample Mendocino earthquake acceleration data file (direction 090).
NGA_no_825_CPM-UP.AT2
Sample Mendocino earthquake acceleration data file (direction UP).
Table 4.2: Additional files supplied with the 6 DOF Hexapod
HEXAPOD Laboratory Guide
v 1.3
