www.gusucode.com > Modeling Pneumatic Robot Actuators 工具箱matlab源码程序 > Modeling Pneumatic Robot Actuators/MSRA_PneumaticRobotSeries/Libraries/MultipartsLib/Extrusion_Scripts/Extr_Data_Gear.m
function [xy_data] = Extr_Data_Gear(type, Dp, N, radh, varargin)
% EXTR_DATA_GEAR Produce extrusion data for a involute gear cross-section 5
% as a set of vertices. The pressure angle is assumed to be 14.5 deg.
% [xy_data] = Extr_Data_Gear(type, Dp, N, radh, varargin)
% This function returns x-y data for an involute gear.
% You can specify:
% type - 'internal' or 'external'
% Dp - Pitch diameter of the gear
% N - Number of teeth
% radh - Radius of center hole for external gears
% - Outer ring thickness for internal gears
% 5th Input - Addendum
% 6th Input - Dedendum
%
% To see a plot showing parameter values, enter the name
% of the function with no arguments or with just the gear type
% >> Extr_Data_Gear
% >> Extr_Data_Gear('internal')
%
% To see a plot created with your parameter values,
% add 'plot' as the final argument
% >> Extr_Data_Gear('internal',0.25, 20, 0.01, 'plot')
% Copyright 2013-2018 The MathWorks, Inc.
Ap = 14.5; % Pressure Angle
showplot = 'n';
% DEFAULT DATA TO SHOW DIAGRAM
if (nargin == 0)
type = 'external';
Dp = 0.25;
N = 10;
radh = 0.02;
end
if (nargin == 1)
Dp = 0.25;
N = 10;
radh = 0.02;
showplot = 'plot';
end
% Calculate defaults based on required parameters
Ad = Dp/N;
Dd = 1.157*Ad;
% CHECK IF PLOT REQUESTED OR Ad SPECIFIED
if nargin==5
if ischar(varargin{1}) % PLOT REQUESTED
showplot = varargin{1};
else
Ad = varargin{1}; % Ad SPECIFIED
end
Dd = 1.157*Ad; % RECALCULATE Dd DEFAULT
end
% CHECK IF PLOT REQUESTED OR Dd SPECIFIED
if nargin==6
Ad = varargin{1}; % Ad SPECIFIED
if ischar(varargin{2}) % PLOT REQUESTED
showplot = varargin{2};
else
Dd = varargin{2}; % Dd SPECIFIED
end
end
% CHECK IF PLOT REQUESTED
if nargin==7
Ad = varargin{1}; % Ad SPECIFIED
Dd = varargin{2}; % Dd SPECIFIED
if ischar(varargin{3}) % PLOT REQUESTED
showplot = varargin{3};
end
end
Db = Dp*cos(Ap*pi/180); % Base diameter
Do = Dp + 2*Ad; % Outer diameter
Dr = Dp - 2*Dd; % Root diameter
% Tooth face profile
%lambda = linspace(0, sqrt((Do/Db)^2 - 1), 50); % Sample 50 points along curve
lambda = linspace(0, sqrt((Do/Db)^2 - 1), 50); % Sample 50 points along curve
pts = [cos(lambda); sin(lambda)];
face_profile = [[Dr/2; 0], (Db/2) * (pts + [lambda; -lambda] .* flipud(pts))];
r = sqrt(sum(face_profile .^ 2, 1));
Yp = interp1(r,face_profile(2,:),Dp/2);
sp = Yp/Dp; cp = sqrt(1-sp^2);
% Rotate and mirror face profile
R = [cp sp; -sp cp];
face_profile = R*face_profile;
Wang = pi/N;
R = [cos(Wang/2) sin(Wang/2); -sin(Wang/2) cos(Wang/2)];
face_profile = R*face_profile;
mrr_face_profile = [face_profile(1,end:-1:1); -face_profile(2,end:-1:1)];
tooth_profile = [face_profile mrr_face_profile];
% INTERNAL OR EXTERNAL
%tooth_profile(1,:) = [tooth_profile(1,:)-(Dp)-Ad];
if (strcmpi(type,'internal'))
tooth_profile(1,:) = [tooth_profile(1,:)-(Dp)];
tooth_profile = fliplr(tooth_profile);
end
% Replicate teeth
gear_profile = tooth_profile;
R = [cos(2*Wang) -sin(2*Wang); sin(2*Wang) cos(2*Wang)];
for idx=1:N-1
tooth_profile = R*tooth_profile;
gear_profile = [gear_profile tooth_profile];
end
if (strcmpi(type,'internal'))
Outer_Ring = -1*(Dp/2+Dd+radh)*[cos(0:2*pi/100:2*pi); sin(0:2*pi/100:2*pi)]';
xy_data = [Outer_Ring;flipud(gear_profile');gear_profile(:,end)'];
else
xy_data = gear_profile';
end
if (strcmpi(type,'external') && radh > 0)
th = linspace(0,-2*pi,100)';
hole_xsec = [radh*cos(th) radh*sin(th)];
xy_data = [xy_data; xy_data(1,:); hole_xsec];
end
% Plot diagram to show parameters and extrusion
if (nargin == 0 || strcmpi(showplot,'plot'))
% Figure name
figString = ['h1_' mfilename];
% Only create a figure if no figure exists
figExist = 0;
fig_hExist = evalin('base',['exist(''' figString ''')']);
if (fig_hExist)
figExist = evalin('base',['ishandle(' figString ') && strcmp(get(' figString ', ''type''), ''figure'')']);
end
if ~figExist
fig_h = figure('Name',figString);
assignin('base',figString,fig_h);
else
fig_h = evalin('base',figString);
end
figure(fig_h)
clf(fig_h)
% Plot extrusion
patch(xy_data(:,1),xy_data(:,2),[1 1 1]*0.90,'EdgeColor','none');
hold on
plot(xy_data(:,1),xy_data(:,2),'-','Marker','o','MarkerSize',4,'LineWidth',2);
axis('equal');
% Show parameters
hold on
teeth_pts = 0.75*Dp/2*[sin(1*Wang) cos(1*Wang);sin(3*Wang) cos(3*Wang); sin(5*Wang) cos(5*Wang)];
plot(teeth_pts(:,1),teeth_pts(:,2),'r-d','MarkerFaceColor','r');
text(teeth_pts(2,1)*0.75,teeth_pts(2,2)*0.75,'{\color{red}N}');
plot([-Dp/2 Dp/2*sin(90*pi/180)],[0 Dp/2*cos(90*pi/180)],'k-d','MarkerFaceColor','k','MarkerSize',10,'LineWidth',2);
text(0,0.7*Dp/4*cos(80*pi/180),'Dp');
% Ad and Dd directions are opposite for internal gears
sign=1;
if (strcmpi(type,'internal'))
sign = -1;
plot([(Dp/2-Dd*sign) (Dp/2-Dd*sign)+radh]*sin(90*pi/180),[Dp/2 (Dp/2-Dd*sign)]*cos(90*pi/180),'b-d','MarkerFaceColor','b','MarkerSize',8);
text((Dp+radh)/2-Dd*sign, Dp/2/N/2,'{\color{blue}radh}');
else
plot([0 -radh*sind(45)],[0 radh*cosd(45)],'b-d','MarkerFaceColor','b','MarkerSize',8);
text(-radh, radh,'{\color{blue}radh}','HorizontalAlignment','right');
end
plot([Dp/2 (Dp/2+Ad*sign)]*sin(90*pi/180),[Dp/2 (Dp/2+Ad*sign)]*cos(90*pi/180),'g-d','MarkerFaceColor','g','MarkerSize',8);
text(((Dp+Ad*sign)/2), Dp/2/N/2,'{\color{green}Ad}');
plot([Dp/2 (Dp/2-Dd*sign)]*sin(90*pi/180),[Dp/2 (Dp/2-Dd*sign)]*cos(90*pi/180),'r-d','MarkerFaceColor','r','MarkerSize',6);
text((Dp-Dd*sign)/2, Dp/2/N/2,'{\color{red}Dd}');
title('[xy\_data] = Extr\_Data\_Gear(type, Dp, N, (rad), (Ad), (Dd));');
hold off
box on
clear xy_data
end