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_LinkHoles.m
function [xy_data] = Extr_Data_LinkHoles(L, W, r, num_holes, varargin) %Extr_Data_LinkHoles Produce extrusion data for a link with an arbitrary %number of holes and rounded ends. % [xy_data] = Extr_Data_LinkHoles(L, W, r, num_holes) % This function returns x-y data for a link with half a hole at one end. % You can specify: % Length L % Width W % Hole radius r % # holes num_holes % % To see a plot showing parameter values, enter the name % of the function with no arguments % >> Extr_Data_LinkHoles % % To see a plot created with your parameter values, % add 'plot' as the final argument % >> Extr_Data_LinkHoles(10,5,1,3,'plot') % % Copyright 2014-2018 The MathWorks, Inc. % Default data to show diagram if (nargin == 0) L = 15; W = 5; r = 1; num_holes = 4; end % Check if plot should be produced if (isempty(varargin)) showplot = 'n'; else showplot = char(varargin); end % Half length and width hl = L / 2; hw = W / 2; % Rounded ends and outer boundary of member theta = (-89:1:+90)' * pi/180; % CCW rght_end = repmat([hl 0], 180, 1) + hw * [cos(theta), sin(theta)]; left_end = flipud(rght_end) * diag([-1 1]); boundary = [rght_end; left_end]; % Circular holes theta = (270:-1:-90)' * pi/180; % CW hole = [[0 -hw]; r * [cos(theta), sin(theta)]; [0 -hw]]; holes = kron(linspace(-hl, +hl, num_holes)', repmat([1 0], 363, 1)) ... + repmat(hole, num_holes, 1); xy_data = [boundary; holes]; % 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]*0.95,'EdgeColor','none'); hold on plot(xy_data(:,1),xy_data(:,2),'-','Marker','o','MarkerSize',4,'LineWidth',2); axis('equal'); axis([-1 1 -1 1]*(L+W)*1.1/2); % Show parameters plot([-L/2 L/2],[0 0],'r-d','MarkerFaceColor','r'); text(-L/4,W/10,'{\color{red}L}'); plot([L/4 L/4],[-W/2 W/2],'g-d','MarkerFaceColor','g'); text(L/3.8,W/4,'{\color{green}W}'); plot([-L/2 -L/2+r*sin(30*pi/180)],[0 r*cos(30*pi/180)],'k-d','MarkerFaceColor','k'); text(-L/2+r*sin(30*pi/180)*1.4,1.4*r*cos(30*pi/180),'r'); title('[xy\_data] = Extr\_Data\_LinkHoles(L, W, r, num\_holes);'); hold off box on clear xy_data end