simple_prism.tens
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1 
2 [CONSTANTS]
3 
4  % length, stiffness, and force of the struts (stiffness is negative for struts)
5  ls := sqrt(2)
6  ss := -sqrt(3)
7  fs := ls*ss
8  max_fs := 2*fs
9 
10  % nominal length, maximal length, stiffness, and rest of the cables in the base and in the platform
11  lc1 := 0.896575472168053
12  max_cl1 := 2*lc1
13  sc1 := 0.175494628703572
14 
15  % nominal length, maximal length, stiffness and rest of the cables connecting the base and the platform
16  lc2 := 1.035276180410085
17  max_cl2 := 2*lc2
18  sc2 := 0.303965613370022
19 
20  % min cable length
21  min_cl := 0.01
22 
23 [STRUCTURE]
24 
25  strut s1 : n1 n2
26  length ls
27  force [max_fs,0]
28 
29  strut s2 : n3 n4
30  length ls
31  force [max_fs,0]
32 
33  strut s3 : n5 n6
34  length ls
35  force [max_fs,0]
36 
37  spring c1 : n1 n3
38  length [min_cl,max_cl1]
39  stiffness sc1
40 
41  spring c2 : n3 n5
42  length [min_cl,max_cl1]
43  stiffness sc1
44 
45  spring c3 : n1 n5
46  length [min_cl,max_cl1]
47  stiffness sc1
48 
49  spring c4 : n2 n4
50  length [min_cl,max_cl1]
51  stiffness sc1
52 
53  spring c5 : n4 n6
54  length [min_cl,max_cl1]
55  stiffness sc1
56 
57  spring c6 : n2 n6
58  length [min_cl,max_cl1]
59  stiffness sc1
60 
61  spring c7 : n1 n6
62  length [min_cl,max_cl2]
63  stiffness sc2
64 
65  spring c8 : n2 n3
66  length [min_cl,max_cl2]
67  stiffness sc2
68 
69  spring c9 : n4 n5
70  length [min_cl,max_cl2]
71  stiffness sc2
72 
73 [FIXED POINTS]
74 
75  % Fix the position of some links
76  n1(x)=0 % n1 is already (0,0,0) but anyway...
77  n1(y)=0
78  n1(z)=0
79 
80  n3(y)=0
81  n3(z)=0
82 
83  n5(z)=0
84 
85 [OBSTACLES]
86 
87  plane: box (-1,-1,-0.05)+(3,3,0.025) green
88 
89 [COLLISIONS]
90 
91  do not check: all
92 
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