finish adding torques

flexure/CMD

 python flexure_stiffness.py -Q -M simulate -f 15 -flexure_type cyclic -w .0007 -t .0015 -l .010
+python flexure_stiffness.py -Q -M simulate -f 15 -flexure_type cyclic -w .0007 -t .0015 -l .010
+python flexure_stiffness.py -Q -M simulate -f 15 -flexure_type cyclic -w .0006 -t .0025 -l .009 -bd 10

flexure/flexure_stiffness.py

@@ -20,6 +20,16 @@ def plot_connections(nodes,beamsets):
 	        ax.plot(nodes[seg,0], nodes[seg,1], nodes[seg,2], c=cmap(i))
     plt.show()
 
+
+def get_rotation_from_nodes(nodes,axis,disps,targets):
+    base = asarray(axis[0]); 
+    a = axis[1]-base; 
+    a = a/magnitudes(a) #set up axis coordinates
+    x = nodes[targets]-base
+    d = x - dot(x, a)[...,None]*a
+    y = [dot(a,b) for a,b in zip(disps[targets,:3], cross(d,a))]
+    return arctan2(y,magnitudes(d)),magnitudes(d)
+
 def run_frame3dd(args,nodes,global_args,beam_sets,constraints,loads):
 	write_frame3dd_file(nodes,global_args,beam_sets,constraints,loads)
 	cmd = ["frame3dd", "-i",global_args['frame3dd_filename']+'.csv']
@@ -64,6 +74,15 @@ def build(args):
 		])
 	if args.flexure_type == 'cyclic':
 		beams = vstack((beams, array([[4,20],[9,21],[14,22],[19,23]])))
+	
+	nodes = vstack((nodes, array([ [args.sensor_radius,0,0],[0,args.sensor_radius,0],[-args.sensor_radius,0,0],[0,-args.sensor_radius,0] ])))
+	solid_beams = vstack(( solid_beams, array([ 
+		[24,0],[24,10],[24,20],[24,22],
+		[25,0],[25,10],[25,21],[25,23],
+		[26,5],[26,15],[26,21],[26,23],
+		[27,5],[27,15],[27,20],[27,22]
+		])))
+
 	return nodes, beams, solid_beams
 
 def run_simulation(args):
@@ -71,12 +90,13 @@ def run_simulation(args):
 	nodes,beams,solid_beams = build(args)
 	global_args = {
 		'n_modes':args.n_modes,'length_scaling':args.length_scaling,'exagerration':10,
-		'node_radius':zeros(shape(nodes)[0]),'frame3dd_filename':args.base_filename+"_frame3dd"
+		'zoom_scale':2.,'node_radius':zeros(shape(nodes)[0]),
+		'frame3dd_filename':args.base_filename+"_frame3dd"
 	}
 	clean_up_frame3dd(global_args['frame3dd_filename'])
 	beam_sets = [
 	(beams,{'E':args.E,'nu':args.nu,'rho':args.rho,'cross_section':'rectangular','d2':args.w,'d1':args.t,'roll':0.,'loads':[],'beam_divisions':args.bd,'prestresses':[]}),
-	(solid_beams,{'E':10*args.E,'nu':args.nu,'rho':args.rho,'cross_section':'rectangular','d1':args.w,'d2':args.t,'roll':0.,'loads':[],'beam_divisions':args.bd,'prestresses':[]})
+	(solid_beams,{'E':10*args.E,'nu':args.nu,'rho':args.rho,'cross_section':'rectangular','d1':.003,'d2':.003,'roll':0.,'loads':[],'beam_divisions':1,'prestresses':[]})
 	]
 	if args.flexure_type == 'mirrored':
 		fixed_nodes = [2,4,7,9,12,14,17,19]
@@ -85,24 +105,58 @@ def run_simulation(args):
 	constraints = [{'node':node,'DOF':dof,'value':0} for dof in [0,1,2,3,4,5] for node in fixed_nodes]
 
 	
+	loaded_nodes = [0,5,10,15,20,21,22,23]
+	sensor_nodes = [24,25,26,27]
+	results = []
+
 	for force_dof in [0,1,2]:
-		loaded_nodes = [0,5,10,15]
 		loads = [{'node':n,'DOF':force_dof,'value':args.force/len(loaded_nodes)} for n in loaded_nodes]
-
 		run_frame3dd(args,nodes,global_args,beam_sets,constraints,loads)
-		results = {}
-		results['beam_mass'] = compute_mass(nodes,beam_sets)
 		disps = read_frame3dd_displacements(global_args['frame3dd_filename'])
 		force_disp = average(disps[loaded_nodes,force_dof])
-		print "Degree of freedom: %d"%force_dof
-		print "Force applied: %.1f N"%(args.force)
-		print "Calculated displacement: %.1f microns"%(force_disp*1e6)
-
-	#todo: read average displacement of loaded nodes
-	#todo: plot displacements vs. design parameters
+		#print "Degree of freedom: %d"%force_dof
+		#print "Force applied: %.1f N"%(args.force)
+		#print "Displacement at sensor: %.1f microns"%(force_disp*1e6)
+		results.append( {'dof':force_dof, 'force/torque':args.force, 'displacement':force_disp} ) 
+	#sys.exit(0)
+	#Tx, Ty
+	torque_force = args.torque/(.5*args.sep)/len(loaded_nodes) # F = torque / dist
+	for torque_dof in [0,1]:
+		loads = [{'node':n,'DOF':torque_dof,'value':torque_force if nodes[n][2]>0 else -torque_force} for n in loaded_nodes]
+		run_frame3dd(args,nodes,global_args,beam_sets,constraints,loads)
+		disps = read_frame3dd_displacements(global_args['frame3dd_filename'])
+		moving_sensor_nodes = [24,26] if torque_dof==0 else [25,27]
+
+		#print disps[sensor_nodes]
+		#axis = (array([0,0,0]), array([0,-1,0]) if torque_dof==0 else array([1,0,0]) )
+		#rots,ds = get_rotation_from_nodes(nodes,axis,disps/global_args['length_scaling'],loaded_nodes)
+		#print average(rots)
+		#print "Degree of freedom: %d"%torque_dof
+		#print "Torque applied: %.1f Nm"%(args.torque)
+		#print "Torque force: %.2f N"%torque_force
+		#print "Displacement at sensor: %.1f microns"%(sin(average(rots))*args.sensor_radius*1e6)	
+		#print "Displacement at sensor: %.1f microns"%( average(abs(disps[moving_sensor_nodes,2]))*1e6 )
+		results.append( {'dof':torque_dof+3, 'force/torque':args.torque, 'displacement':average(abs(disps[moving_sensor_nodes,2]))} ) 
+
+	#Tz
+	torque_force = args.torque/args.attach_radius/len(loaded_nodes) # F = torque / dist
+	def node_to_force(n):
+		return array([-nodes[n,1],nodes[n,0],0]) / sqrt(nodes[n,0]**2 + nodes[n,1]**2)
+	loads = [{'node':n,'DOF':i,'value':torque_force*node_to_force(n)[i]} for n in loaded_nodes for i in [0,1]]
+	run_frame3dd(args,nodes,global_args,beam_sets,constraints,loads)
+	disps = read_frame3dd_displacements(global_args['frame3dd_filename'])
+	#axis = (array([0,0,0]), array([0,0,1]))
+	#rots,ds = get_rotation_from_nodes(nodes,axis,disps/global_args['length_scaling'],loaded_nodes)
+	#print average(rots)
+	#print "Degree of freedom: %d"%2
+	#print "Torque applied: %.1f Nm"%(args.torque)
+	#print "Torque force: %.2f N"%torque_force
+	#print "Displacement at sensor: %.1f microns"%(sin(average(rots))*args.sensor_radius*1e6)
+	#print "Displacement at sensor: %.1f microns"%( average(magnitudes(disps[sensor_nodes,:3]))*1e6 )
+	results.append( {'dof':5, 'force/torque':args.torque, 'displacement':average(magnitudes(disps[sensor_nodes,:3]))} ) 
 
 
-	#results['fundamental_frequency'] = read_lowest_mode(global_args['frame3dd_filename']+'.csv')
+	#todo: plot displacements vs. design parameters
 	return results
 
 def find_stability_threshold(args):
@@ -146,7 +200,8 @@ if __name__ == '__main__':
 	parser.add_argument('-M','--mode',choices=('simulate','search', 'visualize'), required=True)
 	parser.add_argument('-flexure_type','--flexure_type',choices=('cyclic','mirrored'), required=True)
 	parser.add_argument('-Q','--quiet',action='store_true',help='Whether to suppress frame3dd output')
-	parser.add_argument("-f","--force",  type=double, default=.1, help="force to apply")
+	parser.add_argument("-f","--force",  type=double, default=.1, help="force to apply (N)")
+	parser.add_argument("-torque","--torque",  type=double, default=1., help="torque to apply (Nm)")
 	#parser.add_argument("-fr","--force_res", type=double, default=.01, help="Final resolution of force for search mode")
 
 	parser.add_argument("-w","--w", type=double, default=.0005, help="width of flexure (m)")
@@ -154,6 +209,7 @@ if __name__ == '__main__':
 	parser.add_argument("-l","--l", type=double, default=.0068, help="length of flexure segment (m)")
 	parser.add_argument("-attach_radius","--attach_radius", type=double, default=.0043, help="distance from z axis to flexure attachment (m)")
 	parser.add_argument("-sep","--sep", type=double, default=.025, help="flexure plate z separation (m)")
+	parser.add_argument("-sensor_radius","--sensor_radius", type=double, default=.012, help="distance from rotation axis to sensor (m)")
 
 	parser.add_argument("-bd","--bd", type=int, default=1, help='how many divisions for each rod, useful in buckling analysis')
 	parser.add_argument("-E","--E", type=double, default=70e9, help="Young's Modulus of laminate")
@@ -171,6 +227,7 @@ if __name__ == '__main__':
 		print "Critical stress: %.3f MPa"%(last_res['stress']/1e6)
 	elif args.mode=='simulate':
 		res = run_simulation(args)
+		print res
 		#print "Fundamental frequency: %.3f Hz"%res['fundamental_frequency']
 		#print "Stress: %.3f MPa"%(res['stress']/1e6)
 	elif args.mode=='visualize':