feat: Simplify elbow joint
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@ -593,44 +593,45 @@ class ElbowJoint(Model):
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child_arm_radius: float = 40.0
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parent_arm_radius: float = 40.0
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child_beam: Beam = field(default_factory=lambda: Beam())
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parent_beam: Beam = field(default_factory=lambda: Beam(
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spine_thickness=8.0,
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))
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parent_arm_span: float = 40.0
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lip_thickness: float = 5.0
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lip_length: float = 60.0
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hole_pos: list[float] = field(default_factory=lambda: [15, 25])
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parent_arm_span: float = 30.0
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# Angle of the beginning of the parent arm
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parent_arm_angle: float = 180.0
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parent_binding_hole_radius: float = 30.0
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# Size of the mounting holes
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hole_diam: float = 8.0
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hole_diam: float = 6.0
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material: Material = Material.RESIN_TRANSPERENT
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# If true, flip the top and bottom tags
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flip: bool = False
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angle_neutral: float = 20.0
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def __post_init__(self):
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assert self.child_arm_radius > self.disk_joint.radius_housing
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assert self.parent_arm_radius > self.disk_joint.radius_housing
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self.disk_joint.tongue_length = self.child_arm_radius - self.disk_joint.radius_disk
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assert self.disk_joint.movement_angle < self.parent_arm_angle < 360 - self.parent_arm_span
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assert self.parent_binding_hole_radius - self.hole_diam / 2 > self.disk_joint.radius_housing
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def child_hole_pos(self) -> list[float]:
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"""
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List of hole positions measured from axle
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"""
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dx = self.child_beam.hole_dist / 2
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r = self.child_arm_radius
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return [r - dx, r + dx]
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def parent_hole_pos(self) -> list[float]:
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"""
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List of hole positions measured from axle
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"""
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dx = self.parent_beam.hole_dist / 2
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r = self.parent_arm_radius
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return [r - dx, r + dx]
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def lip(self) -> Cq.Workplane:
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holes = [
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h
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for i, x in enumerate(self.hole_pos)
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for h in [
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Hole(x=x, tag=f"conn_top{i}"),
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Hole(x=-x, tag=f"conn_bot{i}")
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]
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]
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mbox = MountingBox(
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length=self.lip_length,
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width=self.disk_joint.total_thickness,
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thickness=self.lip_thickness,
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holes=holes,
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hole_diam=self.hole_diam,
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centred=(True, True),
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generate_side_tags=False,
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)
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return mbox.generate()
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@target(name="child")
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def child_joint(self) -> Cq.Assembly:
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@ -639,14 +640,15 @@ class ElbowJoint(Model):
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# We need to ensure the disk is on the "other" side so
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flip_x = Cq.Location((0, 0, 0), (1, 0, 0), 180)
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flip_z = Cq.Location((0, 0, 0), (0, 0, 1), 180)
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lip_dz = self.lip_thickness / 2
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result = (
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self.child_beam.generate(flip=self.flip)
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Cq.Assembly()
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.add(self.lip(), name="lip", loc=
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Cq.Location((0, 0, 0), (0, 1, 0), 180) *
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Cq.Location((-lip_dz, 0, 0), (1, 0, 0), 90) *
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Cq.Location((0, 0, 0), (0, 1, 0), 90))
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.add(self.disk_joint.disk(), name="disk",
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loc=flip_x * flip_z * Cq.Location((-self.child_arm_radius, 0, -dz), (0, 0, 1), angle))
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#.constrain("disk", "Fixed")
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#.constrain("top", "Fixed")
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#.constrain("bot", "Fixed")
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#.solve()
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)
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return result
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@ -658,7 +660,7 @@ class ElbowJoint(Model):
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def parent_joint_upper(self):
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axial_offset = Cq.Location((self.parent_arm_radius, 0, 0))
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housing_dz = self.disk_joint.housing_upper_dz
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conn_h = self.parent_beam.spine_thickness
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conn_h = self.lip_thickness
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connector = (
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Cq.Solid.makeCylinder(
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height=conn_h,
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@ -675,10 +677,15 @@ class ElbowJoint(Model):
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housing_loc = Cq.Location(
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(0, 0, housing_dz),
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(0, 0, 1),
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-self.disk_joint.tongue_span / 2
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-self.disk_joint.tongue_span / 2 + self.angle_neutral
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)
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lip_dz = self.lip_thickness / 2
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result = (
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self.parent_beam.generate(flip=self.flip)
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Cq.Assembly()
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.add(self.lip(), name="lip", loc=
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Cq.Location((0, 0, 0), (0, 1, 0), 180) *
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Cq.Location((-lip_dz, 0, 0), (1, 0, 0), 90) *
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Cq.Location((0, 0, 0), (0, 1, 0), 90))
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.add(housing, name="housing",
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loc=axial_offset * housing_loc)
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.add(connector, name="connector",
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@ -50,8 +50,9 @@ class WingProfile(Model):
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disk_joint=DiskJoint(
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movement_angle=55,
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),
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flip=False,
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))
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# Distance between the two spacers on the elbow, halved
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elbow_h2: float = 5.0
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s2_thickness: float = 25.0
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@ -61,8 +62,9 @@ class WingProfile(Model):
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radius_disk=13.0,
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radius_housing=15.0,
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),
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flip=True,
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))
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# Distance between the two spacers on the elbow, halved
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wrist_h2: float = 5.0
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s3_thickness: float = 25.0
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@ -367,6 +369,7 @@ class WingProfile(Model):
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front_tag: str = "front",
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back_tag: str = "back",
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flipped: bool = False,
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rotate: bool = False,
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):
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"""
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For a child joint facing up, front panel should be on the right, back
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@ -375,7 +378,7 @@ class WingProfile(Model):
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site_front, site_back = "right", "left"
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if flipped:
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site_front, site_back = site_back, site_front
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angle = 0
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angle = 180 if rotate else 0
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(
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a
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.addS(
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@ -410,6 +413,27 @@ class WingProfile(Model):
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Polygon shape to mask wrist
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"""
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def spacer_of_joint(
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self,
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joint: ElbowJoint,
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segment_thickness: float,
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dx: float,
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bot=False) -> MountingBox:
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length = joint.lip_length / 2 - dx
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holes = [
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Hole(x - dx)
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for x in joint.hole_pos
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]
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mbox = MountingBox(
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length=length,
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width=segment_thickness,
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thickness=self.spacer_thickness,
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holes=holes,
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hole_diam=joint.hole_diam,
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centred=(False, True),
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)
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return mbox
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@target(name="profile-s1", kind=TargetKind.DXF)
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def profile_s1(self) -> Cq.Sketch:
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@ -429,15 +453,14 @@ class WingProfile(Model):
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("shoulder_bot", (shoulder_mount_inset, h), 90),
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("shoulder_top", (shoulder_mount_inset, h + shoulder_h), 270),
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]
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elbow_h = self.elbow_joint.parent_beam.total_height
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h = (self.elbow_height - elbow_h) / 2
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h = self.elbow_height / 2
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tags_elbow = [
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("elbow_bot",
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self.elbow_to_abs(-elbow_mount_inset, h),
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self.elbow_angle + 90),
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self.elbow_to_abs(-elbow_mount_inset, h - self.elbow_h2),
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self.elbow_angle + 0),
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("elbow_top",
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self.elbow_to_abs(-elbow_mount_inset, h + elbow_h),
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self.elbow_angle + 270),
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self.elbow_to_abs(-elbow_mount_inset, h + self.elbow_h2),
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self.elbow_angle + 0),
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]
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profile = self.profile_s1()
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tags = tags_shoulder + tags_elbow
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@ -457,16 +480,10 @@ class WingProfile(Model):
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)
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@submodel(name="spacer-s1-elbow")
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def spacer_s1_elbow(self) -> MountingBox:
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holes = [
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Hole(x)
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for x in self.elbow_joint.parent_hole_pos()
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]
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return MountingBox(
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length=70.0, # FIXME: magic
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width=self.s1_thickness,
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thickness=self.spacer_thickness,
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holes=holes,
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hole_diam=self.elbow_joint.hole_diam,
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return self.spacer_of_joint(
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joint=self.elbow_joint,
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segment_thickness=self.s1_thickness,
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dx=self.elbow_h2,
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)
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@assembly()
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def assembly_s1(self) -> Cq.Assembly:
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@ -488,7 +505,7 @@ class WingProfile(Model):
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result,
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o,
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point_tag=t,
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flipped=is_top != is_parent,
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flipped=is_top != True #is_parent,
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)
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return result.solve()
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@ -503,58 +520,43 @@ class WingProfile(Model):
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)
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return profile
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def surface_s2(self,
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thickness: float = 25.4/16,
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elbow_mount_inset: float = 0,
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wrist_mount_inset: float = 0,
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front: bool = True) -> Cq.Workplane:
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elbow_h = self.elbow_joint.child_beam.total_height
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h = (self.elbow_height - elbow_h) / 2
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h = self.elbow_height / 2
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tags_elbow = [
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("elbow_bot",
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self.elbow_to_abs(elbow_mount_inset, h),
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self.elbow_angle + 90),
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self.elbow_to_abs(elbow_mount_inset, h - self.elbow_h2),
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self.elbow_angle),
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("elbow_top",
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self.elbow_to_abs(elbow_mount_inset, h + elbow_h),
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self.elbow_angle - 90),
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self.elbow_to_abs(elbow_mount_inset, h + self.elbow_h2),
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self.elbow_angle),
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]
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wrist_h = self.wrist_joint.parent_beam.total_height
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h = (self.wrist_height - wrist_h) / 2
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h = self.wrist_height / 2
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tags_wrist = [
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("wrist_bot",
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self.wrist_to_abs(-wrist_mount_inset, h),
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self.wrist_angle + 90),
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self.wrist_to_abs(-wrist_mount_inset, h - self.wrist_h2),
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self.wrist_angle),
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("wrist_top",
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self.wrist_to_abs(-wrist_mount_inset, h + wrist_h),
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self.wrist_angle - 90),
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self.wrist_to_abs(-wrist_mount_inset, h + self.wrist_h2),
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self.wrist_angle),
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]
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profile = self.profile_s2()
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tags = tags_elbow + tags_wrist
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return nhf.utils.extrude_with_markers(profile, thickness, tags, reverse=front)
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return nhf.utils.extrude_with_markers(profile, self.panel_thickness, tags, reverse=front)
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@submodel(name="spacer-s2-elbow")
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def spacer_s2_elbow(self) -> MountingBox:
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holes = [
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Hole(x)
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for x in self.elbow_joint.child_hole_pos()
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]
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return MountingBox(
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length=50.0, # FIXME: magic
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width=self.s2_thickness,
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thickness=self.spacer_thickness,
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holes=holes,
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hole_diam=self.elbow_joint.hole_diam,
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return self.spacer_of_joint(
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joint=self.elbow_joint,
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segment_thickness=self.s2_thickness,
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dx=self.elbow_h2,
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)
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@submodel(name="spacer-s2-wrist")
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def spacer_s2_wrist(self) -> MountingBox:
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holes = [
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Hole(x)
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for x in self.wrist_joint.parent_hole_pos()
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]
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return MountingBox(
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length=70.0, # FIXME: magic
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width=self.s1_thickness,
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thickness=self.spacer_thickness,
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holes=holes,
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hole_diam=self.wrist_joint.hole_diam,
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return self.spacer_of_joint(
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joint=self.wrist_joint,
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segment_thickness=self.s2_thickness,
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dx=self.wrist_h2,
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)
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@assembly()
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def assembly_s2(self) -> Cq.Assembly:
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@ -576,7 +578,8 @@ class WingProfile(Model):
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result,
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o.generate(),
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point_tag=t,
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flipped=is_top != is_parent,
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flipped=is_top,# != is_parent,
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rotate=is_parent,
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)
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return result.solve()
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@ -591,30 +594,23 @@ class WingProfile(Model):
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def surface_s3(self,
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front: bool = True) -> Cq.Workplane:
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wrist_mount_inset = 0
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wrist_h = self.wrist_joint.child_beam.total_height
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h = (self.wrist_height - wrist_h) / 2
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h = self.wrist_height / 2
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tags = [
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("wrist_bot",
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self.wrist_to_abs(wrist_mount_inset, h),
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self.wrist_angle + 90),
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self.wrist_to_abs(wrist_mount_inset, h - self.wrist_h2),
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self.wrist_angle),
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("wrist_top",
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self.wrist_to_abs(wrist_mount_inset, h + wrist_h),
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self.wrist_angle - 90),
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self.wrist_to_abs(wrist_mount_inset, h + self.wrist_h2),
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self.wrist_angle),
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]
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profile = self.profile_s3()
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return nhf.utils.extrude_with_markers(profile, self.panel_thickness, tags, reverse=front)
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@submodel(name="spacer-s3-wrist")
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def spacer_s3_wrist(self) -> MountingBox:
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holes = [
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Hole(x)
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for x in self.wrist_joint.child_hole_pos()
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]
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return MountingBox(
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length=70.0, # FIXME: magic
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width=self.s1_thickness,
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thickness=self.spacer_thickness,
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holes=holes,
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hole_diam=self.wrist_joint.hole_diam
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return self.spacer_of_joint(
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joint=self.wrist_joint,
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segment_thickness=self.s3_thickness,
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dx=self.wrist_h2,
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)
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@assembly()
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def assembly_s3(self) -> Cq.Assembly:
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@ -645,8 +641,6 @@ class WingProfile(Model):
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parts: Optional[list[str]] = None,
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angle_elbow_wrist: float = 0.0,
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) -> Cq.Assembly():
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assert not self.elbow_joint.flip
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assert self.wrist_joint.flip
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if parts is None:
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parts = ["s0", "shoulder", "s1", "elbow", "s2", "wrist", "s3"]
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result = (
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@ -683,20 +677,20 @@ class WingProfile(Model):
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if "s1" in parts and "elbow" in parts:
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(
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result
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.constrain("s1/elbow_top?conn0", "elbow/parent_upper/top?conn0", "Plane")
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.constrain("s1/elbow_top?conn1", "elbow/parent_upper/top?conn1", "Plane")
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.constrain("s1/elbow_bot?conn0", "elbow/parent_upper/bot?conn0", "Plane")
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.constrain("s1/elbow_bot?conn1", "elbow/parent_upper/bot?conn1", "Plane")
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.constrain("s1/elbow_top?conn0", "elbow/parent_upper/lip?conn_top0", "Plane")
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.constrain("s1/elbow_top?conn1", "elbow/parent_upper/lip?conn_top1", "Plane")
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.constrain("s1/elbow_bot?conn0", "elbow/parent_upper/lip?conn_bot0", "Plane")
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.constrain("s1/elbow_bot?conn1", "elbow/parent_upper/lip?conn_bot1", "Plane")
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)
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if "s2" in parts:
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result.add(self.assembly_s2(), name="s2")
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if "s2" in parts and "elbow" in parts:
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(
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result
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.constrain("s2/elbow_top?conn0", "elbow/child/top?conn0", "Plane")
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.constrain("s2/elbow_top?conn1", "elbow/child/top?conn1", "Plane")
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.constrain("s2/elbow_bot?conn0", "elbow/child/bot?conn0", "Plane")
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.constrain("s2/elbow_bot?conn1", "elbow/child/bot?conn1", "Plane")
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.constrain("s2/elbow_top?conn0", "elbow/child/lip?conn_top0", "Plane")
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.constrain("s2/elbow_top?conn1", "elbow/child/lip?conn_top1", "Plane")
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.constrain("s2/elbow_bot?conn0", "elbow/child/lip?conn_bot0", "Plane")
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.constrain("s2/elbow_bot?conn1", "elbow/child/lip?conn_bot1", "Plane")
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)
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if "wrist" in parts:
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result.add(self.wrist_joint.assembly(angle=angle_elbow_wrist), name="wrist")
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@ -704,20 +698,20 @@ class WingProfile(Model):
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# Mounted backwards to bend in other direction
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(
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result
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.constrain("s2/wrist_top?conn0", "wrist/parent_upper/top?conn0", "Plane")
|
||||
.constrain("s2/wrist_top?conn1", "wrist/parent_upper/top?conn1", "Plane")
|
||||
.constrain("s2/wrist_bot?conn0", "wrist/parent_upper/bot?conn0", "Plane")
|
||||
.constrain("s2/wrist_bot?conn1", "wrist/parent_upper/bot?conn1", "Plane")
|
||||
.constrain("s2/wrist_top?conn0", "wrist/parent_upper/bot?conn0", "Plane")
|
||||
.constrain("s2/wrist_top?conn1", "wrist/parent_upper/bot?conn1", "Plane")
|
||||
.constrain("s2/wrist_bot?conn0", "wrist/parent_upper/top?conn0", "Plane")
|
||||
.constrain("s2/wrist_bot?conn1", "wrist/parent_upper/top?conn1", "Plane")
|
||||
)
|
||||
if "s3" in parts:
|
||||
result.add(self.assembly_s3(), name="s3")
|
||||
if "s3" in parts and "wrist" in parts:
|
||||
(
|
||||
result
|
||||
.constrain("s3/wrist_top?conn0", "wrist/child/top?conn0", "Plane")
|
||||
.constrain("s3/wrist_top?conn1", "wrist/child/top?conn1", "Plane")
|
||||
.constrain("s3/wrist_bot?conn0", "wrist/child/bot?conn0", "Plane")
|
||||
.constrain("s3/wrist_bot?conn1", "wrist/child/bot?conn1", "Plane")
|
||||
.constrain("s3/wrist_top?conn0", "wrist/child/bot?conn0", "Plane")
|
||||
.constrain("s3/wrist_top?conn1", "wrist/child/bot?conn1", "Plane")
|
||||
.constrain("s3/wrist_bot?conn0", "wrist/child/top?conn0", "Plane")
|
||||
.constrain("s3/wrist_bot?conn1", "wrist/child/top?conn1", "Plane")
|
||||
)
|
||||
if len(parts) > 1:
|
||||
result.solve()
|
||||
|
|
|
|||
Loading…
Reference in New Issue