refactor: Factor out parts of the wing assembly
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4D9B1C8D10EA4C50
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@ -21,6 +21,7 @@ class Role(Enum):
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STRUCTURE = _color('gray', 0.4)
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DECORATION = _color('lightseagreen', 0.4)
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ELECTRONIC = _color('mediumorchid', 0.5)
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MARKER = _color('white', 1.0)
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def __init__(self, color: Cq.Color):
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self.color = color
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@ -37,6 +37,7 @@ from nhf.parts.joints import HirthJoint, TorsionJoint
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from nhf.parts.handle import Handle, BayonetMount
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import nhf.touhou.houjuu_nue.wing as MW
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import nhf.touhou.houjuu_nue.trident as MT
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import nhf.touhou.houjuu_nue.joints as MJ
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import nhf.utils
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@dataclass
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@ -88,33 +89,21 @@ class Parameters(Model):
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hs_joint_axis_cbore_depth: float = 3
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wing_profile: MW.WingProfile = field(default_factory=lambda: MW.WingProfile(
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shoulder_height = 80,
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elbow_height = 100,
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shoulder_height=100.0,
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elbow_height=110.0,
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))
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# Exterior radius of the wing root assembly
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wing_root_radius: float = 40
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wing_root_wall_thickness: float = 8
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shoulder_torsion_joint: TorsionJoint = field(default_factory=lambda: TorsionJoint(
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radius_track=18,
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radius_rider=18,
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groove_radius_outer=16,
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groove_radius_inner=13,
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track_disk_height=5.0,
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rider_disk_height=5.0,
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# M8 Axle
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radius_axle=3.0,
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# inner diameter = 9
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radius_spring=9/2 + 1.2,
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spring_thickness=1.3,
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spring_height=7.5,
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shoulder_joint: MJ.ShoulderJoint = field(default_factory=lambda: MJ.ShoulderJoint(
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shoulder_height=100.0,
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))
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elbow_joint: MJ.ElbowJoint = field(default_factory=lambda: MJ.ElbowJoint(
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))
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wrist_joint: MJ.ElbowJoint = field(default_factory=lambda: MJ.ElbowJoint(
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))
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# Two holes on each side (top and bottom) are used to attach the shoulder
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# joint. This governs the distance between these two holes
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shoulder_attach_dist: float = 25
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shoulder_attach_diam: float = 8
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"""
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Heights for various wing joints, where the numbers start from the first
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@ -325,8 +314,8 @@ class Parameters(Model):
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"""
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return MW.wing_root(
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joint=self.hs_hirth_joint,
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shoulder_attach_dist=self.shoulder_attach_dist,
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shoulder_attach_diam=self.shoulder_attach_diam,
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shoulder_attach_dist=self.shoulder_joint.attach_dist,
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shoulder_attach_diam=self.shoulder_joint.attach_diam,
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wall_thickness=self.wing_root_wall_thickness,
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conn_height=self.wing_profile.shoulder_height,
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conn_thickness=self.wing_s0_thickness,
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@ -334,169 +323,25 @@ class Parameters(Model):
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@target(name="wing/proto-shoulder-joint-parent", prototype=True)
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def proto_shoulder_joint_parent(self):
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return self.shoulder_torsion_joint.track()
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return self.shoulder_joint.torsion_joint.track()
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@target(name="wing/proto-shoulder-joint-child", prototype=True)
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def proto_shoulder_joint_child(self):
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return self.shoulder_torsion_joint.rider()
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@target(name="wing/shoulder_joint_parent")
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def shoulder_joint_parent(self) -> Cq.Workplane:
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joint = self.shoulder_torsion_joint
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# Thickness of the lip connecting this joint to the wing root
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lip_thickness = 10
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lip_width = 25
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lip_guard_ext = 40
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lip_guard_height = self.wing_root_wall_thickness + lip_thickness
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assert lip_guard_ext > joint.radius_track
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lip_guard = (
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Cq.Solid.makeBox(lip_guard_ext, lip_width, lip_guard_height)
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.located(Cq.Location((0, -lip_width/2 , 0)))
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.cut(Cq.Solid.makeCylinder(joint.radius_track, lip_guard_height))
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)
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result = (
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joint.track()
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.union(lip_guard, tol=1e-6)
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# Extrude the handle
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.copyWorkplane(Cq.Workplane(
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'YZ', origin=Cq.Vector((88, 0, self.wing_root_wall_thickness))))
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.rect(lip_width, lip_thickness, centered=(True, False))
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.extrude("next")
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# Connector holes on the lip
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.copyWorkplane(Cq.Workplane(
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'YX', origin=Cq.Vector((57, 0, self.wing_root_wall_thickness))))
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.hole(self.shoulder_attach_diam)
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.moveTo(0, self.shoulder_attach_dist)
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.hole(self.shoulder_attach_diam)
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)
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result.moveTo(0, 0).tagPlane('conn0')
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result.moveTo(0, self.shoulder_attach_dist).tagPlane('conn1')
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return result
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@property
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def shoulder_joint_child_height(self) -> float:
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"""
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Calculates the y distance between two joint surfaces on the child side
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of the shoulder joint.
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"""
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joint = self.shoulder_torsion_joint
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return self.wing_profile.shoulder_height - 2 * joint.total_height + 2 * joint.rider_disk_height
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@target(name="wing/shoulder_joint_child")
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def shoulder_joint_child(self) -> Cq.Assembly:
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"""
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Creates the top/bottom shoulder child joint
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"""
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joint = self.shoulder_torsion_joint
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# Half of the height of the bridging cylinder
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dh = self.wing_profile.shoulder_height / 2 - joint.total_height
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core_start_angle = 30
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core_end_angle1 = 90
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core_end_angle2 = 180
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core_thickness = 2
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core_profile1 = (
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Cq.Sketch()
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.arc((0, 0), joint.radius_rider, core_start_angle, core_end_angle1-core_start_angle)
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.segment((0, 0))
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.close()
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.assemble()
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.circle(joint.radius_rider - core_thickness, mode='s')
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)
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core_profile2 = (
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Cq.Sketch()
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.arc((0, 0), joint.radius_rider, -core_start_angle, -(core_end_angle2-core_start_angle))
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.segment((0, 0))
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.close()
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.assemble()
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.circle(joint.radius_rider - core_thickness, mode='s')
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)
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core = (
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Cq.Workplane('XY')
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.placeSketch(core_profile1)
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.toPending()
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.extrude(dh * 2)
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.copyWorkplane(Cq.Workplane('XY'))
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.placeSketch(core_profile2)
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.toPending()
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.extrude(dh * 2)
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.translate(Cq.Vector(0, 0, -dh))
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)
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# Create the upper and lower lips
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lip_height = self.wing_s1_thickness
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lip_thickness = joint.rider_disk_height
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lip_ext = 40 + joint.radius_rider
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hole_dx = self.wing_s1_shoulder_spacer_hole_dist
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assert lip_height / 2 <= joint.radius_rider
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lip = (
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Cq.Workplane('XY')
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.box(lip_ext, lip_height, lip_thickness,
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centered=(False, True, False))
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.copyWorkplane(Cq.Workplane('XY'))
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.cylinder(radius=joint.radius_rider, height=lip_thickness,
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centered=(True, True, False),
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combine='cut')
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.faces(">Z")
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.workplane()
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)
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hole_x = lip_ext - hole_dx / 2
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for i in range(2):
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x = hole_x - i * hole_dx
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lip = lip.moveTo(x, 0).hole(self.wing_s1_spacer_hole_diam)
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for i in range(2):
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x = hole_x - i * hole_dx
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(
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lip
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.moveTo(x, 0)
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.tagPlane(f"conn{1 - i}")
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)
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loc_rotate = Cq.Location((0, 0, 0), (1, 0, 0), 180)
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result = (
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Cq.Assembly()
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.add(core, name="core", loc=Cq.Location())
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.add(joint.rider(rider_slot_begin=-90, reverse_directrix_label=True), name="rider_top",
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loc=Cq.Location((0, 0, dh), (0, 0, 1), -90))
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.add(joint.rider(rider_slot_begin=180), name="rider_bot",
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loc=Cq.Location((0, 0, -dh), (0, 0, 1), -90) * loc_rotate)
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.add(lip, name="lip_top",
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loc=Cq.Location((0, 0, dh)))
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.add(lip, name="lip_bot",
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loc=Cq.Location((0, 0, -dh)) * loc_rotate)
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)
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return result
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return self.shoulder_joint.torsion_joint.rider()
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@assembly()
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def shoulder_assembly(self) -> Cq.Assembly:
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directrix = 0
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result = (
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Cq.Assembly()
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.add(self.shoulder_joint_child(), name="child",
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color=Role.CHILD.color)
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.constrain("child/core", "Fixed")
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.add(self.shoulder_torsion_joint.spring(), name="spring_top",
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color=Role.DAMPING.color)
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.add(self.shoulder_joint_parent(), name="parent_top",
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color=Role.PARENT.color)
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.add(self.shoulder_torsion_joint.spring(), name="spring_bot",
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color=Role.DAMPING.color)
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.add(self.shoulder_joint_parent(), name="parent_bot",
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color=Role.PARENT.color)
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def shoulder_assembly(self):
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return self.shoulder_joint.assembly(
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wing_root_wall_thickness=self.wing_root_wall_thickness,
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lip_height=self.wing_s1_thickness,
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hole_dist=self.wing_s1_shoulder_spacer_hole_dist,
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spacer_hole_diam=self.wing_s1_spacer_hole_diam,
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)
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TorsionJoint.add_constraints(result,
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rider="child/rider_top",
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track="parent_top",
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spring="spring_top",
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directrix=directrix)
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TorsionJoint.add_constraints(result,
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rider="child/rider_bot",
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track="parent_bot",
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spring="spring_bot",
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directrix=directrix)
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return result.solve()
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@assembly()
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def elbow_assembly(self):
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return self.elbow_joint.assembly()
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@assembly()
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def wrist_assembly(self):
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return self.wrist_joint.assembly()
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@target(name="wing/s1-spacer", kind=TargetKind.DXF)
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def wing_s1_spacer(self) -> Cq.Workplane:
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@ -515,61 +360,93 @@ class Parameters(Model):
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@target(name="wing/s1-shoulder-spacer", kind=TargetKind.DXF)
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def wing_s1_shoulder_spacer(self) -> Cq.Workplane:
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"""
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The mate tags are on the side closer to the holes.
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Creates a rectangular spacer. This could be cut from acrylic.
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There are two holes on the top of the spacer. With the holes
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"""
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dx = self.wing_s1_shoulder_spacer_hole_dist
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h = self.wing_s1_spacer_thickness
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length = self.wing_s1_shoulder_spacer_width
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hole_diam = self.wing_s1_spacer_hole_diam
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assert dx + hole_diam < length / 2
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result = (
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Cq.Workplane('XZ')
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Cq.Workplane('XY')
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.sketch()
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.rect(self.wing_s1_shoulder_spacer_width,
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self.wing_s1_thickness)
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.rect(length, self.wing_s1_thickness)
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.push([
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(0, 0),
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(dx, 0),
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])
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.circle(self.wing_s1_spacer_hole_diam / 2, mode='s')
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.circle(hole_diam / 2, mode='s')
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.finalize()
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.extrude(h)
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)
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# Tag the mating surfaces to be glued
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result.faces("<Z").workplane().moveTo(0, h).tagPlane("weld1")
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result.faces(">Z").workplane().moveTo(0, -h).tagPlane("weld2")
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result.faces("<Y").workplane().moveTo(length / 2, h).tagPlane("left")
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result.faces(">Y").workplane().moveTo(-length / 2, h).tagPlane("right")
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# Tag the directrix
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result.faces("<Y").tag("dir")
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result.faces(">Z").tag("dir")
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# Tag the holes
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plane = result.faces(">Y").workplane()
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plane = result.faces(">Z").workplane()
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# Side closer to the parent is 0
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plane.moveTo(-dx, 0).tagPlane("conn0")
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plane.moveTo(dx, 0).tagPlane("conn0")
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plane.tagPlane("conn1")
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return result
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def assembly_insert_shoulder_spacer(
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self,
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assembly,
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spacer,
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point_tag: str,
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front_tag: str = "panel_front",
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back_tag: str = "panel_back",
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flipped: 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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panel on the left
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"""
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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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(
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assembly
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.add(spacer,
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name=f"{point_tag}_spacer",
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color=self.material_bracket.color)
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.constrain(f"{front_tag}?{point_tag}",
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f"{point_tag}_spacer?{site_front}", "Plane")
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.constrain(f"{back_tag}?{point_tag}",
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f"{point_tag}_spacer?{site_back}", "Plane")
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.constrain(f"{point_tag}_spacer?dir", f"{front_tag}?{point_tag}_dir",
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"Axis", param=angle)
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)
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@target(name="wing/r1s1", kind=TargetKind.DXF)
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def wing_r1s1_profile(self) -> Cq.Sketch:
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"""
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FIXME: Output individual segment profiles
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"""
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return self.wing_profile.profile()
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def wing_r1s1_panel(self, front=True) -> Cq.Workplane:
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profile = self.wing_r1s1_profile()
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w = self.wing_s1_shoulder_spacer_width / 2
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h = (self.wing_profile.shoulder_height - self.shoulder_joint_child_height) / 2
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anchors = [
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("shoulder_top", w, h + self.shoulder_joint_child_height),
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("shoulder_bot", w, h),
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("middle", 50, -20),
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("tip", 270, 50),
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]
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result = (
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Cq.Workplane("XY")
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.placeSketch(profile)
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.extrude(self.panel_thickness)
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return self.wing_profile.surface_s1(
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thickness=self.panel_thickness,
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shoulder_joint_child_height=self.shoulder_joint.child_height,
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front=front,
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)
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def wing_r1s2_panel(self, front=True) -> Cq.Workplane:
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return self.wing_profile.surface_s2(
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thickness=self.panel_thickness,
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front=front,
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)
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def wing_r1s3_panel(self, front=True) -> Cq.Workplane:
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return self.wing_profile.surface_s3(
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thickness=self.panel_thickness,
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front=front,
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)
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plane = result.faces(">Z" if front else "<Z").workplane()
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sign = 1 if front else -1
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for name, px, py in anchors:
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plane.moveTo(px, sign * py).tagPlane(name)
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return result
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@assembly()
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def wing_r1s1_assembly(self) -> Cq.Assembly:
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@ -582,56 +459,86 @@ class Parameters(Model):
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color=self.material_panel.color)
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.constrain("panel_front@faces@>Z", "panel_back@faces@<Z", "Point",
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param=self.wing_s1_thickness)
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.add(self.wing_s1_shoulder_spacer(),
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name="shoulder_bot_spacer",
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color=self.material_bracket.color)
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.constrain("panel_front?shoulder_bot", "shoulder_bot_spacer?weld1", "Plane")
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.constrain("panel_back?shoulder_bot", "shoulder_bot_spacer?weld2", "Plane")
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.constrain("shoulder_bot_spacer?dir", "FixedAxis", param=(0, 1, 0))
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.add(self.wing_s1_shoulder_spacer(),
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name="shoulder_top_spacer",
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color=self.material_bracket.color)
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.constrain("panel_front?shoulder_top", "shoulder_top_spacer?weld2", "Plane")
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.constrain("panel_back?shoulder_top", "shoulder_top_spacer?weld1", "Plane")
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.constrain("shoulder_top_spacer?dir", "FixedAxis", param=(0, -1, 0))
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# Should be controlled by point value directly
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#.constrain("shoulder_bot_spacer?dir", "shoulder_top_spacer?dir", "Point",
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# self.shoulder_joint_child_height)
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)
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for tag in ["middle", "tip"]:
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name = f"{tag}_spacer"
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(
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result
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.add(self.wing_s1_spacer(), name=name,
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color=self.material_bracket.color)
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.constrain(f"panel_front?{tag}", f"{tag}_spacer?weld1", "Plane")
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.constrain(f"panel_back?{tag}", f"{tag}_spacer?weld2", "Plane")
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.constrain(f"{name}?dir", "FixedAxis", param=(0, 1, 0))
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for t in ["shoulder_bot", "shoulder_top", "elbow_bot", "elbow_top"]:
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is_top = t.endswith("_top")
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is_parent = t.startswith("shoulder")
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self.assembly_insert_shoulder_spacer(
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result,
|
||||
self.wing_s1_shoulder_spacer(),
|
||||
point_tag=t,
|
||||
flipped=is_top == is_parent,
|
||||
)
|
||||
return result.solve()
|
||||
@assembly()
|
||||
def wing_r1s2_assembly(self) -> Cq.Assembly:
|
||||
result = (
|
||||
Cq.Assembly()
|
||||
.add(self.wing_r1s2_panel(front=True), name="panel_front",
|
||||
color=self.material_panel.color)
|
||||
.constrain("panel_front", "Fixed")
|
||||
.add(self.wing_r1s2_panel(front=False), name="panel_back",
|
||||
color=self.material_panel.color)
|
||||
# FIXME: Use s2 thickness
|
||||
.constrain("panel_front@faces@>Z", "panel_back@faces@<Z", "Point",
|
||||
param=self.wing_s1_thickness)
|
||||
)
|
||||
for t in ["elbow_bot", "elbow_top", "wrist_bot", "wrist_top"]:
|
||||
is_top = t.endswith("_top")
|
||||
is_parent = t.startswith("elbow")
|
||||
self.assembly_insert_shoulder_spacer(
|
||||
result,
|
||||
self.wing_s1_shoulder_spacer(),
|
||||
point_tag=t,
|
||||
flipped=is_top == is_parent,
|
||||
)
|
||||
return result.solve()
|
||||
@assembly()
|
||||
def wing_r1s3_assembly(self) -> Cq.Assembly:
|
||||
result = (
|
||||
Cq.Assembly()
|
||||
.add(self.wing_r1s3_panel(front=True), name="panel_front",
|
||||
color=self.material_panel.color)
|
||||
.constrain("panel_front", "Fixed")
|
||||
.add(self.wing_r1s3_panel(front=False), name="panel_back",
|
||||
color=self.material_panel.color)
|
||||
# FIXME: Use s2 thickness
|
||||
.constrain("panel_front@faces@>Z", "panel_back@faces@<Z", "Point",
|
||||
param=self.wing_s1_thickness)
|
||||
)
|
||||
for t in ["wrist_bot", "wrist_top"]:
|
||||
self.assembly_insert_shoulder_spacer(
|
||||
result,
|
||||
self.wing_s1_shoulder_spacer(),
|
||||
point_tag=t
|
||||
)
|
||||
return result.solve()
|
||||
|
||||
|
||||
@assembly()
|
||||
def wing_r1_assembly(self, parts=["root", "shoulder", "s1"]) -> Cq.Assembly:
|
||||
def wing_r1_assembly(
|
||||
self,
|
||||
parts=["s0", "shoulder", "s1", "elbow", "s2", "wrist", "s3"],
|
||||
) -> Cq.Assembly:
|
||||
result = (
|
||||
Cq.Assembly()
|
||||
)
|
||||
if "root" in parts:
|
||||
if "s0" in parts:
|
||||
(
|
||||
result
|
||||
.add(self.wing_root(), name="root")
|
||||
.constrain("root/scaffold", "Fixed")
|
||||
.add(self.wing_root(), name="s0")
|
||||
.constrain("s0/scaffold", "Fixed")
|
||||
)
|
||||
if "shoulder" in parts:
|
||||
result.add(self.shoulder_assembly(), name="shoulder")
|
||||
|
||||
if "root" in parts and "shoulder" in parts:
|
||||
if "s0" in parts and "shoulder" in parts:
|
||||
(
|
||||
result
|
||||
.constrain("root/scaffold?conn_top0", "shoulder/parent_top?conn0", "Plane")
|
||||
.constrain("root/scaffold?conn_top1", "shoulder/parent_top?conn1", "Plane")
|
||||
.constrain("root/scaffold?conn_bot0", "shoulder/parent_bot?conn0", "Plane")
|
||||
.constrain("root/scaffold?conn_bot1", "shoulder/parent_bot?conn1", "Plane")
|
||||
.constrain("s0/scaffold?conn_top0", "shoulder/parent_top?conn0", "Plane")
|
||||
.constrain("s0/scaffold?conn_top1", "shoulder/parent_top?conn1", "Plane")
|
||||
.constrain("s0/scaffold?conn_bot0", "shoulder/parent_bot?conn0", "Plane")
|
||||
.constrain("s0/scaffold?conn_bot1", "shoulder/parent_bot?conn1", "Plane")
|
||||
)
|
||||
|
||||
if "s1" in parts:
|
||||
|
|
@ -653,6 +560,45 @@ class Parameters(Model):
|
|||
"s1/shoulder_top_spacer?conn1",
|
||||
"Plane")
|
||||
)
|
||||
if "elbow" in parts:
|
||||
result.add(self.elbow_assembly(), name="elbow")
|
||||
|
||||
if "s2" in parts:
|
||||
result.add(self.wing_r1s2_assembly(), name="s2")
|
||||
|
||||
if "s1" in parts and "elbow" in parts:
|
||||
(
|
||||
result
|
||||
.constrain("elbow/parent_upper/top?conn1",
|
||||
"s1/elbow_top_spacer?conn1",
|
||||
"Plane")
|
||||
.constrain("elbow/parent_upper/top?conn0",
|
||||
"s1/elbow_top_spacer?conn0",
|
||||
"Plane")
|
||||
.constrain("elbow/parent_upper/bot?conn1",
|
||||
"s1/elbow_bot_spacer?conn1",
|
||||
"Plane")
|
||||
.constrain("elbow/parent_upper/bot?conn0",
|
||||
"s1/elbow_bot_spacer?conn0",
|
||||
"Plane")
|
||||
)
|
||||
|
||||
if "s2" in parts and "elbow" in parts:
|
||||
(
|
||||
result
|
||||
.constrain("elbow/child/bot?conn0",
|
||||
"s2/elbow_bot_spacer?conn0",
|
||||
"Plane")
|
||||
.constrain("elbow/child/bot?conn1",
|
||||
"s2/elbow_bot_spacer?conn1",
|
||||
"Plane")
|
||||
.constrain("elbow/child/top?conn0",
|
||||
"s2/elbow_top_spacer?conn0",
|
||||
"Plane")
|
||||
.constrain("elbow/child/top?conn1",
|
||||
"s2/elbow_top_spacer?conn1",
|
||||
"Plane")
|
||||
)
|
||||
return result.solve()
|
||||
|
||||
@assembly()
|
||||
|
|
|
|||
|
|
@ -2,12 +2,209 @@ from dataclasses import dataclass, field
|
|||
from typing import Optional, Tuple
|
||||
import cadquery as Cq
|
||||
from nhf import Role
|
||||
from nhf.build import Model, target
|
||||
from nhf.build import Model, target, assembly
|
||||
import nhf.parts.springs as springs
|
||||
from nhf.parts.joints import TorsionJoint
|
||||
import nhf.utils
|
||||
|
||||
TOL = 1e-6
|
||||
|
||||
@dataclass
|
||||
class ShoulderJoint(Model):
|
||||
|
||||
shoulder_height: float = 100.0
|
||||
torsion_joint: TorsionJoint = field(default_factory=lambda: TorsionJoint(
|
||||
radius_track=18,
|
||||
radius_rider=18,
|
||||
groove_radius_outer=16,
|
||||
groove_radius_inner=13,
|
||||
track_disk_height=5.0,
|
||||
rider_disk_height=5.0,
|
||||
# M8 Axle
|
||||
radius_axle=3.0,
|
||||
# inner diameter = 9
|
||||
radius_spring=9/2 + 1.2,
|
||||
spring_thickness=1.3,
|
||||
spring_height=7.5,
|
||||
))
|
||||
# Two holes on each side (top and bottom) are used to attach the shoulder
|
||||
# joint. This governs the distance between these two holes
|
||||
attach_dist: float = 25
|
||||
attach_diam: float = 8
|
||||
|
||||
|
||||
@target(name="shoulder-joint/parent")
|
||||
def parent(self,
|
||||
wing_root_wall_thickness: float = 5.0) -> Cq.Workplane:
|
||||
joint = self.torsion_joint
|
||||
# Thickness of the lip connecting this joint to the wing root
|
||||
lip_thickness = 10
|
||||
lip_width = 25
|
||||
lip_guard_ext = 40
|
||||
lip_guard_height = wing_root_wall_thickness + lip_thickness
|
||||
assert lip_guard_ext > joint.radius_track
|
||||
|
||||
lip_guard = (
|
||||
Cq.Solid.makeBox(lip_guard_ext, lip_width, lip_guard_height)
|
||||
.located(Cq.Location((0, -lip_width/2 , 0)))
|
||||
.cut(Cq.Solid.makeCylinder(joint.radius_track, lip_guard_height))
|
||||
)
|
||||
result = (
|
||||
joint.track()
|
||||
.union(lip_guard, tol=1e-6)
|
||||
|
||||
# Extrude the handle
|
||||
.copyWorkplane(Cq.Workplane(
|
||||
'YZ', origin=Cq.Vector((88, 0, wing_root_wall_thickness))))
|
||||
.rect(lip_width, lip_thickness, centered=(True, False))
|
||||
.extrude("next")
|
||||
|
||||
# Connector holes on the lip
|
||||
.copyWorkplane(Cq.Workplane(
|
||||
'YX', origin=Cq.Vector((57, 0, wing_root_wall_thickness))))
|
||||
.hole(self.attach_diam)
|
||||
.moveTo(0, self.attach_dist)
|
||||
.hole(self.attach_diam)
|
||||
)
|
||||
result.moveTo(0, 0).tagPlane('conn0')
|
||||
result.moveTo(0, self.attach_dist).tagPlane('conn1')
|
||||
return result
|
||||
|
||||
@property
|
||||
def child_height(self) -> float:
|
||||
"""
|
||||
Calculates the y distance between two joint surfaces on the child side
|
||||
of the shoulder joint.
|
||||
"""
|
||||
joint = self.torsion_joint
|
||||
return self.shoulder_height - 2 * joint.total_height + 2 * joint.rider_disk_height
|
||||
|
||||
@target(name="shoulder-joint/child")
|
||||
def child(self,
|
||||
lip_height: float = 20.0,
|
||||
hole_dist: float = 10.0,
|
||||
spacer_hole_diam: float = 8.0) -> Cq.Assembly:
|
||||
"""
|
||||
Creates the top/bottom shoulder child joint
|
||||
"""
|
||||
|
||||
joint = self.torsion_joint
|
||||
# Half of the height of the bridging cylinder
|
||||
dh = self.shoulder_height / 2 - joint.total_height
|
||||
core_start_angle = 30
|
||||
core_end_angle1 = 90
|
||||
core_end_angle2 = 180
|
||||
core_thickness = 2
|
||||
|
||||
core_profile1 = (
|
||||
Cq.Sketch()
|
||||
.arc((0, 0), joint.radius_rider, core_start_angle, core_end_angle1-core_start_angle)
|
||||
.segment((0, 0))
|
||||
.close()
|
||||
.assemble()
|
||||
.circle(joint.radius_rider - core_thickness, mode='s')
|
||||
)
|
||||
core_profile2 = (
|
||||
Cq.Sketch()
|
||||
.arc((0, 0), joint.radius_rider, -core_start_angle, -(core_end_angle2-core_start_angle))
|
||||
.segment((0, 0))
|
||||
.close()
|
||||
.assemble()
|
||||
.circle(joint.radius_rider - core_thickness, mode='s')
|
||||
)
|
||||
core = (
|
||||
Cq.Workplane('XY')
|
||||
.placeSketch(core_profile1)
|
||||
.toPending()
|
||||
.extrude(dh * 2)
|
||||
.copyWorkplane(Cq.Workplane('XY'))
|
||||
.placeSketch(core_profile2)
|
||||
.toPending()
|
||||
.extrude(dh * 2)
|
||||
.translate(Cq.Vector(0, 0, -dh))
|
||||
)
|
||||
# Create the upper and lower lips
|
||||
lip_thickness = joint.rider_disk_height
|
||||
lip_ext = 40 + joint.radius_rider
|
||||
assert lip_height / 2 <= joint.radius_rider
|
||||
lip = (
|
||||
Cq.Workplane('XY')
|
||||
.box(lip_ext, lip_height, lip_thickness,
|
||||
centered=(False, True, False))
|
||||
.copyWorkplane(Cq.Workplane('XY'))
|
||||
.cylinder(radius=joint.radius_rider, height=lip_thickness,
|
||||
centered=(True, True, False),
|
||||
combine='cut')
|
||||
.faces(">Z")
|
||||
.workplane()
|
||||
)
|
||||
hole_x = lip_ext - hole_dist / 2
|
||||
for i in range(2):
|
||||
x = hole_x - i * hole_dist
|
||||
lip = lip.moveTo(x, 0).hole(spacer_hole_diam)
|
||||
for i in range(2):
|
||||
x = hole_x - i * hole_dist
|
||||
(
|
||||
lip
|
||||
.moveTo(x, 0)
|
||||
.tagPlane(f"conn{1 - i}")
|
||||
)
|
||||
|
||||
loc_rotate = Cq.Location((0, 0, 0), (1, 0, 0), 180)
|
||||
result = (
|
||||
Cq.Assembly()
|
||||
.add(core, name="core", loc=Cq.Location())
|
||||
.add(joint.rider(rider_slot_begin=-90, reverse_directrix_label=True), name="rider_top",
|
||||
loc=Cq.Location((0, 0, dh), (0, 0, 1), -90))
|
||||
.add(joint.rider(rider_slot_begin=180), name="rider_bot",
|
||||
loc=Cq.Location((0, 0, -dh), (0, 0, 1), -90) * loc_rotate)
|
||||
.add(lip, name="lip_top",
|
||||
loc=Cq.Location((0, 0, dh)))
|
||||
.add(lip, name="lip_bot",
|
||||
loc=Cq.Location((0, 0, -dh)) * loc_rotate)
|
||||
)
|
||||
return result
|
||||
|
||||
@assembly()
|
||||
def assembly(self,
|
||||
wing_root_wall_thickness: float = 5.0,
|
||||
lip_height: float = 5.0,
|
||||
hole_dist: float = 10.0,
|
||||
spacer_hole_diam: float = 8.0
|
||||
) -> Cq.Assembly:
|
||||
directrix = 0
|
||||
result = (
|
||||
Cq.Assembly()
|
||||
.add(self.child(lip_height=lip_height,
|
||||
hole_dist=hole_dist,
|
||||
spacer_hole_diam=spacer_hole_diam),
|
||||
name="child",
|
||||
color=Role.CHILD.color)
|
||||
.constrain("child/core", "Fixed")
|
||||
.add(self.torsion_joint.spring(), name="spring_top",
|
||||
color=Role.DAMPING.color)
|
||||
.add(self.parent(wing_root_wall_thickness),
|
||||
name="parent_top",
|
||||
color=Role.PARENT.color)
|
||||
.add(self.torsion_joint.spring(), name="spring_bot",
|
||||
color=Role.DAMPING.color)
|
||||
.add(self.parent(wing_root_wall_thickness),
|
||||
name="parent_bot",
|
||||
color=Role.PARENT.color)
|
||||
)
|
||||
TorsionJoint.add_constraints(result,
|
||||
rider="child/rider_top",
|
||||
track="parent_top",
|
||||
spring="spring_top",
|
||||
directrix=directrix)
|
||||
TorsionJoint.add_constraints(result,
|
||||
rider="child/rider_bot",
|
||||
track="parent_bot",
|
||||
spring="spring_bot",
|
||||
directrix=directrix)
|
||||
return result.solve()
|
||||
|
||||
|
||||
@dataclass
|
||||
class Beam:
|
||||
"""
|
||||
|
|
@ -69,6 +266,7 @@ class Beam:
|
|||
)
|
||||
return result
|
||||
|
||||
|
||||
@dataclass
|
||||
class DiskJoint(Model):
|
||||
"""
|
||||
|
|
@ -325,6 +523,7 @@ class DiskJoint(Model):
|
|||
)
|
||||
return result.solve()
|
||||
|
||||
|
||||
@dataclass
|
||||
class ElbowJoint:
|
||||
"""
|
||||
|
|
@ -375,10 +574,10 @@ class ElbowJoint:
|
|||
)
|
||||
return result
|
||||
|
||||
def parent_joint_bot(self) -> Cq.Workplane:
|
||||
def parent_joint_lower(self) -> Cq.Workplane:
|
||||
return self.disk_joint.housing_lower()
|
||||
|
||||
def parent_joint_top(self):
|
||||
def parent_joint_upper(self):
|
||||
axial_offset = Cq.Location((self.parent_arm_radius, 0, 0))
|
||||
housing_dz = self.disk_joint.housing_upper_dz
|
||||
conn_h = self.parent_beam.spine_thickness
|
||||
|
|
@ -396,12 +595,11 @@ class ElbowJoint:
|
|||
)
|
||||
housing = self.disk_joint.housing_upper()
|
||||
result = (
|
||||
Cq.Assembly()
|
||||
self.parent_beam.beam()
|
||||
.add(housing, name="housing",
|
||||
loc=axial_offset * Cq.Location((0, 0, housing_dz)))
|
||||
.add(connector, name="connector",
|
||||
loc=axial_offset)
|
||||
.add(self.parent_beam.beam(), name="beam")
|
||||
)
|
||||
return result
|
||||
|
||||
|
|
@ -410,19 +608,21 @@ class ElbowJoint:
|
|||
result = (
|
||||
Cq.Assembly()
|
||||
.add(self.child_joint(), name="child", color=Role.CHILD.color)
|
||||
.add(self.parent_joint_bot(), name="parent_bot", color=Role.CASING.color)
|
||||
.add(self.parent_joint_top(), name="parent_top", color=Role.PARENT.color)
|
||||
.constrain("parent_bot", "Fixed")
|
||||
.add(self.parent_joint_lower(), name="parent_lower", color=Role.CASING.color)
|
||||
.add(self.parent_joint_upper(), name="parent_upper", color=Role.PARENT.color)
|
||||
.constrain("parent_lower", "Fixed")
|
||||
)
|
||||
self.disk_joint.add_constraints(
|
||||
result,
|
||||
housing_lower="parent_bot",
|
||||
housing_upper="parent_top/housing",
|
||||
housing_lower="parent_lower",
|
||||
housing_upper="parent_upper/housing",
|
||||
disk="child/disk",
|
||||
angle=(0, 0, angle + da),
|
||||
)
|
||||
return result.solve()
|
||||
|
||||
if __name__ == '__main__':
|
||||
p = ShoulderJoint()
|
||||
p.build_all()
|
||||
p = DiskJoint()
|
||||
p.build_all()
|
||||
|
|
@ -1,21 +1,25 @@
|
|||
import unittest
|
||||
import cadquery as Cq
|
||||
import nhf.touhou.houjuu_nue as M
|
||||
import nhf.touhou.houjuu_nue.parts as MP
|
||||
import nhf.touhou.houjuu_nue.joints as MJ
|
||||
from nhf.checks import pairwise_intersection
|
||||
|
||||
class TestDiskJoint(unittest.TestCase):
|
||||
class TestJoints(unittest.TestCase):
|
||||
|
||||
def test_collision_0(self):
|
||||
j = MP.DiskJoint()
|
||||
def test_shoulder_collision_0(self):
|
||||
j = MJ.ShoulderJoint()
|
||||
assembly = j.assembly()
|
||||
self.assertEqual(pairwise_intersection(assembly), [])
|
||||
def test_disk_collision_0(self):
|
||||
j = MJ.DiskJoint()
|
||||
assembly = j.assembly(angle=0)
|
||||
self.assertEqual(pairwise_intersection(assembly), [])
|
||||
def test_collision_mid(self):
|
||||
j = MP.DiskJoint()
|
||||
def test_disk_collision_mid(self):
|
||||
j = MJ.DiskJoint()
|
||||
assembly = j.assembly(angle=j.movement_angle / 2)
|
||||
self.assertEqual(pairwise_intersection(assembly), [])
|
||||
def test_collision_max(self):
|
||||
j = MP.DiskJoint()
|
||||
def test_disk_collision_max(self):
|
||||
j = MJ.DiskJoint()
|
||||
assembly = j.assembly(angle=j.movement_angle)
|
||||
self.assertEqual(pairwise_intersection(assembly), [])
|
||||
|
||||
|
|
|
|||
|
|
@ -198,7 +198,7 @@ def wing_root(joint: HirthJoint,
|
|||
for sign in [False, True]:
|
||||
y = conn_height / 2 - wall_thickness
|
||||
side = "bottom" if sign else "top"
|
||||
y = y if sign else -y
|
||||
y = -y if sign else y
|
||||
plane = (
|
||||
result
|
||||
# Create connector holes
|
||||
|
|
@ -211,7 +211,7 @@ def wing_root(joint: HirthJoint,
|
|||
side = "bot"
|
||||
for i, (px, py) in enumerate(attach_points):
|
||||
tag = f"conn_{side}{i}"
|
||||
plane.moveTo(px, -py if side == "top" else py).tagPlane(tag)
|
||||
plane.moveTo(px, -py if side == "top" else py).tagPlane(tag, "-Z")
|
||||
|
||||
result.faces("<Z").tag("base")
|
||||
result.faces(">X").tag("conn")
|
||||
|
|
@ -430,7 +430,7 @@ class WingProfile:
|
|||
self.elbow_angle + 90),
|
||||
("elbow_top",
|
||||
self.elbow_to_abs(elbow_mount_inset, h + elbow_joint_child_height),
|
||||
self.elbow_angle + 270),
|
||||
self.elbow_angle - 90),
|
||||
]
|
||||
h = (self.wrist_height - wrist_joint_parent_height) / 2
|
||||
tags_wrist = [
|
||||
|
|
@ -439,7 +439,7 @@ class WingProfile:
|
|||
self.wrist_angle + 90),
|
||||
("wrist_top",
|
||||
self.wrist_to_abs(-wrist_mount_inset, h + wrist_joint_parent_height),
|
||||
self.wrist_angle + 270),
|
||||
self.wrist_angle - 90),
|
||||
]
|
||||
profile = self.profile_s2()
|
||||
tags = tags_elbow + tags_wrist
|
||||
|
|
@ -465,7 +465,7 @@ class WingProfile:
|
|||
self.elbow_angle + 90),
|
||||
("wrist_top",
|
||||
self.elbow_to_abs(wrist_mount_inset, h + wrist_joint_child_height),
|
||||
self.elbow_angle + 270),
|
||||
self.elbow_angle - 90),
|
||||
]
|
||||
profile = self.profile_s3()
|
||||
return nhf.utils.extrude_with_markers(profile, thickness, tags, reverse=front)
|
||||
|
|
|
|||
55
nhf/utils.py
55
nhf/utils.py
|
|
@ -7,6 +7,7 @@ Adds the functions to `Cq.Workplane`:
|
|||
"""
|
||||
import math
|
||||
import cadquery as Cq
|
||||
from nhf import Role
|
||||
from typing import Union, Tuple
|
||||
|
||||
|
||||
|
|
@ -19,7 +20,6 @@ def tagPoint(self, tag: str):
|
|||
|
||||
Cq.Workplane.tagPoint = tagPoint
|
||||
|
||||
|
||||
def tagPlane(self, tag: str,
|
||||
direction: Union[str, Cq.Vector, Tuple[float, float, float]] = '+Z'):
|
||||
"""
|
||||
|
|
@ -52,6 +52,57 @@ def tagPlane(self, tag: str,
|
|||
|
||||
Cq.Workplane.tagPlane = tagPlane
|
||||
|
||||
def make_sphere(r: float = 2) -> Cq.Solid:
|
||||
"""
|
||||
Makes a full sphere. The default function makes a hemisphere
|
||||
"""
|
||||
return Cq.Solid.makeSphere(r, angleDegrees1=-90)
|
||||
def make_arrow(size: float = 2) -> Cq.Workplane:
|
||||
cone = Cq.Solid.makeCone(
|
||||
radius1 = size,
|
||||
radius2 = 0,
|
||||
height=size)
|
||||
result = (
|
||||
Cq.Workplane("XY")
|
||||
.cylinder(radius=size / 2, height=size, centered=(True, True, False))
|
||||
.union(cone.located(Cq.Location((0, 0, size))))
|
||||
)
|
||||
result.faces("<Z").tag("dir_rev")
|
||||
return result
|
||||
|
||||
def mark_point(self: Cq.Assembly,
|
||||
tag: str,
|
||||
size: float = 2,
|
||||
color: Cq.Color = Role.MARKER.color) -> Cq.Assembly:
|
||||
"""
|
||||
Adds a marker to make a point visible
|
||||
"""
|
||||
name = f"{tag}_marker"
|
||||
return (
|
||||
self
|
||||
.add(make_sphere(size), name=name, color=color)
|
||||
.constrain(tag, name, "Point")
|
||||
)
|
||||
|
||||
Cq.Assembly.markPoint = mark_point
|
||||
|
||||
def mark_plane(self: Cq.Assembly,
|
||||
tag: str,
|
||||
size: float = 2,
|
||||
color: Cq.Color = Role.MARKER.color) -> Cq.Assembly:
|
||||
"""
|
||||
Adds a marker to make a plane visible
|
||||
"""
|
||||
name = tag.replace("?", "__") + "_marker"
|
||||
return (
|
||||
self
|
||||
.add(make_arrow(size), name=name, color=color)
|
||||
.constrain(tag, f"{name}?dir_rev", "Plane", param=180)
|
||||
)
|
||||
|
||||
Cq.Assembly.markPlane = mark_plane
|
||||
|
||||
|
||||
def extrude_with_markers(sketch: Cq.Sketch,
|
||||
thickness: float,
|
||||
tags: list[Tuple[str, Tuple[float, float], float]],
|
||||
|
|
@ -73,7 +124,7 @@ def extrude_with_markers(sketch: Cq.Sketch,
|
|||
)
|
||||
plane = result.faces("<Z" if reverse else ">Z").workplane()
|
||||
sign = -1 if reverse else 1
|
||||
for tag, (px, py), angle in tag:
|
||||
for tag, (px, py), angle in tags:
|
||||
theta = sign * math.radians(angle)
|
||||
direction = (math.cos(theta), math.sin(theta), 0)
|
||||
plane.moveTo(px, sign * py).tagPlane(tag)
|
||||
|
|
|
|||
Loading…
Reference in New Issue