feat: Stable positioning of actuators
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@ -59,6 +59,7 @@ class MountingBox(Model):
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generate_reverse_tags: bool = False
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centre_bot_top_tags: bool = False
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centre_left_right_tags: bool = False
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# Determines the position of side tags
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flip_y: bool = False
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@ -103,8 +104,12 @@ class MountingBox(Model):
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reverse_plane.moveTo(hole.x, hole.y).tagPlane(hole.rev_tag, '-Z')
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if self.generate_side_tags:
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result.faces("<Y").workplane(origin=result.vertices("<X and <Y and >Z").val().Center()).tagPlane("left")
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result.faces(">Y").workplane(origin=result.vertices("<X and >Y and >Z").val().Center()).tagPlane("right")
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if self.centre_left_right_tags:
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result.faces("<Y").workplane(origin=result.edges("<Y and >Z").val().Center()).tagPlane("left")
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result.faces(">Y").workplane(origin=result.edges(">Y and >Z").val().Center()).tagPlane("right")
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else:
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result.faces("<Y").workplane(origin=result.vertices("<X and <Y and >Z").val().Center()).tagPlane("left")
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result.faces(">Y").workplane(origin=result.vertices("<X and >Y and >Z").val().Center()).tagPlane("right")
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c_y = ">Y" if self.flip_y else "<Y"
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if self.centre_bot_top_tags:
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@ -944,6 +944,8 @@ class ElbowJoint(Model):
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material: Material = Material.RESIN_TRANSPERENT
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# If set to true, the joint is flipped upside down.
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flip: bool = False
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angle_neutral: float = 30.0
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actuator: Optional[LinearActuator]
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@ -951,7 +953,7 @@ class ElbowJoint(Model):
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# Rotates the entire flexor
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flexor_offset_angle: float = 0
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# Rotates the surface of the mount
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flexor_mount_rot: float = 90.0
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flexor_mount_rot: float = 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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@ -977,15 +979,13 @@ class ElbowJoint(Model):
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axle is at position 0, and parent direction is -X
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"""
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return Cq.Location.from2d(-self.parent_arm_radius, 0, 0)
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def child_arm_loc(self, flip: bool = False, angle: float = 0.0) -> Cq.Location:
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def child_arm_loc(self, angle: float = 0.0) -> Cq.Location:
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"""
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2d Location of the centre of the arm surface on the child side, assuming
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axle is at position 0, and parent direction is -X
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Set `flip=True` to indicate that the joint is supposed to be installed upside down
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"""
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result = Cq.Location.rot2d(self.angle_neutral + angle) * Cq.Location.from2d(self.child_arm_radius, 0, 180)
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return result.flip_y() if flip else result
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return result.flip_y() if self.flip else result
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def actuator_mount(self) -> Cq.Workplane:
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holes = [
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Hole(x=0, y=0, tag="mount"),
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@ -1000,26 +1000,31 @@ class ElbowJoint(Model):
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generate_side_tags=False,
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)
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return mbox.generate()
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def actuator_mount_loc(self, child: bool) -> Cq.Location:
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# Orientes the hole surface so it faces +X
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loc_thickness = Cq.Location((-self.lip_thickness, 0, 0), (0, 1, 0), 90)
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def actuator_mount_loc(
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self,
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child: bool = False,
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# If set to true, use the local coordinate system
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unflip: bool = False,
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) -> Cq.Location:
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# Moves the hole so the axle of the mount is perpendicular to it
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loc_mount = Cq.Location.from2d(self.flexor.mount_height, 0) * Cq.Location.rot2d(180)
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loc_mount_orient = Cq.Location.rot2d(self.flexor_mount_rot * (-1 if child else 1))
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# Moves the hole to be some distance apart from 0
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mount_r, mount_loc_angle, mount_parent_r = self.flexor.open_pos()
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loc_span = Cq.Location.from2d(mount_r if child else mount_parent_r, 0)
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r = (-mount_loc_angle if child else 0) + 180
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loc_rot = Cq.Location.rot2d(r + self.flexor_offset_angle)
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return loc_rot * loc_span * loc_mount_orient * loc_mount * loc_thickness
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r = (-mount_loc_angle - self.angle_neutral if child else 0) + 180 + self.flexor_offset_angle
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loc_rot = Cq.Location.rot2d(r)
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loc = loc_rot * loc_span * loc_mount_orient * loc_mount
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return loc.flip_y() if self.flip and not child and not unflip else loc
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def lip(self) -> Cq.Workplane:
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sign = -1 if self.flip else 1
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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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Hole(x=sign * x, tag=f"conn_top{i}"),
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Hole(x=-sign * x, tag=f"conn_bot{i}")
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]
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]
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mbox = MountingBox(
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@ -1047,17 +1052,22 @@ class ElbowJoint(Model):
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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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)
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loc_disk = flip_x * flip_z * Cq.Location((-self.child_arm_radius, 0, 0), (0, 0, 1), angle)
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loc_disk = flip_x * flip_z * Cq.Location((-self.child_arm_radius, 0, 0))
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loc_cut_rel = Cq.Location((0, self.disk_joint.spring.radius_inner, -self.disk_joint.disk_bot_thickness))
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disk_cut = self.disk_joint._disk_cut().located(
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loc_lip.inverse * loc_cut_rel * loc_disk)
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result = (
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Cq.Assembly()
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.add(self.disk_joint.disk(), name="disk", loc=Cq.Location((0, 0, -dz)))
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.add(self.disk_joint.disk(), name="disk", loc=Cq.Location((0, 0, -dz), (0,0,1), angle))
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.add(self.lip().cut(disk_cut), name="lip", loc=loc_disk.inverse * loc_lip)
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)
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# Orientes the hole surface so it faces +X
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loc_thickness = Cq.Location((-self.lip_thickness, 0, 0), (0, 1, 0), 90)
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if self.flexor:
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result.add(self.actuator_mount(), name="act", loc=self.actuator_mount_loc(child=True))
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result.add(
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self.actuator_mount(),
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name="act",
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loc=self.actuator_mount_loc(child=True) * loc_thickness)
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return result
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@target(name="parent-lower")
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@ -1090,31 +1100,32 @@ class ElbowJoint(Model):
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)
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housing = self.disk_joint.housing_upper()
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housing_loc = Cq.Location(
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(0, 0, 0),
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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 + self.angle_neutral
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)
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lip_dz = self.lip_thickness
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loc_net_housing = axial_offset * housing_loc
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result = (
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Cq.Assembly()
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.add(housing, name="housing", loc=Cq.Location((0, 0, housing_dz)))
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# rotate so 0 degree is at +X
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.add(housing, name="housing", loc=housing_loc)
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.add(self.lip(), name="lip", loc=
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loc_net_housing.inverse *
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axial_offset.inverse *
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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(connector, name="connector",
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loc=loc_net_housing.inverse * axial_offset)
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.add(connector, name="connector")
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#.constrain("housing", "Fixed")
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#.constrain("connector", "Fixed")
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#.solve()
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)
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if self.flexor:
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# Orientes the hole surface so it faces +X
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loc_thickness = Cq.Location((-self.lip_thickness, 0, 0), (0, 1, 0), 90)
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result.add(
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self.actuator_mount(),
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name="act",
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loc=self.actuator_mount_loc(child=False))
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loc=self.actuator_mount_loc(child=False) * loc_thickness)
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return result
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@assembly()
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@ -14,7 +14,7 @@ from nhf.parts.box import box_with_centre_holes, MountingBox, Hole
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from nhf.parts.joints import HirthJoint
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from nhf.parts.planar import extrude_with_markers
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from nhf.touhou.houjuu_nue.joints import RootJoint, ShoulderJoint, ElbowJoint, DiskJoint
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from nhf.touhou.houjuu_nue.electronics import LINEAR_ACTUATOR_10, LINEAR_ACTUATOR_50, ElectronicBoard
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from nhf.touhou.houjuu_nue.electronics import LINEAR_ACTUATOR_21, LINEAR_ACTUATOR_50, ElectronicBoard
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import nhf.utils
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@dataclass(kw_only=True)
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@ -57,7 +57,8 @@ class WingProfile(Model):
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hole_diam=4.0,
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angle_neutral=15.0,
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actuator=LINEAR_ACTUATOR_50,
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flexor_offset_angle=-15,
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flexor_offset_angle=0,
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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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@ -74,7 +75,9 @@ class WingProfile(Model):
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parent_arm_radius=30.0,
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hole_diam=4.0,
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angle_neutral=-30.0,
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actuator=LINEAR_ACTUATOR_10,
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actuator=LINEAR_ACTUATOR_21,
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flexor_offset_angle=0,
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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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@ -608,12 +611,15 @@ class WingProfile(Model):
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("shoulder_top", Cq.Location.from2d(0, h + shoulder_h, 270)),
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]
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h = self.elbow_height / 2
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loc_elbow = Cq.Location.rot2d(self.elbow_rotate) * self.elbow_joint.parent_arm_loc()
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rot_elbow = Cq.Location.rot2d(self.elbow_rotate)
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loc_elbow = rot_elbow * self.elbow_joint.parent_arm_loc()
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tags_elbow = [
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("elbow_bot", self.elbow_axle_loc * loc_elbow *
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Cq.Location.from2d(0, -self.elbow_h2)),
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("elbow_top", self.elbow_axle_loc * loc_elbow *
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Cq.Location.from2d(0, self.elbow_h2)),
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("elbow_act", self.elbow_axle_loc * rot_elbow *
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self.elbow_joint.actuator_mount_loc()),
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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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@ -639,6 +645,17 @@ class WingProfile(Model):
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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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@submodel(name="spacer-s1-elbow-act")
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def spacer_s1_elbow_act(self) -> MountingBox:
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return MountingBox(
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length=self.s1_thickness,
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width=self.s1_thickness,
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thickness=self.spacer_thickness,
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holes=[Hole(x=0,y=0)],
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centred=(True, True),
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hole_diam=self.elbow_joint.hole_diam,
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centre_left_right_tags=True,
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)
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@assembly()
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def assembly_s1(self) -> Cq.Assembly:
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result = (
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@ -651,13 +668,17 @@ class WingProfile(Model):
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.constrain("front@faces@>Z", "back@faces@<Z", "Point",
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param=self.s1_thickness)
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)
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for t in ["shoulder_bot", "shoulder_top", "elbow_bot", "elbow_top"]:
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for o, t in [
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(self.spacer_s1_shoulder(), "shoulder_bot"),
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(self.spacer_s1_shoulder(), "shoulder_top"),
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(self.spacer_s1_elbow(), "elbow_top"),
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(self.spacer_s1_elbow(), "elbow_bot"),
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(self.spacer_s1_elbow_act(), "elbow_act"),
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]:
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is_top = t.endswith("_top")
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is_parent = t.startswith("shoulder")
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o = self.spacer_s1_shoulder().generate() if is_parent else self.spacer_s1_elbow().generate()
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self._assembly_insert_spacer(
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result,
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o,
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o.generate(),
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point_tag=t,
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flipped=not is_top,
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)
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@ -683,19 +704,22 @@ class WingProfile(Model):
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)
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return profile
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def surface_s2(self, front: bool = True) -> Cq.Workplane:
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loc_elbow = Cq.Location.rot2d(self.elbow_rotate) * self.elbow_joint.child_arm_loc(flip=self.flip)
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loc_elbow = Cq.Location.rot2d(self.elbow_rotate) * self.elbow_joint.child_arm_loc()
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tags_elbow = [
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("elbow_bot", self.elbow_axle_loc * loc_elbow *
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Cq.Location.from2d(0, self.elbow_h2)),
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("elbow_top", self.elbow_axle_loc * loc_elbow *
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Cq.Location.from2d(0, -self.elbow_h2)),
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]
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loc_wrist = Cq.Location.rot2d(self.wrist_rotate) * self.wrist_joint.parent_arm_loc()
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rot_wrist = Cq.Location.rot2d(self.wrist_rotate)
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loc_wrist = rot_wrist * self.wrist_joint.parent_arm_loc()
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tags_wrist = [
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("wrist_bot", self.wrist_axle_loc * loc_wrist *
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Cq.Location.from2d(0, -self.wrist_h2)),
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("wrist_top", self.wrist_axle_loc * loc_wrist *
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Cq.Location.from2d(0, self.wrist_h2)),
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("wrist_act", self.wrist_axle_loc * rot_wrist *
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self.wrist_joint.actuator_mount_loc()),
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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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@ -750,6 +774,17 @@ class WingProfile(Model):
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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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@submodel(name="spacer-s2-wrist-act")
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def spacer_s2_wrist_act(self) -> MountingBox:
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return MountingBox(
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length=self.s2_thickness,
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width=self.s2_thickness,
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thickness=self.spacer_thickness,
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holes=[Hole(x=0,y=0)],
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centred=(True, True),
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hole_diam=self.wrist_joint.hole_diam,
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centre_left_right_tags=True,
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)
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@assembly()
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def assembly_s2(self) -> Cq.Assembly:
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result = (
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@ -770,10 +805,15 @@ class WingProfile(Model):
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.constrain("back?wrist_bot", "bridge_back?wrist_bot", "Plane")
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.constrain("back?wrist_top", "bridge_back?wrist_top", "Plane")
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)
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for t in ["elbow_bot", "elbow_top", "wrist_bot", "wrist_top"]:
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for o, t in [
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(self.spacer_s2_elbow(), "elbow_bot"),
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(self.spacer_s2_elbow(), "elbow_top"),
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(self.spacer_s2_wrist(), "wrist_bot"),
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(self.spacer_s2_wrist(), "wrist_top"),
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(self.spacer_s2_wrist_act(), "wrist_act"),
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]:
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is_top = t.endswith("_top")
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is_parent = t.startswith("elbow")
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o = self.spacer_s2_elbow() if is_parent else self.spacer_s2_wrist()
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self._assembly_insert_spacer(
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result,
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o.generate(),
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@ -793,7 +833,7 @@ class WingProfile(Model):
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return profile
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def surface_s3(self,
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front: bool = True) -> Cq.Workplane:
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loc_wrist = Cq.Location.rot2d(self.wrist_rotate) * self.wrist_joint.child_arm_loc(flip=not self.flip)
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loc_wrist = Cq.Location.rot2d(self.wrist_rotate) * self.wrist_joint.child_arm_loc()
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tags = [
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("wrist_bot", self.wrist_axle_loc * loc_wrist *
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Cq.Location.from2d(0, self.wrist_h2)),
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@ -807,7 +847,7 @@ class WingProfile(Model):
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profile = self.profile_s3_extra()
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if profile is None:
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return None
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loc_wrist = Cq.Location.rot2d(self.wrist_rotate) * self.wrist_joint.child_arm_loc(flip=not self.flip)
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loc_wrist = Cq.Location.rot2d(self.wrist_rotate) * self.wrist_joint.child_arm_loc()
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tags = [
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("wrist_bot", self.wrist_axle_loc * loc_wrist *
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Cq.Location.from2d(0, self.wrist_h2)),
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@ -929,32 +969,31 @@ 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", f"elbow/parent_upper/lip?conn_{tag_top}0", "Plane")
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.constrain("s1/elbow_top?conn1", f"elbow/parent_upper/lip?conn_{tag_top}1", "Plane")
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.constrain("s1/elbow_bot?conn0", f"elbow/parent_upper/lip?conn_{tag_bot}0", "Plane")
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.constrain("s1/elbow_bot?conn1", f"elbow/parent_upper/lip?conn_{tag_bot}1", "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", f"elbow/child/lip?conn_{tag_top}0", "Plane")
|
||||
.constrain("s2/elbow_top?conn1", f"elbow/child/lip?conn_{tag_top}1", "Plane")
|
||||
.constrain("s2/elbow_bot?conn0", f"elbow/child/lip?conn_{tag_bot}0", "Plane")
|
||||
.constrain("s2/elbow_bot?conn1", f"elbow/child/lip?conn_{tag_bot}1", "Plane")
|
||||
.constrain("s2/elbow_top?conn0", "elbow/child/lip?conn_top0", "Plane")
|
||||
.constrain("s2/elbow_top?conn1", "elbow/child/lip?conn_top1", "Plane")
|
||||
.constrain("s2/elbow_bot?conn0", "elbow/child/lip?conn_bot0", "Plane")
|
||||
.constrain("s2/elbow_bot?conn1", "elbow/child/lip?conn_bot1", "Plane")
|
||||
)
|
||||
if "wrist" in parts:
|
||||
angle = self.wrist_joint.motion_span * elbow_wrist_deflection
|
||||
result.add(self.wrist_joint.assembly(angle=angle), name="wrist")
|
||||
wrist_n_holes = len(self.wrist_joint.hole_pos)
|
||||
if "s2" in parts and "wrist" in parts:
|
||||
# Mounted backwards to bend in other direction
|
||||
for i in range(wrist_n_holes):
|
||||
(
|
||||
result
|
||||
.constrain(f"s2/wrist_top?conn{i}", f"wrist/parent_upper/lip?conn_{tag_bot}{i}", "Plane")
|
||||
.constrain(f"s2/wrist_bot?conn{i}", f"wrist/parent_upper/lip?conn_{tag_top}{i}", "Plane")
|
||||
.constrain(f"s2/wrist_top?conn{i}", f"wrist/parent_upper/lip?conn_top{i}", "Plane")
|
||||
.constrain(f"s2/wrist_bot?conn{i}", f"wrist/parent_upper/lip?conn_bot{i}", "Plane")
|
||||
)
|
||||
if "s3" in parts:
|
||||
result.add(self.assembly_s3(), name="s3")
|
||||
|
|
@ -962,8 +1001,8 @@ class WingProfile(Model):
|
|||
for i in range(wrist_n_holes):
|
||||
(
|
||||
result
|
||||
.constrain(f"s3/wrist_top?conn{i}", f"wrist/child/lip?conn_{tag_bot}{i}", "Plane")
|
||||
.constrain(f"s3/wrist_bot?conn{i}", f"wrist/child/lip?conn_{tag_top}{i}", "Plane")
|
||||
.constrain(f"s3/wrist_top?conn{i}", f"wrist/child/lip?conn_top{i}", "Plane")
|
||||
.constrain(f"s3/wrist_bot?conn{i}", f"wrist/child/lip?conn_bot{i}", "Plane")
|
||||
)
|
||||
if len(parts) > 1:
|
||||
result.solve()
|
||||
|
|
@ -1167,9 +1206,11 @@ class WingL(WingProfile):
|
|||
assert self.wrist_height <= self.shoulder_joint.height
|
||||
self.wrist_bot_loc = self.wrist_bot_loc.with_angle_2d(self.wrist_angle)
|
||||
self.elbow_joint.angle_neutral = 15.0
|
||||
self.elbow_joint.flip = True
|
||||
self.elbow_rotate = 5.0
|
||||
self.wrist_joint.angle_neutral = self.wrist_bot_loc.to2d_rot() + 30.0
|
||||
self.wrist_rotate = -self.wrist_joint.angle_neutral
|
||||
self.wrist_joint.flip = False
|
||||
|
||||
super().__post_init__()
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue