feat: Simpler wrist and elbow mounts

nhf/touhou/houjuu_nue/joints.py

@@ -76,8 +76,8 @@ class RootJoint(Model):
     hirth_joint: HirthJoint = field(default_factory=lambda: HirthJoint(
         radius=25.0,
         radius_inner=15.0,
-        tooth_height=7.0,
+        tooth_height=5.60,
-        base_height=5.0,
+        base_height=4.0,
         n_tooth=24,
     ))
     parent_width: float = 85
@@ -100,6 +100,10 @@ class RootJoint(Model):
     child_width: float = 50.0
     child_mount_thickness: float = 25.4 / 4
 
+    def __post_init__(self):
+        assert self.child_extra_thickness > 0.0
+        assert self.parent_thickness >= self.hex_nut.thickness
+
     def corner_pos(self) -> list[tuple[int, int]]:
         """
         Generates a set of points corresponding to the connectorss
@@ -113,8 +117,15 @@ class RootJoint(Model):
         ]
 
     @property
-    def total_height(self) -> float:
+    def child_extra_thickness(self) -> float:
-        return self.parent_thickness + self.hirth_joint.total_height
+        """
+        Extra thickness allocated to child for padding
+        """
+        return self.knob.height_thread - self.hirth_joint.joint_height - self.child_mount_thickness - self.parent_thickness
+
+    @property
+    def base_to_surface_thickness(self) -> float:
+        return self.hirth_joint.joint_height + self.child_extra_thickness
 
     @target(name="parent")
     def parent(self):
@@ -127,9 +138,9 @@ class RootJoint(Model):
         result = (
             Cq.Workplane('XY')
             .box(
-                self.parent_width,
+                length=self.parent_width,
-                self.parent_width,
+                width=self.parent_width,
-                self.parent_thickness,
+                height=self.parent_thickness,
                 centered=(True, True, False))
             .translate((0, 0, -self.parent_thickness))
             .edges("|Z")
@@ -177,11 +188,11 @@ class RootJoint(Model):
         result = (
             Cq.Workplane('XY')
             .box(
-                self.child_height,
+                length=self.child_height,
-                self.child_width,
+                width=self.child_width,
-                self.hirth_joint.base_height,
+                height=self.child_extra_thickness + self.hirth_joint.base_height,
                 centered=(True, True, False))
-            #.translate((0, 0, -self.base_joint.base_height))
+            .translate((0, 0, -self.child_extra_thickness))
             #.edges("|Z")
             #.fillet(self.hs_joint_corner_fillet)
             .faces(">Z")
@@ -190,7 +201,7 @@ class RootJoint(Model):
             .hole(self.corner_hole_diam)
         )
         # Creates a plane parallel to the holes but shifted to the base
-        plane = result.faces(">Z").workplane(offset=-self.hirth_joint.base_height)
+        plane = result.copyWorkplane(Cq.Workplane('XY', origin=(0, 0, -self.child_extra_thickness)))
 
         for i, (px, py) in enumerate(conn):
             plane.moveTo(px, py).tagPlane(f"conn{i}")
@@ -232,7 +243,7 @@ class RootJoint(Model):
                 result
                 .addS(self.hex_nut.assembly(), name="hex_nut")
                 .addS(self.knob.assembly(), name="knob",
-                      loc=Cq.Location((0, 0, knob_h * fastener_pos)))
+                      loc=Cq.Location((0, 0, knob_h * fastener_pos - self.parent_thickness)))
                 .constrain("knob/thread", "Fixed")
                 .constrain("hex_nut?bot", "parent?base", "Plane", param=0)
                 .constrain("hex_nut?dirX", "parent@faces@>X", "Axis", param=0)
@@ -1071,6 +1082,14 @@ class ElbowJoint(Model):
                 motion_span=self.motion_span
             )
 
+    def hole_loc_tags(self):
+        """
+        An iterator which iterates through positions of the hole and tags
+        """
+        for i, x in enumerate(self.hole_pos):
+            yield x, f"conn_top{i}"
+            yield -x, f"conn_bot{i}"
+
     @property
     def total_thickness(self):
         return self.disk_joint.total_thickness

nhf/touhou/houjuu_nue/wing.py

@@ -63,6 +63,7 @@ class WingProfile(Model):
         angle_neutral=10.0,
         actuator=LINEAR_ACTUATOR_50,
         flexor_offset_angle=30,
+        parent_arm_width=15,
         flip=False,
     ))
     # Distance between the two spacers on the elbow, halved
@@ -353,7 +354,7 @@ class WingProfile(Model):
 
     def surface_s0(self, top: bool = False) -> Cq.Workplane:
         base_dx = -(self.base_width - self.root_joint.child_width) / 2 - 10
-        base_dy = self.root_joint.hirth_joint.joint_height
+        base_dy = self.root_joint.base_to_surface_thickness
         #mid_spacer_loc = (
         #    Cq.Location.from2d(0, -self.shoulder_width/2) *
         #    self.shoulder_axle_loc *
@@ -593,6 +594,25 @@ class WingProfile(Model):
         )
         return mbox
 
+    def _spacer_from_disk_joint(
+            self,
+            joint: ElbowJoint,
+            segment_thickness: float,
+        ) -> MountingBox:
+        holes = [
+            Hole(x, tag=tag)
+            for x, tag in joint.hole_loc_tags()
+        ]
+        mbox = MountingBox(
+            length=joint.lip_length,
+            width=segment_thickness,
+            thickness=self.spacer_thickness,
+            holes=holes,
+            hole_diam=joint.hole_diam,
+            centred=(True, True),
+            centre_left_right_tags=True,
+        )
+        return mbox
 
     @target(name="profile-s1", kind=TargetKind.DXF)
     def profile_s1(self) -> Cq.Sketch:
@@ -615,23 +635,17 @@ class WingProfile(Model):
         )
         return profile
     def surface_s1(self, front: bool = True) -> Cq.Workplane:
-        tags_shoulder = [
+        rot_elbow = Cq.Location.rot2d(self.elbow_rotate)
+        loc_elbow = rot_elbow * self.elbow_joint.parent_arm_loc()
+        tags = [
             ("shoulder",
              Cq.Location((0, self.shoulder_height / 2, 0)) *
              self.shoulder_joint.child_lip_loc()),
-        ]
+            ("elbow", self.elbow_axle_loc * loc_elbow),
-        rot_elbow = Cq.Location.rot2d(self.elbow_rotate)
-        loc_elbow = rot_elbow * self.elbow_joint.parent_arm_loc()
-        tags_elbow = [
-            ("elbow_bot", self.elbow_axle_loc * loc_elbow *
-             Cq.Location.from2d(0, -self.elbow_h2)),
-            ("elbow_top", self.elbow_axle_loc * loc_elbow *
-             Cq.Location.from2d(0, self.elbow_h2)),
             ("elbow_act", self.elbow_axle_loc * rot_elbow *
              self.elbow_joint.actuator_mount_loc()),
         ]
         profile = self.profile_s1()
-        tags = tags_shoulder + tags_elbow
         return extrude_with_markers(
             profile, self.panel_thickness, tags, reverse=front)
     @submodel(name="spacer-s1-shoulder")
@@ -653,10 +667,9 @@ class WingProfile(Model):
         )
     @submodel(name="spacer-s1-elbow")
     def spacer_s1_elbow(self) -> MountingBox:
-        return self.spacer_of_joint(
+        return self._spacer_from_disk_joint(
             joint=self.elbow_joint,
             segment_thickness=self.s1_thickness,
-            dx=self.elbow_h2,
         )
     @submodel(name="spacer-s1-elbow-act")
     def spacer_s1_elbow_act(self) -> MountingBox:
@@ -683,16 +696,14 @@ class WingProfile(Model):
         )
         for o, t in [
                 (self.spacer_s1_shoulder(), "shoulder"),
-                (self.spacer_s1_elbow(), "elbow_top"),
+                (self.spacer_s1_elbow(), "elbow"),
-                (self.spacer_s1_elbow(), "elbow_bot"),
                 (self.spacer_s1_elbow_act(), "elbow_act"),
         ]:
-            is_top = t.endswith("_top")
             self._assembly_insert_spacer(
                 result,
                 o.generate(),
                 point_tag=t,
-                flipped=not is_top,
+                flipped=True,
             )
         return result.solve()
 
@@ -743,24 +754,21 @@ class WingProfile(Model):
         return profile
     def surface_s2(self, front: bool = True) -> Cq.Workplane:
         loc_elbow = Cq.Location.rot2d(self.elbow_rotate) * self.elbow_joint.child_arm_loc()
-        tags_elbow = [
-            ("elbow_bot", self.elbow_axle_loc * loc_elbow *
-             Cq.Location.from2d(0, self.elbow_h2)),
-            ("elbow_top", self.elbow_axle_loc * loc_elbow *
-             Cq.Location.from2d(0, -self.elbow_h2)),
-        ]
         rot_wrist = Cq.Location.rot2d(self.wrist_rotate)
         loc_wrist = rot_wrist * self.wrist_joint.parent_arm_loc()
-        tags_wrist = [
+        tags = [
+            ("elbow", self.elbow_axle_loc * loc_elbow),
+            ("wrist", self.wrist_axle_loc * loc_wrist),
+            ("wrist_act", self.wrist_axle_loc * rot_wrist *
+             self.wrist_joint.actuator_mount_loc()),
+
+            # for mounting the bridge only
             ("wrist_bot", self.wrist_axle_loc * loc_wrist *
              Cq.Location.from2d(0, -self.wrist_h2)),
             ("wrist_top", self.wrist_axle_loc * loc_wrist *
              Cq.Location.from2d(0, self.wrist_h2)),
-            ("wrist_act", self.wrist_axle_loc * rot_wrist *
-             self.wrist_joint.actuator_mount_loc()),
         ]
         profile = self.profile_s2()
-        tags = tags_elbow + tags_wrist
         return extrude_with_markers(profile, self.panel_thickness, tags, reverse=front)
     def surface_s2_bridge(self, front: bool = True) -> Optional[Cq.Workplane]:
         profile = self.profile_s2_bridge()
@@ -777,17 +785,15 @@ class WingProfile(Model):
             profile, self.panel_thickness, tags, reverse=not front)
     @submodel(name="spacer-s2-elbow")
     def spacer_s2_elbow(self) -> MountingBox:
-        return self.spacer_of_joint(
+        return self._spacer_from_disk_joint(
             joint=self.elbow_joint,
             segment_thickness=self.s2_thickness,
-            dx=self.elbow_h2,
         )
     @submodel(name="spacer-s2-wrist")
     def spacer_s2_wrist(self) -> MountingBox:
-        return self.spacer_of_joint(
+        return self._spacer_from_disk_joint(
             joint=self.wrist_joint,
             segment_thickness=self.s2_thickness,
-            dx=self.wrist_h2,
         )
     @submodel(name="spacer-s2-wrist-act")
     def spacer_s2_wrist_act(self) -> MountingBox:
@@ -831,20 +837,16 @@ class WingProfile(Model):
                 .constrain("back?wrist_top", "bridge_back?wrist_top", "Plane")
             )
         for o, t in [
-                (self.spacer_s2_elbow(), "elbow_bot"),
+                (self.spacer_s2_elbow(), "elbow"),
-                (self.spacer_s2_elbow(), "elbow_top"),
+                (self.spacer_s2_wrist(), "wrist"),
-                (self.spacer_s2_wrist(), "wrist_bot"),
-                (self.spacer_s2_wrist(), "wrist_top"),
                 (self.spacer_s2_wrist_act(), "wrist_act"),
         ]:
-            is_top = t.endswith("_top")
             is_parent = t.startswith("elbow")
             self._assembly_insert_spacer(
                 result,
                 o.generate(),
                 point_tag=t,
-                flipped=is_top == is_parent,
+                flipped=is_parent,
-                #rotate=not is_parent,
             )
         return result.solve()
 
@@ -878,6 +880,7 @@ class WingProfile(Model):
                    front: bool = True) -> Cq.Workplane:
         loc_wrist = Cq.Location.rot2d(self.wrist_rotate) * self.wrist_joint.child_arm_loc()
         tags = [
+            ("wrist", self.wrist_axle_loc * loc_wrist),
             ("wrist_bot", self.wrist_axle_loc * loc_wrist *
              Cq.Location.from2d(0, self.wrist_h2)),
             ("wrist_top", self.wrist_axle_loc * loc_wrist *
@@ -900,10 +903,9 @@ class WingProfile(Model):
         return extrude_with_markers(profile, self.panel_thickness, tags, reverse=not front)
     @submodel(name="spacer-s3-wrist")
     def spacer_s3_wrist(self) -> MountingBox:
-        return self.spacer_of_joint(
+        return self._spacer_from_disk_joint(
             joint=self.wrist_joint,
             segment_thickness=self.s3_thickness,
-            dx=self.wrist_h2,
         )
     @assembly()
     def assembly_s3(self) -> Cq.Assembly:
@@ -929,19 +931,17 @@ class WingProfile(Model):
                 .constrain("back?wrist_bot", "extra_back?wrist_bot", "Plane")
                 .constrain("back?wrist_top", "extra_back?wrist_top", "Plane")
             )
-        for t in ["wrist_bot", "wrist_top"]:
-            is_top = t.endswith("_top")
-            o = self.spacer_s3_wrist()
         self._assembly_insert_spacer(
             result,
-                o.generate(),
+            self.spacer_s3_wrist().generate(),
-                point_tag=t,
+            point_tag="wrist",
-                flipped=is_top,
+            flipped=True,
         )
         return result.solve()
 
     @assembly()
-    def assembly(self,
+    def assembly(
+            self,
             parts: Optional[list[str]] = None,
             shoulder_deflection: float = 0.0,
             elbow_wrist_deflection: float = 0.0,
@@ -1013,55 +1013,44 @@ class WingProfile(Model):
                 angle=angle,
                 ignore_actuators=ignore_actuators), name="elbow")
         if "s1" in parts and "elbow" in parts:
-            (
+            for _, tag in self.elbow_joint.hole_loc_tags():
-                result
+                result.constrain(
-                .constrain("s1/elbow_top?conn0", "elbow/parent_upper/lip?conn_top0", "Plane")
+                    f"s1/elbow?{tag}",
-                .constrain("s1/elbow_top?conn1", "elbow/parent_upper/lip?conn_top1", "Plane")
+                    f"elbow/parent_upper/lip?{tag}", "Plane")
-                .constrain("s1/elbow_bot?conn0", "elbow/parent_upper/lip?conn_bot0", "Plane")
-                .constrain("s1/elbow_bot?conn1", "elbow/parent_upper/lip?conn_bot1", "Plane")
-            )
             if not ignore_actuators:
-                (
+                result.constrain(
-                    result
+                    "elbow/bracket_back?conn_side",
-                    .constrain("elbow/bracket_back?conn_side", "s1/elbow_act?conn0", "Plane")
+                    "s1/elbow_act?conn0",
-                )
+                    "Plane")
         if "s2" in parts:
             result.add(self.assembly_s2(), name="s2")
         if "s2" in parts and "elbow" in parts:
-            (
+            for _, tag in self.elbow_joint.hole_loc_tags():
-                result
+                result.constrain(
-                .constrain("s2/elbow_top?conn0", "elbow/child/lip?conn_top0", "Plane")
+                    f"s2/elbow?{tag}",
-                .constrain("s2/elbow_top?conn1", "elbow/child/lip?conn_top1", "Plane")
+                    f"elbow/child/lip?{tag}", "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,
                 ignore_actuators=ignore_actuators), name="wrist")
-        wrist_n_holes = len(self.wrist_joint.hole_pos)
         if "s2" in parts and "wrist" in parts:
-            for i in range(wrist_n_holes):
+            for _, tag in self.wrist_joint.hole_loc_tags():
-                (
+                result.constrain(
-                    result
+                    f"s2/wrist?{tag}",
-                    .constrain(f"s2/wrist_top?conn{i}", f"wrist/parent_upper/lip?conn_top{i}", "Plane")
+                    f"wrist/parent_upper/lip?{tag}", "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")
         if "s3" in parts and "wrist" in parts:
-            for i in range(wrist_n_holes):
+            for _, tag in self.wrist_joint.hole_loc_tags():
-                (
+                result.constrain(
-                    result
+                    f"s3/wrist?{tag}",
-                    .constrain(f"s3/wrist_top?conn{i}", f"wrist/child/lip?conn_top{i}", "Plane")
+                    f"wrist/child/lip?{tag}", "Plane")
-                    .constrain(f"s3/wrist_bot?conn{i}", f"wrist/child/lip?conn_bot{i}", "Plane")
-                )
             if not ignore_actuators:
-                (
+                result.constrain(
-                    result
+                    "wrist/bracket_back?conn_side",
-                    .constrain("wrist/bracket_back?conn_side", "s2/wrist_act?conn0", "Plane")
+                    "s2/wrist_act?conn0",
-                )
+                    "Plane")
         if len(parts) > 1:
             result.solve()