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feat: Actuator mount position rel. to parent

This commit is contained in:
Leni Aniva 2024-07-21 21:49:28 -07:00
parent 71da0c10a7
commit 9ab6a1aa69
Signed by: aniva
GPG Key ID: 4D9B1C8D10EA4C50
3 changed files with 17 additions and 7 deletions
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2
nhf/touhou/houjuu_nue/electronics.py
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@ -261,7 +261,7 @@ class Flexor:
""" """
motion_span: float motion_span: float
actuator: LinearActuator = LINEAR_ACTUATOR_30 actuator: LinearActuator = LINEAR_ACTUATOR_50
nut: HexNut = LINEAR_ACTUATOR_HEX_NUT nut: HexNut = LINEAR_ACTUATOR_HEX_NUT
bolt: FlatHeadBolt = LINEAR_ACTUATOR_BOLT bolt: FlatHeadBolt = LINEAR_ACTUATOR_BOLT
bracket: MountingBracket = LINEAR_ACTUATOR_BRACKET bracket: MountingBracket = LINEAR_ACTUATOR_BRACKET

16
nhf/touhou/houjuu_nue/joints.py
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@ -8,7 +8,7 @@ from nhf.parts.springs import TorsionSpring
from nhf.parts.fasteners import FlatHeadBolt, HexNut, ThreaddedKnob from nhf.parts.fasteners import FlatHeadBolt, HexNut, ThreaddedKnob
from nhf.parts.joints import TorsionJoint, HirthJoint from nhf.parts.joints import TorsionJoint, HirthJoint
from nhf.parts.box import Hole, MountingBox, box_with_centre_holes from nhf.parts.box import Hole, MountingBox, box_with_centre_holes
from nhf.touhou.houjuu_nue.electronics import Flexor from nhf.touhou.houjuu_nue.electronics import Flexor, LinearActuator
import nhf.utils import nhf.utils
TOL = 1e-6 TOL = 1e-6
@ -879,15 +879,21 @@ class ElbowJoint(Model):
angle_neutral: float = 30.0 angle_neutral: float = 30.0
actuator: LinearActuator
flexor: Flexor = None flexor: Flexor = None
flexor_offset_angle: float = 30.0 # Rotates the entire flexor
flexor_mount_rot: float = 95.0 flexor_offset_angle: float = 0
# Rotates the surface of the mount
flexor_mount_rot: float = 90.0
def __post_init__(self): def __post_init__(self):
assert self.child_arm_radius > self.disk_joint.radius_housing assert self.child_arm_radius > self.disk_joint.radius_housing
assert self.parent_arm_radius > self.disk_joint.radius_housing assert self.parent_arm_radius > self.disk_joint.radius_housing
self.disk_joint.tongue_length = self.child_arm_radius - self.disk_joint.radius_disk - self.lip_thickness / 2 self.disk_joint.tongue_length = self.child_arm_radius - self.disk_joint.radius_disk - self.lip_thickness / 2
self.flexor = Flexor(motion_span=self.motion_span) self.flexor = Flexor(
actuator=self.actuator,
motion_span=self.motion_span
)
@property @property
def total_thickness(self): def total_thickness(self):
@ -934,7 +940,7 @@ class ElbowJoint(Model):
loc_mount_orient = Cq.Location.rot2d(self.flexor_mount_rot * (-1 if child else 1)) loc_mount_orient = Cq.Location.rot2d(self.flexor_mount_rot * (-1 if child else 1))
# Moves the hole to be some distance apart from 0 # Moves the hole to be some distance apart from 0
loc_span = Cq.Location.from2d(self.flexor.mount_loc_r, 0) loc_span = Cq.Location.from2d(self.flexor.mount_loc_r, 0)
r = 0 if child else self.flexor.mount_loc_angle r = (-self.flexor.mount_loc_angle if child else 0) + 180
loc_rot = Cq.Location.rot2d(r + self.flexor_offset_angle) loc_rot = Cq.Location.rot2d(r + self.flexor_offset_angle)
return loc_rot * loc_span * loc_mount_orient * loc_mount * loc_thickness return loc_rot * loc_span * loc_mount_orient * loc_mount * loc_thickness

6
nhf/touhou/houjuu_nue/wing.py
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@ -11,8 +11,9 @@ from nhf import Material, Role
from nhf.build import Model, TargetKind, target, assembly, submodel from nhf.build import Model, TargetKind, target, assembly, submodel
from nhf.parts.box import box_with_centre_holes, MountingBox, Hole from nhf.parts.box import box_with_centre_holes, MountingBox, Hole
from nhf.parts.joints import HirthJoint from nhf.parts.joints import HirthJoint
from nhf.touhou.houjuu_nue.joints import RootJoint, ShoulderJoint, ElbowJoint, DiskJoint
from nhf.parts.planar import extrude_with_markers from nhf.parts.planar import extrude_with_markers
from nhf.touhou.houjuu_nue.joints import RootJoint, ShoulderJoint, ElbowJoint, DiskJoint
from nhf.touhou.houjuu_nue.electronics import LINEAR_ACTUATOR_10, LINEAR_ACTUATOR_50
import nhf.utils import nhf.utils
@dataclass(kw_only=True) @dataclass(kw_only=True)
@ -45,6 +46,8 @@ class WingProfile(Model):
), ),
hole_diam=6.0, hole_diam=6.0,
angle_neutral=15.0, angle_neutral=15.0,
actuator=LINEAR_ACTUATOR_50,
flexor_offset_angle=-15,
)) ))
# Distance between the two spacers on the elbow, halved # Distance between the two spacers on the elbow, halved
elbow_h2: float = 5.0 elbow_h2: float = 5.0
@ -63,6 +66,7 @@ class WingProfile(Model):
parent_arm_radius=30.0, parent_arm_radius=30.0,
hole_diam=4.0, hole_diam=4.0,
angle_neutral=-30.0, angle_neutral=-30.0,
actuator=LINEAR_ACTUATOR_10,
)) ))
# Distance between the two spacers on the elbow, halved # Distance between the two spacers on the elbow, halved
wrist_h2: float = 5.0 wrist_h2: float = 5.0