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feat: Elbow joint

This commit is contained in:
Leni Aniva 2024-07-11 22:29:05 -07:00
parent d43c1944a7
commit 9f9946569d
Signed by: aniva
GPG Key ID: 4D9B1C8D10EA4C50
3 changed files with 179 additions and 11 deletions
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4
nhf/build.py
View File

@ -23,6 +23,8 @@ from colorama import Fore, Style
import cadquery as Cq
import nhf.checks as NC
TOL=1e-6
class TargetKind(Enum):
STL = "stl",
@ -70,7 +72,7 @@ class Target:
if isinstance(x, Cq.Workplane):
x = x.val()
if isinstance(x, Cq.Assembly):
x = x.toCompound()
x = x.toCompound().fuse(tol=TOL)
x.exportStl(path, **self.kwargs)
elif self.kind == TargetKind.DXF:
assert isinstance(x, Cq.Workplane)

185
nhf/touhou/houjuu_nue/parts.py
View File

@ -1,4 +1,4 @@
from dataclasses import dataclass
from dataclasses import dataclass, field
from typing import Optional, Tuple
import cadquery as Cq
from nhf import Role
@ -8,6 +8,67 @@ import nhf.utils
TOL = 1e-6
@dataclass
class Beam:
"""
A I-shaped spine with two feet
"""
foot_length: float = 40.0
foot_width: float = 20.0
foot_height: float = 5.0
spine_thickness: float = 4.0
spine_length: float = 10.0
total_height: float = 50.0
hole_diam: float = 8.0
# distance between the centres of the two holes
hole_dist: float = 24.0
def __post_init__(self):
assert self.spine_height > 0
assert self.hole_diam + self.hole_dist < self.foot_length
assert self.hole_dist - self.hole_diam >= self.spine_length
@property
def spine_height(self):
return self.total_height - self.foot_height * 2
def foot(self) -> Cq.Workplane:
"""
just one foot
"""
dx = self.hole_dist / 2
result = (
Cq.Workplane('XZ')
.box(self.foot_length, self.foot_width, self.foot_height,
centered=(True, True, False))
.faces(">Y")
.workplane()
.pushPoints([(dx, 0), (-dx, 0)])
.hole(self.hole_diam)
)
plane = result.faces(">Y").workplane()
plane.moveTo(dx, 0).tagPlane("conn1")
plane.moveTo(-dx, 0).tagPlane("conn0")
return result
def beam(self) -> Cq.Assembly:
beam = (
Cq.Workplane('XZ')
.box(self.spine_length, self.spine_thickness, self.spine_height)
)
h = self.spine_height / 2 + self.foot_height
result = (
Cq.Assembly()
.add(beam, name="beam")
.add(self.foot(), name="top",
loc=Cq.Location((0, h, 0)))
.add(self.foot(), name="bot",
loc=Cq.Location((0, -h, 0), (0, 0, 1), 180))
)
return result
@dataclass
class DiskJoint(Model):
"""
@ -76,8 +137,18 @@ class DiskJoint(Model):
@property
def housing_upper_carve_offset(self) -> float:
"""
Distance between the spring track and the outside of the upper housing
"""
return self.housing_thickness + self.disk_thickness - self.spring_height
@property
def housing_upper_dz(self) -> float:
"""
Distance between the default upper housing location and the median line
"""
return self.total_thickness / 2 - self.housing_thickness
@property
def radius_spring_internal(self):
return self.radius_spring - self.spring_thickness
@ -175,8 +246,8 @@ class DiskJoint(Model):
length=self.spring_tail_length,
width=self.spring_thickness,
height=self.housing_thickness
).located(Cq.Location((0, self.radius_spring_internal, 0))))
).rotate((0, 0, 0), (0, 0, 1), 180 + self.spring_angle - self.spring_angle_shift)
).located(Cq.Location((0, -self.radius_spring, 0))))
).rotate((0, 0, 0), (0, 0, 1), self.spring_angle - self.spring_angle_shift)
result = (
Cq.Workplane('XY')
.cylinder(
@ -185,8 +256,8 @@ class DiskJoint(Model):
centered=(True, True, False),
)
)
result.faces(">Z").tag("mate")
result.copyWorkplane(Cq.Workplane('XY')).tagPlane("dir", direction="+X")
result.faces("<Z").tag("mate")
result.copyWorkplane(Cq.Workplane('XY')).tagPlane("dir", direction="-X")
result = result.faces(">Z").hole(self.radius_axle * 2)
# tube which holds the spring interior
@ -203,14 +274,12 @@ class DiskJoint(Model):
result = result.union(tube)
wall = (
self.wall()
.rotate((0, 0, 0), (0, 0, 1), self.tongue_span)
.mirror("XY")
.located(Cq.Location((0, 0, self.disk_thickness + self.housing_thickness + self.wall_inset)))
.located(Cq.Location((0, 0, -self.disk_thickness-self.wall_inset)))
)
result = (
result
.cut(carve.located(Cq.Location((0, 0, -self.housing_upper_carve_offset))))
.union(wall, tol=TOL)
.cut(carve.located(Cq.Location((0, 0, self.housing_upper_carve_offset))))
)
return result
@ -256,6 +325,104 @@ class DiskJoint(Model):
)
return result.solve()
@dataclass
class ElbowJoint:
"""
Creates the elbow and wrist joints.
This consists of a disk joint, where each side of the joint has mounting
holes for connection to the exoskeleton. Each side 2 mounting feet on the
top and bottom, and each foot has 2 holes.
On the parent side, additional bolts are needed to clamp the two sides of
the housing together.
"""
disk_joint: DiskJoint = field(default_factory=lambda: DiskJoint(
movement_angle=60,
))
# Distance between the child/parent arm to the centre
child_arm_radius: float = 40.0
parent_arm_radius: float = 40.0
child_beam: Beam = field(default_factory=lambda: Beam())
parent_beam: Beam = field(default_factory=lambda: Beam(
spine_thickness=8.0,
))
parent_arm_span: float = 40.0
# Angle of the beginning of the parent arm
parent_arm_angle: float = 180.0
parent_binding_hole_radius: float = 30.0
# Size of the mounting holes
hole_diam: float = 8.0
def __post_init__(self):
assert self.child_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
assert self.disk_joint.movement_angle < self.parent_arm_angle < 360 - self.parent_arm_span
assert self.parent_binding_hole_radius - self.hole_diam / 2 > self.disk_joint.radius_housing
def child_joint(self) -> Cq.Assembly:
angle = -self.disk_joint.tongue_span / 2
dz = self.disk_joint.disk_thickness / 2
result = (
self.child_beam.beam()
.add(self.disk_joint.disk(), name="disk",
loc=Cq.Location((-self.child_arm_radius, 0, -dz), (0, 0, 1), angle))
)
return result
def parent_joint_bot(self) -> Cq.Workplane:
return self.disk_joint.housing_lower()
def parent_joint_top(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
connector = (
Cq.Solid.makeCylinder(
height=conn_h,
radius=self.parent_arm_radius,
angleDegrees=self.parent_arm_span)
.cut(Cq.Solid.makeCylinder(
height=conn_h,
radius=self.disk_joint.radius_housing,
))
.located(Cq.Location((0, 0, -conn_h / 2)))
.rotate((0,0,0), (0,0,1), 180-self.parent_arm_span / 2)
)
housing = self.disk_joint.housing_upper()
result = (
Cq.Assembly()
.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
def assembly(self, angle: float = 0) -> Cq.Assembly:
da = self.disk_joint.tongue_span / 2
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")
)
self.disk_joint.add_constraints(
result,
housing_lower="parent_bot",
housing_upper="parent_top/housing",
disk="child/disk",
angle=(0, 0, angle + da),
)
return result.solve()
if __name__ == '__main__':
p = DiskJoint()
p.build_all()

1
nhf/touhou/houjuu_nue/wing.py
View File

@ -290,7 +290,6 @@ class WingProfile:
def elbow_to_abs(self, x: float, y: float) -> Tuple[float, float]:
elbow_x = self.elbow_x + x * self.elbow_c - y * self.elbow_s
elbow_y = self.elbow_y + x * self.elbow_s + y * self.elbow_c
print(f"c={self.elbow_c}, s={self.elbow_s}, x={elbow_x}, y={elbow_y}")
return elbow_x, elbow_y
def wrist_to_abs(self, x: float, y: float) -> Tuple[float, float]:
wrist_x = self.wrist_x + x * self.wrist_c - y * self.wrist_s