feat: Solve actuator position with variable r
This commit is contained in:
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@ -1,7 +1,7 @@
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"""
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Geometry functions
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"""
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from typing import Tuple
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from typing import Tuple, Optional
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import math
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def min_radius_contraction_span_pos(
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@ -62,3 +62,49 @@ def min_tangent_contraction_span_pos(
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phi = phi_ + theta
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assert theta <= phi < math.pi
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return r, phi, oq
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def contraction_span_pos_from_radius(
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d_open: float,
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d_closed: float,
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theta: float,
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r: Optional[float] = None,
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smaller: bool = True,
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) -> Tuple[float, float, float]:
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"""
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Returns `(r, phi, r')`
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Set `smaller` to false to use the other solution, which has a larger
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profile.
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"""
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if r is None:
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return min_tangent_contraction_span_pos(
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d_open=d_open,
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d_closed=d_closed,
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theta=theta)
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assert 0 < theta < math.pi
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assert d_open > d_closed
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assert r > 0
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# Law of cosines
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pp_ = r * math.sqrt(2 * (1 - math.cos(theta)))
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d = d_open - d_closed
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assert pp_ > d, f"Triangle inequality is violated. This joint is impossible: {pp_}, {d}"
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assert d_open + d_closed > pp_, f"The span is too great to cover with this stroke length: {pp_}"
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# Angle of PP'Q, via a numerically stable acos
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beta = math.acos(
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- d / pp_ * (1 + d / (2 * d_closed))
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+ pp_ / (2 * d_closed))
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# Two solutions based on angle complementarity
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if smaller:
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contra_phi = beta - (math.pi - theta) / 2
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else:
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# technically there's a 2pi in front
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contra_phi = -(math.pi - theta) / 2 - beta
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# Law of cosines, calculates `r'`
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r_ = math.sqrt(
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r * r + d_closed * d_closed - 2 * r * d_closed * math.cos(contra_phi)
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)
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# sin phi_ / P'Q = sin contra_phi / r'
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phi_ = math.asin(math.sin(contra_phi) / r_ * d_closed)
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assert phi_ > 0, f"Actuator would need to traverse pass its minimal point, {math.degrees(phi_)}"
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assert 0 <= theta + phi_ <= math.pi
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return r, theta + phi_, r_
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38
nhf/test.py
38
nhf/test.py
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@ -112,6 +112,44 @@ class TestGeometry(unittest.TestCase):
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y = r * math.sin(phi - theta)
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d = math.sqrt((x - rp) ** 2 + y ** 2)
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self.assertAlmostEqual(d, dc)
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def test_contraction_span_pos_from_radius(self):
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sl = 50.0
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dc = 112.0
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do = dc + sl
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r = 70.0
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theta = math.radians(60.0)
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for smaller in [False, True]:
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with self.subTest(smaller=smaller):
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r, phi, rp = nhf.geometry.contraction_span_pos_from_radius(do, dc, r=r, theta=theta, smaller=smaller)
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with self.subTest(state='open'):
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x = r * math.cos(phi)
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y = r * math.sin(phi)
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d = math.sqrt((x - rp) ** 2 + y ** 2)
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self.assertAlmostEqual(d, do)
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with self.subTest(state='closed'):
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x = r * math.cos(phi - theta)
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y = r * math.sin(phi - theta)
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d = math.sqrt((x - rp) ** 2 + y ** 2)
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self.assertAlmostEqual(d, dc)
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def test_contraction_span_pos_from_radius_2(self):
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sl = 40.0
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dc = 170.0
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do = dc + sl
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r = 50.0
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theta = math.radians(120.0)
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for smaller in [False, True]:
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with self.subTest(smaller=smaller):
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r, phi, rp = nhf.geometry.contraction_span_pos_from_radius(do, dc, r=r, theta=theta, smaller=smaller)
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with self.subTest(state='open'):
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x = r * math.cos(phi)
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y = r * math.sin(phi)
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d = math.sqrt((x - rp) ** 2 + y ** 2)
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self.assertAlmostEqual(d, do)
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with self.subTest(state='closed'):
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x = r * math.cos(phi - theta)
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y = r * math.sin(phi - theta)
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d = math.sqrt((x - rp) ** 2 + y ** 2)
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self.assertAlmostEqual(d, dc)
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class TestUtils(unittest.TestCase):
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@ -51,7 +51,7 @@ class LinearActuator(Item):
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return self.segment1_length + self.segment2_length + self.front_hole_ext + self.back_hole_ext
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def generate(self, pos: float=0) -> Cq.Assembly:
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assert -1e-6 <= pos <= 1 + 1e-6
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assert -1e-6 <= pos <= 1 + 1e-6, f"Illegal position: {pos}"
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stroke_x = pos * self.stroke_length
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front = (
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Cq.Workplane('XZ')
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@ -339,6 +339,7 @@ class Flexor:
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Actuator assembly which flexes, similar to biceps
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"""
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motion_span: float
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arm_radius: Optional[float] = None
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actuator: LinearActuator = LINEAR_ACTUATOR_50
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nut: HexNut = LINEAR_ACTUATOR_HEX_NUT
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@ -352,22 +353,11 @@ class Flexor:
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return self.bracket.hole_to_side_ext
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def open_pos(self) -> Tuple[float, float, float]:
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r, phi, r_ = nhf.geometry.min_tangent_contraction_span_pos(
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d_open=self.actuator.conn_length + self.actuator.stroke_length,
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d_closed=self.actuator.conn_length,
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theta=math.radians(self.motion_span),
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)
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return r, math.degrees(phi), r_
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#r, phi = nhf.geometry.min_radius_contraction_span_pos(
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# d_open=self.actuator.conn_length + self.actuator.stroke_length,
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# d_closed=self.actuator.conn_length,
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# theta=math.radians(self.motion_span),
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#)
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#return r, math.degrees(phi), r
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r, phi, r_ = nhf.geometry.min_tangent_contraction_span_pos(
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r, phi, r_ = nhf.geometry.contraction_span_pos_from_radius(
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d_open=self.actuator.conn_length + self.actuator.stroke_length,
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d_closed=self.actuator.conn_length,
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theta=math.radians(self.motion_span),
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r=self.arm_radius,
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)
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return r, math.degrees(phi), r_
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@ -378,12 +368,15 @@ class Flexor:
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"""
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Length of the actuator at some angle
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"""
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assert 0 <= angle <= self.motion_span
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r, phi, rp = self.open_pos()
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th = math.radians(phi - angle)
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return math.sqrt((r * math.cos(th) - rp) ** 2 + (r * math.sin(th)) ** 2)
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# Law of cosines
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d2 = r * r + rp * rp - 2 * r * rp * math.cos(th)
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return math.sqrt(d2)
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result = math.sqrt(r * r + rp * rp - 2 * r * rp * math.cos(th))
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#result = math.sqrt((r * math.cos(th) - rp) ** 2 + (r * math.sin(th)) ** 2)
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assert self.actuator.conn_length <= result <= self.actuator.conn_length + self.actuator.stroke_length, \
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f"Illegal length: {result} in {self.actuator.conn_length}+{self.actuator.stroke_length}"
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return result
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def add_to(
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@ -768,7 +768,7 @@ class DiskJoint(Model):
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radius_axle: float = 3.0
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housing_thickness: float = 4.0
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disk_thickness: float = 7.0
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disk_thickness: float = 8.0
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# Amount by which the wall carves in
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wall_inset: float = 2.0
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@ -784,7 +784,7 @@ class DiskJoint(Model):
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# leave some gap for cushion
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movement_gap: float = 5.0
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# Angular span of tongue on disk
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tongue_span: float = 30.0
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tongue_span: float = 25.0
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tongue_length: float = 10.0
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generate_inner_wall: bool = False
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@ -1053,7 +1053,7 @@ class ElbowJoint(Model):
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# Extra bit on top of the lip to connect to actuator mount
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child_lip_extra_length: float = 1.0
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lip_length: float = 60.0
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hole_pos: list[float] = field(default_factory=lambda: [15, 25])
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hole_pos: list[float] = field(default_factory=lambda: [12, 24])
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parent_arm_width: float = 10.0
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# Angle of the beginning of the parent arm
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parent_arm_angle: float = 180.0
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@ -1074,6 +1074,7 @@ class ElbowJoint(Model):
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# Rotates the surface of the mount relative to radially inwards
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flexor_mount_angle_parent: float = 0
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flexor_mount_angle_child: float = -90
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flexor_child_arm_radius: Optional[float] = None
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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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@ -1082,7 +1083,8 @@ class ElbowJoint(Model):
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if self.actuator:
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self.flexor = Flexor(
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actuator=self.actuator,
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motion_span=self.motion_span
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motion_span=self.motion_span,
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arm_radius=self.flexor_child_arm_radius,
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)
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def hole_loc_tags(self):
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@ -1263,18 +1265,18 @@ class ElbowJoint(Model):
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#.solve()
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)
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if self.flexor:
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result.add(
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Cq.Edge.makeLine((-1,0,0), (1,0,0)),
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name="act",
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loc=self.actuator_mount_loc(child=False, unflip=True))
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if generate_mount:
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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, unflip=True) * loc_thickness)
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else:
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result.add(
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Cq.Edge.makeLine((-1,0,0), (1,0,0)),
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name="act",
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loc=self.actuator_mount_loc(child=False, unflip=True))
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name="act_mount",
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loc=self.actuator_mount_loc(child=False, unflip=True) * loc_thickness
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)
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return result
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@assembly()
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@ -22,6 +22,31 @@ from nhf.touhou.houjuu_nue.electronics import (
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)
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import nhf.utils
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ELBOW_PARAMS = dict(
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disk_joint=DiskJoint(
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movement_angle=55,
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),
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hole_diam=4.0,
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actuator=LINEAR_ACTUATOR_50,
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parent_arm_width=15,
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)
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WRIST_PARAMS = dict(
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disk_joint=DiskJoint(
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movement_angle=30,
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radius_disk=13.0,
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radius_housing=15.0,
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),
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hole_pos=[10],
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lip_length=30,
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child_arm_radius=23.0,
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parent_arm_radius=30.0,
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hole_diam=4.0,
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angle_neutral=0.0,
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actuator=LINEAR_ACTUATOR_10,
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flexor_offset_angle=30.0,
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flexor_child_arm_radius=None,
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)
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@dataclass(kw_only=True)
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class WingProfile(Model):
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@ -55,37 +80,11 @@ class WingProfile(Model):
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s1_thickness: float = 25.0
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elbow_joint: ElbowJoint = field(default_factory=lambda: ElbowJoint(
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disk_joint=DiskJoint(
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movement_angle=55,
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),
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hole_diam=4.0,
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angle_neutral=10.0,
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actuator=LINEAR_ACTUATOR_50,
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flexor_offset_angle=30,
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parent_arm_width=15,
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child_lip_extra_length=8,
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flip=False,
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))
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elbow_joint: ElbowJoint
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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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wrist_joint: ElbowJoint = field(default_factory=lambda: ElbowJoint(
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disk_joint=DiskJoint(
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movement_angle=30,
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radius_disk=13.0,
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radius_housing=15.0,
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),
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hole_pos=[10],
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lip_length=30,
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child_arm_radius=23.0,
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parent_arm_radius=30.0,
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hole_diam=4.0,
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angle_neutral=0.0,
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actuator=LINEAR_ACTUATOR_10,
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flexor_offset_angle=30.0,
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flip=True,
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))
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wrist_joint: ElbowJoint
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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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@ -99,7 +98,7 @@ class WingProfile(Model):
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elbow_height: float
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wrist_bot_loc: Cq.Location
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wrist_height: float
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elbow_rotate: float = 10.0
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elbow_rotate: float
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wrist_rotate: float = -30.0
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# Position of the elbow axle with 0 being bottom and 1 being top (flipped on the left side)
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elbow_axle_pos: float
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@ -575,35 +574,18 @@ class WingProfile(Model):
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Polygon shape to mask wrist
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"""
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def spacer_of_joint(
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self,
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joint: ElbowJoint,
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segment_thickness: float,
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dx: float) -> MountingBox:
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length = joint.lip_length / 2 - dx
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holes = [
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Hole(x - dx)
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for x in joint.hole_pos
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]
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mbox = MountingBox(
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length=length,
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width=segment_thickness,
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thickness=self.spacer_thickness,
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holes=holes,
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hole_diam=joint.hole_diam,
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centred=(False, True),
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)
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return mbox
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def _spacer_from_disk_joint(
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self,
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joint: ElbowJoint,
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segment_thickness: float,
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child: bool=False,
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) -> MountingBox:
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sign = 1 if child else -1
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holes = [
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Hole(x, tag=tag)
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Hole(sign * x, tag=tag)
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for x, tag in joint.hole_loc_tags()
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]
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# FIXME: Carve out the sides so light can pass through
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mbox = MountingBox(
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length=joint.lip_length,
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width=segment_thickness,
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@ -789,6 +771,7 @@ class WingProfile(Model):
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return self._spacer_from_disk_joint(
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joint=self.elbow_joint,
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segment_thickness=self.s2_thickness,
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child=True,
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)
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@submodel(name="spacer-s2-wrist")
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def spacer_s2_wrist(self) -> MountingBox:
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@ -847,7 +830,7 @@ class WingProfile(Model):
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result,
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o.generate(),
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point_tag=t,
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flipped=is_parent,
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flipped=True,#is_parent,
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)
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return result.solve()
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@ -907,6 +890,7 @@ class WingProfile(Model):
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return self._spacer_from_disk_joint(
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joint=self.wrist_joint,
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segment_thickness=self.s3_thickness,
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child=True,
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)
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@assembly()
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def assembly_s3(self) -> Cq.Assembly:
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@ -952,6 +936,9 @@ class WingProfile(Model):
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ignore_electronics: bool = False,
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ignore_actuators: bool = False,
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) -> Cq.Assembly():
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assert 0 <= elbow_wrist_deflection <= 1
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assert 0 <= shoulder_deflection <= 1
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assert 0 <= fastener_pos <= 1
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if parts is None:
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parts = [
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"root",
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@ -963,9 +950,7 @@ class WingProfile(Model):
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"wrist",
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"s3",
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]
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result = (
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Cq.Assembly()
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)
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result = Cq.Assembly()
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tag_top, tag_bot = "top", "bot"
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if self.flip:
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tag_top, tag_bot = tag_bot, tag_top
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@ -1019,11 +1004,11 @@ class WingProfile(Model):
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result.constrain(
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f"s1/elbow?{tag}",
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f"elbow/parent_upper/lip?{tag}", "Plane")
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if not ignore_actuators:
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result.constrain(
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"elbow/bracket_back?conn_side",
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"s1/elbow_act?conn0",
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"Plane")
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#if not ignore_actuators:
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# result.constrain(
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# "elbow/bracket_back?conn_side",
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# "s1/elbow_act?conn0",
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# "Plane")
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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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@ -1048,11 +1033,11 @@ class WingProfile(Model):
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result.constrain(
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f"s3/wrist?{tag}",
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f"wrist/child/lip?{tag}", "Plane")
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if not ignore_actuators:
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result.constrain(
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"wrist/bracket_back?conn_side",
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"s2/wrist_act?conn0",
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"Plane")
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#if not ignore_actuators:
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# result.constrain(
|
||||
# "wrist/bracket_back?conn_side",
|
||||
# "s2/wrist_act?conn0",
|
||||
# "Plane")
|
||||
if len(parts) > 1:
|
||||
result.solve()
|
||||
|
||||
|
@ -1068,9 +1053,23 @@ class WingR(WingProfile):
|
|||
|
||||
elbow_bot_loc: Cq.Location = Cq.Location.from2d(290.0, 30.0, 27.0)
|
||||
elbow_height: float = 111.0
|
||||
elbow_rotate: float = 10.0
|
||||
elbow_joint: ElbowJoint = field(default_factory=lambda: ElbowJoint(
|
||||
flexor_offset_angle=15,
|
||||
flexor_mount_angle_child=-75,
|
||||
flexor_child_arm_radius=None,
|
||||
angle_neutral=10.0,
|
||||
child_lip_extra_length=8,
|
||||
flip=False,
|
||||
**ELBOW_PARAMS
|
||||
))
|
||||
|
||||
wrist_bot_loc: Cq.Location = Cq.Location.from2d(403.0, 289.0, 45.0)
|
||||
wrist_height: float = 60.0
|
||||
wrist_joint: ElbowJoint = field(default_factory=lambda: ElbowJoint(
|
||||
flip=True,
|
||||
**WRIST_PARAMS
|
||||
))
|
||||
|
||||
# Extends from the wrist to the tip of the arrow
|
||||
arrow_height: float = 300
|
||||
|
@ -1104,8 +1103,6 @@ class WingR(WingProfile):
|
|||
* Cq.Location.rot2d(self.arrow_angle) \
|
||||
* Cq.Location.from2d(0, self.arrow_height + self.wrist_height)
|
||||
self.ring_loc = self.wrist_top_loc * self.ring_rel_loc
|
||||
self.elbow_joint.flexor_offset_angle = 15
|
||||
self.elbow_joint.flexor_mount_angle_child = -75
|
||||
assert self.ring_radius > self.ring_radius_inner
|
||||
|
||||
assert 0 > self.blade_overlap_angle > self.arrow_angle
|
||||
|
@ -1216,26 +1213,12 @@ class WingR(WingProfile):
|
|||
This extension profile is required to accomodate the awkward shaped
|
||||
joint next to the scythe
|
||||
"""
|
||||
# Generates the extension profile, which is required on both sides
|
||||
profile = self._child_joint_extension_profile(
|
||||
axle_loc=self.wrist_axle_loc,
|
||||
radius=self.wrist_height,
|
||||
angle_span=self.wrist_joint.motion_span,
|
||||
bot=self.flip,
|
||||
bot=False,
|
||||
)
|
||||
# Generates the contraction (cut) profile. only required on the left
|
||||
if self.flip:
|
||||
extra = (
|
||||
self.profile()
|
||||
.reset()
|
||||
.push([self.wrist_axle_loc])
|
||||
.each(self._wrist_joint_retract_cut_polygon, mode='i')
|
||||
)
|
||||
profile = (
|
||||
profile
|
||||
.push([self.wrist_axle_loc])
|
||||
.each(lambda _: extra, mode='a')
|
||||
)
|
||||
return profile
|
||||
|
||||
def profile_s3_extra(self) -> Cq.Sketch:
|
||||
|
@ -1274,7 +1257,6 @@ class WingR(WingProfile):
|
|||
.circle(self.blade_hole_diam / 2, mode='s')
|
||||
)
|
||||
|
||||
|
||||
def _mask_elbow(self) -> list[Tuple[float, float]]:
|
||||
l = 200
|
||||
elbow_x, _ = self.elbow_bot_loc.to2d_pos()
|
||||
|
@ -1306,11 +1288,24 @@ class WingR(WingProfile):
|
|||
class WingL(WingProfile):
|
||||
|
||||
elbow_bot_loc: Cq.Location = Cq.Location.from2d(260.0, 110.0, 0.0)
|
||||
elbow_height: float = 80.0
|
||||
elbow_height: float = 90.0
|
||||
elbow_rotate: float = 15.0
|
||||
elbow_joint: ElbowJoint = field(default_factory=lambda: ElbowJoint(
|
||||
angle_neutral=30.0,
|
||||
flexor_mount_angle_child=180,
|
||||
flexor_offset_angle=15,
|
||||
flexor_child_arm_radius=60.0,
|
||||
flip=True,
|
||||
**ELBOW_PARAMS
|
||||
))
|
||||
|
||||
wrist_angle: float = -45.0
|
||||
wrist_bot_loc: Cq.Location = Cq.Location.from2d(460.0, -10.0, -45.0)
|
||||
wrist_height: float = 43.0
|
||||
wrist_joint: ElbowJoint = field(default_factory=lambda: ElbowJoint(
|
||||
flip=False,
|
||||
**WRIST_PARAMS
|
||||
))
|
||||
|
||||
shoulder_bezier_ext: float = 120.0
|
||||
shoulder_bezier_drop: float = 15.0
|
||||
|
@ -1326,15 +1321,13 @@ class WingL(WingProfile):
|
|||
elbow_joint_overlap_median: float = 0.5
|
||||
wrist_joint_overlap_median: float = 0.5
|
||||
|
||||
|
||||
def __post_init__(self):
|
||||
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
|
||||
self.shoulder_joint.flip = True
|
||||
|
||||
super().__post_init__()
|
||||
|
|
Loading…
Reference in New Issue