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feat: Linear actuator assembly

This commit is contained in:
Leni Aniva 2024-07-21 05:46:18 -07:00
parent 579c10e373
commit b3a472add4
Signed by: aniva
GPG Key ID: 4D9B1C8D10EA4C50
3 changed files with 137 additions and 10 deletions
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13
nhf/parts/fasteners.py
View File

@ -15,6 +15,10 @@ class FlatHeadBolt(Item):
def name(self) -> str:
return f"Bolt M{int(self.diam_thread)} h{int(self.height_thread)}mm"
@property
def role(self) -> Role:
return Role.CONNECTION
def generate(self) -> Cq.Assembly:
head = Cq.Solid.makeCylinder(
@ -30,13 +34,8 @@ class FlatHeadBolt(Item):
)
rod.faces("<Z").tag("tip")
rod.faces(">Z").tag("root")
return (
Cq.Assembly()
.addS(rod, name="thread", role=Role.CONNECTION)
.addS(head, name="head", role=Role.CONNECTION,
loc=Cq.Location((0, 0, self.height_thread)))
)
rod = rod.union(head.located(Cq.Location((0, 0, self.height_thread))))
return rod
@dataclass(frozen=True)

130
nhf/touhou/houjuu_nue/electronics.py
View File

@ -2,10 +2,12 @@
Electronic components
"""
from dataclasses import dataclass
from typing import Optional
import cadquery as Cq
from nhf.materials import Role
from nhf.parts.item import Item
from nhf.parts.fasteners import FlatHeadBolt, HexNut
import nhf.utils
@dataclass(frozen=True)
class LinearActuator(Item):
@ -68,6 +70,7 @@ class LinearActuator(Item):
combine='cut',
)
)
front.copyWorkplane(Cq.Workplane('XZ')).tagPlane('conn')
if stroke_x > 0:
shaft = (
Cq.Workplane('YZ')
@ -119,6 +122,7 @@ class LinearActuator(Item):
combine='cut',
)
)
back.copyWorkplane(Cq.Workplane('XZ')).tagPlane('conn')
result = (
Cq.Assembly()
.add(front, name="front",
@ -134,6 +138,71 @@ class LinearActuator(Item):
result.add(shaft, name="shaft")
return result
@dataclass(frozen=True)
class MountingBracket(Item):
"""
Mounting bracket for a linear actuator
"""
mass: float = 1.6
hole_diam: float = 4.0
width: float = 8.0
height: float = 12.20
thickness: float = 0.98
length: float = 13.00
hole_to_side_ext: float = 8.10
def __post_init__(self):
assert self.hole_to_side_ext - self.hole_diam / 2 > 0
@property
def name(self) -> str:
return f"MountingBracket M{int(self.hole_diam)}"
@property
def role(self) -> Role:
return Role.MOTION
def generate(self) -> Cq.Workplane:
result = (
Cq.Workplane('XY')
.box(
length=self.hole_to_side_ext,
width=self.width,
height=self.height,
centered=(False, True, True)
)
.copyWorkplane(Cq.Workplane('XY'))
.cylinder(
height=self.height,
radius=self.width / 2,
combine=True,
)
.copyWorkplane(Cq.Workplane('XY'))
.box(
length=2 * (self.hole_to_side_ext - self.thickness),
width=self.width,
height=self.height - self.thickness * 2,
combine='cut',
)
.copyWorkplane(Cq.Workplane('XY'))
.cylinder(
height=self.height,
radius=self.hole_diam / 2,
combine='cut'
)
.copyWorkplane(Cq.Workplane('YZ'))
.cylinder(
height=self.hole_to_side_ext * 2,
radius=self.hole_diam / 2,
combine='cut'
)
)
result.copyWorkplane(Cq.Workplane('YZ', origin=(self.hole_to_side_ext, 0, 0))).tagPlane("conn_side")
result.copyWorkplane(Cq.Workplane('XY', origin=(0, 0, self.height/2))).tagPlane("conn_top")
result.copyWorkplane(Cq.Workplane('YX', origin=(0, 0, -self.height/2))).tagPlane("conn_bot")
result.copyWorkplane(Cq.Workplane('XY')).tagPlane("conn_mid")
return result
LINEAR_ACTUATOR_SHOULDER = LinearActuator(
mass=34.0,
@ -148,8 +217,67 @@ LINEAR_ACTUATOR_HEX_NUT = HexNut(
)
LINEAR_ACTUATOR_BOLT = FlatHeadBolt(
mass=1.7,
diam_head=16.68,
diam_head=6.68,
height_head=2.98,
diam_thread=4.0,
height_thread=15.83,
)
LINEAR_ACTUATOR_BRACKET = MountingBracket()
@dataclass(frozen=True)
class LinearActuatorAssembly:
# FIXME: Measure
actuator: LinearActuator = LINEAR_ACTUATOR_SHOULDER
nut: HexNut = LINEAR_ACTUATOR_HEX_NUT
bolt: FlatHeadBolt = LINEAR_ACTUATOR_BOLT
bracket: MountingBracket = LINEAR_ACTUATOR_BRACKET
def add_to(
self,
a: Cq.Assembly,
tag_prefix: Optional[str] = None,
tag_hole_front: Optional[str] = None,
tag_hole_back: Optional[str] = None,
tag_dir: Optional[str] = None):
"""
Adds the necessary mechanical components to this assembly. Does not
invoke `a.solve()`.
"""
if tag_prefix:
tag_prefix = tag_prefix + "_"
name_actuator = f"{tag_prefix}actuator"
name_bracket_front = f"{tag_prefix}bracket_front"
name_bracket_back = f"{tag_prefix}bracket_back"
name_bolt_front = f"{tag_prefix}front_bolt"
name_bolt_back = f"{tag_prefix}back_bolt"
name_nut_front = f"{tag_prefix}front_nut"
name_nut_back = f"{tag_prefix}back_nut"
(
a
.add(self.actuator.assembly(), name=name_actuator)
.add(self.bracket.assembly(), name=name_bracket_front)
.add(self.bolt.assembly(), name=name_bolt_front)
.add(self.nut.assembly(), name=name_nut_front)
.constrain(f"{name_actuator}/front?conn", f"{name_bracket_front}?conn_mid",
"Plane", param=0)
.constrain(f"{name_bolt_front}?root", f"{name_bracket_front}?conn_top",
"Plane", param=0)
.constrain(f"{name_nut_front}?bot", f"{name_bracket_front}?conn_bot",
"Plane")
.add(self.bracket.assembly(), name=name_bracket_back)
.add(self.bolt.assembly(), name=name_bolt_back)
.add(self.nut.assembly(), name=name_nut_back)
.constrain(f"{name_actuator}/back?conn", f"{name_bracket_back}?conn_mid",
"Plane", param=0)
.constrain(f"{name_bolt_back}?root", f"{name_bracket_back}?conn_top",
"Plane", param=0)
.constrain(f"{name_nut_back}?bot", f"{name_bracket_back}?conn_bot",
"Plane")
)
if tag_hole_front:
a.constrain(tag_hole_front, f"{name_bracket_front}?conn_side", "Plane")
if tag_hole_back:
a.constrain(tag_hole_back, f"{name_bracket_back}?conn_side", "Plane")
if tag_dir:
a.constrain(tag_dir, f"{name_bracket_front}?conn_mid", "Axis", param=0)

4
nhf/touhou/houjuu_nue/joints.py
View File

@ -484,10 +484,10 @@ class ShoulderJoint(Model):
# Fasteners
.addS(self.bolt.assembly(), name="bolt_top",
loc=Cq.Location((0, 0, bolt_z)))
.constrain("bolt_top/thread?root", 'Fixed')
.constrain("bolt_top?root", 'Fixed')
.addS(self.bolt.assembly(), name="bolt_bot",
loc=Cq.Location((0, 0, -bolt_z), (1,0,0), 180))
.constrain("bolt_bot/thread?root", 'Fixed')
.constrain("bolt_bot?root", 'Fixed')
)
TorsionJoint.add_constraints(
result,