feat: Linear actuator assembly

nhf/parts/fasteners.py

@@ -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")
-
+        rod = rod.union(head.located(Cq.Location((0, 0, self.height_thread))))
-        return (
+        return rod
-            Cq.Assembly()
-            .addS(rod, name="thread", role=Role.CONNECTION)
-            .addS(head, name="head", role=Role.CONNECTION,
-                  loc=Cq.Location((0, 0, self.height_thread)))
-        )
 
 
 @dataclass(frozen=True)

nhf/touhou/houjuu_nue/electronics.py

@@ -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)

nhf/touhou/houjuu_nue/joints.py

@@ -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,