feat: Optional actuator on wrist
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@ -300,6 +300,8 @@ LINEAR_ACTUATOR_10 = LinearActuator(
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back_hole_ext=4.5/2,
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segment1_length=30.0,
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segment2_length=30.0,
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segment1_width=15.0,
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segment2_width=21.0,
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)
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LINEAR_ACTUATOR_HEX_NUT = HexNut(
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mass=0.8,
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@ -882,8 +882,8 @@ class ElbowJoint(Model):
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angle_neutral: float = 30.0
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actuator: LinearActuator
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flexor: Flexor = None
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actuator: Optional[LinearActuator]
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flexor: Optional[Flexor] = None
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# Rotates the entire flexor
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flexor_offset_angle: float = 0
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# Rotates the surface of the mount
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@ -893,10 +893,11 @@ class ElbowJoint(Model):
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assert self.child_arm_radius > self.disk_joint.radius_housing
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assert self.parent_arm_radius > self.disk_joint.radius_housing
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self.disk_joint.tongue_length = self.child_arm_radius - self.disk_joint.radius_disk - self.lip_thickness / 2
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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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)
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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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)
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@property
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def total_thickness(self):
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@ -990,8 +991,9 @@ class ElbowJoint(Model):
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Cq.Assembly()
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.add(self.disk_joint.disk(), name="disk", loc=Cq.Location((0, 0, -dz)))
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.add(self.lip().cut(disk_cut), name="lip", loc=loc_disk.inverse * loc_lip)
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.add(self.actuator_mount(), name="act", loc=self.actuator_mount_loc(child=True))
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)
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if self.flexor:
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result.add(self.actuator_mount(), name="act", loc=self.actuator_mount_loc(child=True))
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return result
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@target(name="parent-lower")
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@ -1040,12 +1042,15 @@ class ElbowJoint(Model):
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Cq.Location((0, 0, 0), (0, 1, 0), 90))
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.add(connector, name="connector",
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loc=loc_net_housing.inverse * axial_offset)
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.add(self.actuator_mount(),
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name="act", loc=self.actuator_mount_loc(child=False))
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#.constrain("housing", "Fixed")
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#.constrain("connector", "Fixed")
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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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self.actuator_mount(),
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name="act",
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loc=self.actuator_mount_loc(child=False))
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return result
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@assembly()
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@ -51,7 +51,7 @@ class WingProfile(Model):
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disk_joint=DiskJoint(
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movement_angle=55,
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),
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hole_diam=6.0,
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hole_diam=4.0,
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angle_neutral=15.0,
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actuator=LINEAR_ACTUATOR_50,
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flexor_offset_angle=-15,
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@ -65,13 +65,14 @@ class WingProfile(Model):
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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, 20],
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lip_length=50,
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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=-30.0,
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actuator=LINEAR_ACTUATOR_10,
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# The left side wrist is too small for an actuator to work
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actuator=None, #LINEAR_ACTUATOR_10,
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))
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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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@ -90,6 +91,7 @@ class WingProfile(Model):
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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 = 0.3
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wrist_axle_pos: float = 0.0
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# False for the right side, True for the left side
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flip: bool
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@ -103,9 +105,8 @@ class WingProfile(Model):
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self.elbow_axle_pos = 1 - self.elbow_axle_pos
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self.elbow_axle_loc = self.elbow_bot_loc * Cq.Location.from2d(0, self.elbow_height * self.elbow_axle_pos)
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if self.flip:
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self.wrist_axle_loc = self.wrist_bot_loc * Cq.Location.from2d(0, self.wrist_height / 2)
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else:
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self.wrist_axle_loc = self.wrist_bot_loc
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self.wrist_axle_pos = 1 - self.wrist_axle_pos
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self.wrist_axle_loc = self.wrist_bot_loc * Cq.Location.from2d(0, self.wrist_height * self.wrist_axle_pos)
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assert self.elbow_joint.total_thickness < min(self.s1_thickness, self.s2_thickness)
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assert self.wrist_joint.total_thickness < min(self.s2_thickness, self.s3_thickness)
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@ -126,7 +127,8 @@ class WingProfile(Model):
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"""
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s3 does not need to duck under s2
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"""
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return self.s1_thickness - 2 * self.panel_thickness
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extra = 2 * self.panel_thickness if self.flip else 0
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return self.s1_thickness - 2 * self.panel_thickness - extra
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@submodel(name="shoulder-joint")
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def submodel_shoulder_joint(self) -> Model:
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@ -395,7 +397,7 @@ class WingProfile(Model):
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for p in points
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])
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)
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def _joint_extension_profile(
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def _child_joint_extension_profile(
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self,
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axle_loc: Cq.Location,
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radius: float,
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@ -640,8 +642,10 @@ class WingProfile(Model):
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return extrude_with_markers(profile, self.panel_thickness, tags, reverse=front)
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@target(name="profile-s2-bridge", kind=TargetKind.DXF)
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def profile_s2_bridge(self) -> Cq.Workplane:
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# FIXME: Leave some margin here so we can glue the panels
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# Generates the extension profile, which is required on both sides
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profile = self._joint_extension_profile(
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profile = self._child_joint_extension_profile(
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axle_loc=self.wrist_axle_loc,
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radius=self.wrist_height * (0.5 if self.flip else 1),
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angle_span=self.wrist_joint.motion_span,
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@ -881,25 +885,24 @@ class WingProfile(Model):
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if "wrist" in parts:
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angle = self.wrist_joint.motion_span * elbow_wrist_deflection
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result.add(self.wrist_joint.assembly(angle=angle), name="wrist")
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wrist_n_holes = len(self.wrist_joint.hole_pos)
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if "s2" in parts and "wrist" in parts:
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# Mounted backwards to bend in other direction
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(
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result
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.constrain("s2/wrist_top?conn0", f"wrist/parent_upper/lip?conn_{tag_bot}0", "Plane")
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.constrain("s2/wrist_top?conn1", f"wrist/parent_upper/lip?conn_{tag_bot}1", "Plane")
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.constrain("s2/wrist_bot?conn0", f"wrist/parent_upper/lip?conn_{tag_top}0", "Plane")
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.constrain("s2/wrist_bot?conn1", f"wrist/parent_upper/lip?conn_{tag_top}1", "Plane")
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)
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for i in range(wrist_n_holes):
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(
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result
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.constrain(f"s2/wrist_top?conn{i}", f"wrist/parent_upper/lip?conn_{tag_bot}{i}", "Plane")
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.constrain(f"s2/wrist_bot?conn{i}", f"wrist/parent_upper/lip?conn_{tag_top}{i}", "Plane")
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)
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if "s3" in parts:
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result.add(self.assembly_s3(), name="s3")
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if "s3" in parts and "wrist" in parts:
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(
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result
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.constrain("s3/wrist_top?conn0", f"wrist/child/lip?conn_{tag_bot}0", "Plane")
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.constrain("s3/wrist_top?conn1", f"wrist/child/lip?conn_{tag_bot}1", "Plane")
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.constrain("s3/wrist_bot?conn0", f"wrist/child/lip?conn_{tag_top}0", "Plane")
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.constrain("s3/wrist_bot?conn1", f"wrist/child/lip?conn_{tag_top}1", "Plane")
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)
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for i in range(wrist_n_holes):
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(
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result
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.constrain(f"s3/wrist_top?conn{i}", f"wrist/child/lip?conn_{tag_bot}{i}", "Plane")
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.constrain(f"s3/wrist_bot?conn{i}", f"wrist/child/lip?conn_{tag_top}{i}", "Plane")
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)
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if len(parts) > 1:
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result.solve()
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@ -1095,6 +1098,8 @@ class WingL(WingProfile):
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arrow_height: float = 120.0
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flip: bool = True
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elbow_axle_pos: float = 0.4
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wrist_axle_pos: float = 0.5
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def __post_init__(self):
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assert self.wrist_height <= self.shoulder_joint.height
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