feat: Optional actuator on wrist

nhf/touhou/houjuu_nue/electronics.py

@@ -300,6 +300,8 @@ LINEAR_ACTUATOR_10 = LinearActuator(
     back_hole_ext=4.5/2,
     segment1_length=30.0,
     segment2_length=30.0,
+    segment1_width=15.0,
+    segment2_width=21.0,
 )
 LINEAR_ACTUATOR_HEX_NUT = HexNut(
     mass=0.8,

nhf/touhou/houjuu_nue/joints.py

@@ -882,8 +882,8 @@ class ElbowJoint(Model):
 
     angle_neutral: float = 30.0
 
-    actuator: LinearActuator
+    actuator: Optional[LinearActuator]
-    flexor: Flexor = None
+    flexor: Optional[Flexor] = None
     # Rotates the entire flexor
     flexor_offset_angle: float = 0
     # Rotates the surface of the mount
@@ -893,6 +893,7 @@ class ElbowJoint(Model):
         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 - self.lip_thickness / 2
+        if self.actuator:
             self.flexor = Flexor(
                 actuator=self.actuator,
                 motion_span=self.motion_span
@@ -990,8 +991,9 @@ class ElbowJoint(Model):
             Cq.Assembly()
             .add(self.disk_joint.disk(), name="disk", loc=Cq.Location((0, 0, -dz)))
             .add(self.lip().cut(disk_cut), name="lip", loc=loc_disk.inverse * loc_lip)
-            .add(self.actuator_mount(), name="act", loc=self.actuator_mount_loc(child=True))
         )
+        if self.flexor:
+            result.add(self.actuator_mount(), name="act", loc=self.actuator_mount_loc(child=True))
         return result
 
     @target(name="parent-lower")
@@ -1040,12 +1042,15 @@ class ElbowJoint(Model):
                  Cq.Location((0, 0, 0), (0, 1, 0), 90))
             .add(connector, name="connector",
                  loc=loc_net_housing.inverse * axial_offset)
-            .add(self.actuator_mount(),
-                 name="act", loc=self.actuator_mount_loc(child=False))
             #.constrain("housing", "Fixed")
             #.constrain("connector", "Fixed")
             #.solve()
         )
+        if self.flexor:
+            result.add(
+                self.actuator_mount(),
+                name="act",
+                loc=self.actuator_mount_loc(child=False))
         return result
 
     @assembly()

nhf/touhou/houjuu_nue/wing.py

@@ -51,7 +51,7 @@ class WingProfile(Model):
         disk_joint=DiskJoint(
             movement_angle=55,
         ),
-        hole_diam=6.0,
+        hole_diam=4.0,
         angle_neutral=15.0,
         actuator=LINEAR_ACTUATOR_50,
         flexor_offset_angle=-15,
@@ -65,13 +65,14 @@ class WingProfile(Model):
             radius_disk=13.0,
             radius_housing=15.0,
         ),
-        hole_pos=[10, 20],
+        hole_pos=[10],
-        lip_length=50,
+        lip_length=30,
         child_arm_radius=23.0,
         parent_arm_radius=30.0,
         hole_diam=4.0,
         angle_neutral=-30.0,
-        actuator=LINEAR_ACTUATOR_10,
+        # The left side wrist is too small for an actuator to work
+        actuator=None, #LINEAR_ACTUATOR_10,
     ))
     # Distance between the two spacers on the elbow, halved
     wrist_h2: float = 5.0
@@ -90,6 +91,7 @@ class WingProfile(Model):
     wrist_rotate: float = -30.0
     # Position of the elbow axle with 0 being bottom and 1 being top (flipped on the left side)
     elbow_axle_pos: float = 0.3
+    wrist_axle_pos: float = 0.0
 
     # False for the right side, True for the left side
     flip: bool
@@ -103,9 +105,8 @@ class WingProfile(Model):
             self.elbow_axle_pos = 1 - self.elbow_axle_pos
         self.elbow_axle_loc = self.elbow_bot_loc * Cq.Location.from2d(0, self.elbow_height * self.elbow_axle_pos)
         if self.flip:
-            self.wrist_axle_loc = self.wrist_bot_loc * Cq.Location.from2d(0, self.wrist_height / 2)
+            self.wrist_axle_pos = 1 - self.wrist_axle_pos
-        else:
+        self.wrist_axle_loc = self.wrist_bot_loc * Cq.Location.from2d(0, self.wrist_height * self.wrist_axle_pos)
-            self.wrist_axle_loc = self.wrist_bot_loc
 
         assert self.elbow_joint.total_thickness < min(self.s1_thickness, self.s2_thickness)
         assert self.wrist_joint.total_thickness < min(self.s2_thickness, self.s3_thickness)
@@ -126,7 +127,8 @@ class WingProfile(Model):
         """
         s3 does not need to duck under s2
         """
-        return self.s1_thickness - 2 * self.panel_thickness
+        extra = 2 * self.panel_thickness if self.flip else 0
+        return self.s1_thickness - 2 * self.panel_thickness - extra
 
     @submodel(name="shoulder-joint")
     def submodel_shoulder_joint(self) -> Model:
@@ -395,7 +397,7 @@ class WingProfile(Model):
                 for p in points
             ])
         )
-    def _joint_extension_profile(
+    def _child_joint_extension_profile(
             self,
             axle_loc: Cq.Location,
             radius: float,
@@ -640,8 +642,10 @@ class WingProfile(Model):
         return extrude_with_markers(profile, self.panel_thickness, tags, reverse=front)
     @target(name="profile-s2-bridge", kind=TargetKind.DXF)
     def profile_s2_bridge(self) -> Cq.Workplane:
+        # FIXME: Leave some margin here so we can glue the panels
+
         # Generates the extension profile, which is required on both sides
-        profile = self._joint_extension_profile(
+        profile = self._child_joint_extension_profile(
             axle_loc=self.wrist_axle_loc,
             radius=self.wrist_height * (0.5 if self.flip else 1),
             angle_span=self.wrist_joint.motion_span,
@@ -881,24 +885,23 @@ class WingProfile(Model):
         if "wrist" in parts:
             angle = self.wrist_joint.motion_span * elbow_wrist_deflection
             result.add(self.wrist_joint.assembly(angle=angle), name="wrist")
+        wrist_n_holes = len(self.wrist_joint.hole_pos)
         if "s2" in parts and "wrist" in parts:
             # Mounted backwards to bend in other direction
+            for i in range(wrist_n_holes):
                 (
                     result
-                .constrain("s2/wrist_top?conn0", f"wrist/parent_upper/lip?conn_{tag_bot}0", "Plane")
+                    .constrain(f"s2/wrist_top?conn{i}", f"wrist/parent_upper/lip?conn_{tag_bot}{i}", "Plane")
-                .constrain("s2/wrist_top?conn1", f"wrist/parent_upper/lip?conn_{tag_bot}1", "Plane")
+                    .constrain(f"s2/wrist_bot?conn{i}", f"wrist/parent_upper/lip?conn_{tag_top}{i}", "Plane")
-                .constrain("s2/wrist_bot?conn0", f"wrist/parent_upper/lip?conn_{tag_top}0", "Plane")
-                .constrain("s2/wrist_bot?conn1", f"wrist/parent_upper/lip?conn_{tag_top}1", "Plane")
                 )
         if "s3" in parts:
             result.add(self.assembly_s3(), name="s3")
         if "s3" in parts and "wrist" in parts:
+            for i in range(wrist_n_holes):
                 (
                     result
-                .constrain("s3/wrist_top?conn0", f"wrist/child/lip?conn_{tag_bot}0", "Plane")
+                    .constrain(f"s3/wrist_top?conn{i}", f"wrist/child/lip?conn_{tag_bot}{i}", "Plane")
-                .constrain("s3/wrist_top?conn1", f"wrist/child/lip?conn_{tag_bot}1", "Plane")
+                    .constrain(f"s3/wrist_bot?conn{i}", f"wrist/child/lip?conn_{tag_top}{i}", "Plane")
-                .constrain("s3/wrist_bot?conn0", f"wrist/child/lip?conn_{tag_top}0", "Plane")
-                .constrain("s3/wrist_bot?conn1", f"wrist/child/lip?conn_{tag_top}1", "Plane")
                 )
         if len(parts) > 1:
             result.solve()
@@ -1095,6 +1098,8 @@ class WingL(WingProfile):
     arrow_height: float = 120.0
 
     flip: bool = True
+    elbow_axle_pos: float = 0.4
+    wrist_axle_pos: float = 0.5
 
     def __post_init__(self):
         assert self.wrist_height <= self.shoulder_joint.height