fix: Housing wall location
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bbe24091da
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4D9B1C8D10EA4C50
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@ -326,8 +326,8 @@ class DiskJoint(Model):
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radius_disk: float = 20.0
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radius_axle: float = 3.0
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housing_thickness: float = 5.0
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disk_thickness: float = 5.0
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housing_thickness: float = 4.0
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disk_thickness: float = 7.0
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# Gap between disk and the housing
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#disk_thickness_gap: float = 0.1
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@ -382,9 +382,8 @@ class DiskJoint(Model):
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"""
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return self.total_thickness / 2 - self.housing_thickness
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@target(name="disk")
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def disk(self) -> Cq.Workplane:
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cut = (
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def _disk_cut(self) -> Cq.Workplane:
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return (
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Cq.Solid.makeBox(
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length=self.spring.tail_length,
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width=self.spring.thickness,
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@ -393,6 +392,9 @@ class DiskJoint(Model):
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.located(Cq.Location((0, self.spring.radius_inner, 0)))
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.rotate((0, 0, 0), (0, 0, 1), self.spring_slot_offset)
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)
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@target(name="disk")
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def disk(self) -> Cq.Workplane:
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radius_tongue = self.radius_disk + self.tongue_length
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tongue = (
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Cq.Solid.makeCylinder(
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@ -419,7 +421,7 @@ class DiskJoint(Model):
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centered=(True, True, False),
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combine='cut',
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)
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.cut(cut)
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.cut(self._disk_cut())
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)
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plane = result.copyWorkplane(Cq.Workplane('XY'))
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theta = math.radians(self.spring_slot_offset)
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@ -460,7 +462,7 @@ class DiskJoint(Model):
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result = result.cut(
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self
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.wall()
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.located(Cq.Location((0, 0, self.disk_thickness - self.wall_inset)))
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.located(Cq.Location((0, 0, self.housing_thickness - self.wall_inset)))
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#.rotate((0, 0, 0), (1, 0, 0), 180)
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#.located(Cq.Location((0, 0, self.disk_thickness + self.housing_thickness)))
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)
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@ -512,8 +514,8 @@ class DiskJoint(Model):
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)
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result = (
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result
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.cut(carve.located(Cq.Location((0, 0, -self.housing_upper_carve_offset))))
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.union(wall, tol=TOL)
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.cut(carve.located(Cq.Location((0, 0, -self.housing_upper_carve_offset))))
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)
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return result.clean()
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@ -597,7 +599,7 @@ class ElbowJoint(Model):
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lip_thickness: float = 5.0
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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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parent_arm_span: float = 30.0
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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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@ -612,7 +614,6 @@ 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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assert self.disk_joint.movement_angle < self.parent_arm_angle < 360 - self.parent_arm_span
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def lip(self) -> Cq.Workplane:
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holes = [
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@ -642,14 +643,18 @@ class ElbowJoint(Model):
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flip_x = Cq.Location((0, 0, 0), (1, 0, 0), 180)
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flip_z = Cq.Location((0, 0, 0), (0, 0, 1), 180)
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lip_dz = self.lip_thickness
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result = (
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Cq.Assembly()
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.add(self.lip(), name="lip", loc=
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loc_lip = (
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Cq.Location((0, 0, 0), (0, 1, 0), 180) *
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Cq.Location((-lip_dz, 0, 0), (1, 0, 0), 90) *
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Cq.Location((0, 0, 0), (0, 1, 0), 90))
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.add(self.disk_joint.disk(), name="disk",
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loc=flip_x * flip_z * Cq.Location((-self.child_arm_radius, 0, -dz), (0, 0, 1), angle))
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Cq.Location((0, 0, 0), (0, 1, 0), 90)
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)
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loc_disk = flip_x * flip_z * Cq.Location((-self.child_arm_radius, 0, -dz), (0, 0, 1), angle)
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disk_cut = self.disk_joint._disk_cut().located(
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loc_lip.inverse * Cq.Location((0, self.disk_joint.spring.radius_inner, 0)) * loc_disk)
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result = (
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Cq.Assembly()
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.add(self.lip().cut(disk_cut), name="lip", loc=loc_lip)
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.add(self.disk_joint.disk(), name="disk", loc=loc_disk)
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)
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return result
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@ -661,18 +666,25 @@ class ElbowJoint(Model):
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def parent_joint_upper(self):
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axial_offset = Cq.Location((self.parent_arm_radius, 0, 0))
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housing_dz = self.disk_joint.housing_upper_dz
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conn_h = self.lip_thickness
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conn_h = self.disk_joint.total_thickness
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conn_w = self.parent_arm_width
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connector = (
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Cq.Solid.makeCylinder(
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Cq.Solid.makeBox(
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length=self.parent_arm_radius,
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width=conn_w,
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height=conn_h,
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radius=self.parent_arm_radius - self.lip_thickness / 2,
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angleDegrees=self.parent_arm_span)
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).located(Cq.Location((0, -conn_w/2, 0)))
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#Cq.Solid.makeCylinder(
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# height=conn_h,
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# radius=self.parent_arm_radius - self.lip_thickness / 2,
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# angleDegrees=self.parent_arm_span)
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.cut(Cq.Solid.makeCylinder(
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height=conn_h,
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radius=self.disk_joint.radius_housing,
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))
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.located(Cq.Location((0, 0, -conn_h / 2)))
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.rotate((0,0,0), (0,0,1), 180-self.parent_arm_span / 2)
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.rotate((0,0,0), (0,0,1), 180)
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#.rotate((0,0,0), (0,0,1), 180-self.parent_arm_span / 2)
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)
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housing = self.disk_joint.housing_upper()
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housing_loc = Cq.Location(
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@ -50,6 +50,7 @@ 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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))
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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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@ -62,8 +63,11 @@ 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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child_arm_radius=20.0,
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hole_pos=[10, 20],
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lip_length=50,
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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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))
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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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