feat: Add linear actuator component

nhf/materials.py

@@ -31,6 +31,7 @@ class Role(Flag):
     STRUCTURE = auto()
     DECORATION = auto()
     ELECTRONIC = auto()
+    MOTION = auto()
 
     # Fasteners, etc.
     CONNECTION = auto()
@@ -61,7 +62,8 @@ ROLE_COLOR_MAP = {
     Role.DAMPING:    _color('springgreen', 1.0),
     Role.STRUCTURE:  _color('gray', 0.4),
     Role.DECORATION: _color('lightseagreen', 0.4),
-    Role.ELECTRONIC: _color('mediumorchid', 0.5),
+    Role.ELECTRONIC: _color('mediumorchid', 0.7),
+    Role.MOTION:     _color('thistle3', 0.7),
     Role.CONNECTION: _color('steelblue3', 0.8),
     Role.HANDLE:     _color('tomato4', 0.8),
 }

nhf/parts/fasteners.py

@@ -42,10 +42,7 @@ class FlatHeadBolt(Item):
 @dataclass(frozen=True)
 class ThreaddedKnob(Item):
     """
-    Sourced from:
+    A threaded rod with knob on one side
-
-    > Othmro Black 12mm(M12) x 50mm Thread Replacement Star Hand Knob Tightening
-    > Screws
     """
     diam_thread: float
     height_thread: float
@@ -104,7 +101,7 @@ class HexNut(Item):
         return f"HexNut M{int(self.diam_thread)}-{self.pitch}"
 
     @property
-    def role(self):
+    def role(self) -> Role:
         return Role.CONNECTION
 
     def generate(self) -> Cq.Workplane:

nhf/parts/joints.py

@@ -393,7 +393,7 @@ class TorsionJoint:
     def rider_track_assembly(self, directrix: int = 0, deflection: float = 0):
         rider = self.rider()
         track = self.track()
-        spring = self.spring.generate(deflection=deflection)
+        spring = self.spring.assembly(deflection=deflection)
         result = (
             Cq.Assembly()
             .addS(spring, name="spring", role=Role.DAMPING)

nhf/touhou/houjuu_nue/electronics.py

@@ -0,0 +1,155 @@
+"""
+Electronic components
+"""
+from dataclasses import dataclass
+import cadquery as Cq
+from nhf.materials import Role
+from nhf.parts.item import Item
+from nhf.parts.fasteners import FlatHeadBolt, HexNut
+
+@dataclass(frozen=True)
+class LinearActuator(Item):
+    stroke_length: float
+    shaft_diam: float = 9.04
+
+    front_hole_ext: float = 4.41
+    front_hole_diam: float = 4.41
+    front_length: float = 9.55
+    front_width: float = 9.24
+    front_height: float = 5.98
+
+    segment1_length: float = 37.55
+    segment1_width: float = 15.95
+    segment1_height: float = 11.94
+
+    segment2_length: float = 37.47
+    segment2_width: float = 20.03
+    segment2_height: float = 15.03
+
+    back_hole_ext: float = 4.58
+    back_hole_diam: float = 4.18
+    back_length: float = 9.27
+    back_width: float = 10.16
+    back_height: float = 8.12
+
+    @property
+    def name(self) -> str:
+        return f"LinearActuator {self.stroke_length}mm"
+
+    @property
+    def role(self) -> Role:
+        return Role.MOTION
+
+    @property
+    def conn_length(self):
+        return self.segment1_length + self.segment2_length + self.front_hole_ext + self.back_hole_ext
+
+    def generate(self, pos: float=0) -> Cq.Assembly:
+        stroke_x = pos * self.stroke_length
+        front = (
+            Cq.Workplane('XZ')
+            .cylinder(
+                radius=self.front_width / 2,
+                height=self.front_height,
+                centered=True,
+            )
+            .box(
+                length=self.front_hole_ext,
+                width=self.front_width,
+                height=self.front_height,
+                combine=True,
+                centered=(False, True, True)
+            )
+            .copyWorkplane(Cq.Workplane('XZ'))
+            .cylinder(
+                radius=self.front_hole_diam / 2,
+                height=self.front_height,
+                centered=True,
+                combine='cut',
+            )
+        )
+        if stroke_x > 0:
+            shaft = (
+                Cq.Workplane('YZ')
+                .cylinder(
+                    radius=self.shaft_diam / 2,
+                    height=stroke_x,
+                    centered=(True, True, False)
+                )
+            )
+        else:
+            shaft = None
+        segment1 = (
+            Cq.Workplane()
+            .box(
+                length=self.segment1_length,
+                height=self.segment1_width,
+                width=self.segment1_height,
+                centered=(False, True, True),
+            )
+        )
+        segment2 = (
+            Cq.Workplane()
+            .box(
+                length=self.segment2_length,
+                height=self.segment2_width,
+                width=self.segment2_height,
+                centered=(False, True, True),
+            )
+        )
+        back = (
+            Cq.Workplane('XZ')
+            .cylinder(
+                radius=self.back_width / 2,
+                height=self.back_height,
+                centered=True,
+            )
+            .box(
+                length=self.back_hole_ext,
+                width=self.back_width,
+                height=self.back_height,
+                combine=True,
+                centered=(False, True, True)
+            )
+            .copyWorkplane(Cq.Workplane('XZ'))
+            .cylinder(
+                radius=self.back_hole_diam / 2,
+                height=self.back_height,
+                centered=True,
+                combine='cut',
+            )
+        )
+        result = (
+            Cq.Assembly()
+            .add(front, name="front",
+                 loc=Cq.Location((-self.front_hole_ext, 0, 0)))
+            .add(segment1, name="segment1",
+                 loc=Cq.Location((stroke_x, 0, 0)))
+            .add(segment2, name="segment2",
+                 loc=Cq.Location((stroke_x + self.segment1_length, 0, 0)))
+            .add(back, name="back",
+                 loc=Cq.Location((stroke_x + self.segment1_length + self.segment2_length + self.back_hole_ext, 0, 0), (0, 1, 0), 180))
+        )
+        if shaft:
+            result.add(shaft, name="shaft")
+        return result
+
+
+LINEAR_ACTUATOR_SHOULDER = LinearActuator(
+    mass=34.0,
+    stroke_length=30,
+)
+LINEAR_ACTUATOR_HEX_NUT = HexNut(
+    mass=0.8,
+    diam_thread=4,
+    pitch=0.7,
+    thickness=4.16,
+    width=6.79,
+)
+LINEAR_ACTUATOR_BOLT = FlatHeadBolt(
+    mass=1.7,
+    diam_head=16.68,
+    height_head=2.98,
+    diam_thread=4.0,
+    height_thread=15.83,
+)

nhf/touhou/houjuu_nue/joints.py

@@ -12,12 +12,10 @@ import nhf.utils
 
 TOL = 1e-6
 
-@dataclass
+# Parts used
-class RootJoint(Model):
+
-    """
+# uxcell 2 Pcs Star Knobs Grips M12 x 30mm Male Thread Steel Zinc Stud Replacement PP
-    The Houjuu-Scarlett Mechanism
+HS_JOINT_KNOB = ThreaddedKnob(
-    """
-    knob: ThreaddedKnob = ThreaddedKnob(
     mass=float('nan'),
     diam_thread=12.0,
     height_thread=30.0,
@@ -27,15 +25,51 @@ class RootJoint(Model):
     height_neck=10.0,
     height_knob=10.0,
 )
-    hex_nut: HexNut = HexNut(
+# Tom's world 8Pcs M12-1.75 Hex Nut Assortment Set Stainless Steel 304(18-8)
-        # FIXME: Undetermined
+# Metric Hexagon Nut for Bolts, Bright Finish, Full Thread (M12)
-        mass=float('nan'),
+HS_JOINT_HEX_NUT = HexNut(
-
+    mass=14.9,
     diam_thread=12.0,
     pitch=1.75,
-        thickness=9.8,
+    thickness=9.7,
     width=18.9,
 )
+SHOULDER_AXIS_BOLT = FlatHeadBolt(
+    # FIXME: measure
+    diam_head=10.0,
+    height_head=3.0,
+    diam_thread=6.0,
+    height_thread=20.0,
+    mass=float('nan'),
+)
+# Hoypeyfiy 10 Pieces Torsion Spring Woodworking DIY 90 Degrees Torsional
+# Springs Repair Maintenance Spring
+SHOULDER_TORSION_SPRING = TorsionSpring(
+    mass=2.2,
+    # inner diameter = 9
+    radius=9/2 + 1.2,
+    thickness=1.3,
+    height=7.5,
+)
+# KALIONE 10 Pieces Torsion Spring, Stainless Steel Small Torsion Springs, Tiny
+# Torsional Spring, 90° Deflection Compression Spring Kit for Repair Tools
+# Woodworking DIY, 50mm
+ELBOW_TORSION_SPRING = TorsionSpring(
+    mass=1.7,
+    radius=9 / 2,
+    thickness=1.3,
+    height=6.5,
+    tail_length=45.0,
+    right_handed=False,
+)
+
+@dataclass
+class RootJoint(Model):
+    """
+    The Houjuu-Scarlett Mechanism
+    """
+    knob: ThreaddedKnob = HS_JOINT_KNOB
+    hex_nut: HexNut = HS_JOINT_HEX_NUT
     hirth_joint: HirthJoint = field(default_factory=lambda: HirthJoint(
         radius=25.0,
         radius_inner=15.0,
@@ -206,14 +240,7 @@ class RootJoint(Model):
 @dataclass
 class ShoulderJoint(Model):
 
-    bolt: FlatHeadBolt = FlatHeadBolt(
+    bolt: FlatHeadBolt = SHOULDER_AXIS_BOLT
-        # FIXME: measure
-        diam_head=10.0,
-        height_head=3.0,
-        diam_thread=6.0,
-        height_thread=20.0,
-        mass=float('nan'),
-    )
 
     height: float = 70.0
     torsion_joint: TorsionJoint = field(default_factory=lambda: TorsionJoint(
@@ -225,13 +252,7 @@ class ShoulderJoint(Model):
         track_disk_height=5.0,
         rider_disk_height=5.0,
         radius_axle=3.0,
-        spring=TorsionSpring(
+        spring=SHOULDER_TORSION_SPRING,
-            mass=float('nan'),
-            # inner diameter = 9
-            radius=9/2 + 1.2,
-            thickness=1.3,
-            height=7.5,
-        ),
         rider_slot_begin=0,
         rider_n_slots=1,
         rider_slot_span=0,
@@ -451,12 +472,12 @@ class ShoulderJoint(Model):
             .addS(self.child(), name="child",
                   role=Role.CHILD, material=mat)
             .constrain("child/core", "Fixed")
-            .addS(self.torsion_joint.spring.generate(deflection=-deflection), name="spring_top",
+            .addS(self.torsion_joint.spring.assembly(deflection=-deflection), name="spring_top",
                   role=Role.DAMPING, material=mat_spring)
             .addS(self.parent_top(),
                   name="parent_top",
                   role=Role.PARENT, material=mat)
-            .addS(self.torsion_joint.spring.generate(deflection=deflection), name="spring_bot",
+            .addS(self.torsion_joint.spring.assembly(deflection=deflection), name="spring_bot",
                   role=Role.DAMPING, material=mat_spring)
             .addS(self.parent_bot(),
                   name="parent_bot",
@@ -558,14 +579,7 @@ class DiskJoint(Model):
     We embed a spring inside the joint, with one leg in the disk and one leg in
     the housing. This provides torsion resistance.
     """
-    spring: TorsionSpring = field(default_factory=lambda: TorsionSpring(
+    spring: TorsionSpring = ELBOW_TORSION_SPRING
-        mass=float('nan'),
-        radius=9 / 2,
-        thickness=1.3,
-        height=6.5,
-        tail_length=45.0,
-        right_handed=False,
-    ))
 
     radius_housing: float = 22.0
     radius_disk: float = 20.0
@@ -787,7 +801,7 @@ class DiskJoint(Model):
         (
             assembly
             .addS(
-                self.spring.generate(deflection=-deflection),
+                self.spring.assembly(deflection=-deflection),
                 name=spring_name,
                 role=Role.DAMPING,
                 material=Material.STEEL_SPRING)