nhf/parts/fasteners.py

@@ -1,6 +1,7 @@
 from dataclasses import dataclass
 import math
 import cadquery as Cq
+from typing import Optional
 from nhf import Item, Role
 import nhf.utils
 
@@ -127,3 +128,35 @@ class HexNut(Item):
             .regularPolygon(r=self.radius, n=6)
             ._faces
         )
+
+@dataclass(frozen=True)
+class Washer(Item):
+    diam_thread: float
+    diam_outer: float
+    thickness: float
+    material_name: Optional[float] = None
+
+    def __post_init__(self):
+        assert self.diam_outer > self.diam_thread
+    @property
+    def name(self):
+        suffix = (" " + self.material_name) if self.material_name else ""
+        return f"Washer M{int(self.diam_thread)}{suffix}"
+
+    @property
+    def role(self) -> Role:
+        return Role.CONNECTION
+
+    def generate(self) -> Cq.Workplane:
+        result = (
+            Cq.Workplane('XY')
+            .cylinder(
+                radius=self.diam_outer/2,
+                height=self.thickness,
+            )
+            .faces(">Z")
+            .hole(self.diam_thread)
+        )
+        result.faces("<Z").tag("bot")
+        result.faces(">Z").tag("top")
+        return result

nhf/touhou/houjuu_nue/electronics.py

@@ -547,3 +547,9 @@ class ElectronicBoard(Model):
                 )
             )
         return result.solve()
+
+@dataclass(frozen=True)
+class LightStrip:
+
+    width: float = 10.0
+    height: float = 4.5

nhf/touhou/houjuu_nue/joints.py

@@ -6,7 +6,7 @@ from nhf import Material, Role
 from nhf.build import Model, target, assembly
 from nhf.parts.box import MountingBox
 from nhf.parts.springs import TorsionSpring
-from nhf.parts.fasteners import FlatHeadBolt, HexNut, ThreaddedKnob
+from nhf.parts.fasteners import FlatHeadBolt, HexNut, ThreaddedKnob, Washer
 from nhf.parts.joints import TorsionJoint, HirthJoint
 from nhf.parts.box import Hole, MountingBox, box_with_centre_holes
 from nhf.touhou.houjuu_nue.electronics import (
@@ -67,6 +67,28 @@ ELBOW_TORSION_SPRING = TorsionSpring(
     right_handed=False,
 )
 
+ELBOW_AXLE_BOLT = FlatHeadBolt(
+    mass=0.0,
+    diam_head=6.87,
+    height_head=3.06,
+    diam_thread=4.0,
+    height_thread=20.0,
+)
+ELBOW_AXLE_WASHER = Washer(
+    mass=0.0,
+    diam_outer=8.96,
+    diam_thread=4.0,
+    thickness=1.02,
+    material_name="Nylon"
+)
+ELBOW_AXLE_HEX_NUT = HexNut(
+    mass=0.0,
+    diam_thread=4.0,
+    pitch=0.7,
+    thickness=3.6, # or 2.64 for metal
+    width=6.89,
+)
+
 @dataclass
 class RootJoint(Model):
     """
@@ -390,12 +412,13 @@ class ShoulderJoint(Model):
     angle_neutral: float = -15.0
     angle_max_deflection: float = 65.0
 
-    spool_radius: float = 12.0
-    spool_groove_depth: float = 1.0
-    spool_base_height: float = 3.0
-    spool_height: float = 5.0
-    spool_cap_height: float = 1.0
-    spool_groove_inset: float = 3.0
+    spool_radius_diff: float = 2.0
+    # All the heights here are mirrored for the bottom as well
+    spool_cap_height: float = 3.0
+    spool_core_height: float = 2.0
+
+    spool_line_thickness: float = 1.2
+    spool_groove_radius: float = 10.0
 
     flip: bool = False
     actuator: LinearActuator = LINEAR_ACTUATOR_21
@@ -403,11 +426,17 @@ class ShoulderJoint(Model):
     def __post_init__(self):
         assert self.parent_lip_length * 2 < self.height
         assert self.child_guard_ext > self.torsion_joint.radius_rider
-        assert self.spool_groove_depth < self.spool_radius < self.torsion_joint.radius_rider - self.child_core_thickness
-        assert self.spool_base_height > self.spool_groove_depth
+        assert self.spool_groove_radius < self.spool_inner_radius < self.spool_outer_radius
         assert self.child_lip_height < self.height
         assert self.draft_length <= self.actuator.stroke_length
 
+    @property
+    def spool_outer_radius(self):
+        return self.torsion_joint.radius_rider - self.child_core_thickness
+    @property
+    def spool_inner_radius(self):
+        return self.spool_outer_radius - self.spool_radius_diff
+
     @property
     def radius(self):
         return self.torsion_joint.radius
@@ -417,7 +446,7 @@ class ShoulderJoint(Model):
         """
         Amount of wires that need to draft on the spool
         """
-        return (self.spool_radius - self.spool_groove_depth / 2) * math.radians(self.angle_max_deflection)
+        return self.spool_inner_radius * math.radians(self.angle_max_deflection)
 
     @property
     def draft_height(self):
@@ -444,16 +473,20 @@ class ShoulderJoint(Model):
     def _max_contraction_angle(self) -> float:
         return 180 - self.angle_max_deflection + self.angle_neutral
 
-    def _contraction_cut_geometry(self, parent: bool = False, mirror: bool=False) -> Cq.Solid:
-        """
-        Generates a cylindrical sector which cuts away overlapping regions of the child and parent
-        """
+    def _contraction_cut_angle(self) -> float:
         aspect = self.child_guard_width / self.parent_arm_width
         theta = math.radians(self._max_contraction_angle)
         #theta_p = math.atan(math.sin(theta) / (math.cos(theta) + aspect))
         theta_p = math.atan2(math.sin(theta), math.cos(theta) + aspect)
         angle = math.degrees(theta_p)
         assert 0 <= angle <= 90
+        return angle
+
+    def _contraction_cut_geometry(self, parent: bool = False, mirror: bool=False) -> Cq.Solid:
+        """
+        Generates a cylindrical sector which cuts away overlapping regions of the child and parent
+        """
+        angle = self._contraction_cut_angle()
         # outer radius of the cut, overestimated
         cut_radius = math.sqrt(self.child_guard_width ** 2 + self.parent_arm_width ** 2)
         span = 180
@@ -550,37 +583,39 @@ class ShoulderJoint(Model):
         joint = self.torsion_joint
         return self.height - 2 * joint.total_height + 2 * joint.rider_disk_height
 
-    def _spool(self) -> Cq.Workplane:
+    def _spool(self) -> Cq.Compound:
         """
         Generates the spool piece which holds the line in tension
         """
-        t = self.spool_groove_depth
-        radius_core_inner = self.torsion_joint.radius_rider - self.child_core_thickness
+        t = self.spool_line_thickness
         spindle = Cq.Solid.makeCone(
-            radius1=self.spool_radius,
-            radius2=radius_core_inner,
-            height=self.spool_height,
+            radius1=self.spool_inner_radius,
+            radius2=self.spool_outer_radius,
+            height=self.spool_core_height,
         )
         cap = Cq.Solid.makeCylinder(
-            radius=radius_core_inner,
+            radius=self.spool_outer_radius,
             height=self.spool_cap_height
-        ).located(Cq.Location((0,0,self.spool_height)))
-        hole_x = radius_core_inner - self.spool_groove_inset
-        slot = Cq.Solid.makeBox(
-            length=t,
+        ).moved(Cq.Location((0,0,self.spool_core_height)))
+        cut_height = self.spool_cap_height + self.spool_core_height
+        cut_hole = Cq.Solid.makeCylinder(
+            radius=t / 2,
+            height=cut_height,
+        ).moved(Cq.Location((self.spool_groove_radius, 0, 0)))
+        cut_slot = Cq.Solid.makeBox(
+            length=self.spool_outer_radius - self.spool_groove_radius,
             width=t,
-            height=self.spool_base_height,
-        ).located(Cq.Location((hole_x, -t/2, 0)))
-        hole = Cq.Solid.makeBox(
-            length=t,
-            width=t,
-            height=self.spool_height + self.spool_base_height,
-        ).located(Cq.Location((hole_x, -t/2, 0)))
-        centre_hole = Cq.Solid.makeCylinder(
+            height=self.spool_core_height,
+        ).moved(Cq.Location((self.spool_groove_radius, -t/2, 0)))
+        cut_centre_hole = Cq.Solid.makeCylinder(
             radius=self.torsion_joint.radius_axle,
-            height=self.spool_height + self.spool_base_height,
+            height=cut_height,
+        )
+        top = spindle.fuse(cap).cut(cut_hole, cut_centre_hole, cut_slot)
+        return (
+            top
+            .fuse(top.located(Cq.Location((0,0,0), (1,0, 0), 180)))
         )
-        return spindle.fuse(cap).cut(slot, hole, centre_hole)
 
     @target(name="child")
     def child(self) -> Cq.Assembly:
@@ -611,6 +646,14 @@ class ShoulderJoint(Model):
             .assemble()
             .circle(radius_core_inner, mode='s')
         )
+        angle_line_span = -self.angle_neutral + self.angle_max_deflection + 90
+        angle_line = 180 - angle_line_span
+        # leave space for the line to rotate
+        spool_cut = Cq.Solid.makeCylinder(
+            radius=joint.radius_rider * 2,
+            height=self.spool_core_height * 2,
+            angleDegrees=angle_line_span,
+        ).moved(Cq.Location((0,0,-self.spool_core_height), (0,0,1), angle_line))
         lip_extension = (
             Cq.Solid.makeBox(
                 length=self.child_lip_ext - self.child_guard_ext,
@@ -676,7 +719,8 @@ class ShoulderJoint(Model):
             .toPending()
             .extrude(dh * 2)
             .translate(Cq.Vector(0, 0, -dh))
-            .union(core_guard)
+            .cut(spool_cut)
+            .union(core_guard, tol=TOL)
         )
         assert self.child_lip_width / 2 <= joint.radius_rider
         sign = 1 if self.flip else -1
@@ -695,8 +739,8 @@ class ShoulderJoint(Model):
         loc_rotate = Cq.Location((0, 0, 0), (1, 0, 0), 180)
         loc_axis_rotate_bot = Cq.Location((0, 0, 0), (0, 0, 1), self.axis_rotate_bot + self.angle_neutral)
         loc_axis_rotate_top = Cq.Location((0, 0, 0), (0, 0, 1), self.axis_rotate_top + self.angle_neutral)
-        spool_dz = self.height / 2 - self.torsion_joint.total_height
-        spool_angle = 180 + self.angle_neutral
+        spool_dz = 0
+        spool_angle = -self.angle_neutral
         loc_spool_flip = Cq.Location((0,0,0),(0,1,0),180) if self.flip else Cq.Location()
         result = (
             Cq.Assembly()
@@ -848,6 +892,7 @@ class DiskJoint(Model):
 
     housing_thickness: float = 4.0
     disk_thickness: float = 8.0
+    tongue_thickness: float = 10.0
 
     # Amount by which the wall carves in
     wall_inset: float = 2.0
@@ -868,6 +913,9 @@ class DiskJoint(Model):
 
     generate_inner_wall: bool = False
 
+    axle_bolt: FlatHeadBolt = ELBOW_AXLE_BOLT
+    axle_washer: Washer = ELBOW_AXLE_WASHER
+    axle_hex_nut: HexNut = ELBOW_AXLE_HEX_NUT
 
     def __post_init__(self):
         super().__init__(name="disk-joint")
@@ -876,6 +924,11 @@ class DiskJoint(Model):
 
         assert self.housing_upper_carve_offset > 0
         assert self.spring_tail_hole_height > self.spring.thickness
+        assert self.tongue_thickness <= self.total_thickness
+
+        assert self.axle_bolt.diam_thread == self.axle_washer.diam_thread
+        assert self.axle_bolt.diam_thread == self.axle_hex_nut.diam_thread
+        assert self.axle_bolt.height_thread > self.total_thickness, "Bolt is not long enough"
 
     @property
     def neutral_movement_angle(self) -> Optional[float]:
@@ -932,10 +985,21 @@ class DiskJoint(Model):
     @target(name="disk")
     def disk(self) -> Cq.Workplane:
         radius_tongue = self.radius_disk + self.tongue_length
-        tongue = (
+        outer_tongue = (
+            Cq.Solid.makeCylinder(
+                height=self.tongue_thickness,
+                radius=radius_tongue,
+                angleDegrees=self.tongue_span,
+            ).cut(Cq.Solid.makeCylinder(
+                height=self.tongue_thickness,
+                radius=self.radius_housing,
+            ))
+            .moved(Cq.Location((0,0,(self.disk_thickness - self.tongue_thickness) / 2)))
+        )
+        inner_tongue = (
             Cq.Solid.makeCylinder(
                 height=self.disk_thickness,
-                radius=radius_tongue,
+                radius=self.radius_housing,
                 angleDegrees=self.tongue_span,
             ).cut(Cq.Solid.makeCylinder(
                 height=self.disk_thickness,
@@ -949,7 +1013,8 @@ class DiskJoint(Model):
                 radius=self.radius_disk,
                 centered=(True, True, False)
             )
-            .union(tongue, tol=TOL)
+            .union(inner_tongue, tol=TOL)
+            .union(outer_tongue, tol=TOL)
             .copyWorkplane(Cq.Workplane('XY'))
             .cylinder(
                 height=self.disk_thickness,
@@ -995,6 +1060,7 @@ class DiskJoint(Model):
             ))
         )
         result.faces(">Z").tag("mate")
+        result.faces("<Z").tag("bot")
         result.faces(">Z").workplane().tagPlane("dirX", direction="+X")
         result = result.cut(
             self
@@ -1028,6 +1094,7 @@ class DiskJoint(Model):
         )
         theta = math.radians(carve_angle)
         result.faces("<Z").tag("mate")
+        result.faces(">Z").tag("top")
         p_xy = result.copyWorkplane(Cq.Workplane('XY'))
         p_xy.tagPlane("dirX", direction="+X")
         p_xy.tagPlane("dir", direction=(math.cos(theta), math.sin(theta), 0))
@@ -1063,6 +1130,8 @@ class DiskJoint(Model):
                         housing_upper: str,
                         disk: str,
                         angle: float = 0.0,
+                        fasteners: bool = True,
+                        fastener_prefix: str = "fastener",
                         ) -> Cq.Assembly:
         assert 0 <= angle <= self.movement_angle
         deflection = angle - (self.spring.angle_neutral - self.spring_angle_at_0)
@@ -1084,6 +1153,16 @@ class DiskJoint(Model):
             #.constrain(f"{housing_lower}?dirX", f"{disk}?dir", "Axis", param=angle)
             #.constrain(f"{housing_lower}?dirY", f"{disk}?dir", "Axis", param=angle - 90)
         )
+        if fasteners:
+            tag_bolt = f"{fastener_prefix}_bolt"
+            tag_nut = f"{fastener_prefix}_nut"
+            (
+                assembly
+                .add(self.axle_bolt.assembly(), name=tag_bolt)
+                .add(self.axle_hex_nut.assembly(), name=tag_nut)
+                .constrain(f"{housing_lower}?bot", f"{tag_nut}?bot", "Plane")
+                .constrain(f"{housing_upper}?top", f"{tag_bolt}?root", "Plane", param=0)
+            )
         return (
             assembly
         )
@@ -1136,7 +1215,9 @@ class ElbowJoint(Model):
 
     lip_thickness: float = 5.0
     lip_length: float = 60.0
-    hole_pos: list[float] = field(default_factory=lambda: [12, 24])
+    # Carve which allows light to go through
+    lip_side_depression_width: float = 10.0
+    hole_pos: list[float] = field(default_factory=lambda: [15, 24])
     parent_arm_width: float = 10.0
     # Angle of the beginning of the parent arm
     parent_arm_angle: float = 180.0
@@ -1254,6 +1335,17 @@ class ElbowJoint(Model):
                     Hole(x=-sign * x, tag=f"conn_bot{i}")
             ]
         ]
+        def post(sketch: Cq.Sketch) -> Cq.Sketch:
+            y_outer = self.disk_joint.total_thickness / 2
+            y_inner = self.disk_joint.tongue_thickness / 2
+            y = (y_outer + y_inner) / 2
+            width = self.lip_side_depression_width
+            height = y_outer - y_inner
+            return (
+                sketch
+                .push([(0, y), (0, -y)])
+                .rect(width, height, mode='s')
+            )
         mbox = MountingBox(
             length=self.lip_length,
             width=self.disk_joint.total_thickness,
@@ -1263,6 +1355,7 @@ class ElbowJoint(Model):
             centred=(True, True),
             generate_side_tags=False,
             generate_reverse_tags=True,
+            profile_callback=post,
         )
         return mbox.generate()
 
@@ -1332,7 +1425,7 @@ class ElbowJoint(Model):
     def parent_joint_upper(self, generate_mount: bool=False, generate_tags=True):
         axial_offset = Cq.Location((self.parent_arm_radius, 0, 0))
         housing_dz = self.disk_joint.housing_upper_dz
-        conn_h = self.disk_joint.total_thickness
+        conn_h = self.disk_joint.tongue_thickness
         conn_w = self.parent_arm_width
         connector = (
             Cq.Solid.makeBox(

nhf/touhou/houjuu_nue/wing.py

@@ -19,6 +19,7 @@ from nhf.touhou.houjuu_nue.electronics import (
     LINEAR_ACTUATOR_21,
     LINEAR_ACTUATOR_50,
     ElectronicBoard,
+    LightStrip,
     ELECTRONIC_MOUNT_HEXNUT,
 )
 import nhf.utils
@@ -52,6 +53,8 @@ class WingProfile(Model):
     spacer_thickness: float = 25.4 / 4
     rod_width: float = 10.0
 
+    light_strip: LightStrip = LightStrip()
+
     shoulder_joint: ShoulderJoint = field(default_factory=lambda: ShoulderJoint(
     ))
     shoulder_angle_bias: float = 0.0
@@ -370,9 +373,8 @@ class WingProfile(Model):
         )
     @submodel(name="spacer-s0-shoulder-act")
     def spacer_s0_shoulder_act(self) -> MountingBox:
-        dx = self.shoulder_joint.draft_height
         return MountingBox(
-            holes=[Hole(x=dx), Hole(x=-dx)],
+            holes=[Hole(x=0)],
             hole_diam=self.shoulder_joint.actuator.back_hole_diam,
             length=self.root_height,
             width=10.0,
@@ -616,16 +618,17 @@ class WingProfile(Model):
             Hole(sign * x, tag=tag)
             for x, tag in joint.hole_loc_tags()
         ]
+        tongue_thickness = joint.disk_joint.tongue_thickness
+        carve_width = joint.lip_side_depression_width
+        assert carve_width >= self.light_strip.width
+        carve_height = (segment_thickness - tongue_thickness) / 2
+        assert carve_height >= self.light_strip.height
         def carve_sides(profile):
-            dy = (segment_thickness + joint.total_thickness) / 4
+            dy = (segment_thickness + tongue_thickness) / 4
             return (
                 profile
                 .push([(0,-dy), (0,dy)])
-                .rect(
-                    joint.parent_arm_width,
-                    (segment_thickness - joint.total_thickness) / 2,
-                    mode='s',
-                )
+                .rect(carve_width, carve_height, mode='s')
             )
         # FIXME: Carve out the sides so light can pass through
         mbox = MountingBox(