cosplay: Touhou/Houjuu Nue #4
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@ -8,7 +8,9 @@ from nhf.parts.springs import TorsionSpring
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from nhf.parts.fasteners import FlatHeadBolt, HexNut, ThreaddedKnob
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from nhf.parts.joints import TorsionJoint, HirthJoint
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from nhf.parts.box import Hole, MountingBox, box_with_centre_holes
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from nhf.touhou.houjuu_nue.electronics import Flexor, LinearActuator
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from nhf.touhou.houjuu_nue.electronics import (
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Flexor, LinearActuator, LINEAR_ACTUATOR_21,
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)
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import nhf.geometry
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import nhf.utils
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@ -286,17 +288,18 @@ class ShoulderJoint(Model):
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# Generates a child guard which covers up the internals. The lip length is
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# relative to the +X surface of the guard.
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child_guard_ext: float = 30.0
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child_guard_ext: float = 20.0
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child_guard_width: float = 25.0
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# guard length measured from axle
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child_lip_length: float = 40.0
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child_lip_ext: float = 50.0
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child_lip_width: float = 20.0
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child_lip_height: float = 40.0
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child_lip_thickness: float = 5.0
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child_conn_hole_diam: float = 4.0
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# Measured from centre of axle
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child_conn_hole_pos: list[float] = field(default_factory=lambda: [8, 19, 30])
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child_conn_hole_pos: list[float] = field(default_factory=lambda: [-15, -5, 5, 15])
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child_core_thickness: float = 3.0
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# Rotates the torsion joint to avoid collisions or for some other purpose
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axis_rotate_bot: float = 90
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axis_rotate_top: float = 0
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@ -311,10 +314,16 @@ class ShoulderJoint(Model):
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spool_height: float = 5.0
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spool_groove_inset: float = 2.0
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flip: bool = False
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actuator: LinearActuator = LINEAR_ACTUATOR_21
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def __post_init__(self):
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assert self.parent_lip_length * 2 < self.height
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assert self.child_guard_ext > self.torsion_joint.radius_rider
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assert self.spool_groove_depth < self.spool_radius < self.torsion_joint.radius_rider - self.child_core_thickness
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assert self.spool_base_height > self.spool_groove_depth
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assert self.child_lip_height < self.height
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assert self.draft_length <= self.actuator.stroke_length
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@property
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def radius(self):
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@ -327,6 +336,13 @@ class ShoulderJoint(Model):
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"""
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return (self.spool_radius - self.spool_groove_depth / 2) * math.radians(self.angle_max_deflection)
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@property
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def draft_height(self):
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"""
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Position of the middle of the spool measured from the middle
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"""
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return self.height / 2 - self.torsion_joint.total_height - self.spool_base_height / 2
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def parent_lip_loc(self, left: bool=True) -> Cq.Location:
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"""
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2d location of the arm surface on the parent side, relative to axle
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@ -335,10 +351,15 @@ class ShoulderJoint(Model):
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sign = 1 if left else -1
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loc_dir = Cq.Location((0,sign * dy,0), (0, 0, 1), sign * 90)
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return Cq.Location.from2d(self.parent_lip_ext, 0, 0) * loc_dir
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def child_lip_loc(self) -> Cq.Location:
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"""
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2d location to middle of lip
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"""
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return Cq.Location.from2d(self.child_lip_ext - self.child_guard_ext, 0, 180)
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@property
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def _max_contraction_angle(self) -> float:
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return self.angle_max_deflection + self.angle_neutral
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return 180 - self.angle_max_deflection + self.angle_neutral
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def _contraction_cut_geometry(self, parent: bool = False, mirror: bool=False) -> Cq.Solid:
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"""
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@ -346,7 +367,8 @@ class ShoulderJoint(Model):
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"""
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aspect = self.child_guard_width / self.parent_arm_width
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theta = math.radians(self._max_contraction_angle)
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theta_p = math.atan(math.sin(theta) / (math.cos(theta) + aspect))
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#theta_p = math.atan(math.sin(theta) / (math.cos(theta) + aspect))
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theta_p = math.atan2(math.sin(theta), math.cos(theta) + aspect)
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angle = math.degrees(theta_p)
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assert 0 <= angle <= 90
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# outer radius of the cut, overestimated
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@ -431,10 +453,7 @@ class ShoulderJoint(Model):
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@target(name="parent-bot")
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def parent_bot(self) -> Cq.Assembly:
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result = (
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self.parent(top=False)
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)
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return result
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return self.parent(top=False)
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@target(name="parent-top")
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def parent_top(self) -> Cq.Assembly:
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return self.parent(top=True)
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@ -485,18 +504,15 @@ class ShoulderJoint(Model):
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"""
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joint = self.torsion_joint
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assert all(r < self.child_lip_length for r in self.child_conn_hole_pos)
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# Half of the height of the bridging cylinder
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dh = self.height / 2 - joint.total_height
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core_start_angle = 30
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core_end_angle1 = 90
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core_end_angle2 = 180
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radius_core_inner = joint.radius_rider - self.child_core_thickness
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core_profile1 = (
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Cq.Sketch()
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.arc((0, 0), joint.radius_rider, core_start_angle, core_end_angle1-core_start_angle)
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.arc((0, 0), joint.radius_rider, core_start_angle, self.angle_max_deflection)
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.segment((0, 0))
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.close()
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.assemble()
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@ -504,12 +520,28 @@ class ShoulderJoint(Model):
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)
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core_profile2 = (
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Cq.Sketch()
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.arc((0, 0), joint.radius_rider, -core_start_angle, -(core_end_angle2-core_start_angle))
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.arc((0, 0), joint.radius_rider, -core_start_angle, -(90 - self.angle_neutral))
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.segment((0, 0))
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.close()
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.assemble()
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.circle(radius_core_inner, mode='s')
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)
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lip_extension = (
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Cq.Solid.makeBox(
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length=self.child_lip_ext - self.child_guard_ext,
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width=self.child_lip_width,
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height=self.child_lip_height,
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).cut(Cq.Solid.makeBox(
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length=self.child_lip_ext - self.child_guard_ext,
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width=self.child_lip_width - self.child_lip_thickness * 2,
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height=self.child_lip_height,
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).located(Cq.Location((0, self.child_lip_thickness, 0))))
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.located(Cq.Location((
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self.child_guard_ext,
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-self.child_lip_width / 2,
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-self.child_lip_height / 2,
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)))
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)
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core_guard = (
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Cq.Workplane('XY')
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.box(
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@ -518,6 +550,14 @@ class ShoulderJoint(Model):
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height=self.height,
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centered=(False, True, True),
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)
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#.copyWorkplane(Cq.Workplane('XY'))
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#.box(
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# length=self.child_lip_ext,
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# width=self.child_guard_width,
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# height=self.child_lip_height,
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# combine=True,
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# centered=(False, True, True),
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#)
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.copyWorkplane(Cq.Workplane('XY'))
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.cylinder(
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radius=self.radius,
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@ -527,12 +567,13 @@ class ShoulderJoint(Model):
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)
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.copyWorkplane(Cq.Workplane('XY'))
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.box(
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length=self.child_guard_ext,
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length=self.child_lip_ext,
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width=self.child_lip_width,
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height=self.height - self.torsion_joint.total_height * 2,
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combine='cut',
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centered=(False, True, True),
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)
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.union(lip_extension)
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.cut(self._contraction_cut_geometry(parent=False))
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)
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core = (
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@ -548,13 +589,17 @@ class ShoulderJoint(Model):
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.union(core_guard)
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)
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assert self.child_lip_width / 2 <= joint.radius_rider
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lip_thickness = joint.rider_disk_height
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lip = box_with_centre_holes(
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length=self.child_lip_length,
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sign = 1 if self.flip else -1
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holes = [Hole(x=sign * x) for x in self.child_conn_hole_pos]
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lip_obj = MountingBox(
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length=self.child_lip_height,
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width=self.child_lip_width,
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height=lip_thickness,
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hole_loc=self.child_conn_hole_pos,
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thickness=self.child_lip_thickness,
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holes=holes,
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hole_diam=self.child_conn_hole_diam,
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centred=(True, True),
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generate_side_tags=False,
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generate_reverse_tags=False,
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)
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theta = self.torsion_joint.spring.angle_neutral - self.torsion_joint.rider_slot_span
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loc_rotate = Cq.Location((0, 0, 0), (1, 0, 0), 180)
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@ -562,6 +607,7 @@ class ShoulderJoint(Model):
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loc_axis_rotate_top = Cq.Location((0, 0, 0), (0, 0, 1), self.axis_rotate_top + self.angle_neutral)
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spool_dz = self.height / 2 - self.torsion_joint.total_height
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spool_angle = 180 + self.angle_neutral
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loc_spool_flip = Cq.Location((0,0,0),(0,1,0),180) if self.flip else Cq.Location()
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result = (
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Cq.Assembly()
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.add(core, name="core", loc=Cq.Location())
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@ -569,12 +615,10 @@ class ShoulderJoint(Model):
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loc=loc_axis_rotate_top * Cq.Location((0, 0, dh), (0, 0, 1), -90) * Cq.Location((0, 0, 0), (0, 0, 1), theta))
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.add(joint.rider(rider_slot_begin=180), name="rider_bot",
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loc=loc_axis_rotate_bot * Cq.Location((0, 0, -dh), (0, 0, 1), -90) * loc_rotate)
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.add(lip, name="lip_top",
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loc=Cq.Location((self.child_guard_ext, 0, dh)))
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.add(lip, name="lip_bot",
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loc=Cq.Location((self.child_guard_ext, 0, -dh)) * loc_rotate)
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.add(lip_obj.generate(), name="lip",
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loc=Cq.Location((self.child_lip_ext - self.child_lip_thickness,0,0), (0,1,0), 90))
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.add(self._spool(), name="spool",
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loc=Cq.Location((0, 0, -spool_dz), (0, 0, 1), spool_angle))
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loc=loc_spool_flip * Cq.Location((0, 0, -spool_dz), (0, 0, 1), spool_angle))
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)
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return result
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@ -337,6 +337,19 @@ class WingProfile(Model):
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flip_y=self.flip,
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generate_reverse_tags=True,
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)
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@submodel(name="spacer-s0-shoulder-act")
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def spacer_s0_shoulder_act(self) -> MountingBox:
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dx = self.shoulder_joint.draft_height
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return MountingBox(
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holes=[Hole(x=dx), Hole(x=-dx)],
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hole_diam=self.shoulder_joint.actuator.back_hole_diam,
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length=self.root_height,
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width=10.0,
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centred=(True, True),
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thickness=self.spacer_thickness,
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flip_y=self.flip,
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generate_reverse_tags=True,
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)
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def surface_s0(self, top: bool = False) -> Cq.Workplane:
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base_dx = -(self.base_width - self.root_joint.child_width) / 2 - 10
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@ -352,6 +365,8 @@ class WingProfile(Model):
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self.shoulder_axle_loc * axle_rotate * self.shoulder_joint.parent_lip_loc(left=True)),
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("shoulder_right",
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self.shoulder_axle_loc * axle_rotate * self.shoulder_joint.parent_lip_loc(left=False)),
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("shoulder_act",
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self.shoulder_axle_loc * axle_rotate * Cq.Location.from2d(150, -40)),
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("base", Cq.Location.from2d(base_dx, base_dy, 90)),
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("electronic_mount", Cq.Location.from2d(-45, 75, 64)),
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]
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@ -393,6 +408,7 @@ class WingProfile(Model):
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for o, tag in [
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(self.spacer_s0_shoulder(left=True).generate(), "shoulder_left"),
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(self.spacer_s0_shoulder(left=False).generate(), "shoulder_right"),
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(self.spacer_s0_shoulder_act().generate(), "shoulder_act"),
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(self.spacer_s0_base().generate(), "base"),
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(self.spacer_s0_electronic_mount().generate(), "electronic_mount"),
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]:
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@ -599,13 +615,11 @@ class WingProfile(Model):
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)
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return profile
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def surface_s1(self, front: bool = True) -> Cq.Workplane:
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shoulder_h = self.shoulder_joint.child_height
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h = (self.shoulder_joint.height - shoulder_h) / 2
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tags_shoulder = [
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("shoulder_bot", Cq.Location.from2d(0, h, 90)),
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("shoulder_top", Cq.Location.from2d(0, h + shoulder_h, 270)),
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("shoulder",
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Cq.Location((0, self.shoulder_height / 2, 0)) *
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self.shoulder_joint.child_lip_loc()),
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]
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h = self.elbow_height / 2
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rot_elbow = Cq.Location.rot2d(self.elbow_rotate)
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loc_elbow = rot_elbow * self.elbow_joint.parent_arm_loc()
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tags_elbow = [
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@ -622,16 +636,20 @@ class WingProfile(Model):
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profile, self.panel_thickness, tags, reverse=front)
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@submodel(name="spacer-s1-shoulder")
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def spacer_s1_shoulder(self) -> MountingBox:
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sign = -1 if self.flip else 1
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holes = [
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Hole(x)
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Hole(x=sign * x)
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for x in self.shoulder_joint.child_conn_hole_pos
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]
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return MountingBox(
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length=50.0, # FIXME: magic
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length=self.shoulder_joint.child_lip_height,
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width=self.s1_thickness,
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thickness=self.spacer_thickness,
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holes=holes,
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centred=(True, True),
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hole_diam=self.shoulder_joint.child_conn_hole_diam,
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centre_left_right_tags=True,
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centre_bot_top_tags=True,
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)
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@submodel(name="spacer-s1-elbow")
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def spacer_s1_elbow(self) -> MountingBox:
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@ -664,8 +682,7 @@ class WingProfile(Model):
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param=self.s1_thickness)
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)
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for o, t in [
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(self.spacer_s1_shoulder(), "shoulder_bot"),
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(self.spacer_s1_shoulder(), "shoulder_top"),
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(self.spacer_s1_shoulder(), "shoulder"),
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(self.spacer_s1_elbow(), "elbow_top"),
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(self.spacer_s1_elbow(), "elbow_bot"),
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(self.spacer_s1_elbow_act(), "elbow_act"),
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@ -988,13 +1005,8 @@ class WingProfile(Model):
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if "s1" in parts:
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result.add(self.assembly_s1(), name="s1")
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if "s1" in parts and "shoulder" in parts:
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(
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result
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.constrain("s1/shoulder_top?conn0", f"shoulder/child/lip_{tag_top}?conn0", "Plane")
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.constrain("s1/shoulder_top?conn1", f"shoulder/child/lip_{tag_top}?conn1", "Plane")
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.constrain("s1/shoulder_bot?conn0", f"shoulder/child/lip_{tag_bot}?conn0", "Plane")
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.constrain("s1/shoulder_bot?conn1", f"shoulder/child/lip_{tag_bot}?conn1", "Plane")
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)
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for i in range(len(self.shoulder_joint.child_conn_hole_pos)):
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result.constrain(f"s1/shoulder?conn{i}", f"shoulder/child/lip?conn{i}", "Plane")
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if "elbow" in parts:
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angle = self.elbow_joint.motion_span * elbow_wrist_deflection
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result.add(self.elbow_joint.assembly(
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@ -1327,6 +1339,7 @@ class WingL(WingProfile):
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self.wrist_joint.angle_neutral = self.wrist_bot_loc.to2d_rot() + 30.0
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self.wrist_rotate = -self.wrist_joint.angle_neutral
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self.wrist_joint.flip = False
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self.shoulder_joint.flip = True
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super().__post_init__()
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|
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