674 lines
24 KiB
Python
674 lines
24 KiB
Python
"""
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To build, execute
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```
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python3 nhf/touhou/houjuu_nue/__init__.py
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```
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This cosplay consists of 3 components:
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## Trident
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The trident is composed of individual segments, made of acrylic, and a 3D
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printed head (convention rule prohibits metal) with a metallic paint. To ease
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transportation, the trident handle has individual segments with threads and can
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be assembled on site.
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## Snake
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A 3D printed snake with a soft material so it can wrap around and bend
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## Wings
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This is the crux of the cosplay and the most complex component. The wings mount
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on a wearable harness. Each wing consists of 4 segments with 3 joints. Parts of
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the wing which demands transluscency are created from 1/16" acrylic panels.
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These panels serve double duty as the exoskeleton.
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The wings are labeled r1,r2,r3,l1,l2,l3. The segments of the wings are labeled
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from root to tip s0 (root),
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s1, s2, s3. The joints are named (from root to tip)
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shoulder, elbow, wrist in analogy with human anatomy.
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"""
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from dataclasses import dataclass, field
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import cadquery as Cq
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from nhf import Material, Role
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from nhf.build import Model, TargetKind, target, assembly
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from nhf.parts.joints import HirthJoint, TorsionJoint
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from nhf.parts.handle import Handle, BayonetMount
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import nhf.touhou.houjuu_nue.wing as MW
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import nhf.touhou.houjuu_nue.trident as MT
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import nhf.utils
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@dataclass
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class Parameters(Model):
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"""
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Defines dimensions for the Houjuu Nue cosplay
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"""
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# Thickness of the exoskeleton panel in millimetres
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panel_thickness: float = 25.4 / 16
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# Harness
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harness_thickness: float = 25.4 / 8
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harness_width: float = 300
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harness_height: float = 400
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harness_fillet: float = 10
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harness_wing_base_pos: list[tuple[str, float, float]] = field(default_factory=lambda: [
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("r1", 70, 150),
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("l1", -70, 150),
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("r2", 100, 0),
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("l2", -100, 0),
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("r3", 70, -150),
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("l3", -70, -150),
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])
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# Holes drilled onto harness for attachment with HS joint
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harness_to_root_conn_diam: float = 6
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hs_hirth_joint: HirthJoint = field(default_factory=lambda: HirthJoint(
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radius=30,
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radius_inner=20,
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tooth_height=10,
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base_height=5
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))
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# Wing root properties
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#
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# The Houjuu-Scarlett joint mechanism at the base of the wing
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hs_joint_base_width: float = 85
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hs_joint_base_thickness: float = 10
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hs_joint_corner_fillet: float = 5
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hs_joint_corner_cbore_diam: float = 12
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hs_joint_corner_cbore_depth: float = 2
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hs_joint_corner_inset: float = 12
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hs_joint_axis_diam: float = 12
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hs_joint_axis_cbore_diam: float = 20
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hs_joint_axis_cbore_depth: float = 3
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wing_profile: MW.WingProfile = field(default_factory=lambda: MW.WingProfile(
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shoulder_height = 80,
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elbow_height = 100,
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))
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# Exterior radius of the wing root assembly
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wing_root_radius: float = 40
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wing_root_wall_thickness: float = 8
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shoulder_torsion_joint: TorsionJoint = field(default_factory=lambda: TorsionJoint(
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radius_track=35,
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radius_rider=35,
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groove_radius_outer=32,
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track_disk_height=5.0,
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rider_disk_height=7.0,
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radius_axle=8.0,
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))
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# Two holes on each side (top and bottom) are used to attach the shoulder
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# joint. This governs the distance between these two holes
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shoulder_attach_dist: float = 25
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shoulder_attach_diam: float = 8
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"""
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Heights for various wing joints, where the numbers start from the first
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joint.
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"""
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wing_s0_thickness: float = 40
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# Length of the spacer
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wing_s1_thickness: float = 20
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wing_s1_spacer_thickness: float = 25.4 / 8
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wing_s1_spacer_width: float = 20
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wing_s1_spacer_hole_diam: float = 8
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wing_s1_shoulder_spacer_hole_dist: float = 20
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wing_s1_shoulder_spacer_width: float = 60
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trident_handle: Handle = field(default_factory=lambda: Handle(
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diam=38,
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diam_inner=38-2 * 25.4/8,
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diam_connector_internal=18,
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simplify_geometry=False,
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mount=BayonetMount(n_pin=3),
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))
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trident_terminal_height: float = 60
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material_panel: Material = Material.ACRYLIC_TRANSPARENT
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material_bracket: Material = Material.ACRYLIC_TRANSPARENT
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def __post_init__(self):
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super().__init__(name="houjuu-nue")
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assert self.wing_root_radius > self.hs_hirth_joint.radius,\
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"Wing root must be large enough to accomodate joint"
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assert self.wing_s1_shoulder_spacer_hole_dist > self.wing_s1_spacer_hole_diam, \
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"Spacer holes are too close to each other"
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@target(name="trident/handle-connector")
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def handle_connector(self):
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return self.trident_handle.connector()
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@target(name="trident/handle-insertion")
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def handle_insertion(self):
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return self.trident_handle.insertion()
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@target(name="trident/proto-handle-terminal-connector")
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def handle_experimental_connector(self):
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return self.trident_handle.one_side_connector(height=15)
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@target(name="trident/handle-terminal-connector")
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def handle_terminal_connector(self):
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return self.trident_handle.one_side_connector(height=self.trident_terminal_height)
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def harness_profile(self) -> Cq.Sketch:
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"""
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Creates the harness shape
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"""
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w, h = self.harness_width / 2, self.harness_height / 2
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sketch = (
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Cq.Sketch()
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.polygon([
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(0.7 * w, h),
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(w, 0),
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(0.7 * w, -h),
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(0.7 * -w, -h),
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(-w, 0),
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(0.7 * -w, h),
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])
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#.rect(self.harness_width, self.harness_height)
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.vertices()
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.fillet(self.harness_fillet)
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)
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for tag, x, y in self.harness_wing_base_pos:
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conn = [(px + x, py + y) for px, py in self.hs_joint_harness_conn()]
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sketch = (
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sketch
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.push(conn)
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.tag(tag)
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.circle(self.harness_to_root_conn_diam / 2, mode='s')
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.reset()
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)
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return sketch
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@target(name="harness", kind=TargetKind.DXF)
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def harness(self) -> Cq.Shape:
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"""
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Creates the harness shape
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"""
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result = (
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Cq.Workplane('XZ')
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.placeSketch(self.harness_profile())
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.extrude(self.harness_thickness)
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)
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result.faces(">Y").tag("mount")
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plane = result.faces(">Y").workplane()
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for tag, x, y in self.harness_wing_base_pos:
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conn = [(px + x, py + y) for px, py
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in self.hs_joint_harness_conn()]
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for i, (px, py) in enumerate(conn):
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(
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plane
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.moveTo(px, py)
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.circle(1, forConstruction='True')
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.edges()
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.tag(f"{tag}_{i}")
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)
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return result
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def hs_joint_harness_conn(self) -> list[tuple[int, int]]:
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"""
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Generates a set of points corresponding to the connectorss
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"""
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dx = self.hs_joint_base_width / 2 - self.hs_joint_corner_inset
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return [
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(dx, dx),
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(dx, -dx),
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(-dx, -dx),
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(-dx, dx),
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]
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@target(name="hs_joint_parent")
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def hs_joint_parent(self):
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"""
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Parent part of the Houjuu-Scarlett joint, which is composed of a Hirth
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coupling, a cylindrical base, and a mounting base.
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"""
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hirth = self.hs_hirth_joint.generate()
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conn = self.hs_joint_harness_conn()
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result = (
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Cq.Workplane('XY')
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.box(
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self.hs_joint_base_width,
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self.hs_joint_base_width,
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self.hs_joint_base_thickness,
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centered=(True, True, False))
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.translate((0, 0, -self.hs_joint_base_thickness))
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.edges("|Z")
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.fillet(self.hs_joint_corner_fillet)
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.faces(">Z")
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.workplane()
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.pushPoints(conn)
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.cboreHole(
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diameter=self.harness_to_root_conn_diam,
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cboreDiameter=self.hs_joint_corner_cbore_diam,
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cboreDepth=self.hs_joint_corner_cbore_depth)
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)
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# Creates a plane parallel to the holes but shifted to the base
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plane = result.faces(">Z").workplane(offset=-self.hs_joint_base_thickness)
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for i, (px, py) in enumerate(conn):
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(
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plane
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.pushPoints([(px, py)])
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.circle(1, forConstruction='True')
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.edges()
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.tag(f"h{i}")
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)
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result = (
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result
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.faces(">Z")
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.workplane()
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.union(hirth, tol=0.1)
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.clean()
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)
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result = (
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result.faces("<Z")
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.workplane()
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.cboreHole(
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diameter=self.hs_joint_axis_diam,
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cboreDiameter=self.hs_joint_axis_cbore_diam,
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cboreDepth=self.hs_joint_axis_cbore_depth,
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)
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.clean()
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)
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result.faces("<Z").tag("base")
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return result
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@assembly()
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def harness_assembly(self) -> Cq.Assembly:
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harness = self.harness()
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result = (
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Cq.Assembly()
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.add(harness, name="base", color=Material.WOOD_BIRCH.color)
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.constrain("base", "Fixed")
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)
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for name in ["l1", "l2", "l3", "r1", "r2", "r3"]:
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j = self.hs_joint_parent()
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(
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result
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.add(j, name=name, color=Role.PARENT.color)
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.constrain("base?mount", f"{name}?base", "Axis")
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)
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for i in range(4):
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result.constrain(f"base?{name}_{i}", f"{name}?h{i}", "Point")
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result.solve()
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return result
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#@target(name="wing/joining-plate", kind=TargetKind.DXF)
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#def joining_plate(self) -> Cq.Workplane:
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# return self.wing_joining_plate.plate()
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@target(name="wing_root")
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def wing_root(self) -> Cq.Assembly:
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"""
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Generate the wing root which contains a Hirth joint at its base and a
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rectangular opening on its side, with the necessary interfaces.
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"""
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return MW.wing_root(
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joint=self.hs_hirth_joint,
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shoulder_attach_dist=self.shoulder_attach_dist,
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shoulder_attach_diam=self.shoulder_attach_diam,
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wall_thickness=self.wing_root_wall_thickness,
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conn_height=self.wing_profile.shoulder_height,
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conn_thickness=self.wing_s0_thickness,
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)
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@target(name="shoulder_joint_parent")
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def shoulder_joint_parent(self) -> Cq.Workplane:
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joint = self.shoulder_torsion_joint
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# Thickness of the lip connecting this joint to the wing root
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lip_thickness = 10
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lip_width = 25
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lip_guard_ext = 40
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lip_guard_height = self.wing_root_wall_thickness + lip_thickness
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assert lip_guard_ext > joint.radius_track
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lip_guard = (
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Cq.Solid.makeBox(lip_guard_ext, lip_width, lip_guard_height)
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.located(Cq.Location((0, -lip_width/2 , 0)))
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.cut(Cq.Solid.makeCylinder(joint.radius_track, lip_guard_height))
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)
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result = (
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joint.track()
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.union(lip_guard, tol=1e-6)
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# Extrude the handle
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.copyWorkplane(Cq.Workplane(
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'YZ', origin=Cq.Vector((88, 0, self.wing_root_wall_thickness))))
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.rect(lip_width, lip_thickness, centered=(True, False))
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.extrude("next")
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# Connector holes on the lip
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.copyWorkplane(Cq.Workplane(
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'YX', origin=Cq.Vector((57, 0, self.wing_root_wall_thickness))))
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.hole(self.shoulder_attach_diam)
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.moveTo(0, self.shoulder_attach_dist)
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.hole(self.shoulder_attach_diam)
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)
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result.moveTo(0, 0).tagPlane('conn0')
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result.moveTo(0, self.shoulder_attach_dist).tagPlane('conn1')
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return result
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@property
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def shoulder_joint_child_height(self) -> float:
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"""
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Calculates the y distance between two joint surfaces on the child side
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of the shoulder joint.
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"""
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joint = self.shoulder_torsion_joint
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return self.wing_profile.shoulder_height - 2 * joint.total_height + 2 * joint.rider_disk_height
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@target(name="shoulder_joint_child")
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def shoulder_joint_child(self) -> Cq.Assembly:
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"""
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Creates the top/bottom shoulder child joint
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"""
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joint = self.shoulder_torsion_joint
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# Half of the height of the bridging cylinder
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dh = self.wing_profile.shoulder_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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core_thickness = 2
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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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.segment((0, 0))
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.close()
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.assemble()
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.circle(joint.radius_rider - core_thickness, mode='s')
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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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.segment((0, 0))
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.close()
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.assemble()
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.circle(joint.radius_rider - core_thickness, mode='s')
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)
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core = (
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Cq.Workplane('XY')
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.placeSketch(core_profile1)
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.toPending()
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.extrude(dh * 2)
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.copyWorkplane(Cq.Workplane('XY'))
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.placeSketch(core_profile2)
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.toPending()
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.extrude(dh * 2)
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.translate(Cq.Vector(0, 0, -dh))
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)
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# Create the upper and lower lips
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lip_height = self.wing_s1_thickness
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lip_thickness = joint.rider_disk_height
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lip_ext = 40 + joint.radius_rider
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hole_dx = self.wing_s1_shoulder_spacer_hole_dist
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assert lip_height / 2 <= joint.radius_rider
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lip = (
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Cq.Workplane('XY')
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.box(lip_ext, lip_height, lip_thickness,
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centered=(False, True, False))
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.copyWorkplane(Cq.Workplane('XY'))
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.cylinder(radius=joint.radius_rider, height=lip_thickness,
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centered=(True, True, False),
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combine='cut')
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.faces(">Z")
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.workplane()
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)
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hole_x = lip_ext - hole_dx / 2
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for i in range(2):
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x = hole_x - i * hole_dx
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lip = lip.moveTo(x, 0).hole(self.wing_s1_spacer_hole_diam)
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for i in range(2):
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x = hole_x - i * hole_dx
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(
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lip
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.moveTo(x, 0)
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.tagPlane(f"conn{1 - i}")
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)
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loc_rotate = Cq.Location((0, 0, 0), (1, 0, 0), 180)
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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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.add(joint.rider(rider_slot_begin=-90, reverse_directrix_label=True), name="rider_top",
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loc=Cq.Location((0, 0, dh), (0, 0, 1), -90))
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.add(joint.rider(rider_slot_begin=180), name="rider_bot",
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loc=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((0, 0, dh)))
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.add(lip, name="lip_bot",
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loc=Cq.Location((0, 0, -dh)) * loc_rotate)
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)
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return result
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@assembly()
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def shoulder_assembly(self) -> Cq.Assembly:
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directrix = 0
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result = (
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Cq.Assembly()
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.add(self.shoulder_joint_child(), name="child",
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color=Role.CHILD.color)
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.constrain("child/core", "Fixed")
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.add(self.shoulder_torsion_joint.spring(), name="spring_top",
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color=Role.DAMPING.color)
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.add(self.shoulder_joint_parent(), name="parent_top",
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color=Role.PARENT.color)
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.add(self.shoulder_torsion_joint.spring(), name="spring_bot",
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color=Role.DAMPING.color)
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.add(self.shoulder_joint_parent(), name="parent_bot",
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color=Role.PARENT.color)
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)
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TorsionJoint.add_constraints(result,
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rider="child/rider_top",
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track="parent_top",
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spring="spring_top",
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directrix=directrix)
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TorsionJoint.add_constraints(result,
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rider="child/rider_bot",
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track="parent_bot",
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spring="spring_bot",
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directrix=directrix)
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return result.solve()
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@target(name="wing/s1-spacer", kind=TargetKind.DXF)
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def wing_s1_spacer(self) -> Cq.Workplane:
|
|
result = (
|
|
Cq.Workplane('XZ')
|
|
.sketch()
|
|
.rect(self.wing_s1_spacer_width, self.wing_s1_thickness)
|
|
.finalize()
|
|
.extrude(self.wing_s1_spacer_thickness)
|
|
)
|
|
result.faces("<Z").tag("weld1")
|
|
result.faces(">Z").tag("weld2")
|
|
result.faces(">Y").tag("dir")
|
|
return result
|
|
|
|
@target(name="wing/s1-shoulder-spacer", kind=TargetKind.DXF)
|
|
def wing_s1_shoulder_spacer(self) -> Cq.Workplane:
|
|
"""
|
|
The mate tags are on the side closer to the holes.
|
|
"""
|
|
dx = self.wing_s1_shoulder_spacer_hole_dist
|
|
h = self.wing_s1_spacer_thickness
|
|
result = (
|
|
Cq.Workplane('XZ')
|
|
.sketch()
|
|
.rect(self.wing_s1_shoulder_spacer_width,
|
|
self.wing_s1_thickness)
|
|
.push([
|
|
(0, 0),
|
|
(dx, 0),
|
|
])
|
|
.circle(self.wing_s1_spacer_hole_diam / 2, mode='s')
|
|
.finalize()
|
|
.extrude(h)
|
|
)
|
|
# Tag the mating surfaces to be glued
|
|
result.faces("<Z").workplane().moveTo(0, h).tagPlane("weld1")
|
|
result.faces(">Z").workplane().moveTo(0, -h).tagPlane("weld2")
|
|
|
|
# Tag the directrix
|
|
result.faces("<Y").tag("dir")
|
|
|
|
# Tag the holes
|
|
plane = result.faces(">Y").workplane()
|
|
# Side closer to the parent is 0
|
|
plane.moveTo(-dx, 0).tagPlane("conn0")
|
|
plane.tagPlane("conn1")
|
|
return result
|
|
|
|
@target(name="wing/r1s1", kind=TargetKind.DXF)
|
|
def wing_r1s1_profile(self) -> Cq.Sketch:
|
|
return self.wing_profile.wing_r1_profile()
|
|
|
|
def wing_r1s1_panel(self, front=True) -> Cq.Workplane:
|
|
profile = self.wing_r1s1_profile()
|
|
w = self.wing_s1_shoulder_spacer_width / 2
|
|
h = (self.wing_profile.shoulder_height - self.shoulder_joint_child_height) / 2
|
|
anchors = [
|
|
("shoulder_top", w, h + self.shoulder_joint_child_height),
|
|
("shoulder_bot", w, h),
|
|
("middle", 50, -20),
|
|
("tip", 270, 50),
|
|
]
|
|
result = (
|
|
Cq.Workplane("XY")
|
|
.placeSketch(profile)
|
|
.extrude(self.panel_thickness)
|
|
)
|
|
plane = result.faces(">Z" if front else "<Z").workplane()
|
|
sign = 1 if front else -1
|
|
for name, px, py in anchors:
|
|
plane.moveTo(px, sign * py).tagPlane(name)
|
|
return result
|
|
|
|
@assembly()
|
|
def wing_r1s1_assembly(self) -> Cq.Assembly:
|
|
result = (
|
|
Cq.Assembly()
|
|
.add(self.wing_r1s1_panel(front=True), name="panel_front",
|
|
color=self.material_panel.color)
|
|
.constrain("panel_front", "Fixed")
|
|
.add(self.wing_r1s1_panel(front=False), name="panel_back",
|
|
color=self.material_panel.color)
|
|
.constrain("panel_front@faces@>Z", "panel_back@faces@<Z", "Point",
|
|
param=self.wing_s1_thickness)
|
|
.add(self.wing_s1_shoulder_spacer(),
|
|
name="shoulder_bot_spacer",
|
|
color=self.material_bracket.color)
|
|
.constrain("panel_front?shoulder_bot", "shoulder_bot_spacer?weld1", "Plane")
|
|
.constrain("panel_back?shoulder_bot", "shoulder_bot_spacer?weld2", "Plane")
|
|
.constrain("shoulder_bot_spacer?dir", "FixedAxis", param=(0, 1, 0))
|
|
.add(self.wing_s1_shoulder_spacer(),
|
|
name="shoulder_top_spacer",
|
|
color=self.material_bracket.color)
|
|
.constrain("panel_front?shoulder_top", "shoulder_top_spacer?weld2", "Plane")
|
|
.constrain("panel_back?shoulder_top", "shoulder_top_spacer?weld1", "Plane")
|
|
.constrain("shoulder_top_spacer?dir", "FixedAxis", param=(0, -1, 0))
|
|
# Should be controlled by point value directly
|
|
#.constrain("shoulder_bot_spacer?dir", "shoulder_top_spacer?dir", "Point",
|
|
# self.shoulder_joint_child_height)
|
|
)
|
|
for tag in ["middle", "tip"]:
|
|
name = f"{tag}_spacer"
|
|
(
|
|
result
|
|
.add(self.wing_s1_spacer(), name=name,
|
|
color=self.material_bracket.color)
|
|
.constrain(f"panel_front?{tag}", f"{tag}_spacer?weld1", "Plane")
|
|
.constrain(f"panel_back?{tag}", f"{tag}_spacer?weld2", "Plane")
|
|
.constrain(f"{name}?dir", "FixedAxis", param=(0, 1, 0))
|
|
)
|
|
return result.solve()
|
|
|
|
|
|
@assembly()
|
|
def wing_r1_assembly(self, parts=["root", "shoulder", "s1"]) -> Cq.Assembly:
|
|
result = (
|
|
Cq.Assembly()
|
|
)
|
|
if "root" in parts:
|
|
(
|
|
result
|
|
.add(self.wing_root(), name="root")
|
|
.constrain("root/scaffold", "Fixed")
|
|
)
|
|
if "shoulder" in parts:
|
|
result.add(self.shoulder_assembly(), name="shoulder")
|
|
|
|
if "root" in parts and "shoulder" in parts:
|
|
(
|
|
result
|
|
.constrain("root/scaffold?conn_top0", "shoulder/parent_top?conn0", "Plane")
|
|
.constrain("root/scaffold?conn_top1", "shoulder/parent_top?conn1", "Plane")
|
|
.constrain("root/scaffold?conn_bot0", "shoulder/parent_bot?conn0", "Plane")
|
|
.constrain("root/scaffold?conn_bot1", "shoulder/parent_bot?conn1", "Plane")
|
|
)
|
|
|
|
if "s1" in parts:
|
|
result.add(self.wing_r1s1_assembly(), name="s1")
|
|
|
|
if "s1" in parts and "shoulder" in parts:
|
|
(
|
|
result
|
|
.constrain("shoulder/child/lip_bot?conn0",
|
|
"s1/shoulder_bot_spacer?conn0",
|
|
"Plane")
|
|
.constrain("shoulder/child/lip_bot?conn1",
|
|
"s1/shoulder_bot_spacer?conn1",
|
|
"Plane")
|
|
.constrain("shoulder/child/lip_top?conn0",
|
|
"s1/shoulder_top_spacer?conn0",
|
|
"Plane")
|
|
.constrain("shoulder/child/lip_top?conn1",
|
|
"s1/shoulder_top_spacer?conn1",
|
|
"Plane")
|
|
)
|
|
return result.solve()
|
|
|
|
@assembly()
|
|
def wings_assembly(self) -> Cq.Assembly:
|
|
"""
|
|
Assembly of harness with all the wings
|
|
"""
|
|
a_tooth = self.hs_hirth_joint.tooth_angle
|
|
|
|
result = (
|
|
Cq.Assembly()
|
|
.add(self.harness_assembly(), name="harness", loc=Cq.Location((0, 0, 0)))
|
|
.add(self.wing_root(), name="w0_r1")
|
|
.add(self.wing_root(), name="w0_l1")
|
|
.constrain("harness/base", "Fixed")
|
|
.constrain("w0_r1/joint?mate", "harness/r1?mate", "Plane")
|
|
.constrain("w0_r1/joint?dir", "harness/r1?dir",
|
|
"Axis", param=7 * a_tooth)
|
|
.constrain("w0_l1/joint?mate", "harness/l1?mate", "Plane")
|
|
.constrain("w0_l1/joint?dir", "harness/l1?dir",
|
|
"Axis", param=-1 * a_tooth)
|
|
.solve()
|
|
)
|
|
return result
|
|
|
|
@assembly(collision_check=False)
|
|
def trident_assembly(self) -> Cq.Assembly:
|
|
"""
|
|
Disable collision check since the threads may not align.
|
|
"""
|
|
return MT.trident_assembly(self.trident_handle)
|
|
|
|
|
|
|
|
if __name__ == '__main__':
|
|
p = Parameters()
|
|
p.build_all()
|