541 lines
17 KiB
Python
541 lines
17 KiB
Python
"""
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Electronic components
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"""
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from dataclasses import dataclass, field
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from typing import Optional, Tuple
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import math
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import cadquery as Cq
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from nhf.build import Model, TargetKind, target, assembly, submodel
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from nhf.materials import Role, Material
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from nhf.parts.box import MountingBox, Hole
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from nhf.parts.fibre import tension_fibre
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from nhf.parts.item import Item
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from nhf.parts.fasteners import FlatHeadBolt, HexNut
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from nhf.parts.electronics import ArduinoUnoR3, BatteryBox18650
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from nhf.touhou.houjuu_nue.common import NUT_COMMON, BOLT_COMMON
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import nhf.utils
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@dataclass(frozen=True)
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class LinearActuator(Item):
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stroke_length: float
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shaft_diam: float = 9.04
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front_hole_ext: float = 4.41
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front_hole_diam: float = 4.41
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front_length: float = 9.55
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front_width: float = 9.24
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front_height: float = 5.98
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segment1_length: float = 37.54
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segment1_width: float = 15.95
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segment1_height: float = 11.94
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segment2_length: float = 37.37
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segment2_width: float = 20.03
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segment2_height: float = 15.03
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back_hole_ext: float = 4.58
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back_hole_diam: float = 4.18
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back_length: float = 9.27
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back_width: float = 10.16
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back_height: float = 8.12
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@property
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def name(self) -> str:
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return f"LinearActuator {self.stroke_length}mm"
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@property
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def role(self) -> Role:
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return Role.MOTION
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@property
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def conn_length(self):
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return self.segment1_length + self.segment2_length + self.front_hole_ext + self.back_hole_ext
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def generate(self, pos: float=0) -> Cq.Assembly:
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assert -1e-6 <= pos <= 1 + 1e-6, f"Illegal position: {pos}"
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stroke_x = pos * self.stroke_length
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front = (
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Cq.Workplane('XZ')
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.cylinder(
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radius=self.front_width / 2,
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height=self.front_height,
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centered=True,
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)
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.box(
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length=self.front_hole_ext,
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width=self.front_width,
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height=self.front_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('XZ'))
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.cylinder(
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radius=self.front_hole_diam / 2,
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height=self.front_height,
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centered=True,
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combine='cut',
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)
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)
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front.copyWorkplane(Cq.Workplane('XZ')).tagPlane('conn')
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if stroke_x > 0:
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shaft = (
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Cq.Workplane('YZ')
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.cylinder(
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radius=self.shaft_diam / 2,
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height=stroke_x,
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centered=(True, True, False)
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)
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)
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else:
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shaft = None
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segment1 = (
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Cq.Workplane()
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.box(
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length=self.segment1_length,
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height=self.segment1_width,
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width=self.segment1_height,
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centered=(False, True, True),
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)
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)
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segment2 = (
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Cq.Workplane()
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.box(
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length=self.segment2_length,
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height=self.segment2_width,
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width=self.segment2_height,
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centered=(False, True, True),
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)
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)
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back = (
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Cq.Workplane('XZ')
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.cylinder(
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radius=self.back_width / 2,
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height=self.back_height,
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centered=True,
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)
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.box(
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length=self.back_hole_ext,
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width=self.back_width,
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height=self.back_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('XZ'))
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.cylinder(
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radius=self.back_hole_diam / 2,
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height=self.back_height,
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centered=True,
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combine='cut',
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)
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)
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back.faces(">X").tag("dir")
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back.copyWorkplane(Cq.Workplane('XZ')).tagPlane('conn')
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result = (
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Cq.Assembly()
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.add(front, name="front",
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loc=Cq.Location((-self.front_hole_ext, 0, 0)))
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.add(segment1, name="segment1",
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loc=Cq.Location((stroke_x, 0, 0)))
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.add(segment2, name="segment2",
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loc=Cq.Location((stroke_x + self.segment1_length, 0, 0)))
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.add(back, name="back",
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loc=Cq.Location((stroke_x + self.segment1_length + self.segment2_length + self.back_hole_ext, 0, 0), (0, 1, 0), 180))
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)
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if shaft:
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result.add(shaft, name="shaft")
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return result
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@dataclass(frozen=True)
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class MountingBracket(Item):
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"""
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Mounting bracket for a linear actuator
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"""
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mass: float = 1.6
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hole_diam: float = 4.0
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width: float = 8.0
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height: float = 12.20
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thickness: float = 0.98
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length: float = 13.00
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hole_to_side_ext: float = 8.25
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def __post_init__(self):
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assert self.hole_to_side_ext - self.hole_diam / 2 > 0
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@property
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def name(self) -> str:
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return f"MountingBracket M{int(self.hole_diam)}"
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@property
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def role(self) -> Role:
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return Role.MOTION
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def generate(self) -> Cq.Workplane:
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result = (
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Cq.Workplane('XY')
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.box(
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length=self.hole_to_side_ext,
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width=self.width,
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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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.cylinder(
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height=self.height,
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radius=self.width / 2,
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combine=True,
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)
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.copyWorkplane(Cq.Workplane('XY'))
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.box(
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length=2 * (self.hole_to_side_ext - self.thickness),
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width=self.width,
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height=self.height - self.thickness * 2,
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combine='cut',
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)
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.copyWorkplane(Cq.Workplane('XY'))
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.cylinder(
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height=self.height,
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radius=self.hole_diam / 2,
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combine='cut'
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)
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.copyWorkplane(Cq.Workplane('YZ'))
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.cylinder(
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height=self.hole_to_side_ext * 2,
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radius=self.hole_diam / 2,
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combine='cut'
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)
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)
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result.copyWorkplane(Cq.Workplane('YZ', origin=(self.hole_to_side_ext, 0, 0))).tagPlane("conn_side")
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result.copyWorkplane(Cq.Workplane('XY', origin=(0, 0, self.height/2))).tagPlane("conn_top")
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result.copyWorkplane(Cq.Workplane('YX', origin=(0, 0, -self.height/2))).tagPlane("conn_bot")
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result.copyWorkplane(Cq.Workplane('XY')).tagPlane("conn_mid")
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return result
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LINEAR_ACTUATOR_50 = LinearActuator(
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mass=40.8,
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stroke_length=50,
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shaft_diam=9.05,
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front_hole_ext=4.32,
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back_hole_ext=4.54,
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segment1_length=57.35,
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segment1_width=15.97,
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segment1_height=11.95,
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segment2_length=37.69,
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segment2_width=19.97,
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segment2_height=14.96,
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front_length=9.40,
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front_width=9.17,
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front_height=6.12,
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back_length=9.18,
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back_width=10.07,
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back_height=8.06,
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)
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LINEAR_ACTUATOR_30 = LinearActuator(
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mass=34.0,
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stroke_length=30,
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)
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LINEAR_ACTUATOR_21 = LinearActuator(
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# FIXME: Measure
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mass=0.0,
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stroke_length=21,
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front_hole_ext=4,
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back_hole_ext=4,
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segment1_length=34,
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segment2_length=34,
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)
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LINEAR_ACTUATOR_10 = LinearActuator(
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mass=41.3,
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stroke_length=10,
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front_hole_ext=4.02,
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back_hole_ext=4.67,
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segment1_length=13.29,
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segment1_width=15.88,
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segment1_height=12.07,
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segment2_length=42.52,
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segment2_width=20.98,
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segment2_height=14.84,
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)
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LINEAR_ACTUATOR_HEX_NUT = HexNut(
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mass=0.8,
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diam_thread=4,
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pitch=0.7,
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thickness=4.16,
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width=6.79,
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)
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LINEAR_ACTUATOR_BOLT = FlatHeadBolt(
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mass=1.7,
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diam_head=6.68,
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height_head=2.98,
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diam_thread=4.0,
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height_thread=15.83,
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)
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LINEAR_ACTUATOR_BRACKET = MountingBracket()
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BATTERY_BOX = BatteryBox18650()
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# Acrylic hex nut
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ELECTRONIC_MOUNT_HEXNUT = HexNut(
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mass=0.8,
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diam_thread=4,
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pitch=0.7,
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thickness=3.57,
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width=6.81,
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)
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@dataclass(kw_only=True, frozen=True)
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class Winch:
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linear_motion_span: float
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actuator: LinearActuator = LINEAR_ACTUATOR_21
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nut: HexNut = LINEAR_ACTUATOR_HEX_NUT
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bolt: FlatHeadBolt = LINEAR_ACTUATOR_BOLT
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bracket: MountingBracket = LINEAR_ACTUATOR_BRACKET
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@dataclass(kw_only=True)
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class Flexor:
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"""
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Actuator assembly which flexes, similar to biceps
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"""
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motion_span: float
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arm_radius: Optional[float] = None
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pos_smaller: bool = True
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actuator: LinearActuator = LINEAR_ACTUATOR_50
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nut: HexNut = LINEAR_ACTUATOR_HEX_NUT
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bolt: FlatHeadBolt = LINEAR_ACTUATOR_BOLT
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bracket: MountingBracket = LINEAR_ACTUATOR_BRACKET
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# Length of line attached to the flexor
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line_length: float = 0.0
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line_thickness: float = 0.5
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# By how much is the line permitted to slack. This reduces the effective stroke length
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line_slack: float = 0.0
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def __post_init__(self):
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assert self.line_slack <= self.line_length, f"Insufficient length: {self.line_slack} >= {self.line_length}"
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assert self.line_slack < self.actuator.stroke_length
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@property
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def mount_height(self):
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return self.bracket.hole_to_side_ext
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@property
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def d_open(self):
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return self.actuator.conn_length + self.actuator.stroke_length + self.line_length - self.line_slack
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@property
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def d_closed(self):
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return self.actuator.conn_length + self.line_length
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def open_pos(self) -> Tuple[float, float, float]:
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r, phi, r_ = nhf.geometry.contraction_span_pos_from_radius(
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d_open=self.d_open,
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d_closed=self.d_closed,
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theta=math.radians(self.motion_span),
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r=self.arm_radius,
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smaller=self.pos_smaller,
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)
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return r, math.degrees(phi), r_
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def target_length_at_angle(
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self,
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angle: float = 0.0
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) -> float:
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"""
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Length of the actuator at some angle
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"""
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assert 0 <= angle <= self.motion_span
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r, phi, rp = self.open_pos()
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th = math.radians(phi - angle)
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result = math.sqrt(r * r + rp * rp - 2 * r * rp * math.cos(th))
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#result = math.sqrt((r * math.cos(th) - rp) ** 2 + (r * math.sin(th)) ** 2)
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assert self.d_closed -1e-6 <= result <= self.d_open + 1e-6,\
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f"Illegal length: {result} not in [{self.d_closed}, {self.d_open}]"
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return result
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def add_to(
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self,
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a: Cq.Assembly,
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target_length: float,
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tag_prefix: Optional[str] = None,
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tag_hole_front: Optional[str] = None,
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tag_hole_back: Optional[str] = None,
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tag_dir: Optional[str] = None):
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"""
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Adds the necessary mechanical components to this assembly. Does not
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invoke `a.solve()`.
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"""
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draft = max(0, target_length - self.d_closed - self.line_length)
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pos = draft / self.actuator.stroke_length
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line_l = target_length - draft - self.actuator.conn_length
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if tag_prefix:
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tag_prefix = tag_prefix + "_"
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else:
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tag_prefix = ""
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name_actuator = f"{tag_prefix}actuator"
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name_bracket_front = f"{tag_prefix}bracket_front"
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name_bracket_back = f"{tag_prefix}bracket_back"
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name_bolt_front = f"{tag_prefix}front_bolt"
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name_bolt_back = f"{tag_prefix}back_bolt"
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name_nut_front = f"{tag_prefix}front_nut"
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name_nut_back = f"{tag_prefix}back_nut"
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(
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a
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.add(self.actuator.assembly(pos=pos), name=name_actuator)
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.add(self.bracket.assembly(), name=name_bracket_front)
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.add(self.bolt.assembly(), name=name_bolt_front)
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.add(self.nut.assembly(), name=name_nut_front)
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.constrain(f"{name_bolt_front}?root", f"{name_bracket_front}?conn_top",
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"Plane", param=0)
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.constrain(f"{name_nut_front}?bot", f"{name_bracket_front}?conn_bot",
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"Plane")
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.add(self.bracket.assembly(), name=name_bracket_back)
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.add(self.bolt.assembly(), name=name_bolt_back)
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.add(self.nut.assembly(), name=name_nut_back)
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.constrain(f"{name_actuator}/back?conn", f"{name_bracket_back}?conn_mid",
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"Plane", param=0)
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.constrain(f"{name_bolt_back}?root", f"{name_bracket_back}?conn_top",
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"Plane", param=0)
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.constrain(f"{name_nut_back}?bot", f"{name_bracket_back}?conn_bot",
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"Plane")
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)
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if self.line_length == 0.0:
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a.constrain(
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f"{name_actuator}/front?conn",
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f"{name_bracket_front}?conn_mid",
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"Plane", param=0)
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else:
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(
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a
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.addS(tension_fibre(
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length=line_l,
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hole_diam=self.nut.diam_thread,
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thickness=self.line_thickness,
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), name="fibre", role=Role.CONNECTION)
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.constrain(
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f"{name_actuator}/front?conn",
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"fibre?male",
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"Plane"
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)
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.constrain(
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f"{name_bracket_front}?conn_mid",
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"fibre?female",
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"Plane"
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)
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)
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if tag_hole_front:
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a.constrain(tag_hole_front, f"{name_bracket_front}?conn_side", "Plane")
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if tag_hole_back:
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a.constrain(tag_hole_back, f"{name_bracket_back}?conn_side", "Plane")
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if tag_dir:
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a.constrain(tag_dir, f"{name_bracket_front}?conn_mid", "Axis", param=0)
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|
|
|
|
@dataclass
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class ElectronicBoard(Model):
|
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name: str = "electronic-board"
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nut: HexNut = NUT_COMMON
|
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bolt: FlatHeadBolt = BOLT_COMMON
|
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length: float = 70.0
|
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width: float = 170.0
|
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mount_holes: list[Hole] = field(default_factory=lambda: [
|
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Hole(x=25, y=75),
|
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Hole(x=25, y=-75),
|
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Hole(x=-25, y=75),
|
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Hole(x=-25, y=-75),
|
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])
|
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panel_thickness: float = 25.4 / 16
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mount_panel_thickness: float = 25.4 / 4
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material: Material = Material.WOOD_BIRCH
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|
|
|
@property
|
|
def mount_hole_diam(self) -> float:
|
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return self.bolt.diam_thread
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|
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def __post_init__(self):
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super().__init__(name=self.name)
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|
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def panel(self) -> MountingBox:
|
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return MountingBox(
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holes=self.mount_holes,
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hole_diam=self.mount_hole_diam,
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length=self.length,
|
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width=self.width,
|
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centred=(True, True),
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thickness=self.panel_thickness,
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generate_reverse_tags=True,
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)
|
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|
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def assembly(self) -> Cq.Assembly:
|
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panel = self.panel()
|
|
result = (
|
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Cq.Assembly()
|
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.addS(panel.generate(), name="panel",
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role=Role.ELECTRONIC | Role.STRUCTURE, material=self.material)
|
|
)
|
|
for hole in self.mount_holes:
|
|
bolt_name = f"{hole.tag}_bolt"
|
|
(
|
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result
|
|
.add(self.bolt.assembly(), name=bolt_name)
|
|
.constrain(
|
|
f"{bolt_name}?root",
|
|
f"panel?{hole.tag}",
|
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"Plane", param=0
|
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)
|
|
)
|
|
return result.solve()
|
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|
|
@dataclass
|
|
class ElectronicBoardBattery(ElectronicBoard):
|
|
name: str = "electronic-board-battery"
|
|
battery_box: BatteryBox18650 = BATTERY_BOX
|
|
|
|
@submodel(name="panel")
|
|
def panel_out(self) -> MountingBox:
|
|
return self.panel()
|
|
|
|
@dataclass
|
|
class ElectronicBoardControl(ElectronicBoard):
|
|
name: str = "electronic-board-control"
|
|
|
|
controller_datum: Cq.Location = Cq.Location.from2d(-25,10, -90)
|
|
|
|
controller: ArduinoUnoR3 = ArduinoUnoR3()
|
|
|
|
def panel(self) -> MountingBox:
|
|
box = super().panel()
|
|
def transform(i, x, y):
|
|
pos = self.controller_datum * Cq.Location.from2d(x, self.controller.width - y)
|
|
x, y = pos.to2d_pos()
|
|
return Hole(
|
|
x=x, y=y,
|
|
diam=self.controller.hole_diam,
|
|
tag=f"controller_conn{i}",
|
|
)
|
|
box.holes = box.holes.copy() + [
|
|
transform(i, x, y)
|
|
for i, (x, y) in enumerate(self.controller.holes)
|
|
]
|
|
return box
|
|
|
|
@submodel(name="panel")
|
|
def panel_out(self) -> MountingBox:
|
|
return self.panel()
|
|
|
|
def assembly(self) -> Cq.Assembly:
|
|
result = super().assembly()
|
|
result.add(self.controller.assembly(), name="controller")
|
|
for i in range(len(self.controller.holes)):
|
|
result.constrain(f"controller?conn{i}", f"panel?controller_conn{i}", "Plane")
|
|
return result.solve()
|
|
|
|
@dataclass(frozen=True)
|
|
class LightStrip:
|
|
|
|
width: float = 10.0
|
|
height: float = 4.5
|