Jerry
598 lines
20 KiB
Python
598 lines
20 KiB
Python
from math import cos, radians, sin, tau
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from build123d import (
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Align,
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Box,
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BuildPart,
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BuildSketch,
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Circle,
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Color,
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Compound,
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Cone,
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Cylinder,
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Edge,
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Location,
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Locations,
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Mode,
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Plane,
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Polygon,
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RectangleRounded,
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RegularPolygon,
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Torus,
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extrude,
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fillet,
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sweep,
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)
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# Units: millimeters.
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# Origin: centered on the palm frame.
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# XY: palm plane. +Z: back of hand/up. Fingers extend generally in +Y.
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PALM_WIDTH = 70.0
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PALM_LENGTH = 58.0
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PALM_THICKNESS = 8.0
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PALM_CORNER_RADIUS = 5.0
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PALM_TOP_Z = PALM_THICKNESS
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FINGER_LINK_WIDTH = 8.0
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FINGER_LINK_THICKNESS = 6.0
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FINGER_BASE_Z = PALM_TOP_Z + 4.5
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FINGER_YAW_DEGREES = {
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"index": 2.0,
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"middle": 0.0,
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"ring": -2.0,
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"little": -4.0,
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}
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MAIN_FINGER_BASES = {
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"index": (-24.0, 30.0, FINGER_BASE_Z),
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"middle": (-8.0, 30.5, FINGER_BASE_Z + 0.5),
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"ring": (8.0, 30.0, FINGER_BASE_Z),
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"little": (24.0, 29.0, FINGER_BASE_Z - 0.5),
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}
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MAIN_LINK_LENGTHS = {
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"index": (25.0, 20.0, 16.0),
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"middle": (25.0, 20.0, 16.0),
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"ring": (25.0, 20.0, 16.0),
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"little": (22.0, 17.0, 14.0),
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}
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MAIN_FINGER_FLEX = {
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"index": (15.0, 40.0, 60.0),
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"middle": (13.0, 37.0, 56.0),
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"ring": (16.0, 42.0, 62.0),
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"little": (18.0, 45.0, 65.0),
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}
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THUMB_BASE = (-42.0, -5.0, FINGER_BASE_Z - 1.0)
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THUMB_LINK_LENGTHS = (22.0, 18.0, 14.0)
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THUMB_YAWS = (50.0, 36.0, 22.0)
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THUMB_FLEX = (10.0, 30.0, 48.0)
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DISPLAY_BASE_BOTTOM_Z = -64.0
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DISPLAY_BASE_THICKNESS = 8.0
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DISPLAY_BASE_TOP_Z = DISPLAY_BASE_BOTTOM_Z + DISPLAY_BASE_THICKNESS
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WRIST_CENTER = (0.0, -45.0, -12.0)
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WRIST_RING_OUTER_RADIUS = 27.0
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WRIST_RING_INNER_RADIUS = 19.0
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BRUSHED_ALUMINUM = Color(0.72, 0.74, 0.74, 1.0)
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DARK_TITANIUM = Color(0.18, 0.20, 0.22, 1.0)
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MATTE_BLACK = Color(0.01, 0.011, 0.012, 1.0)
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DARK_GRAPHITE = Color(0.10, 0.105, 0.11, 1.0)
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POLISHED_STEEL = Color(0.86, 0.88, 0.88, 1.0)
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BLUE_ACCENT = Color(0.05, 0.33, 0.86, 1.0)
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AMBER_ACCENT = Color(1.0, 0.55, 0.12, 1.0)
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def _safe_fillet(edges, radius: float) -> None:
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"""Apply a cosmetic fillet inside a BuildPart context when topology allows it."""
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try:
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fillet(edges, radius)
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except Exception:
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pass
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def _set_metadata(part, label: str, color: Color):
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part.label = label
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part.color = color
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return part
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def _teardrop_points(center: tuple[float, float], width: float, height: float) -> list[tuple[float, float]]:
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cx, cy = center
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return [
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(cx - width / 2.0, cy - height * 0.40),
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(cx + width / 2.0, cy - height * 0.40),
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(cx + width * 0.18, cy + height * 0.18),
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(cx, cy + height * 0.52),
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(cx - width * 0.18, cy + height * 0.18),
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]
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def _add_teardrop_sketch(center: tuple[float, float], width: float, height: float) -> None:
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Polygon(_teardrop_points(center, width, height), align=None)
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Circle(width * 0.28, align=Align.CENTER).locate(
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Location((center[0], center[1] + height * 0.28, 0.0))
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)
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def _make_palm_frame():
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openings = [
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((-20.0, 0.0), 12.5, 27.0),
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((0.0, 5.0), 13.5, 31.0),
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((20.0, 0.0), 12.5, 27.0),
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]
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with BuildPart() as palm:
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with BuildSketch(Plane.XY):
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RectangleRounded(
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PALM_WIDTH,
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PALM_LENGTH,
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PALM_CORNER_RADIUS,
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align=(Align.CENTER, Align.CENTER),
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)
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extrude(amount=PALM_THICKNESS)
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_safe_fillet(palm.edges(), 0.8)
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for center, width, height in openings:
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with BuildSketch(Plane.XY.offset(-0.8)):
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_add_teardrop_sketch(center, width, height)
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extrude(amount=PALM_THICKNESS + 1.6, mode=Mode.SUBTRACT)
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return _set_metadata(palm.part, "skeletonized_palm_frame_70x58x8", BRUSHED_ALUMINUM)
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def _make_palm_ribs():
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ribs = []
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openings = [
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("left", (-20.0, 0.0), 12.5, 27.0),
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("center", (0.0, 5.0), 13.5, 31.0),
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("right", (20.0, 0.0), 12.5, 27.0),
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]
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for name, center, width, height in openings:
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with BuildPart() as rib:
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with BuildSketch(Plane.XY.offset(PALM_TOP_Z)):
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_add_teardrop_sketch(center, width + 6.0, height + 6.0)
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extrude(amount=2.0)
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with BuildSketch(Plane.XY.offset(PALM_TOP_Z - 0.4)):
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_add_teardrop_sketch(center, width + 0.6, height + 0.6)
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extrude(amount=3.0, mode=Mode.SUBTRACT)
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_safe_fillet(rib.edges(), 1.5)
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ribs.append(_set_metadata(rib.part, f"raised_palm_rib_{name}_3mm_lip", BRUSHED_ALUMINUM))
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return ribs
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def _make_display_base():
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with BuildPart() as base:
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with BuildSketch(Plane.XY):
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RectangleRounded(110.0, 80.0, 6.0, align=(Align.CENTER, Align.CENTER))
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extrude(amount=DISPLAY_BASE_THICKNESS)
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_safe_fillet(base.edges(), 3.0)
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for x_pos in (-44.0, 44.0):
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for y_pos in (-30.0, 30.0):
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with Locations(Location((x_pos, y_pos, -0.6))):
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Cylinder(
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radius=2.35,
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height=DISPLAY_BASE_THICKNESS + 1.2,
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align=(Align.CENTER, Align.CENTER, Align.MIN),
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mode=Mode.SUBTRACT,
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)
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with Locations(Location((x_pos, y_pos, DISPLAY_BASE_THICKNESS - 2.7))):
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Cone(
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bottom_radius=2.35,
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top_radius=5.1,
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height=2.9,
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align=(Align.CENTER, Align.CENTER, Align.MIN),
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mode=Mode.SUBTRACT,
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)
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part = base.part.moved(Location((0.0, -5.0, DISPLAY_BASE_BOTTOM_Z)))
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return _set_metadata(part, "rounded_display_base_110x80x8_with_countersunk_holes", DARK_TITANIUM)
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def _make_support_post():
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height = WRIST_CENTER[2] - WRIST_RING_OUTER_RADIUS - DISPLAY_BASE_TOP_Z
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with BuildPart() as post:
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Cylinder(
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radius=6.5,
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height=height,
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align=(Align.CENTER, Align.CENTER, Align.MIN),
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)
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_safe_fillet(post.edges(), 0.8)
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part = post.part.moved(Location((0.0, -45.0, DISPLAY_BASE_TOP_Z)))
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return _set_metadata(part, "vertical_support_post_to_wrist_gimbal", DARK_TITANIUM)
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def _make_wrist_gimbal():
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parts = []
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with BuildPart() as wrist_cylinder:
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Cylinder(
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radius=21.0,
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height=35.0,
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align=(Align.CENTER, Align.CENTER, Align.CENTER),
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)
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_safe_fillet(wrist_cylinder.edges(), 0.5)
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cylinder = wrist_cylinder.part.moved(Location(WRIST_CENTER, (90.0, 0.0, 0.0)))
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parts.append(_set_metadata(cylinder, "wrist_short_cylinder_axis_y_od42_length35", DARK_TITANIUM))
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with BuildPart() as ring:
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Cylinder(
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radius=WRIST_RING_OUTER_RADIUS,
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height=6.0,
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align=(Align.CENTER, Align.CENTER, Align.CENTER),
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)
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Cylinder(
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radius=WRIST_RING_INNER_RADIUS,
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height=7.0,
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align=(Align.CENTER, Align.CENTER, Align.CENTER),
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mode=Mode.SUBTRACT,
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)
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_safe_fillet(ring.edges(), 0.5)
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roll_ring = ring.part.moved(Location(WRIST_CENTER, (90.0, 0.0, 0.0)))
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parts.append(_set_metadata(roll_ring, "perpendicular_wrist_roll_ring_od54_id38_thick6", DARK_TITANIUM))
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for side, y_offset in (("front", 3.9), ("rear", -3.9)):
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for index in range(8):
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angle = tau * index / 8.0
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x_pos = WRIST_CENTER[0] + 23.7 * cos(angle)
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z_pos = WRIST_CENTER[2] + 23.7 * sin(angle)
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with BuildPart() as bolt:
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Cylinder(radius=2.15, height=1.5, align=(Align.CENTER, Align.CENTER, Align.CENTER))
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_safe_fillet(bolt.edges(), 0.5)
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part = bolt.part.moved(Location((x_pos, WRIST_CENTER[1] + y_offset, z_pos), (90.0, 0.0, 0.0)))
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parts.append(
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_set_metadata(
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part,
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f"wrist_ring_{side}_polished_bolt_head_{index + 1:02d}",
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POLISHED_STEEL,
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)
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)
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return parts
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def _make_servo_housing(label: str, center: tuple[float, float, float], accent_color: Color):
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with BuildPart() as servo:
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Box(12.0, 18.0, 8.0, align=(Align.CENTER, Align.CENTER, Align.CENTER))
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_safe_fillet(servo.edges(), 1.2)
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body = servo.part.moved(Location(center))
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body = _set_metadata(body, f"dark_graphite_servo_housing_{label}_12x18x8", DARK_GRAPHITE)
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with BuildPart() as panel:
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Box(8.0, 2.8, 0.6, align=(Align.CENTER, Align.CENTER, Align.CENTER))
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_safe_fillet(panel.edges(), 0.25)
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accent = panel.part.moved(Location((center[0], center[1] + 5.5, center[2] + 4.25)))
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accent = _set_metadata(accent, f"{label}_servo_blue_amber_accent_panel", accent_color)
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screws = []
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for sx in (-4.2, 4.2):
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for sy in (-6.3, 6.3):
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screws.append(
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_make_screw_head(
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f"{label}_servo_screw_{len(screws) + 1:02d}",
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(center[0] + sx, center[1] + sy, center[2] + 4.55),
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radius=1.05,
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height=0.55,
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axis="z",
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)
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)
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return [body, accent, *screws]
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def _make_screw_head(label: str, center: tuple[float, float, float], radius: float, height: float, axis: str):
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with BuildPart() as screw:
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Cylinder(radius=radius, height=height, align=(Align.CENTER, Align.CENTER, Align.CENTER))
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_safe_fillet(screw.edges(), 0.35)
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rotations = {
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"x": (0.0, 90.0, 0.0),
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"y": (90.0, 0.0, 0.0),
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"z": (0.0, 0.0, 0.0),
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}
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part = screw.part.moved(Location(center, rotations[axis]))
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return _set_metadata(part, f"polished_steel_{label}", POLISHED_STEEL)
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def _make_palm_fasteners():
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parts = []
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locations = [
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(-29.0, -22.0),
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(29.0, -22.0),
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(-29.0, 22.0),
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(29.0, 22.0),
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(-11.0, -23.0),
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(11.0, -23.0),
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(-11.0, 24.0),
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(11.0, 24.0),
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]
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for index, (x_pos, y_pos) in enumerate(locations, start=1):
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parts.append(
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_make_screw_head(
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f"palm_frame_socket_screw_{index:02d}",
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(x_pos, y_pos, PALM_TOP_Z + 0.45),
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radius=1.65,
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height=0.9,
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axis="z",
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)
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)
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return parts
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def _make_mechanical_link(label: str, length: float, start: tuple[float, float, float], flex: float, yaw: float):
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with BuildPart() as link:
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with BuildSketch(Plane.XY):
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RectangleRounded(
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FINGER_LINK_WIDTH,
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length,
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2.0,
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align=(Align.CENTER, Align.MIN),
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)
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extrude(amount=FINGER_LINK_THICKNESS)
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with Locations(Location((0.0, length * 0.50, FINGER_LINK_THICKNESS - 0.55))):
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Box(
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FINGER_LINK_WIDTH * 0.48,
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max(5.0, length * 0.48),
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1.3,
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align=(Align.CENTER, Align.CENTER, Align.CENTER),
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mode=Mode.SUBTRACT,
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)
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for x_pos in (-FINGER_LINK_WIDTH / 2.0 - 0.15, FINGER_LINK_WIDTH / 2.0 + 0.15):
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with Locations(Location((x_pos, length * 0.52, FINGER_LINK_THICKNESS * 0.52))):
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Box(
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1.15,
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max(5.0, length * 0.52),
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3.3,
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align=(Align.CENTER, Align.CENTER, Align.CENTER),
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mode=Mode.SUBTRACT,
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)
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_safe_fillet(link.edges(), 1.0)
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part = link.part.moved(Location((0.0, 0.0, -FINGER_LINK_THICKNESS / 2.0)))
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part = part.moved(Location(start, (-flex, 0.0, yaw)))
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return _set_metadata(part, f"brushed_aluminum_{label}_rounded_recessed_link", BRUSHED_ALUMINUM)
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def _segment_end(start: tuple[float, float, float], length: float, flex: float, yaw: float) -> tuple[float, float, float]:
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edge = Edge.make_line((0.0, 0.0, 0.0), (0.0, length, 0.0)).moved(
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Location(start, (-flex, 0.0, yaw))
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)
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candidates = [tuple(vertex) for vertex in edge.vertices()]
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return max(
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candidates,
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key=lambda point: (point[0] - start[0]) ** 2
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+ (point[1] - start[1]) ** 2
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+ (point[2] - start[2]) ** 2,
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)
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def _make_hinge_pin(label: str, center: tuple[float, float, float], yaw: float):
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parts = []
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with BuildPart() as pin:
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Cylinder(radius=4.0, height=12.0, align=(Align.CENTER, Align.CENTER, Align.CENTER))
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_safe_fillet(pin.edges(), 0.5)
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body = pin.part.moved(Location(center, (0.0, 90.0, yaw)))
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parts.append(_set_metadata(body, f"polished_steel_{label}_hinge_pin_d8", POLISHED_STEEL))
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for side, x_local in (("left", -6.8), ("right", 6.8)):
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x_pos = center[0] + x_local * cos(radians(yaw))
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y_pos = center[1] + x_local * sin(radians(yaw))
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with BuildPart() as cap:
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Cylinder(radius=5.0, height=1.5, align=(Align.CENTER, Align.CENTER, Align.CENTER))
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_safe_fillet(cap.edges(), 0.5)
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cap_part = cap.part.moved(Location((x_pos, y_pos, center[2]), (0.0, 90.0, yaw)))
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parts.append(_set_metadata(cap_part, f"polished_steel_{label}_{side}_circular_end_cap", POLISHED_STEEL))
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screw_offset = 0.85 if side == "right" else -0.85
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parts.append(
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_make_screw_head(
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f"{label}_{side}_visible_cap_screw",
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(
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center[0] + (x_local + screw_offset) * cos(radians(yaw)),
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center[1] + (x_local + screw_offset) * sin(radians(yaw)),
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center[2],
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),
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radius=1.35,
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height=0.65,
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axis="x",
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)
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)
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return parts
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def _make_fingertip_pad(label: str, start: tuple[float, float, float], flex: float, yaw: float):
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pad_length = 7.2
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with BuildPart() as pad:
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with BuildSketch(Plane.XY):
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RectangleRounded(9.5, pad_length, 3.3, align=(Align.CENTER, Align.MIN))
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extrude(amount=7.2)
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_safe_fillet(pad.edges(), 1.0)
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part = pad.part.moved(Location((0.0, 0.0, -3.6)))
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part = part.moved(Location(start, (-flex, 0.0, yaw)))
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return _set_metadata(part, f"matte_black_rubber_{label}_rounded_fingertip_pad", MATTE_BLACK)
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def _make_thumb_saddle():
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with BuildPart() as saddle:
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Box(13.0, 20.0, 9.0, align=(Align.CENTER, Align.CENTER, Align.CENTER))
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_safe_fillet(saddle.edges(), 1.0)
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part = saddle.part.moved(Location((-35.5, -4.0, PALM_TOP_Z + 1.5), (0.0, 0.0, -28.0)))
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return _set_metadata(part, "brushed_aluminum_left_side_thumb_mount_saddle", BRUSHED_ALUMINUM)
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|
|
def _make_fingers():
|
|
parts = []
|
|
|
|
for finger_name, base in MAIN_FINGER_BASES.items():
|
|
yaw = FINGER_YAW_DEGREES[finger_name]
|
|
lengths = MAIN_LINK_LENGTHS[finger_name]
|
|
flex_angles = MAIN_FINGER_FLEX[finger_name]
|
|
joint = base
|
|
|
|
for joint_index, (length, flex_angle) in enumerate(zip(lengths, flex_angles), start=1):
|
|
parts.extend(_make_hinge_pin(f"{finger_name}_joint_{joint_index}", joint, yaw))
|
|
parts.append(
|
|
_make_mechanical_link(
|
|
f"{finger_name}_phalange_{joint_index}_length_{length:.0f}mm",
|
|
length,
|
|
joint,
|
|
flex_angle,
|
|
yaw,
|
|
)
|
|
)
|
|
joint = _segment_end(joint, length, flex_angle, yaw)
|
|
|
|
parts.append(_make_fingertip_pad(finger_name, joint, flex_angles[-1], yaw))
|
|
|
|
parts.append(_make_thumb_saddle())
|
|
thumb_joint = THUMB_BASE
|
|
for joint_index, (length, flex_angle, yaw) in enumerate(
|
|
zip(THUMB_LINK_LENGTHS, THUMB_FLEX, THUMB_YAWS),
|
|
start=1,
|
|
):
|
|
parts.extend(_make_hinge_pin(f"thumb_joint_{joint_index}", thumb_joint, yaw))
|
|
parts.append(
|
|
_make_mechanical_link(
|
|
f"thumb_phalange_{joint_index}_length_{length:.0f}mm",
|
|
length,
|
|
thumb_joint,
|
|
flex_angle,
|
|
yaw,
|
|
)
|
|
)
|
|
thumb_joint = _segment_end(thumb_joint, length, flex_angle, yaw)
|
|
|
|
parts.append(_make_fingertip_pad("thumb", thumb_joint, THUMB_FLEX[-1], THUMB_YAWS[-1]))
|
|
return parts
|
|
|
|
|
|
def _tube_profile_plane(start: tuple[float, float, float], next_point: tuple[float, float, float]) -> Plane:
|
|
tangent = (
|
|
next_point[0] - start[0],
|
|
next_point[1] - start[1],
|
|
next_point[2] - start[2],
|
|
)
|
|
return Plane(origin=start, x_dir=(1.0, 0.0, 0.0), z_dir=tangent)
|
|
|
|
|
|
def _make_tendon_tube(label: str, points: list[tuple[float, float, float]]):
|
|
path = Edge.make_spline(points)
|
|
with BuildPart() as tube:
|
|
with BuildSketch(_tube_profile_plane(points[0], points[1])):
|
|
Circle(1.0)
|
|
sweep(path=path, is_frenet=True)
|
|
_safe_fillet(tube.edges(), 0.2)
|
|
return _set_metadata(tube.part, f"matte_black_tendon_tube_{label}_diameter_2mm", MATTE_BLACK)
|
|
|
|
|
|
def _make_servos_and_tendons():
|
|
parts = []
|
|
servo_centers = {
|
|
"thumb": (-24.0, -15.0, PALM_TOP_Z + 5.0),
|
|
"index": (-12.0, -13.0, PALM_TOP_Z + 5.0),
|
|
"middle": (0.0, -15.5, PALM_TOP_Z + 5.0),
|
|
"ring": (12.0, -13.0, PALM_TOP_Z + 5.0),
|
|
"little": (24.0, -15.0, PALM_TOP_Z + 5.0),
|
|
}
|
|
|
|
for index, (label, center) in enumerate(servo_centers.items()):
|
|
parts.extend(_make_servo_housing(label, center, BLUE_ACCENT if index % 2 else AMBER_ACCENT))
|
|
|
|
tendon_targets = {
|
|
"thumb": THUMB_BASE,
|
|
"index": MAIN_FINGER_BASES["index"],
|
|
"middle": MAIN_FINGER_BASES["middle"],
|
|
"ring": MAIN_FINGER_BASES["ring"],
|
|
"little": MAIN_FINGER_BASES["little"],
|
|
}
|
|
for label, start_center in servo_centers.items():
|
|
target = tendon_targets[label]
|
|
start = (start_center[0], start_center[1] + 9.0, start_center[2] + 3.7)
|
|
if label == "thumb":
|
|
points = [
|
|
start,
|
|
(-36.0, -11.0, PALM_TOP_Z + 14.0),
|
|
(-43.5, -3.0, PALM_TOP_Z + 8.0),
|
|
(target[0], target[1], target[2] + 1.0),
|
|
]
|
|
else:
|
|
points = [
|
|
start,
|
|
(start[0] * 0.75, 7.0, PALM_TOP_Z + 14.0),
|
|
(target[0] * 0.96, 22.0, PALM_TOP_Z + 8.5),
|
|
(target[0], target[1] - 1.5, target[2] + 0.6),
|
|
]
|
|
parts.append(_make_tendon_tube(label, points))
|
|
|
|
return parts
|
|
|
|
|
|
def _make_knuckle_yokes():
|
|
parts = []
|
|
for name, center in MAIN_FINGER_BASES.items():
|
|
with BuildPart() as yoke:
|
|
Box(12.0, 7.0, 7.0, align=(Align.CENTER, Align.CENTER, Align.CENTER))
|
|
Cylinder(
|
|
radius=4.25,
|
|
height=13.0,
|
|
align=(Align.CENTER, Align.CENTER, Align.CENTER),
|
|
rotation=(0.0, 90.0, FINGER_YAW_DEGREES[name]),
|
|
mode=Mode.SUBTRACT,
|
|
)
|
|
_safe_fillet(yoke.edges(), 0.8)
|
|
part = yoke.part.moved(Location((center[0], center[1] - 2.5, center[2] - 0.6)))
|
|
parts.append(_set_metadata(part, f"brushed_aluminum_{name}_base_knuckle_yoke", BRUSHED_ALUMINUM))
|
|
|
|
return parts
|
|
|
|
|
|
def _make_decorative_hex_fasteners():
|
|
parts = []
|
|
for index, (x_pos, y_pos, z_pos) in enumerate(
|
|
[
|
|
(-48.0, -36.0, DISPLAY_BASE_TOP_Z + 0.45),
|
|
(48.0, -36.0, DISPLAY_BASE_TOP_Z + 0.45),
|
|
(-48.0, 26.0, DISPLAY_BASE_TOP_Z + 0.45),
|
|
(48.0, 26.0, DISPLAY_BASE_TOP_Z + 0.45),
|
|
],
|
|
start=1,
|
|
):
|
|
with BuildPart() as fastener:
|
|
with BuildSketch(Plane.XY):
|
|
RegularPolygon(3.2, 6, rotation=30.0)
|
|
extrude(amount=0.9)
|
|
_safe_fillet(fastener.edges(), 0.25)
|
|
part = fastener.part.moved(Location((x_pos, y_pos, z_pos)))
|
|
parts.append(_set_metadata(part, f"polished_steel_display_base_hex_fastener_{index:02d}", POLISHED_STEEL))
|
|
return parts
|
|
|
|
|
|
def gen_step():
|
|
"""Return a labeled cybernetic robotic hand end-effector STEP assembly."""
|
|
parts = [
|
|
_make_display_base(),
|
|
_make_support_post(),
|
|
_make_palm_frame(),
|
|
*_make_palm_ribs(),
|
|
*_make_palm_fasteners(),
|
|
*_make_wrist_gimbal(),
|
|
*_make_knuckle_yokes(),
|
|
*_make_fingers(),
|
|
*_make_servos_and_tendons(),
|
|
*_make_decorative_hex_fasteners(),
|
|
]
|
|
|
|
assembly = Compound(
|
|
obj=parts,
|
|
children=parts,
|
|
label="articulated_cybernetic_robotic_hand_end_effector",
|
|
)
|
|
return assembly
|