Jerry
229 lines
7.2 KiB
Python
229 lines
7.2 KiB
Python
"""juno humanoid - arm segment builders (bicep, forearm).
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Local frames (units mm, robot faces +X, +Y robot-left, +Z up):
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- bicep: origin = shoulder-yaw joint center at the TOP of the bicep,
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segment extends down -Z; elbow axis = Y through (0, 0, -156).
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- forearm: origin = elbow joint center; wrist-roll seam at z = -150.
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Styling: graphite structural core with ice-gray clamshell panels split
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front/back (graphite reveal strips on the +-Y sides), machined-aluminum
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joint rims, exposed cylindrical elbow actuator.
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"""
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from __future__ import annotations
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import math # noqa: F401 (kept per module convention)
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import sys
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from pathlib import Path
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from build123d import (
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Axis,
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Box,
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Circle,
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Cylinder,
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Ellipse,
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Plane,
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Pos,
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RectangleRounded,
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Rot,
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chamfer,
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fillet,
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loft,
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)
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from .juno_lib import (
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ALU_COLOR,
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SHELL_COLOR,
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STRUCT_COLOR,
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actuator_solids,
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part_compound,
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styled,
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)
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# ---------------------------------------------------------------- helpers
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def _loft(specs):
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"""Loft elliptical sections; specs = [(z, half_x, half_y), ...]."""
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return loft([Plane.XY.offset(z) * Ellipse(rx, ry) for z, rx, ry in specs])
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def _try_fillet(solid, edges, radius):
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try:
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return fillet(edges, radius)
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except Exception:
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return solid
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def _try_chamfer(solid, edges, length):
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try:
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return chamfer(edges, length)
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except Exception:
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return solid
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def _ring_groove(solid, z, r_out, depth=0.9, width=1.5):
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"""Shallow machined groove around a Z-axis ring at height z."""
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try:
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g = Pos(0, 0, z) * (
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Cylinder(radius=r_out + 1.0, height=width)
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- Cylinder(radius=r_out - depth, height=width)
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)
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return solid - g
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except Exception:
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return solid
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def _y_cyl(y_center, z_center, radius, height):
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"""Cylinder whose axis is Y, centered at (0, y_center, z_center)."""
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return Pos(0, y_center, z_center) * Rot(-90, 0, 0) * Cylinder(
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radius=radius, height=height
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)
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# ---------------------------------------------------------------- bicep
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def build_bicep(side: str):
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s = 1.0 if side == "left" else -1.0
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p = f"bicep_{side}"
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solids = []
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# -- shoulder-yaw rotation ring (LOCKED: dia 56, z 0..-10) --
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ring = Pos(0, 0, -5.0) * Cylinder(radius=28.0, height=10.0)
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ring = _try_chamfer(ring, ring.edges(), 0.8)
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solids.append(styled(ring, f"{p}_yaw_ring", ALU_COLOR))
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# -- upper-arm capsule: graphite core + clamshell panels (dia ~54 -> 46) --
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outer_specs = [
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(-10.0, 26.5, 26.5),
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(-44.0, 27.4, 27.4),
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(-78.0, 25.2, 25.2),
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(-106.0, 23.0, 23.0),
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]
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core_specs = [(z, rx - 2.5, ry - 2.5) for z, rx, ry in outer_specs]
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core = _loft(core_specs)
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outer = _loft(outer_specs)
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blank = outer - core
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seam = 3.2 # graphite reveal half-width on each side
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front = blank & (Pos(45.0 + seam, 0, -58.0) * Box(90, 90, 130))
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rear = blank & (Pos(-45.0 - seam, 0, -58.0) * Box(90, 90, 130))
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front = _try_fillet(front, front.edges(), 0.8)
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rear = _try_fillet(rear, rear.edges(), 0.8)
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solids.append(styled(core, f"{p}_core", STRUCT_COLOR))
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solids.append(styled(front, f"{p}_shell_front", SHELL_COLOR))
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solids.append(styled(rear, f"{p}_shell_rear", SHELL_COLOR))
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# -- distal elbow fork (LOCKED: axis Y @ (0,0,-156), plates |y| 28..36,
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# bosses dia 44 @ (0,+-32,-156), blends in by z -110) --
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trans = loft(
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[
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Plane.XY.offset(-108.0) * Circle(22.9),
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Plane.XY.offset(-120.0) * RectangleRounded(44.0, 54.0, 14.0),
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Plane.XY.offset(-132.0) * RectangleRounded(50.0, 72.0, 10.0),
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]
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)
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fork = trans
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for ys in (1.0, -1.0):
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slab = Pos(0, ys * 32.0, -144.0) * Box(50.0, 8.0, 24.0)
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# soften plate edges on the primitives (post-boolean chamfers on this
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# shape hang OCC, so detail is applied before fusing)
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slab = _try_fillet(slab, slab.edges().filter_by(Axis.Y), 2.0)
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tip = _y_cyl(ys * 32.0, -156.0, 25.0, 8.0)
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tip = _try_chamfer(tip, tip.edges(), 1.0)
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fork = fork + slab + tip
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# clearance arch for the forearm elbow can (dia 62 + margin, |y|<=27.2)
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fork = fork - _y_cyl(0.0, -156.0, 34.0, 54.4)
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# through-bores for the aluminum joint bosses
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for ys in (1.0, -1.0):
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fork = fork - _y_cyl(ys * 32.0, -156.0, 22.05, 8.4)
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solids.append(styled(fork, f"{p}_fork", STRUCT_COLOR))
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# -- aluminum elbow bosses (LOCKED dia 44 at (0,+-32,-156)) --
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for ys in (1.0, -1.0):
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tag = "outboard" if ys * s > 0 else "inboard"
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body = _y_cyl(ys * 32.0, -156.0, 21.9, 8.0)
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lip = _y_cyl(ys * 37.0, -156.0, 16.0, 2.0)
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boss = body + lip
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boss = _try_chamfer(boss, boss.edges(), 0.8)
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solids.append(styled(boss, f"{p}_elbow_boss_{tag}", ALU_COLOR))
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return part_compound(p, solids)
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# ---------------------------------------------------------------- forearm
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def build_forearm(side: str):
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s = 1.0 if side == "left" else -1.0
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p = f"forearm_{side}"
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solids = []
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# -- exposed elbow actuator (LOCKED: dia 62, len 50, axis Y) --
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# output hub faces outboard (+y on left, -y on right)
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act = actuator_solids(f"{p}_elbow", 62.0, 50.0, center=(0, 0, 0), axis=(0, s, 0))
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can, rest = act[0], act[1:]
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solids.extend(rest)
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# -- graphite chassis: yoke wrapping the can, tapering to a wrist flare --
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core_specs = [
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(-4.0, 24.0, 16.0),
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(-26.0, 26.0, 18.0),
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(-72.0, 19.0, 14.5),
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(-112.0, 15.5, 12.5),
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(-126.0, 15.2, 12.4),
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]
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flare = loft(
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[
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Plane.XY.offset(-126.0) * Ellipse(15.2, 12.4),
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Plane.XY.offset(-140.0) * Ellipse(19.0, 19.0),
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]
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)
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chassis = can + _loft(core_specs) + flare
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solids.append(styled(chassis, f"{p}_chassis", STRUCT_COLOR))
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# -- ice-gray clamshell panels over the chassis --
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outer_specs = [
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(-26.0, 28.5, 20.5),
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(-72.0, 21.5, 17.0),
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(-112.0, 18.0, 15.0),
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(-124.0, 17.6, 14.7),
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]
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blank = _loft(outer_specs) - chassis
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# wrap the panel tops around the actuator with a 2.5mm reveal
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blank = blank - _y_cyl(0.0, 0.0, 33.5, 80.0)
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seam = 3.0
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front = blank & (Pos(45.0 + seam, 0, -76.0) * Box(90, 80, 110))
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rear = blank & (Pos(-45.0 - seam, 0, -76.0) * Box(90, 80, 110))
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front = _try_fillet(front, front.edges(), 0.8)
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rear = _try_fillet(rear, rear.edges(), 0.8)
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solids.append(styled(front, f"{p}_shell_front", SHELL_COLOR))
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solids.append(styled(rear, f"{p}_shell_rear", SHELL_COLOR))
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# -- wrist-roll collar (LOCKED: dia 44, z -140..-150) --
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collar = Pos(0, 0, -145.0) * Cylinder(radius=22.0, height=10.0)
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collar = _try_chamfer(collar, collar.edges(), 0.8)
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solids.append(styled(collar, f"{p}_wrist_collar", ALU_COLOR))
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return part_compound(p, solids)
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# ---------------------------------------------------------------- demo
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def gen_step():
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layout = [
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(build_bicep("left"), 0.0),
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(build_forearm("left"), 220.0),
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(build_bicep("right"), 440.0),
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(build_forearm("right"), 660.0),
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]
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parts = []
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for comp, x in layout:
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comp.location = Pos(x, 0, 0)
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parts.append(comp)
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return part_compound("juno_arms", parts)
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