Jerry
163 lines
6.7 KiB
Python
163 lines
6.7 KiB
Python
"""Connective joint hardware for juno: yokes, carriers, collars.
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These small machined parts link the sculpted body segments and carry the
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exposed actuator cans for the joints they own. Frames follow the chain table
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in juno.py; all builders return identity-location compounds.
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"""
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from __future__ import annotations
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from build123d import Box, Compound, Cylinder, Pos, Rot, chamfer
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from .juno_lib import (
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ACCENT_COLOR,
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ALU_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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def _s(side: str) -> float:
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return 1.0 if side == "left" else -1.0
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def build_hip_bracket(side: str) -> Compound:
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"""Hip yaw can + C-yoke down to the hip-roll axis. Origin: hip-yaw center.
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Compact stack (proportion audit): yaw can dia 70 x 34, roll axis at
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z = -64, sized for the carrier's dia-56 roll housing (caps to |x| 30).
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"""
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children = actuator_solids(
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"hip_yaw", 70, 34, center=(0, 0, -17), axis=(0, 0, 1), bolts=False
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)
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plates = []
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for sx in (1.0, -1.0):
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plates.append(Pos(sx * 38, 0, -65) * Box(12, 46, 54))
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bridge = Pos(0, 0, -38) * Box(88, 46, 8)
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yoke = plates[0].fuse(plates[1]).fuse(bridge)
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children.append(styled(yoke, "hip_yoke", STRUCT_COLOR))
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for sx in (1.0, -1.0):
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boss = Pos(sx * 47, 0, -64) * Rot(0, 90, 0) * Cylinder(radius=25, height=6)
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children.append(styled(boss, f"hip_roll_boss_{'f' if sx > 0 else 'b'}", ALU_COLOR))
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return part_compound(f"hip_bracket_{side}", children)
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def build_hip_carrier(side: str) -> Compound:
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"""Hip roll housing + medial plate to the hip-pitch axis. Origin: roll center.
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Compact stack: dia-56 roll housing, hip-pitch axis at z = -78 (clears the
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thigh's dia-92 pitch can: 78 > 28 + 46).
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"""
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s = _s(side)
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children = []
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housing = Rot(0, 90, 0) * Cylinder(radius=28, height=48)
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plate = Pos(0, -s * 44, -42) * Box(76, 8, 110)
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bridge = Pos(0, -s * 36, 0) * Box(56, 16, 50)
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body = housing.fuse(bridge).fuse(plate)
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children.append(styled(body, "hip_carrier_body", STRUCT_COLOR))
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for sx in (1.0, -1.0):
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cap = Pos(sx * 27, 0, 0) * Rot(0, 90, 0) * Cylinder(radius=30, height=6)
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children.append(styled(cap, f"hip_roll_cap_{'f' if sx > 0 else 'b'}", ALU_COLOR))
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boss = Pos(0, -s * 38.5, -78) * Rot(90, 0, 0) * Cylinder(radius=32, height=3)
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children.append(styled(boss, "hip_pitch_boss", ALU_COLOR))
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return part_compound(f"hip_carrier_{side}", children)
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def build_ankle_link(side: str) -> Compound:
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"""Fused two-axis ankle block: pitch core at origin, roll core 30 below."""
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children = []
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pitch_core = Rot(90, 0, 0) * Cylinder(radius=27, height=36)
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roll_core = Pos(0, 0, -30) * Rot(0, 90, 0) * Cylinder(radius=22, height=28)
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neck = Pos(0, 0, -15) * Box(30, 30, 30)
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body = pitch_core.fuse(roll_core).fuse(neck)
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children.append(styled(body, "ankle_body", STRUCT_COLOR))
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for sy in (1.0, -1.0):
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cap = Pos(0, sy * 20.5, 0) * Rot(90, 0, 0) * Cylinder(radius=24, height=5)
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children.append(styled(cap, f"ankle_pitch_cap_{'l' if sy > 0 else 'r'}", ALU_COLOR))
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for sx in (1.0, -1.0):
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cap = Pos(sx * 16, 0, -30) * Rot(0, 90, 0) * Cylinder(radius=19, height=4)
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children.append(styled(cap, f"ankle_roll_cap_{'f' if sx > 0 else 'b'}", ALU_COLOR))
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return part_compound(f"ankle_link_{side}", children)
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def build_shoulder_pod(side: str) -> Compound:
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"""Shoulder-pitch can + outboard drum + roll clevis. Origin: pitch center.
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The outboard module is a chamfered cylindrical drum capping the pitch can
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(reads as the shoulder actuator housing, per style review), with a blade
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dropping to the shoulder-roll clevis.
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"""
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s = _s(side)
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children = actuator_solids(
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"shoulder_pitch", 72, 58, center=(0, s * 14, 0), axis=(0, 1, 0)
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)
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drum = Pos(0, s * 50, 0) * Rot(90, 0, 0) * Cylinder(radius=40, height=14)
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try:
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drum = chamfer(drum.edges(), 3.0)
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except Exception:
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pass
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blade = Pos(0, s * 50, -42) * Box(58, 14, 90)
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clevis_f = Pos(35, s * 34, -72) * Box(10, 48, 56)
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clevis_b = Pos(-35, s * 34, -72) * Box(10, 48, 56)
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body = drum.fuse(blade).fuse(clevis_f).fuse(clevis_b)
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children.append(styled(body, "pod_body", STRUCT_COLOR))
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face = Pos(0, s * 58.5, 0) * Rot(90, 0, 0) * Cylinder(radius=30, height=3)
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children.append(styled(face, "pod_face_ring", ALU_COLOR))
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hub = Pos(0, s * 61, 0) * Rot(90, 0, 0) * Cylinder(radius=12, height=2)
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children.append(styled(hub, "pod_face_hub", ACCENT_COLOR))
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for sx in (1.0, -1.0):
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boss = (
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Pos(sx * 43, s * 34, -72) * Rot(0, 90, 0) * Cylinder(radius=25, height=6)
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)
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children.append(styled(boss, f"roll_boss_{'f' if sx > 0 else 'b'}", ALU_COLOR))
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return part_compound(f"shoulder_pod_{side}", children)
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def build_yaw_housing(side: str) -> Compound:
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"""Shoulder-roll can + saddle to the upper-arm yaw ring. Origin: roll center."""
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children = []
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parts = actuator_solids("shoulder_roll", 70, 56, center=(0, 0, 0), axis=(1, 0, 0))
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core = parts[0]
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saddle = Pos(0, 0, -14) * Cylinder(radius=26, height=16)
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core = styled(core.fuse(saddle), "shoulder_roll_can", STRUCT_COLOR)
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children.append(core)
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children.extend(parts[1:])
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ring = Pos(0, 0, -22) * Cylinder(radius=28, height=4)
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children.append(styled(ring, "yaw_ring", ALU_COLOR))
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return part_compound(f"yaw_housing_{side}", children)
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def build_wrist_carrier(side: str) -> Compound:
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"""Wrist-roll disc + wrist-pitch can block. Origin: roll center."""
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children = []
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disc = Pos(0, 0, -2) * Cylinder(radius=22, height=4)
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children.append(styled(disc, "wrist_roll_disc", ALU_COLOR))
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parts = actuator_solids(
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"wrist_pitch", 48, 40, center=(0, 0, -28), axis=(0, 1, 0), bolts=False
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)
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core = parts[0]
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block = Pos(0, 0, -10) * Box(34, 34, 14)
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core = styled(core.fuse(block), "wrist_pitch_can", STRUCT_COLOR)
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children.append(core)
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children.extend(parts[1:])
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return part_compound(f"wrist_carrier_{side}", children)
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def build_neck_collar() -> Compound:
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"""Neck yaw can + pitch clevis. Origin: neck-yaw joint center."""
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children = actuator_solids(
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"neck_yaw", 44, 30, center=(0, 0, 15), axis=(0, 0, 1), bolts=False
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)
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for sy in (1.0, -1.0):
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plate = Pos(0, sy * 19, 44) * Box(36, 6, 36)
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children.append(styled(plate, f"neck_clevis_{'l' if sy > 0 else 'r'}", STRUCT_COLOR))
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boss = Pos(0, sy * 23, 46) * Rot(90, 0, 0) * Cylinder(radius=14, height=3)
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children.append(styled(boss, f"neck_boss_{'l' if sy > 0 else 'r'}", ALU_COLOR))
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can = actuator_solids(
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"neck_pitch", 40, 28, center=(0, 0, 46), axis=(0, 1, 0), bolts=False
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)
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children.extend(can)
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return part_compound("neck_collar", children)
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