Jerry
261 lines
7.8 KiB
Python
261 lines
7.8 KiB
Python
"""juno pelvis: waist-yaw ring, graphite chassis, hip pods, shell fairings.
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Local frame: origin = waist-yaw joint center at the TOP of the pelvis.
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Geometry spans z -120..+2. Robot faces +X, +Y robot-left, +Z up.
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Locked interfaces (do not move):
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- Waist ring: aluminum cylinder dia 96, z -2..+2, centered on Z.
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- Hip pods: flat round mounting face dia 80 at z=-120 centered (0, +-90, -120);
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everything below z=-120 stays clear for the leg hip-yaw actuator (dia 76).
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- Envelope: x -65..+65, |y| <= 115 (pod faces at y=+-90 r40 reach 122 by the
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locked interface itself).
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"""
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from __future__ import annotations
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import sys
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from pathlib import Path
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import math
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from build123d import (
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Axis,
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Box,
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Cylinder,
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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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extrude,
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fillet,
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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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part_compound,
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styled,
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)
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def _safe(op, solid):
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"""Run a fillet/chamfer op; fall back to the input solid on any failure."""
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try:
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out = op(solid)
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if out is not None and out.volume > 1.0:
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return out
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except Exception:
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pass
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return solid
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def _zband(solid, lo, hi):
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return solid.edges().filter_by_position(Axis.Z, lo, hi)
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# ---------------------------------------------------------------- chassis ---
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def _waist_deck():
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deck = Pos(0, 0, -8) * Box(104, 118, 12)
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deck = _safe(lambda s: fillet(s.edges().filter_by(Axis.Z), 14), deck)
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deck = _safe(lambda s: chamfer(_zband(s, -2.01, -1.99), 2.0), deck)
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deck = _safe(lambda s: chamfer(_zband(s, -14.01, -13.99), 2.0), deck)
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return deck
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def _abdomen_column():
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try:
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sk = Plane(
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origin=(0, 0, -14), x_dir=(1, 0, 0), z_dir=(0, 0, -1)
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) * RectangleRounded(86, 96, 13)
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col = extrude(sk, amount=58, taper=6)
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if col.volume > 1.0:
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return col
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except Exception:
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pass
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return Pos(0, 0, -43) * Box(80, 90, 58)
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def _hip_yoke():
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yoke = Pos(0, 0, -86) * Box(76, 164, 36)
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yoke = _safe(lambda s: chamfer(s.edges().filter_by(Axis.Y), 5.0), yoke)
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return yoke
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def _pod(side):
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return Pos(0, side * 90, -86) * Cylinder(radius=40, height=56)
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def _chassis():
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chassis = _waist_deck() + _abdomen_column() + _hip_yoke()
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chassis = chassis + _pod(+1) + _pod(-1)
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# Recessed service pockets on yoke front/back faces.
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for sx in (+1, -1):
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for sy in (+1, -1):
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chassis -= Pos(sx * 38, sy * 48, -86) * Box(4, 36, 22)
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# Panel seam groove around each pod above the aluminum rim.
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for sy in (+1, -1):
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ring = Pos(0, sy * 90, -100) * (
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Cylinder(radius=45, height=1.8) - Cylinder(radius=37.5, height=1.8)
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)
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chassis -= ring
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return styled(chassis, "pelvis_chassis", STRUCT_COLOR)
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# ----------------------------------------------------------------- accents ---
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def _waist_ring():
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ring = Cylinder(radius=48, height=4)
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ring = _safe(lambda s: chamfer(s.edges(), 0.8), ring)
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return styled(ring, "pelvis_waist_ring", ALU_COLOR)
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def _pod_rim(side, tag):
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rim = Pos(0, side * 90, -117) * Cylinder(radius=40, height=6)
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rim = _safe(lambda s: chamfer(_zband(s, -120.01, -119.9), 1.0), rim)
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rim = _safe(lambda s: chamfer(_zband(s, -114.1, -113.9), 0.8), rim)
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# machined witness groove
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rim -= Pos(0, side * 90, -116) * (
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Cylinder(radius=41, height=1.0) - Cylinder(radius=39, height=1.0)
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)
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return styled(rim, f"pelvis_pod_rim_{tag}", ALU_COLOR)
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def _pod_collar(side, tag):
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collar = Pos(0, side * 90, -83) * (
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Cylinder(radius=42.5, height=4) - Cylinder(radius=40, height=4)
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)
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collar = _safe(lambda s: chamfer(_zband(s, -85.01, -84.9), 0.7), collar)
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return styled(collar, f"pelvis_pod_collar_{tag}", ALU_COLOR)
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# ---------------------------------------------------------------- fairings ---
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def _fairing(side, tag):
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s = side
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# Volumetric upper hip shell: y 56..112, z -76..-12, x -58..58.
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blank = Pos(0, s * 84, -44) * Box(116, 56, 64)
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blank = _safe(lambda b: fillet(b.edges().filter_by(Axis.Z), 14), blank)
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# Plan-view 45 deg facets at the outer-front / outer-rear corners.
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blank -= (
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Pos(50, s * 100, -44) * Rot(0, 0, -s * 45.0) * Pos(16, 0, 0) * Box(32, 64, 84)
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)
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blank -= (
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Pos(-50, s * 100, -44) * Rot(0, 0, s * 45.0) * Pos(-16, 0, 0) * Box(32, 64, 84)
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)
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blank = _safe(lambda b: fillet(b.edges().filter_by(Axis.Z), 5.0), blank)
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# Gentle top-outer slope (hip shoulder).
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blank -= (
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Pos(0, s * 72, -12)
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* Rot(-18.0 * s, 0, 0)
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* Pos(0, 0, 36)
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* Box(150, 170, 72)
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)
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# Gentle front-top and rear-top slopes.
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blank -= Pos(38, s * 84, -13) * Rot(0, 20, 0) * Pos(0, 0, 36) * Box(110, 150, 72)
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blank -= Pos(-38, s * 84, -13) * Rot(0, -20, 0) * Pos(0, 0, 36) * Box(110, 150, 72)
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# Mild bottom tucks: lower edge rises toward front and rear.
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blank -= (
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Pos(28, s * 84, -76) * Rot(0, -14, 0) * Pos(0, 0, -36) * Box(130, 150, 72)
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)
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blank -= (
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Pos(-28, s * 84, -76) * Rot(0, 14, 0) * Pos(0, 0, -36) * Box(130, 150, 72)
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)
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# Angled under-edge: bottom rises inboard so the shell lower line meets
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# the yoke clearance (-64 at y=56) flush, no stepped notch.
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blank -= (
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Pos(0, s * 56, -64)
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* Rot(-12.0 * s, 0, 0)
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* Pos(0, 0, -36)
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* Box(150, 170, 72)
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)
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# NOTE: no post-cut fillets here. OCCT's fillet on the sloped-cut edge
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# network can throw inside ChFi3d and the unwind wedges the process under
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# Rosetta, so the sculpted creases stay crisp by design.
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# Clearance cuts: ride over the chassis with a visible seam gap.
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blank -= Pos(0, s * 90, -88) * Cylinder(radius=43.5, height=70) # pod dome
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blank -= Pos(0, s * 60, -86) * Box(84, 120, 44) # yoke
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blank -= Pos(0, 0, -7) * Box(110, 126, 14) # waist deck
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# Angled vent grooves on the front 45 deg facet.
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ux, uy = math.cos(math.radians(45)), math.sin(math.radians(45))
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for d in (-8.0, 0.0, 8.0):
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cx = 50.0 + d * ux + 2.5 * ux
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cy = s * (100.0 - d * uy + 2.5 * uy)
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blank -= Pos(cx, cy, -48) * Rot(0, 0, -s * 45.0) * Box(3.0, 8.0, 20.0)
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# Horizontal panel-line groove across the outer face.
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blank -= Pos(0, s * 112.8, -42) * Box(60.0, 4.0, 2.2)
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return styled(blank, f"pelvis_fairing_{tag}", SHELL_COLOR)
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# ------------------------------------------------------------- crotch guard --
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def _crotch_guard():
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# Faceted plate built in a local frame, then tilted and pushed to the
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# front of the yoke.
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p = Box(8, 46, 40)
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front_vert = (
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lambda g: chamfer(
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g.edges().filter_by(Axis.Z).filter_by_position(Axis.X, 3.9, 4.1),
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6.0,
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)
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)
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p = _safe(front_vert, p)
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p = _safe(
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lambda g: chamfer(
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g.edges()
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.filter_by(Axis.Y)
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.filter_by_position(Axis.Z, -20.1, -19.9)
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.filter_by_position(Axis.X, 0.0, 4.2),
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5.0,
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),
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p,
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)
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p = _safe(
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lambda g: chamfer(
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g.edges()
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.filter_by(Axis.Y)
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.filter_by_position(Axis.Z, 19.9, 20.1)
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.filter_by_position(Axis.X, 0.0, 4.2),
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3.0,
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),
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p,
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)
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guard = Pos(50, 0, -86) * Rot(0, 4, 0) * p
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# Base wedge filling the gap back to the yoke front face (x=38).
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guard += Pos(42.75, 0, -88) * Box(9.5, 40, 32)
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return styled(guard, "pelvis_crotch_guard", STRUCT_COLOR)
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# ------------------------------------------------------------------- part ---
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def build_pelvis():
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children = [
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_chassis(),
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_waist_ring(),
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_pod_rim(+1, "left"),
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_pod_rim(-1, "right"),
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_pod_collar(+1, "left"),
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_pod_collar(-1, "right"),
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_fairing(+1, "left"),
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_fairing(-1, "right"),
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_crotch_guard(),
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]
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return part_compound("pelvis", children)
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def gen_step():
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return build_pelvis()
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