leg.add(parts[name],
name=name,
color=C(links[name]["col"]),
loc=L(0, 0, i * 10 - 50))
return leg
leg = create_leg(x, y)
# Mates
for name in link_list:
leg.mate(f"{name}?mate", name=name, origin=True)
# Relocate
relocate(leg)
# Assemble the parts
alpha = 0
joints = linkage(alpha, x, y, links)
for name in link_list:
v, a = link_loc(name, joints, links)
abs_loc = cq.Location(
cq.Workplane("YZ").plane.rotated((0, 0, a)),
cq.Vector(*v)) # calculate the absolute location ...
loc = abs_loc * leg.mates[
name].mate.loc.inverse # ... and center the mate of the link first
leg.assemble(name, loc)
cv = show(leg)
name="arm",
color=C("orange"),
loc=L(0, 10 * nr, 0)))
disk_arm = create_disk_arm()
disk_arm.mate("base?mate",
name="disk_pivot",
origin=True,
transforms=odict(rz=180))
disk_arm.mate("base@faces@>Z", name="arm_pivot")
disk_arm.mate("disk@faces@>Z[-2]", name="disk", origin=True)
disk_arm.mate("arm?mate", name="arm", origin=True)
relocate(disk_arm)
# show(disk_arm)
disk_arm.assemble("arm", "arm_pivot")
disk_arm.assemble("disk", "disk_pivot")
show(disk_arm, reset_camera=True)
r_disk = 100
dist_pivot = 200
def angle_arm(angle_disk):
ra = np.deg2rad(angle_disk)
v = np.array((dist_pivot, 0)) - r_disk * np.array((cos(ra), sin(ra)))
for name in leg_names:
lower, upper, angle = ("top", "bottom",
-75) if "left" in name else ("bottom", "top", -75)
hexapod.mate(f"{name}?{upper}",
name=f"leg_{name}_hole",
transforms=odict(rz=angle))
hexapod.mate(f"{name}@faces@<Y",
name=f"leg_{name}_hinge",
origin=True,
transforms=odict(rx=180, rz=-90))
hexapod.mate(f"{name}/lower?{lower}",
name=f"leg_{name}_lower_hole",
origin=True)
# show(hexapod, reset_camera=False)
relocate(hexapod)
# Assemble the parts
for leg in leg_names:
hexapod.assemble(f"leg_{leg}_lower_hole", f"leg_{leg}_hole")
hexapod.assemble(f"leg_{leg}_hinge", f"{leg}_hole")
hexapod.assemble("top", "bottom")
for stand_name in stand_names:
hexapod.assemble(f"{stand_name}", f"{stand_name}_bottom")
show(hexapod)
# Animation
("c/b", "cyl2"),
("c/b/a", "cyl3"),
):
assy.mate(
f"{obj}?{name}_m0",
name=f"{name}_m0",
transforms=odict(rx=180 if "c" in name else 0),
origin=True,
)
assy.mate(
f"{obj}?{name}_m1",
name=f"{name}_m1",
transforms=odict(rx=0 if "b" in name else 180),
)
relocate(assy)
check_mates = False
if check_mates:
show(assy, render_mates=True)
else:
# Assemble the parts
assy.assemble("cyl1_m0", "box0_m0")
assy.assemble("box1_m1", "cyl1_m1")
assy.assemble("cyl2_m0", "box1_m0")
assy.assemble("box2_m1", "cyl2_m1")
assy.assemble("cyl3_m0", "box2_m0")
assy.assemble("box3_m1", "cyl3_m1")
show(assy)