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)
alphas = {name: [] for name in link_list}
positions = {name: [] for name in link_list}
for alpha in range(0, -375, -15):
for name in link_list:
p, a = link_loc(name, linkage(alpha, x, y, links), links)
alphas[name].append(a)
positions[name].append(p)
time = np.linspace(0, 4, 25)
animation = Animation(cv)
for name in link_list:
leg = MAssembly(cq.Workplane("YZ").polyline([(0, 0), (x, 0), (x, y)]), name="base", color=C("Gray"))
for i, name in enumerate(link_list):
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)
check_mates = True
if check_mates:
show(leg)
else:
# 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)
show(leg)
return assy
bearing = create_bearing()
# Mates
from collections import OrderedDict as odict
bearing.mate("outer@faces@<Z", name="outer", origin=True)
bearing.mate("inner@faces@<Z", name="inner", origin=True)
for i in range(number_balls):
bearing.mate(balls[i], Mate(), name=balls[i],
origin=True) # the default Mate is sufficient
bearing.mate("inner@faces@<Z",
name="inner_%d" % i,
transforms=odict(rz=i * 60, tx=r5, tz=-ball_diam / 2))
check_mates = False
if check_mates:
# Assemble the parts
show(bearing)
else:
bearing.assemble("inner", "outer")
for i in range(number_balls):
bearing.assemble(balls[i], "inner_%d" % i)
show(bearing)
name="back_stand",
color=C(0.5, 0.8, 0.9),
loc=L(-40, 100, 0)))
for i, name in enumerate(leg_names):
hexapod.add(leg, name=name, loc=L(100, -55 * (i - 1.7), 0))
return hexapod
# Mates
from collections import OrderedDict as odict
hexapod = create_hexapod()
show(hexapod)
hexapod.mate("bottom?top", name="bottom", origin=True)
hexapod.mate("top?bottom",
name="top",
origin=True,
transforms=odict(rx=180, tz=-(height + 2 * tol)))
for name in stand_names:
hexapod.mate(f"bottom?{name}",
name=f"{name}_bottom",
transforms=odict(rz=-90 if "f" in name else 90))
hexapod.mate(f"{name}@faces@<X",
name=name,
origin=True,
transforms=odict(rx=180))
# add mates to the connectors
for c in ["con_tl", "con_tr", "con_br", "con_bl"]:
door.mate(f"{c}?X", name=f"{c}_0", transforms=odict(rx=180))
door.mate(f"{c}?Z", name=f"{c}_1", transforms=odict(rx=180))
# add mates to bottom vslot and panel
door.mate("panel@faces@<Z", name="panel_0", transforms=odict(rx=180, rz=90))
door.mate("bottom@faces@>X[-4]", name="panel_1")
# add mates to handle and one hole
door.mate("handle?mate1", name="handle_0", transforms=odict(rx=180))
door.mate("panel?hole1", name="handle_1")
check_mates = True
if check_mates:
show(door)
else:
# Assemble the parts
door.assemble("bottom_0", "con_bl_0") # add bottom vslot to bottom-left connector
door.assemble("con_br_1", "bottom_1") # add bottom-right connector to bottom vslot
door.assemble("left_1", "con_bl_1") # add left vslot to bottom-left connector
door.assemble("right_0", "con_br_0") # add right vslot to bottom-right connector
door.assemble("panel_0", "panel_1") # add panel
door.assemble("con_tl_0", "left_0") # add top-left connector to left vslot
door.assemble("con_tr_1", "right_1") # add top-right connector to right vslot
door.assemble("top_1", "con_tl_1") # add top vslot to top-left connector
door.assemble("handle_0", "handle_1") # add handle
show(door)
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)))
return np.rad2deg(np.arctan2(*v[::-1]))
animation = Animation()
times = np.linspace(0, 5, 181)
disk_angles = np.linspace(0, 360, 181)
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=False, zoom=3.5)
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)))
return np.rad2deg(np.arctan2(*v[::-1]))
animation = Animation(viewer=True)
times = np.linspace(0, 5, 181)
disk_angles = np.linspace(0, 360, 181)
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, render_mates=True, mate_scale=5)
# Animation
horizontal_angle = 25
def intervals(count):
r = [min(180, (90 + i * (360 // count)) % 360) for i in range(count)]
return r
def times(end, count):
return np.linspace(0, end, count + 1)
("box0", "box0"),
("c/box1", "box1"),
("c/b/box2", "box2"),
("c/b/a/box3", "box3"),
("c", "cyl1"),
("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))
check_mates = True
if check_mates:
show(assy)
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)
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)
import numpy as np
from jupyter_cadquery.cad_animation import Animation
animation = Animation()