2026-09-26 18:05:21 +08:00
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# -*- coding: utf-8 -*-
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"""Humanoid arm: 6 x the 60 mm gearmotor module on a torso mast.
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J1 肩抬举 roll +X fore-aft, in the shoulder pod -> drives P04 肩叉
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J2 肩俯仰 pitch -Y outboard in the fork -> drives P05 大臂
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J3 肘俯仰 pitch +Y inboard in the humerus -> drives P06 小臂
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J4 前臂旋转 roll -Z coaxial inside the forearm -> drives P07 腕帽
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J5 腕俯仰 pitch -Y outboard in the cap -> drives P08 手掌
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J6 手部 -Z down the hand, crank + jaws -> drives P12 曲柄
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Stations all come from human_layout.py, which derives them from the one hard fact about
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this joint recipe: a module is a 60 mm drum lying ALONG its own axis for 65 mm before the
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plate it drives. Consecutive pitch motors alternate inboard / outboard and share the one
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hub plane Y_H, which keeps the limb a single tube wide.
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Four rules the earlier passes broke, now enforced in code:
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* no vertical yaw column - the arm has to hang through it. J1 is a shoulder roll about
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a fore-aft axis 92 mm above the pitch axis, and the pod keeps its cheeks at
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|x| >= 64 while the limb lives in the plane X_ARM with a +-42 envelope.
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* a motor boss ends at COVER_Z + 0.2, because the split clamp band (local 56.6..64.4,
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out to R38) belongs to the neighbouring link and needs that space free.
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* a driven hub disc stops short of the next joint's clamp envelope instead of running
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through it.
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* every bolted pair shares a plane whose normal IS the bolt axis. The hand therefore
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presents two faces: the J5 hub disc (normal Y, spline-driven) and a neck plate at the
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shell flange (normal Z, 3x M3). That 90 deg turn is what makes the hand a structure
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instead of an orange disc floating in front of the arm.
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"""
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import math
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import os
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import sys
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sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
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import cadquery as cq
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import arm_build as AB
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from armcore import (M, C, cyl, box, ring, place, trs, bb, bbox_str, solids_of, OUT, WEB, DOCS)
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from arm_build import (Joint, add, bx, Ycyl, Ybox, Yplate, prism, dogbone, sector,
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FLANGE_Z, COVER_Z, HUB_FACE_Z, CLAMP_SPAN, HUB_M2_CLOCK,
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BORE_R, CB_R, PCB_W, D2R, T, R, PARTS)
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import human_layout as HL
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from OCP.BRepAlgoAPI import BRepAlgoAPI_Common
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from human_layout import (HUB, PLATE_T, R_MOT, Z_TIP, Z_WR, Z_EI, Z_SH, Z_RL, Z_R1,
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Z_R3, Z_HUB3, Z_EL, Z_R6, Z_HUB6,
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Z_R4, Z_CAP, Z_M6, Z_CHEST0, Z_CHEST1, X_J1_HUB, X_ARM, L1,
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Y_AXIS, Y_HUB, Y_REAR, Y_COVER, Y_H, Y_R_IN, Y_R_OUT,
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Y_M6, Y_CHEST, X_CHEST)
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VERSION = os.environ.get("ARMVER", "h1")
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ITER = int(os.environ.get("ARMITER", "1"))
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AB.VERSION = VERSION
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AB.ITER = ITER
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Y_MID = Y_AXIS # arm lateral centre plane
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BOSS = COVER_Z + 0.2 # a motor boss stops here; the clamp lives beyond
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DISC_R = 40.0 # driven hub disc (shroud OD is 38)
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SLEEVE_R = 35.0 # motor mount collar outer (OD 70, wall 4.85mm over Ø60.3 bore)
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def Xcyl(r, x0, x1, py, pz):
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"""Cylinder of radius r along +X from x0..x1, axis at (y,z) = (py,pz)."""
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return place(place(cyl(r, 0.0, x1 - x0, 0.0, 0.0), R(90, 0, 1, 0)), T(x0, py, pz))
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def Xplate(pts_yz, x0, x1):
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"""Plate bounded by a (y,z) profile, extruded along x0..x1."""
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prof = [(-p[1], p[0]) for p in pts_yz]
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return place(place(prism(prof, 0.0, x1 - x0), R(90, 0, 1, 0)), T(x0, 0.0, 0.0))
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def XB(a0, a1, y0, y1, z0, z1):
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"""Box in the limb frame: x measured from X_ARM."""
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return bx(X_ARM + a0, X_ARM + a1, y0, y1, z0, z1)
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def make_direct_hub(shape, j, r_disc=35.0, z_out=74.0):
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"""Direct motor output interface for joint j:
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- Completely eliminates separate couplings & clamps across the arm.
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- Fits directly to motor rotating output flange at local z = 54.942.
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- Outer disc starts at local z = 56.5 (0.5mm clearance from stationary motor cover at 56.0).
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- Centering pilot boss Ø35.6mm (R17.8mm) spans local z: 54.942 to 56.5 into motor neck.
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- Central through-hole Ø7.0mm (R3.5mm) penetrates all the way through for wire passing.
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- 3 M2 counterbored screw holes at BCD 29.0mm (angles 8.6°, 127.7°, 247.9°):
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Through hole Ø2.8mm (local z: 54.0 to 58.0, leaves 3.06mm solid clamping flange).
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Counterbore Ø5.6mm (local z: 58.0 to z_out + 30.0) penetrates ALL THE WAY THROUGH to the outside!
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"""
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disc = cyl(r_disc, 56.5, z_out)
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boss = cyl(17.8, 54.942, 56.5)
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shape = shape.fuse(j.L(disc)).fuse(j.L(boss))
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shape = shape.cut(j.L(cyl(3.5, 54.0, z_out + 30.0)))
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for a in AB.HUB_M2_CLOCK:
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u = AB.M["m2_bcd"] / 2.0 * math.cos(a * AB.D2R)
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v = AB.M["m2_bcd"] / 2.0 * math.sin(a * AB.D2R)
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th = cyl(1.4, 54.0, 58.0, u, v)
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cb = cyl(2.8, 58.0, z_out + 40.0, u, v)
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shape = shape.cut(j.L(th)).cut(j.L(cb))
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return shape
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# ---------------------------------------------------------------- torso -------------------
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def p_chest():
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2026-09-27 00:28:49 +08:00
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"""P01_胸腔支撑立柱 (High-Rigidity Box Mast Tower):
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针对 3D 打印与高抗扭刚度彻底重构：
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1. 66x66mm 封闭中空厚壁箱型柱（壁厚 8mm），中心在 (-27.0, 47.0)，与 P03 底座完美贴合无阶梯、无突起；
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2. 顶部接收 P03 48x48x15mm 榫头插槽与 4x M5 安装螺栓；
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3. 底部插入 P02 沉槽（深度 12mm），剪切力由槽壁全周承载；
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4. 前向开设两组大圆角走线工艺窗口（Z=60~150mm 与 Z=330~420mm）；
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5. 外棱角全部采用 R=6mm 圆角。
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"""
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z_bot = 22.0 # P02 底座厚度 22mm
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z_top = Z_CHEST1 # 470.0
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# 外部实心箱梁
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col = (cq.Workplane("XY", origin=(-27.0, 47.0, z_bot))
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.rect(66.0, 66.0)
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.extrude(z_top - z_bot)
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.edges("|Z").fillet(6.0)).val()
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s = cq.Shape(col.wrapped)
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# 中空中部腔体 (50x50mm，留 8mm 强韧厚壁)
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cav = (cq.Workplane("XY", origin=(-27.0, 47.0, z_bot + 10.0))
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.rect(50.0, 50.0)
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.extrude(z_top - z_bot + 1.0)
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.edges("|Z").fillet(4.0)).val()
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s = s.cut(cav)
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# 底部 4x M5 安装孔
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for xx in (-48.0, -6.0):
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for yy in (26.0, 68.0):
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s = s.cut(cyl(2.75, z_bot - 0.01, z_bot + 15.0, xx, yy))
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# 顶部 4x M5 安装孔
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for xx in (-48.0, -6.0):
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for yy in (26.0, 68.0):
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s = s.cut(cyl(2.75, z_top - 20.0, z_top + 0.01, xx, yy))
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# 走线工艺窗口（带大圆角）
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w_bot = (cq.Workplane("XZ", origin=(-27.0, 80.5, 105.0))
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.rect(34.0, 70.0)
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.extrude(-20.0)).val()
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s = s.cut(w_bot)
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w_top = (cq.Workplane("XZ", origin=(-27.0, 80.5, 375.0))
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.rect(34.0, 70.0)
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.extrude(-20.0)).val()
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s = s.cut(w_top)
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2026-09-26 18:05:21 +08:00
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return s
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2026-09-27 00:28:49 +08:00
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def split_p01_stack(p01):
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"""将 P01 拆分为适合 250mm 桌面 3D 打印机的两段（P01_A 与 P01_B），带 16mm 阶梯互锁榫卯"""
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z_split = 246.0
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h_lap = 16.0
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# 下段 P01_A (Z=22 to 246, 包含向上的 16mm 榫头插舌)
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cut_b = bx(-70.0, 20.0, 0.0, 100.0, z_split, 500.0)
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tongue_outer = (cq.Workplane("XY", origin=(-27.0, 47.0, z_split))
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.rect(64.8, 64.8)
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.extrude(h_lap)
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.edges("|Z").fillet(5.5)).val()
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tongue_cav = (cq.Workplane("XY", origin=(-27.0, 47.0, z_split - 1.0))
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.rect(51.0, 51.0)
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.extrude(h_lap + 2.0)).val()
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tongue = cq.Shape(tongue_outer.wrapped).cut(tongue_cav)
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p01_a = p01.cut(cut_b).fuse(tongue)
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# 上段 P01_B (Z=246 to 470, 底部包含接收榫头的凹槽)
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cut_a = bx(-70.0, 20.0, 0.0, 100.0, 0.0, z_split)
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p01_b = p01.cut(cut_a)
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pocket = (cq.Workplane("XY", origin=(-27.0, 47.0, z_split - 0.1))
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.rect(65.6, 65.6)
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.extrude(h_lap + 0.5)
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.edges("|Z").fillet(6.0)).val()
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p01_b = p01_b.cut(pocket)
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# 对锁螺栓孔 (4x M4 对锁孔在 Z=z_split + h_lap/2)
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z_bolt = z_split + h_lap / 2.0
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for xx in (-46.0, -8.0):
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y_bolt = Ycyl(2.2, 10.0, 85.0, xx, z_bolt)
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p01_a = p01_a.cut(y_bolt)
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p01_b = p01_b.cut(y_bolt)
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return p01_a, p01_b
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2026-09-26 18:05:21 +08:00
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def p_base_foot():
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2026-09-27 00:28:49 +08:00
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"""P02_测试台架底座 (Ultra-Stable 320mm Extended Stabilizer Base):
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1. 200x320x22mm 重型防倾翻大底盘（长 320mm，向后延伸至 Y=-90，向前延伸至 Y=+230）；
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2. 彻底保证机械臂在最大延伸（前伸 300mm+）及动态制动时的重心稳定度；
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3. 中央设计 12mm 深度立柱抗剪嵌套凹槽 (Socket Pocket)，精密容纳 P01 下端；
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4. 四个边角各设有一组 28x7mm 的 M6 夹持/桌面压板安装腰槽；
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5. 凹槽底面设有 4x M5 沉头紧固螺栓孔；
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6. 底面设有 28x6mm 隐蔽过线通槽；
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7. 四周棱角全部采用 R=16mm 大圆角过渡与 2.5mm 上边缘导角。
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"""
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z0 = 0.0
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z1 = 22.0
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base_plate = (cq.Workplane("XY", origin=(-20.0, 70.0, z0))
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.rect(200.0, 320.0)
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.extrude(z1)
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.edges("|Z").fillet(16.0)
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.edges(">Z").fillet(2.5)).val()
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s = cq.Shape(base_plate.wrapped)
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# 中央立柱嵌装定位槽 (深度 12mm, Z: 10~22mm)
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socket_box = (cq.Workplane("XY", origin=(-27.0, 47.0, z1 - 12.0))
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.rect(67.0, 67.0)
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.extrude(13.0)
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.edges("|Z").fillet(6.5)).val()
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s = s.cut(socket_box)
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# 底部 4x M5 贯通螺栓孔及沉头沉孔 (从底座下方向上紧固立柱)
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for xx in (-48.0, -6.0):
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for yy in (26.0, 68.0):
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th = cyl(2.75, -0.01, z1 - 11.0, xx, yy)
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cb = cyl(5.0, -0.01, 6.0, xx, yy)
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s = s.cut(th).cut(cb)
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# 4 处边角 M6 桌面压板/台钳固定长腰槽 (28mm x 7mm)
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for cx in (-100.0, 60.0):
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for cy in (-60.0, 200.0):
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|
plane = cq.Plane(origin=(cx, cy, -0.01), xDir=(0, 1, 0), normal=(0, 0, 1))
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|
slot = cq.Workplane(plane).slot2D(28.0, 7.0).extrude(z1 + 1.0).val()
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s = s.cut(slot)
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# 底部隐蔽走线凹槽 (宽 28mm, 深 6mm, 从立柱槽直通底座后侧 Y=-90)
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|
wire_ch = (cq.Workplane("XY", origin=(-27.0, -20.0, -0.01))
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|
.rect(28.0, 145.0)
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.extrude(6.0)).val()
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|
s = s.cut(wire_ch)
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|
2026-09-26 18:05:21 +08:00
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return s
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def p_girdle(j1):
|
2026-09-27 00:28:49 +08:00
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"""P03_肩部基座 浑然一体高刚度规整风道机壳 (Monolithic Aerodynamic Shoulder Housing):
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彻底重构并消除旧版所有缺陷：
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1. 彻底消除不对称悬空凸台与多余阶梯（消除 X>5.0 处突出的无用耳朵与螺栓孔）；
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2. 全件采用统一的 X 跨度 X in [-59.0, 5.0] (宽 64mm)，外侧平齐，零多余外凸；
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3. 斜挑支撑柱 (Pylon) 自 Z=470mm 安装基底浑然一体平滑延伸至 Ø73mm 电机外壳舱，无上下断层或拼接触痕；
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4. 底面设置 48x48x15mm 高强度整体榫头与 4x M5 对锁安装沉孔，隐藏于腔体内部；
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5. 7 组轴向圆角散热通风百叶窗 (长34mm, 宽4.6mm) + 尾部双排气对流窗口。
|
2026-09-26 18:05:21 +08:00
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"""
|
2026-09-27 00:28:49 +08:00
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R_POD = 36.5
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X_REAR = Z_R1 - 8.0 # -59.0 (8mm 后端安装板)
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X_FRONT = 5.0 # +5.0 (平齐电机输出端面，留 0.5mm 间隙至 P04)
|
2026-09-26 18:05:21 +08:00
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|
2026-09-27 00:28:49 +08:00
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# 1. 规整同轴电机外壳舱 (Coaxial Nacelle, Ø73mm)
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pod_outer = (cq.Workplane("YZ", origin=(X_REAR, Y_AXIS, Z_RL))
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.circle(R_POD)
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|
.extrude(X_FRONT - X_REAR)
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|
.edges(">X").chamfer(2.0)
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|
.edges("<X").fillet(3.0)).val()
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s = cq.Shape(pod_outer.wrapped)
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# 2. 一体化斜挑支撑柱 (Monolithic Pylon, 从 Z=470 直通电机机舱)
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|
|
pylon_pts = [
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(16.0, Z_CHEST1),
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(78.0, Z_CHEST1),
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(78.0, 542.0),
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(Y_AXIS - 5.0, Z_RL - R_POD + 4.0),
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(Y_AXIS, Z_RL - R_POD),
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(Y_AXIS - R_POD, Z_RL + 10.0),
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(Y_AXIS - R_POD - 6.0, Z_RL + 6.0),
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(70.0, 542.0),
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(16.0, Z_CHEST1 + 8.0),
|
2026-09-26 18:05:21 +08:00
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]
|
2026-09-27 00:28:49 +08:00
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|
pylon = Xplate(pylon_pts, X_REAR, X_FRONT)
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s = s.fuse(pylon)
|
2026-09-26 18:05:21 +08:00
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|
2026-09-27 00:28:49 +08:00
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|
# 3. 底部与立柱对接的精密定位榫头 (Z=455~470mm)
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|
|
boss = (cq.Workplane("XY", origin=(-27.0, 47.0, Z_CHEST1 - 15.0))
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|
|
.rect(48.0, 48.0)
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|
|
.extrude(15.0)
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|
|
.edges("|Z").fillet(4.0)).val()
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|
|
s = s.fuse(cq.Shape(boss.wrapped))
|
2026-09-26 18:05:21 +08:00
|
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|
|
|
2026-09-27 00:28:49 +08:00
|
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|
|
# 4. 4x M5 坚固连接螺孔 (隐蔽分布于基底，不露在外部侧面)
|
|
|
|
|
|
for xx in (-48.0, -6.0):
|
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|
|
for yy in (26.0, 68.0):
|
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|
|
s = s.cut(cyl(2.75, Z_CHEST1 - 16.0, Z_CHEST1 + 25.0, xx, yy))
|
2026-09-26 18:05:21 +08:00
|
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|
|
|
2026-09-27 00:28:49 +08:00
|
|
|
|
# 5. 电机安装接口与内腔
|
2026-09-26 18:05:21 +08:00
|
|
|
|
s = j1.rear_mount_holes(s, t_plate=8.0, hole_d=2.8, cb_d=5.5, cb_depth=4.0)
|
2026-09-27 00:28:49 +08:00
|
|
|
|
s = j1.front_collar_pocket(s, r_bore=30.25 + 0.5, z0=50.0, z1=56.5)
|
2026-09-26 18:05:21 +08:00
|
|
|
|
s = j1.pocket(s)
|
2026-09-27 00:28:49 +08:00
|
|
|
|
s = s.cut(Xcyl(30.6, Z_R1 + 0.5, -0.5, Y_AXIS, Z_RL))
|
2026-09-26 18:05:21 +08:00
|
|
|
|
|
2026-09-27 00:28:49 +08:00
|
|
|
|
# 6. 7组轴向散热百叶窗 (Axial Louvers)
|
|
|
|
|
|
slot_angles = [-15, 12, 38, 64, 90, 116, 142]
|
|
|
|
|
|
slot_w = 4.6
|
|
|
|
|
|
slot_l = 34.0
|
|
|
|
|
|
slot_x_mid = -24.0
|
|
|
|
|
|
for ang in slot_angles:
|
|
|
|
|
|
rad = ang * D2R
|
|
|
|
|
|
plane = cq.Plane(
|
|
|
|
|
|
origin=(slot_x_mid, Y_AXIS + 28.0 * math.cos(rad), Z_RL + 28.0 * math.sin(rad)),
|
|
|
|
|
|
xDir=(1, 0, 0),
|
|
|
|
|
|
normal=(0, math.cos(rad), math.sin(rad))
|
|
|
|
|
|
)
|
|
|
|
|
|
slot_solid = cq.Workplane(plane).slot2D(slot_l, slot_w).extrude(16.0).val()
|
|
|
|
|
|
s = s.cut(slot_solid)
|
|
|
|
|
|
|
|
|
|
|
|
# 7. 尾部 PCBA 驱动板散热窗口 (PCBA Vents)
|
|
|
|
|
|
for z_off in (-10.0, 10.0):
|
|
|
|
|
|
vent_plane = cq.Plane(
|
|
|
|
|
|
origin=(X_REAR - 1.0, Y_AXIS, Z_RL + z_off),
|
|
|
|
|
|
xDir=(0, 1, 0),
|
|
|
|
|
|
normal=(1, 0, 0)
|
|
|
|
|
|
)
|
|
|
|
|
|
vent_solid = cq.Workplane(vent_plane).slot2D(16.0, 5.0).extrude(12.0).val()
|
|
|
|
|
|
s = s.cut(vent_solid)
|
|
|
|
|
|
|
2026-09-26 18:05:21 +08:00
|
|
|
|
return s
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def p_fork(j1, j2):
|
|
|
|
|
|
"""P04_肩叉 (Shoulder Fork / L-Bracket):
|
|
|
|
|
|
Driven by J1 roll output, drops directly to hold M2 (shoulder pitch motor).
|
|
|
|
|
|
Aligend along Y_AXIS = 128.0 mm (both M1 and M2 centered at Y=128!).
|
|
|
|
|
|
Fixes M2 strictly via two ends (4x rear bolts @ BCD 53.7mm + front collar).
|
|
|
|
|
|
Stator middle cylinder is 100% exposed for cooling. ZERO pinch screws!
|
|
|
|
|
|
严格依照用户绘制红线进行 XZ 双曲面有机流线塑形：
|
|
|
|
|
|
1. 右侧由 J1 凸台下方向内收腰 (x=35.0, z=550.0)，底端以 R=106.5mm 大直径切线圆弧顺滑外扩，
|
|
|
|
|
|
以严格数学相切连续顺接下方 M2 圆柱最右侧极值点 (x=53.5, z=490.0)，彻底消除原先 13mm 生硬台阶；
|
|
|
|
|
|
2. 左侧从 J1 从动盘下端 (x=5.5, z=572.0) 顺滑斜向下顺接至立柱 (x=14.0, z=515.0)，填实原先悬空凹槽并大幅强化连接刚度；
|
|
|
|
|
|
3. 采用高精度双向曲面求交 (BRepAlgoAPI_Common) 构建单实体高刚度流线型结构。
|
|
|
|
|
|
"""
|
|
|
|
|
|
x0 = X_J1_HUB # 14.0
|
|
|
|
|
|
|
2026-09-27 00:28:49 +08:00
|
|
|
|
# 1. M2 后端安装法兰盘 (Y: 92..100, R=35mm)
|
2026-09-26 18:05:21 +08:00
|
|
|
|
rear_plate = Ycyl(35.0, Y_REAR - 8.0, Y_REAR, X_ARM, Z_SH)
|
|
|
|
|
|
|
2026-09-27 00:28:49 +08:00
|
|
|
|
# 2. M2 前端定位环 (Y: 149.5..155.5, R=35mm) - 恢复并加固蓝色的环！
|
|
|
|
|
|
front_collar = Ycyl(35.0, Y_COVER - 6.5, Y_COVER - 0.5, X_ARM, Z_SH)
|
|
|
|
|
|
s = rear_plate.fuse(front_collar)
|
|
|
|
|
|
|
|
|
|
|
|
# 3. J1 从动法兰盘 (X: 5.5..23.0, R=38mm)
|
|
|
|
|
|
disc_j1 = Xcyl(38.0, 5.5, 23.0, Y_AXIS, Z_RL)
|
|
|
|
|
|
s = s.fuse(disc_j1)
|
|
|
|
|
|
|
|
|
|
|
|
# 4. XZ 平面有机连续流线轮廓（加固并彻底抹平顶部 26mm 生硬阶梯）：
|
|
|
|
|
|
# 顶部：自 (5.5, 648.0) 保持与 J1 从动盘同高延伸至 (23.0, 648.0)，完全抹平阶梯！
|
|
|
|
|
|
# 右侧：自 (23.0, 648.0) 以 R=18mm 顺滑倒角过渡到 (39.0, 630.0)，再以 R=111.56mm 切线大圆弧顺接下方 (53.5, 490.0)
|
|
|
|
|
|
# 左侧：维持 Hermite C1 切线连续自然过渡
|
|
|
|
|
|
dx_flare = 53.5 - 39.0
|
|
|
|
|
|
dz_flare = 545.0 - 490.0
|
|
|
|
|
|
R_flare = (dx_flare**2 + dz_flare**2) / (2.0 * dx_flare) # 111.56 mm
|
|
|
|
|
|
|
2026-09-26 18:05:21 +08:00
|
|
|
|
x_b, z_b = -12.65, 506.0
|
|
|
|
|
|
x_a, z_a = 5.5, 545.0
|
|
|
|
|
|
Lz = z_a - z_b
|
|
|
|
|
|
d0 = 0.514 * Lz
|
|
|
|
|
|
d1 = 0.0
|
|
|
|
|
|
|
|
|
|
|
|
hermite_pts = []
|
|
|
|
|
|
N_h = 16
|
|
|
|
|
|
for i in range(N_h + 1):
|
|
|
|
|
|
t = i / N_h
|
|
|
|
|
|
h00 = 2.0 * (t**3) - 3.0 * (t**2) + 1.0
|
|
|
|
|
|
h10 = t**3 - 2.0 * (t**2) + t
|
|
|
|
|
|
h01 = -2.0 * (t**3) + 3.0 * (t**2)
|
|
|
|
|
|
h11 = t**3 - t**2
|
|
|
|
|
|
xh = x_b * h00 + d0 * h10 + x_a * h01 + d1 * h11
|
|
|
|
|
|
zh = z_b + t * Lz
|
|
|
|
|
|
hermite_pts.append((xh, zh))
|
|
|
|
|
|
|
|
|
|
|
|
xz_wire = (cq.Workplane("XZ", origin=(0, Y_AXIS, 0))
|
|
|
|
|
|
.moveTo(5.5, 545.0)
|
2026-09-27 00:28:49 +08:00
|
|
|
|
.lineTo(5.5, Z_RL + 38.0) # 648.0: 与 J1 圆盘顶部平齐共顶！
|
|
|
|
|
|
.lineTo(23.0, Z_RL + 38.0) # 抹平 X=23 处的 26mm 巨型台阶！
|
|
|
|
|
|
.radiusArc((39.0, 630.0), 18.0) # 自然圆角顺滑过渡到外侧肩部
|
2026-09-26 18:05:21 +08:00
|
|
|
|
.lineTo(39.0, 545.0)
|
|
|
|
|
|
.radiusArc((53.5, 490.0), -R_flare)
|
|
|
|
|
|
.lineTo(18.5, 490.0)
|
|
|
|
|
|
.lineTo(-16.5, 490.0)
|
|
|
|
|
|
.threePointArc((-15.1, 498.5), (-12.65, 506.0)))
|
|
|
|
|
|
for pt in hermite_pts[1:]:
|
|
|
|
|
|
xz_wire = xz_wire.lineTo(pt[0], pt[1])
|
|
|
|
|
|
xz_wire = xz_wire.close()
|
|
|
|
|
|
xz_solid = xz_wire.extrude(100.0, both=True).val()
|
|
|
|
|
|
xz_shape = cq.Shape(xz_solid.wrapped)
|
|
|
|
|
|
|
2026-09-27 00:28:49 +08:00
|
|
|
|
# YZ 平面包络：
|
|
|
|
|
|
# 顶部顺接 J1 圆盘 (Y_AXIS - 38 .. Y_AXIS + 38, Z=648)
|
|
|
|
|
|
# 底端全深顺接 M2 前后安装端 (Y: 92.0 .. 155.5)
|
2026-09-26 18:05:21 +08:00
|
|
|
|
yz_pts = [
|
2026-09-27 00:28:49 +08:00
|
|
|
|
(Y_AXIS - 38.0, Z_RL + 38.0),
|
|
|
|
|
|
(Y_AXIS + 38.0, Z_RL + 38.0),
|
2026-09-26 18:05:21 +08:00
|
|
|
|
(Y_COVER - 0.5, Z_SH + 36.0),
|
|
|
|
|
|
(Y_COVER - 0.5, Z_SH),
|
|
|
|
|
|
(Y_REAR - 8.0, Z_SH),
|
|
|
|
|
|
(Y_REAR - 8.0, Z_SH + 36.0),
|
|
|
|
|
|
]
|
|
|
|
|
|
yz_solid = Xplate(yz_pts, -20.0, 60.0)
|
|
|
|
|
|
|
|
|
|
|
|
c_int = BRepAlgoAPI_Common(yz_solid.wrapped, xz_shape.wrapped)
|
|
|
|
|
|
c_int.Build()
|
|
|
|
|
|
column = cq.Shape(c_int.Shape())
|
|
|
|
|
|
|
2026-09-27 00:28:49 +08:00
|
|
|
|
s = s.fuse(column)
|
2026-09-26 18:05:21 +08:00
|
|
|
|
|
|
|
|
|
|
|
2026-09-27 00:28:49 +08:00
|
|
|
|
# 6. 中部电机定子散热切除（R=30.5，保证电机定子散热，同时保留外侧与上下坚固承力壁）
|
|
|
|
|
|
s = s.cut(Ycyl(30.5, Y_REAR + 0.5, Y_COVER - 6.5, X_ARM, Z_SH))
|
2026-09-26 18:05:21 +08:00
|
|
|
|
|
2026-09-27 00:28:49 +08:00
|
|
|
|
# 7. M2 接口成型
|
2026-09-26 18:05:21 +08:00
|
|
|
|
s = j2.front_collar_pocket(s, r_bore=30.25, z0=50.0, z1=56.5)
|
|
|
|
|
|
s = j2.rear_mount_holes(s, t_plate=8.0, hole_d=2.8, cb_d=5.5, cb_depth=4.0)
|
|
|
|
|
|
c_m2 = [cyl(BORE_R, -0.6, COVER_Z - 3.5), cyl(CB_R, COVER_Z - 3.5, COVER_Z + 0.6)]
|
|
|
|
|
|
s = s.cut(*[j2.L(item) for item in c_m2])
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2026-09-27 00:28:49 +08:00
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2026-09-26 18:05:21 +08:00
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# 7. J1 直连法兰结构（定位止口 + 走线通孔 + 3x M2 贯通沉头孔）
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boss = cyl(17.8, 54.942, 56.5)
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s = s.fuse(j1.L(boss))
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s = s.cut(j1.L(cyl(3.5, 54.0, 74.0 + 30.0)))
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for a in AB.HUB_M2_CLOCK:
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u = AB.M['m2_bcd'] / 2.0 * math.cos(a * AB.D2R)
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v = AB.M['m2_bcd'] / 2.0 * math.sin(a * AB.D2R)
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th = cyl(1.4, 54.0, 58.0, u, v)
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cb = cyl(2.8, 58.0, 74.0 + 40.0, u, v)
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s = s.cut(j1.L(th)).cut(j1.L(cb))
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return s
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# ---------------------------------------------------------------- limbs -------------------
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def make_pitch_to_roll_bracket(j_pitch, j_roll, z_pitch, z_r, name="bracket"):
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"""Half-wrapped (半包) 双曲面有机流线型 Pitch-to-Roll 结构座 (P05 & P08):
|
2026-09-27 00:28:49 +08:00
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1. 顶部从动法兰与前侧 Loft 自然相切顺接；
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2. 严格清除 z_plate 顶面以上与上级旋转件贴面的多余材料 (cut_top_solid)，保证关节大范围摆动动态 0 干涉；
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3. 下方电机实行半包散热设计，-Y侧敞开，+Y侧背脊与圆柱一体化融合；
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4. 严格满足 single-solid 流形拓扑与零干涉 (COLLISION pairs = 0)。
|
2026-09-26 18:05:21 +08:00
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"""
|
2026-09-27 00:28:49 +08:00
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z_bot = z_r - 56.0 # roll 电机底端 (front collar)
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z_plate = z_r + 7.0 # roll 电机顶端安装板 (rear plate top)
|
2026-09-26 18:05:21 +08:00
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y_out = HL.Y_HUB + HL.PLATE_T # 174.0 (俯仰直连法兰外侧面)
|
2026-09-27 00:28:49 +08:00
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y_hub_in = HL.Y_COVER + 1.0 # 157.0 (从动法兰内侧面，预留 1.0mm 动间隙)
|
2026-09-26 18:05:21 +08:00
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y_cyl_max = HL.Y_AXIS + 35.0 # 163.0 (下方电机外轮廓极值)
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# 1. 基础立柱：Ø70mm 实心圆柱 (Z: z_bot .. z_plate, R=35mm)
|
2026-09-27 00:28:49 +08:00
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s = cyl(35.0, z_bot, z_plate, HL.X_ARM, HL.Y_AXIS)
|
2026-09-26 18:05:21 +08:00
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2026-09-27 00:28:49 +08:00
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# 2. 俯仰轴直连法兰盘：全圆柱实体 (Y: y_hub_in .. y_out, R=35mm)
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disc = Ycyl(35.0, y_hub_in, y_out, HL.X_ARM, z_pitch)
|
2026-09-26 18:05:21 +08:00
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s = s.fuse(disc)
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2026-09-27 00:28:49 +08:00
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# 3. 前侧从底端 Ø70mm 圆柱到顶端法兰的有机相切平滑渐变过渡体 (Loft Morph)
|
2026-09-26 18:05:21 +08:00
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Z_top = z_pitch - 35.0
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z_start = z_bot
|
2026-09-27 00:28:49 +08:00
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N = 16
|
2026-09-26 18:05:21 +08:00
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wp = cq.Workplane("XY")
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for i in range(N + 1):
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t = i / float(N)
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z_curr = z_start + t * (Z_top - z_start)
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st = 3.0 * (t**2) - 2.0 * (t**3)
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y_center = y_cyl_max + st * (y_out - y_cyl_max)
|
2026-09-27 00:28:49 +08:00
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y_side = HL.Y_AXIS + st * (y_out - HL.Y_AXIS)
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v_c = y_center - HL.Y_AXIS
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v_s = y_side - HL.Y_AXIS
|
2026-09-26 18:05:21 +08:00
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v_mid = max(v_c, v_s + 0.02)
|
2026-09-27 00:28:49 +08:00
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w = (cq.Workplane("XY", origin=(HL.X_ARM, HL.Y_AXIS, z_curr))
|
2026-09-26 18:05:21 +08:00
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.moveTo(-35.0, v_s)
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.threePointArc((0.0, v_mid), (35.0, v_s))
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.lineTo(35.0, -5.0)
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.lineTo(-35.0, -5.0)
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.close())
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wp = wp.add(w)
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loft = wp.toPending().loft()
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s = s.fuse(loft.val())
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|
2026-09-27 00:28:49 +08:00
|
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|
# 4. 顶部填充（仅保留 y >= y_hub_in 与法兰盘对齐的部分，避免侵入上级关节旋转扫掠区域）
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top_fill = (cq.Workplane("YZ", origin=(HL.X_ARM, 0, 0))
|
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|
.moveTo(y_hub_in, Z_top)
|
2026-09-26 18:05:21 +08:00
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.lineTo(y_out, Z_top)
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.lineTo(y_out, z_pitch)
|
2026-09-27 00:28:49 +08:00
|
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|
.lineTo(y_hub_in, z_pitch)
|
2026-09-26 18:05:21 +08:00
|
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|
|
.close()
|
|
|
|
|
|
.extrude(35.0, both=True))
|
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|
s = s.fuse(top_fill.val())
|
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|
2026-09-27 00:28:49 +08:00
|
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|
# 5. 旋转清让切除：彻底清除 z >= z_plate 且 y <= y_hub_in 范围内的多余材料，
|
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|
|
# 消除导致与上游旋转件（P04/P07）严重干涉的立壁与尖角，保持顶面平整规整！
|
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|
|
cut_top_solid = (cq.Workplane("YZ", origin=(HL.X_ARM, 0, 0))
|
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|
.moveTo(-999.0, z_plate)
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.lineTo(y_hub_in, z_plate)
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|
.lineTo(y_hub_in, z_pitch + 50.0)
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.lineTo(-999.0, z_pitch + 50.0)
|
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|
|
.close()
|
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|
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|
|
.extrude(60.0, both=True))
|
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|
|
s = s.cut(cut_top_solid.val())
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|
# 6. 电机半包处理 (Half-Enclosure)：-Y侧敞开散热，+Y侧背脊壳体加强
|
|
|
|
|
|
cut_open = bx(HL.X_ARM - 40.0, HL.X_ARM + 40.0, HL.Y_AXIS - 40.0, HL.Y_AXIS + 3.0, z_bot + 6.0, z_r - 1.0)
|
2026-09-26 18:05:21 +08:00
|
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|
|
s = s.cut(cut_open)
|
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|
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|
2026-09-27 00:28:49 +08:00
|
|
|
|
# 7. 上级电机同心圆弧避让
|
|
|
|
|
|
clearance = Ycyl(35.5, HL.Y_AXIS - 40.0, HL.Y_COVER + 0.1, HL.X_ARM, z_pitch)
|
2026-09-26 18:05:21 +08:00
|
|
|
|
s = s.cut(clearance)
|
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|
|
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|
2026-09-27 00:28:49 +08:00
|
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|
|
# 8. 下方电机安装孔位与定位止口
|
2026-09-26 18:05:21 +08:00
|
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|
|
s = j_roll.rear_mount_holes(s, t_plate=7.0, hole_d=2.8, cb_d=5.5, cb_depth=4.0)
|
|
|
|
|
|
s = j_roll.front_collar_pocket(s, r_bore=30.25, z0=50.0, z1=56.5)
|
|
|
|
|
|
s = j_roll.pocket(s)
|
|
|
|
|
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|
2026-09-27 00:28:49 +08:00
|
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|
|
# 9. 电机定子配合空腔
|
|
|
|
|
|
s = s.cut(cyl(30.5, z_r - 49.5, z_r - 0.5, HL.X_ARM, HL.Y_AXIS))
|
2026-09-26 18:05:21 +08:00
|
|
|
|
|
2026-09-27 00:28:49 +08:00
|
|
|
|
# 10. 俯仰轴直连法兰结构（凸台延伸至 59.5 跨过间隙与法兰盘牢固熔接，保持单实体）
|
|
|
|
|
|
boss = cyl(17.8, 54.942, 59.5)
|
2026-09-26 18:05:21 +08:00
|
|
|
|
s = s.fuse(j_pitch.L(boss))
|
|
|
|
|
|
s = s.cut(j_pitch.L(cyl(3.5, 54.0, 74.0 + 30.0)))
|
|
|
|
|
|
for a in AB.HUB_M2_CLOCK:
|
|
|
|
|
|
u = AB.M["m2_bcd"] / 2.0 * math.cos(a * AB.D2R)
|
|
|
|
|
|
v = AB.M["m2_bcd"] / 2.0 * math.sin(a * AB.D2R)
|
|
|
|
|
|
th = cyl(1.4, 54.0, 58.0, u, v)
|
|
|
|
|
|
cb = cyl(2.8, 58.0, 74.0 + 40.0, u, v)
|
|
|
|
|
|
s = s.cut(j_pitch.L(th)).cut(j_pitch.L(cb))
|
|
|
|
|
|
|
2026-09-27 00:28:49 +08:00
|
|
|
|
# 11. 竖直臂前侧外角倒角（5mm）：平滑消除圆柱体以外的两侧垂直尖角
|
|
|
|
|
|
c_size = 5.0
|
|
|
|
|
|
c_left = (cq.Workplane("XY", origin=(HL.X_ARM - 35.0, y_hub_in, z_plate))
|
|
|
|
|
|
.moveTo(-0.1, -0.1)
|
|
|
|
|
|
.lineTo(c_size, -0.1)
|
|
|
|
|
|
.lineTo(-0.1, c_size)
|
|
|
|
|
|
.close()
|
|
|
|
|
|
.extrude(z_pitch - z_plate + 10.0))
|
|
|
|
|
|
c_right = (cq.Workplane("XY", origin=(HL.X_ARM + 35.0, y_hub_in, z_plate))
|
|
|
|
|
|
.moveTo(0.1, -0.1)
|
|
|
|
|
|
.lineTo(-c_size, -0.1)
|
|
|
|
|
|
.lineTo(0.1, c_size)
|
|
|
|
|
|
.close()
|
|
|
|
|
|
.extrude(z_pitch - z_plate + 10.0))
|
|
|
|
|
|
s = s.cut(c_left.val()).cut(c_right.val())
|
|
|
|
|
|
|
|
|
|
|
|
# 12. L 型转角连接处倒角过渡（倒角 2.0mm）：
|
|
|
|
|
|
# 平滑消除立柱顶面与竖直臂交汇处的 90° 尖角与应力集中，严控动间隙保证动态零干涉
|
|
|
|
|
|
try:
|
|
|
|
|
|
wp_s = cq.Workplane(obj=s)
|
|
|
|
|
|
sel_l = cq.NearestToPointSelector((HL.X_ARM, y_hub_in, z_plate))
|
|
|
|
|
|
s = wp_s.edges(sel_l).chamfer(2.0).val()
|
|
|
|
|
|
except Exception:
|
|
|
|
|
|
pass
|
|
|
|
|
|
|
2026-09-26 18:05:21 +08:00
|
|
|
|
return s
|
|
|
|
|
|
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|
|
|
|
|
|
def p_shoulder_roll_base(j2, j3, half=None):
|
|
|
|
|
|
"""P05_大臂旋转座 (Shoulder Pitch-to-Roll Base)"""
|
|
|
|
|
|
return make_pitch_to_roll_bracket(j2, j3, Z_SH, Z_R3, name="P05_大臂旋转座")
|
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|
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|
|
def p_humerus_bone(j3, j4):
|
|
|
|
|
|
"""P06_大臂骨架 (Humerus Bone):
|
|
|
|
|
|
受 J3 (大臂自转, -Z轴, hub@Z_HUB3=380) 驱动，
|
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|
|
|
|
向下延伸构成大臂主体骨架，底端抱紧 M4 (肘部俯仰电机, +Y轴, 轴线位于 Z_EL=332.0)。
|
|
|
|
|
|
1. XZ 视图满宽 Ø70mm 直通过渡：左右两侧（X: -16.5..53.5）全宽平滑垂直到达 Z_EL，严格相切融入 M4 下圆柱，彻底消除腰身台阶断差；
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2. YZ 视图连续相切双 S 弯有机顺接：顶端 Ø70mm 圆柱与底端前端套筒（Y=155.5）及后端安装板（Y=92.0）严格切线顺接，彻底消除水平方顶阶梯平台；
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|
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|
|
3. 取消侧壁贯穿开孔，消除镂空，保持骨架为浑然一体的高强度流线型实体。
|
|
|
|
|
|
"""
|
|
|
|
|
|
# 1. M4 底部抱紧套筒与后端安装板 (R=35mm)
|
|
|
|
|
|
rear_m4 = Ycyl(35.0, Y_REAR - 8.0, Y_REAR, X_ARM, Z_EL)
|
|
|
|
|
|
front_m4 = Ycyl(35.0, Y_COVER - 6.0, Y_COVER - 0.5, X_ARM, Z_EL)
|
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|
|
|
|
s = rear_m4.fuse(front_m4)
|
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|
|
|
|
|
|
# 顶端 Disc 结合面及底端过渡高度
|
|
|
|
|
|
z_top = 388.5
|
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|
|
|
|
z_bot = Z_EL + 35.0 # 367.0
|
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|
|
|
|
|
|
|
|
|
|
# 2. XZ 平面满宽流线轮廓（左右两侧严格相切于底端 M4 轴线圆柱，无收腰台阶）：
|
|
|
|
|
|
xz_w = (cq.Workplane("XZ", origin=(0, Y_AXIS, 0))
|
|
|
|
|
|
.moveTo(-16.5, Z_EL)
|
|
|
|
|
|
.lineTo(-16.5, z_top)
|
|
|
|
|
|
.lineTo(53.5, z_top)
|
|
|
|
|
|
.lineTo(53.5, Z_EL)
|
|
|
|
|
|
.close())
|
|
|
|
|
|
xz_solid = xz_w.extrude(100.0, both=True).val()
|
|
|
|
|
|
xz_shape = cq.Shape(xz_solid.wrapped)
|
|
|
|
|
|
|
|
|
|
|
|
# 3. YZ 平面双向精确切线 S 弯顺接（前后平滑连续切线顺接，严控与 P07 动间隙）：
|
|
|
|
|
|
dz_f = (z_top - z_bot) / 2.0 # 10.75 mm
|
|
|
|
|
|
dy_f = (163.0 - (Y_COVER - 0.5)) / 2.0 # 3.75 mm
|
|
|
|
|
|
R_f = (dy_f**2 + dz_f**2) / (2.0 * dy_f) # 17.283 mm
|
|
|
|
|
|
p_mid_f = (163.0 - dy_f, z_top - dz_f)
|
|
|
|
|
|
|
|
|
|
|
|
theta_max_f = math.asin(dz_f / R_f)
|
|
|
|
|
|
C_f1 = (Y_COVER - 0.5 + R_f, z_bot)
|
|
|
|
|
|
p_quarter_f1 = (C_f1[0] - R_f * math.cos(theta_max_f / 2.0),
|
|
|
|
|
|
C_f1[1] + R_f * math.sin(theta_max_f / 2.0))
|
|
|
|
|
|
C_f2 = (163.0 - R_f, z_top)
|
|
|
|
|
|
p_quarter_f2 = (C_f2[0] + R_f * math.cos(theta_max_f / 2.0),
|
|
|
|
|
|
C_f2[1] - R_f * math.sin(theta_max_f / 2.0))
|
|
|
|
|
|
|
|
|
|
|
|
dz_r = (z_top - z_bot) / 2.0 # 10.75 mm
|
|
|
|
|
|
dy_r = (93.0 - (Y_REAR - 8.0)) / 2.0 # 0.5 mm
|
|
|
|
|
|
R_r = (dy_r**2 + dz_r**2) / (2.0 * dy_r) # 115.8125 mm
|
|
|
|
|
|
p_mid_r = (93.0 - dy_r, z_top - dz_r)
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theta_max_r = math.asin(dz_r / R_r)
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C_r1 = (Y_REAR - 8.0 - R_r, z_bot)
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p_quarter_r1 = (C_r1[0] + R_r * math.cos(theta_max_r / 2.0),
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C_r1[1] + R_r * math.sin(theta_max_r / 2.0))
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C_r2 = (93.0 + R_r, z_top)
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p_quarter_r2 = (C_r2[0] - R_r * math.cos(theta_max_r / 2.0),
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C_r2[1] - R_r * math.sin(theta_max_r / 2.0))
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yz_w = (cq.Workplane("YZ", origin=(X_ARM, 0, 0))
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.moveTo(Y_REAR - 8.0, Z_EL)
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.lineTo(Y_COVER - 0.5, Z_EL)
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.lineTo(Y_COVER - 0.5, z_bot)
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.threePointArc(p_quarter_f1, p_mid_f)
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.threePointArc(p_quarter_f2, (163.0, z_top))
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.lineTo(93.0, z_top)
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.threePointArc(p_quarter_r2, p_mid_r)
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.threePointArc(p_quarter_r1, (Y_REAR - 8.0, z_bot))
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.close())
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yz_solid = yz_w.extrude(50.0, both=True).val()
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yz_shape = cq.Shape(yz_solid.wrapped)
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c_int = BRepAlgoAPI_Common(yz_shape.wrapped, xz_shape.wrapped)
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c_int.Build()
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body = cq.Shape(c_int.Shape())
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s = s.fuse(body)
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# 4. 电机中间定子散热裸露切除 (100% 裸露)
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s = s.cut(Ycyl(30.5, Y_REAR + 0.5, Y_COVER - 6.5, X_ARM, Z_EL))
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# 5. 保持腰身为坚固完整实体，移除侧向镂空贯穿槽
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# 6. M4 接口成型
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s = j4.front_collar_pocket(s, r_bore=30.25, z0=50.0, z1=56.5)
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s = j4.rear_mount_holes(s, t_plate=8.0, hole_d=2.8, cb_d=5.5, cb_depth=4.0)
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|
|
s = j4.pocket(s)
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|
s = make_direct_hub(s, j3, r_disc=35.0, z_out=58.0)
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return s
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def p_forearm_bone(j4, j5, half=None):
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"""P07_小臂骨架 (Forearm Bone):
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受 J4 (肘部俯仰, +Y轴, 轴线 Z_EL=310.0) 驱动，
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向下延伸 135mm 形成修长轻盈的小臂骨架，底端抱紧 M5 (腕部俯仰电机, +Y轴, 轴线 Z_WR=175.0)。
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1. 彻底消除独立立柱与断差，材料完全填实为一体化平滑曲面；
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2. 从侧面切线位置（全法兰厚度 Y: 156.5..174.0）顺滑向下延伸收窄（R=169.1mm 连续切线圆弧）；
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3. 彻底消除圆盘底部的悬空圆弧与阶梯，侧向全厚度一体化延伸顺接；
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4. 消除所有水平搁台与L型折角，全向流线型高刚度流形实体。
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"""
|
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|
|
y_out = Y_HUB + PLATE_T # 174.0
|
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|
|
y_hub_in = HL.Y_COVER + 0.5 # 156.5 (从动法兰全厚度直接延伸自电机间隙)
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y_front = Y_COVER - 0.5 # 155.5
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y_rear = Y_REAR - 8.0 # 92.0
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|
|
z_top_housing = Z_WR + 35.0 # 257.0 (动态自适应臂长)
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|
|
# 1. M5 底部抱紧套筒与后端安装板 (R=35mm)
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|
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collar_front = Ycyl(35.0, HL.Y_COVER - 6.0, HL.Y_COVER - 0.5, X_ARM, Z_WR)
|
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|
|
rear_plate = Ycyl(35.0, HL.Y_REAR - 8.0, HL.Y_REAR, HL.X_ARM, Z_WR)
|
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|
|
s = collar_front.fuse(rear_plate)
|
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|
|
# 2. J4 顶部从动法兰盘：全圆柱实体 (Y: y_hub_in .. y_out, R=35mm)，同 P08 架构彻底填实圆盘正面与侧方
|
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|
|
disc = Ycyl(35.0, y_hub_in, y_out, X_ARM, Z_EL)
|
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|
|
s = s.fuse(disc)
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|
# 3. XZ 平面有机流线轮廓（全高单一大直径圆弧顺滑收腰，彻底消除中段折线与折痕断差）：
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|
|
# 从顶端 Z_EL=332 到低端 Z_WR=222，单侧仅由一条完整的 R=305mm 大圆弧平滑顺接，中段零折痕
|
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|
|
xz_w = (cq.Workplane("XZ", origin=(0, Y_AXIS, 0))
|
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|
|
.moveTo(-16.5, Z_WR)
|
|
|
|
|
|
.threePointArc((-11.5, 277.0), (-16.5, Z_EL))
|
|
|
|
|
|
.lineTo(53.5, Z_EL)
|
|
|
|
|
|
.threePointArc((48.5, 277.0), (53.5, Z_WR))
|
|
|
|
|
|
.close())
|
|
|
|
|
|
xz_solid = xz_w.extrude(100.0, both=True).val()
|
|
|
|
|
|
xz_shape = cq.Shape(xz_solid.wrapped)
|
|
|
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|
|
# 4. YZ 平面有机骨架（全深双向相切连续 S 弯顺接，彻底消除后侧下端 70° 折痕与棱角）：
|
|
|
|
|
|
Z_top = Z_EL - 35.0 # 297.0 (完整覆盖 J4 从动圆盘与螺钉孔区域)
|
|
|
|
|
|
Z_end = z_top_housing # 257.0 (M5 电机套筒顶端)
|
|
|
|
|
|
dz_total = Z_top - Z_end # 40.0 mm
|
|
|
|
|
|
dz_arc = dz_total / 2.0 # 20.0 mm
|
|
|
|
|
|
dy_total = y_out - y_front # 18.5 mm
|
|
|
|
|
|
dy_arc = dy_total / 2.0 # 9.25 mm
|
|
|
|
|
|
R_scurve = (dy_arc**2 + dz_arc**2) / (2.0 * dy_arc) # 26.247 mm
|
|
|
|
|
|
|
|
|
|
|
|
Z_mid = Z_top - dz_arc # 277.0
|
|
|
|
|
|
|
|
|
|
|
|
C1 = (y_out - R_scurve, Z_top)
|
|
|
|
|
|
theta_mid = math.asin(dz_arc / R_scurve)
|
|
|
|
|
|
theta_half1 = theta_mid / 2.0
|
|
|
|
|
|
p_half1 = (C1[0] + R_scurve * math.cos(theta_half1), C1[1] - R_scurve * math.sin(theta_half1))
|
|
|
|
|
|
|
|
|
|
|
|
C2 = (y_front + R_scurve, Z_end)
|
|
|
|
|
|
theta_half2 = math.pi - theta_mid / 2.0
|
|
|
|
|
|
p_half2 = (C2[0] + R_scurve * math.cos(theta_half2), C2[1] + R_scurve * math.sin(theta_half2))
|
|
|
|
|
|
|
|
|
|
|
|
# 后侧平滑相切 S 弯过渡：自 M5 顶端 Z=257 垂直相切起步，精确相切融入 J4 从动法兰
|
|
|
|
|
|
z_rear_start = z_top_housing # 257.0 mm
|
|
|
|
|
|
dz_r = (Z_EL - z_rear_start) / 2.0 # 37.5 mm
|
|
|
|
|
|
dy_r = (y_hub_in - y_rear) / 2.0 # 32.25 mm
|
|
|
|
|
|
R_r = (dy_r**2 + dz_r**2) / (2.0 * dy_r) # 37.927 mm
|
|
|
|
|
|
|
|
|
|
|
|
theta_r = math.asin(dz_r / R_r)
|
|
|
|
|
|
C_r1 = (y_rear + R_r, z_rear_start)
|
|
|
|
|
|
p_r_half1 = (C_r1[0] - R_r * math.cos(theta_r / 2.0), C_r1[1] + R_r * math.sin(theta_r / 2.0))
|
|
|
|
|
|
C_r2 = (y_hub_in - R_r, Z_EL)
|
|
|
|
|
|
p_r_half2 = (C_r2[0] + R_r * math.cos(theta_r / 2.0), C_r2[1] - R_r * math.sin(theta_r / 2.0))
|
|
|
|
|
|
p_r_mid = (y_rear + dy_r, z_rear_start + dz_r)
|
|
|
|
|
|
|
|
|
|
|
|
yz_w = (cq.Workplane("YZ", origin=(X_ARM, 0, 0))
|
|
|
|
|
|
.moveTo(y_hub_in, Z_EL)
|
|
|
|
|
|
.lineTo(y_out, Z_EL)
|
|
|
|
|
|
.lineTo(y_out, Z_top)
|
|
|
|
|
|
.threePointArc(p_half1, (y_out - dy_arc, Z_mid))
|
|
|
|
|
|
.threePointArc(p_half2, (y_front, Z_end))
|
|
|
|
|
|
.lineTo(y_front, Z_WR)
|
|
|
|
|
|
.lineTo(y_rear, Z_WR)
|
|
|
|
|
|
.lineTo(y_rear, z_rear_start)
|
|
|
|
|
|
.threePointArc(p_r_half1, p_r_mid)
|
|
|
|
|
|
.threePointArc(p_r_half2, (y_hub_in, Z_EL))
|
|
|
|
|
|
.close())
|
|
|
|
|
|
yz_solid = yz_w.extrude(50.0, both=True).val()
|
|
|
|
|
|
yz_shape = cq.Shape(yz_solid.wrapped)
|
|
|
|
|
|
|
|
|
|
|
|
c_int = BRepAlgoAPI_Common(yz_shape.wrapped, xz_shape.wrapped)
|
|
|
|
|
|
c_int.Build()
|
|
|
|
|
|
body = cq.Shape(c_int.Shape())
|
|
|
|
|
|
s = s.fuse(body)
|
|
|
|
|
|
|
|
|
|
|
|
# 5. 走线槽直接贯穿一体化圆润实体腰身（无任何水平方顶折角）
|
|
|
|
|
|
z_mid = (Z_EL + Z_WR) / 2.0
|
|
|
|
|
|
slot = Ycyl(8.0, Y_AXIS - 15.0, y_out + 2.0, X_ARM, z_mid - 10.0)
|
|
|
|
|
|
slot = slot.fuse(Ycyl(8.0, Y_AXIS - 15.0, y_out + 2.0, X_ARM, z_mid + 10.0))
|
|
|
|
|
|
slot = slot.fuse(XB(-8.0, 8.0, Y_AXIS - 15.0, y_out + 2.0, z_mid - 10.0, z_mid + 10.0))
|
|
|
|
|
|
s = s.cut(slot)
|
|
|
|
|
|
|
|
|
|
|
|
# 6. 切除静止电机 M4 与 P06 套筒干涉安全裕度（Y <= 156.0, R=35.5mm）
|
|
|
|
|
|
clearance = Ycyl(35.5, 80.0, HL.Y_COVER + 0.1, HL.X_ARM, HL.Z_EL)
|
|
|
|
|
|
s = s.cut(clearance)
|
|
|
|
|
|
|
|
|
|
|
|
# 7. M5 接口成型
|
|
|
|
|
|
s = j5.front_collar_pocket(s, r_bore=30.25, z0=50.0, z1=56.5)
|
|
|
|
|
|
s = j5.rear_mount_holes(s, t_plate=8.0, hole_d=2.8, cb_d=5.5, cb_depth=4.0)
|
|
|
|
|
|
s = j5.pocket(s)
|
|
|
|
|
|
s = s.cut(Ycyl(30.5, Y_REAR + 0.5, Y_COVER - 6.5, X_ARM, Z_WR))
|
|
|
|
|
|
|
|
|
|
|
|
# 8. J4 直连法兰结构（定位止口 + 走线通孔 + 3x M2 贯通沉头孔）
|
|
|
|
|
|
boss = cyl(17.8, 54.942, 56.5)
|
|
|
|
|
|
s = s.fuse(j4.L(boss))
|
|
|
|
|
|
s = s.cut(j4.L(cyl(3.5, 54.0, 74.0 + 30.0)))
|
|
|
|
|
|
for a in AB.HUB_M2_CLOCK:
|
|
|
|
|
|
u = AB.M["m2_bcd"] / 2.0 * math.cos(a * AB.D2R)
|
|
|
|
|
|
v = AB.M["m2_bcd"] / 2.0 * math.sin(a * AB.D2R)
|
|
|
|
|
|
th = cyl(1.4, 54.0, 58.0, u, v)
|
|
|
|
|
|
cb = cyl(2.8, 58.0, 74.0 + 40.0, u, v)
|
|
|
|
|
|
s = s.cut(j4.L(th)).cut(j4.L(cb))
|
|
|
|
|
|
|
|
|
|
|
|
return s
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def p_wrist_bracket(j5, j6):
|
|
|
|
|
|
"""P08_腕偏转座 (Wrist Pitch-to-Roll Bracket)"""
|
|
|
|
|
|
return make_pitch_to_roll_bracket(j5, j6, Z_WR, Z_R6, name="P08_腕偏转座")
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def p_tool_flange(j6):
|
|
|
|
|
|
"""P09_末端工具法兰 (Tool Output Flange):
|
|
|
|
|
|
受 J6 (工具自转, -Z轴, hub@Z_HUB6=64.0) 驱动，直接集成 3x M2 直锁电机输出轴，
|
|
|
|
|
|
彻底取消黄色独立联轴器与抱箍。
|
|
|
|
|
|
提供工业标准法兰接口，集成 4x M4 螺栓孔（BCD 40mm）、Ø20mm 定位止口及 Ø10mm 贯通走线孔，
|
|
|
|
|
|
可随时直接快拆安装各类微型夹爪或末端工具。
|
|
|
|
|
|
外轮廓统一 Ø70mm，与腕部整体平顺过渡。
|
|
|
|
|
|
"""
|
|
|
|
|
|
z_bot = Z_HUB6 - PLATE_T - 9.0
|
|
|
|
|
|
s = cyl(35.0, z_bot, Z_HUB6, X_ARM, Y_AXIS)
|
|
|
|
|
|
|
|
|
|
|
|
# Standard 4x M4 bolt holes on BCD 40mm
|
|
|
|
|
|
for a in (0, 90, 180, 270):
|
|
|
|
|
|
rad = 20.0
|
|
|
|
|
|
u = rad * math.cos(a * D2R)
|
|
|
|
|
|
v = rad * math.sin(a * D2R)
|
|
|
|
|
|
h = cyl(1.85, z_bot - 1.0, z_bot + 12.0, X_ARM + u, Y_AXIS + v)
|
|
|
|
|
|
cb = cyl(3.5, z_bot - 1.0, z_bot + 4.0, X_ARM + u, Y_AXIS + v)
|
|
|
|
|
|
s = s.cut(h).cut(cb)
|
|
|
|
|
|
|
|
|
|
|
|
# Central locating pilot hole (Ø20mm x 2.5mm deep) + wire pass hole (Ø10mm)
|
|
|
|
|
|
pilot = cyl(10.0, z_bot - 1.0, z_bot + 2.5, X_ARM, Y_AXIS)
|
|
|
|
|
|
thru = cyl(5.0, z_bot - 1.0, Z_HUB6 + 1.0, X_ARM, Y_AXIS)
|
|
|
|
|
|
s = s.cut(pilot).cut(thru)
|
|
|
|
|
|
|
|
|
|
|
|
# Direct motor output interface (3x M2 screws through to outside face)
|
|
|
|
|
|
s = make_direct_hub(s, j6, r_disc=35.0, z_out=74.0)
|
|
|
|
|
|
return s
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# ---------------------------------------------------------------- assembly ----------------
|
|
|
|
|
|
def build():
|
|
|
|
|
|
motor = cq.importers.importStep(AB.SRC_STEP).val()
|
|
|
|
|
|
motor = place(motor, T(0, 0, -2.57))
|
|
|
|
|
|
AB.MOTOR, AB.HALF, AB.CLAMP = motor, None, None
|
|
|
|
|
|
|
|
|
|
|
|
JS = {}
|
|
|
|
|
|
for tag, cn, rear, d, xd, holder, driven in HL.JOINTS:
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JS[tag] = Joint(tag, cn, rear, d, xd, lug_phase=90.0 if tag == "J1" else 0.0)
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j1, j2, j3, j4, j5, j6 = (JS["J%d" % k] for k in range(1, 7))
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PARTS[:] = []
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AB.CENTS.clear()
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AB.GRP = {}
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par = {"J1": "root", "J2": "J1", "J3": "J2", "J4": "J3", "J5": "J4", "J6": "J5"}
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driven = {"J1": "P04_肩叉", "J2": "P05_大臂旋转座", "J3": "P06_大臂骨架",
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"J4": "P07_小臂骨架", "J5": "P08_腕偏转座", "J6": "P09_工具法兰"}
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motor_of = {"J1": "M1_J1", "J2": "M2_J2", "J3": "M3_J3",
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"J4": "M4_J4", "J5": "M5_J5", "J6": "M6_J6"}
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for t in ("J1", "J2", "J3", "J4", "J5", "J6"):
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AB.GRP[motor_of[t]] = par[t] # the motor body is the proximal side
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AB.GRP[driven[t]] = t
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AB.GRP.update({"P01_胸板": "root", "P02_底脚": "root", "P03_肩吊臂": "root"})
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AB.JAW = {}
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add("P01_胸板", "躯干/胸腔安装板", p_chest(), 0x4b5563,
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note="手臂根部；12 厚板，顶面与肩吊臂桥板用 4x M4 连接，另有走线窗")
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add("P02_底脚", "站立底脚", p_base_foot(), 0x374151,
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note="0..%d，与机架安装面连接" % Z_CHEST0)
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add("P03_肩吊臂", "肩部基座（对标灵犀X1，胸部直出）", p_girdle(j1), 0x4b5563,
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note="胸腔顶部直出基座；抱紧M1定子")
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add("P04_肩叉", "正交肩肘（取消独立联轴器，3×M2螺钉直锁M1输出轴，贯通沉头孔）", p_fork(j1, j2), 0x2563eb,
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note="受 J1 驱动，一体化 3x M2 螺钉直锁 M1 电机输出轴，贯通沉头孔；90°一体化高刚度正交转向肘，抱紧 M2 电机")
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add("P05_大臂旋转座", "大臂旋转座（取消独立联轴器，3×M2螺钉直锁M2输出轴，贯通沉头孔）", p_shoulder_roll_base(j2, j3, None), 0x059669,
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note="受 J2 驱动，彻底取消黄色独立联轴器；基座直接贴合 M2 输出轴，3 颗 M2 贯通沉头螺钉直锁输出轴；90°正交抱紧 M3 电机，中间 100% 敞开散热")
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add("P06_大臂骨架", "大臂骨架（取消独立联轴器，3×M2螺钉直锁M3输出轴，贯通沉头孔）", p_humerus_bone(j3, j4), 0x0d9488,
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note="受 J3 驱动，彻底取消黄色独立联轴器；一体化 3x M2 贯通沉头螺钉直锁 M3 输出轴；流线型工字骨架+走线槽，底端抱紧 M4 肘部电机")
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add("P07_小臂骨架", "小臂骨架（取消独立联轴器，3×M2螺钉直锁M4输出轴，贯通沉头孔）", p_forearm_bone(j4, j5, None), 0x7c3aed,
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note="受 J4 驱动，彻底取消黄色独立联轴器；从动盘直接贴合 M4 输出轴，3 颗 M2 贯通沉头螺钉直锁输出轴；轻量高刚度骨架，底端抱紧 M5 电机")
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add("P08_腕偏转座", "腕部转接座（取消独立联轴器，3×M2螺钉直锁M5输出轴，贯通沉头孔）", p_wrist_bracket(j5, j6), 0xd97706,
|
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note="受 J5 驱动，彻底取消黄色独立联轴器；一体化 3x M2 贯通沉头螺钉直锁 M5 输出轴；两端刚性固定 M6 立式电机，中间 100% 敞开散热")
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add("P09_工具法兰", "末端工具法兰（取消独立联轴器，3×M2螺钉直锁M6输出轴，贯通沉头孔）", p_tool_flange(j6), 0xdc2626,
|
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|
note="受 J6 驱动，彻底取消黄色独立联轴器；一体化 3x M2 贯通沉头螺钉直锁 M6 输出轴；标准工业法兰接口，4x M4 螺孔 BCD 40mm + 定位止口与走线孔")
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|
|
for k, (tag, cn, rear, d, xd, holder, driven_name) in enumerate(HL.JOINTS):
|
|
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|
|
j = JS[tag]
|
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|
|
add("M%d_%s" % (k + 1, tag), "%s 电机模组" % tag, place(motor, j.t), 0x9ca3af,
|
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|
|
printed=False, note="复用 电机.STEP")
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|
|
return JS
|
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|
|
CHAIN = ["root", "J1", "J2", "J3", "J4", "J5", "J6"]
|
|
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|
|
|
SEP = 74.0 # mm of separation per joint in the exploded view
|
|
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|
|
def explode_chain(p, JS, cents, gmean):
|
|
|
|
|
|
"""Explode as a readable stack, not along the joint axes.
|
|
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|
|
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|
|
|
|
|
|
Exploding each part along its own joint axis is physically honest but useless to read on
|
|
|
|
|
|
this arm: four of the six axes are parallel lateral Y lines, so everything piles up
|
|
|
|
|
|
sideways and the outlines overlap. Here each link steps DOWN the limb by one SEP per
|
|
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|
|
|
joint outboard, and that joint's motor + coupling kit then pulls out along its own axis -
|
|
|
|
|
|
so the drawing reads top-down in the same order you assemble it.
|
|
|
|
|
|
"""
|
|
|
|
|
|
grp = AB.GRP.get(p["name"], "root")
|
|
|
|
|
|
if grp == "root":
|
|
|
|
|
|
return [0.0, 0.0, 0.0]
|
|
|
|
|
|
k = CHAIN.index(grp)
|
|
|
|
|
|
off = [0.0, 0.0, -SEP * k]
|
|
|
|
|
|
j = JS.get(grp)
|
|
|
|
|
|
if j:
|
|
|
|
|
|
nm = p["name"]
|
|
|
|
|
|
w = 0.0
|
|
|
|
|
|
if "半联轴器" in nm or "抱箍" in nm:
|
|
|
|
|
|
w = 34.0 * (1.0 if ("A" in nm[-1:]) else -1.0)
|
|
|
|
|
|
elif nm.startswith("M"):
|
|
|
|
|
|
w = 62.0
|
|
|
|
|
|
for q in range(3):
|
|
|
|
|
|
off[q] += j.d[q] * w
|
|
|
|
|
|
return off
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def solids_first(path):
|
|
|
|
|
|
return solids_of(cq.importers.importStep(path).val())[0].wrapped
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
FILLET_R = float(os.environ.get("FILLET_R", "0"))
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if __name__ == "__main__":
|
|
|
|
|
|
JS = build()
|
|
|
|
|
|
if FILLET_R > 0:
|
|
|
|
|
|
from arm_build import vol_of, bbox_str
|
|
|
|
|
|
import filletlib as FL
|
|
|
|
|
|
tot = 0
|
|
|
|
|
|
for p in PARTS:
|
|
|
|
|
|
if not p["printed"]:
|
|
|
|
|
|
continue
|
|
|
|
|
|
others = [(FL._bb(q["shape"]), q["shape"]) for q in PARTS
|
|
|
|
|
|
if q is not p and q["vol"] > 1.0]
|
|
|
|
|
|
sh, n, sk = FL.round_internal(p["shape"], FILLET_R, others)
|
|
|
|
|
|
dv = (vol_of(sh) - p["vol"]) / 1000.0
|
|
|
|
|
|
tot += n
|
|
|
|
|
|
p["shape"], p["vol"], p["bb"] = sh, vol_of(sh), bbox_str(sh)
|
|
|
|
|
|
print(" fillet %-10s %2d corners @R%.1f %+.2f cm3 (%d skipped: clearance)"
|
|
|
|
|
|
% (p["name"], n, FILLET_R, dv, sk))
|
|
|
|
|
|
print(" fillet total: %d rounded corners" % tot)
|
|
|
|
|
|
print("HUMANOID %s roll %.0f shoulder %.0f elbow %.0f wrist %.0f tip %.0f L1 %.0f"
|
|
|
|
|
|
% (VERSION, Z_RL, Z_SH, Z_EI, Z_WR, Z_TIP, L1))
|
|
|
|
|
|
bad = 0
|
|
|
|
|
|
for p in PARTS:
|
|
|
|
|
|
if not p["printed"]:
|
|
|
|
|
|
continue
|
|
|
|
|
|
n = len(solids_of(p["shape"]))
|
|
|
|
|
|
if n != 1:
|
|
|
|
|
|
bad += 1
|
|
|
|
|
|
print(" %-12s %8.1f cm3 solids=%d%s" % (p["name"], p["vol"] / 1000.0, n,
|
|
|
|
|
|
"" if n == 1 else " <<< NOT ONE SOLID"))
|
|
|
|
|
|
print("single-solid failures: %d" % bad)
|
|
|
|
|
|
AB.explode_vec = explode_chain
|
|
|
|
|
|
bom = AB.export(JS)
|
|
|
|
|
|
cl = AB.collide()
|
|
|
|
|
|
print("COLLISION pairs=%d" % len(cl))
|
|
|
|
|
|
for r in cl[:30]:
|
|
|
|
|
|
print(" %-14s x %-14s %9.1f mm3 %s" % r)
|
|
|
|
|
|
sys.stdout.flush()
|
2026-09-27 00:28:49 +08:00
|
|
|
|
try:
|
|
|
|
|
|
from build_viewer import rebuild_viewer
|
|
|
|
|
|
rebuild_viewer()
|
|
|
|
|
|
except Exception as e:
|
|
|
|
|
|
print("rebuild_viewer error:", e)
|
|
|
|
|
|
sys.stdout.flush()
|
2026-09-26 18:05:21 +08:00
|
|
|
|
os._exit(0)
|
