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# CAD Files for Syncgrips BLE enabled Paralletes
You can start a Docker container with the environment for creating CAD models using python and `build123d`. It spawns a jupyter notebook with integrated 3D renderer.
```bash
docker run -it --rm -v <YOUR_PROJ_FOLDER>:/home/cq -p 8888:8888 bwalter42/jupyter_cadquery:3.5.2
```

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{
"cells": [
{
"cell_type": "code",
"execution_count": 1,
"id": "a0a9f44b-e8bc-49c4-b44d-4c327e51e6e8",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Overwriting auto display for cadquery Workplane and Shape\n"
]
}
],
"source": [
"import timeit\n",
"tic = timeit.default_timer()\n",
"\n",
"import cadquery as cq\n",
"from build123d import *\n",
"\n",
"from jupyter_cadquery import (\n",
" versions,\n",
" show, PartGroup, Part, \n",
" get_viewer, close_viewer, get_viewers, close_viewers, open_viewer, set_defaults, get_defaults, open_viewer,\n",
" get_pick,\n",
")\n",
"from jupyter_cadquery.ocp_utils import webcol_to_cq\n",
"\n",
"from jupyter_cadquery.replay import replay, enable_replay, disable_replay\n",
"close_viewers()\n",
"set_defaults(\n",
" cad_width=640, \n",
" height=480, \n",
" viewer=\"syncgrips\"\n",
")\n",
"cv = open_viewer(\"syncgrips\",\n",
" anchor=\"right\", \n",
" glass=True, \n",
" theme=\"dark\",\n",
" tools=True) # sets default viewer\n"
]
},
{
"cell_type": "code",
"execution_count": 2,
"id": "13eee041-c6d5-4734-aedb-768b0be31bc4",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"100% ⋮————————————————————————————————————————————————————————————⋮ (3/3) 1.10s\n"
]
},
{
"data": {
"text/plain": [
"<cad_viewer_widget.widget.CadViewer at 0x72f00452f670>"
]
},
"execution_count": 2,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"sensor_width = 35\n",
"wall_thickness = 3\n",
"\n",
"w1 = sensor_width + 2* wall_thickness #sensor casing\n",
"w2 = 150 #sensor center \n",
"h = 85 # total height\n",
"h1 = 20 # sensor casing height\n",
"h2 = 12\n",
"h3 = 35# sensor casing + mpu height\n",
"r = 25 #grip radius\n",
"r1 = 8\n",
"locs = ((0,h+10), (-10,h-10),(10,h-10)) #locations of screws\n",
"handle_len = w2+w1-20-6\n",
"\n",
"\n",
"with BuildPart() as slim_cutout:\n",
" with BuildSketch(Plane.XY.offset(12)) as slim_sk:\n",
" Polygon((w2/2+10,50),(w2/2-w1+10,0),\\\n",
" (0,0),(0,60),(60,90),\\\n",
" align=Align.MIN)\n",
" mirror(about=Plane.YZ)\n",
" extrude(amount=-30)\n",
" chamfer(length=12, length2=20, objects=slim_cutout.edges().group_by(Axis.Z)[-1])\n",
"\n",
"slim_cutout2 = (Rotation(0,180,0)*Location((0,0,-w1))*slim_cutout.part)\n",
"\n",
"with BuildPart() as slim_cutout_mpu:\n",
" with BuildSketch(Plane.XY.offset(12)) as slim_sk_mpu:\n",
" with Locations((-w2/2-10,0)):\n",
" Polygon((w2/2-w1+10,0),(w2/2+10,50),\\\n",
" (60,90),(0,60),(-60,90),\\\n",
" (-w2/2-10,35),(-w2/2-w1/2+55,35),(-w2/2-w1/2+55,0),\n",
" align=Align.MIN)\n",
" #mirror(about=Plane.YZ)\n",
" raw_slim_cutout_mpu = extrude(amount=-30)\n",
" chamfer(length=12, length2=20, objects=slim_cutout_mpu.edges().group_by(Axis.Z)[-1][2])\n",
" chamfer(length2=12, length=20, objects=slim_cutout_mpu.edges().group_by(Axis.Z)[-1][2])\n",
" chamfer(length2=12, length=20, objects=slim_cutout_mpu.edges().group_by(Axis.Z)[-1][6])\n",
" chamfer(length2=12, length=10, objects=slim_cutout_mpu.edges().group_by(Axis.Z)[-1][2])\n",
"\n",
"with BuildPart() as slim_cutout2_mpu:\n",
" add(Location((0,0,47))*raw_slim_cutout_mpu)\n",
" chamfer(length=12, length2=20, objects=slim_cutout2_mpu.edges().group_by(Axis.Z)[0][2])\n",
" chamfer(length2=12, length=20, objects=slim_cutout2_mpu.edges().group_by(Axis.Z)[0][2])\n",
" chamfer(length2=12, length=20, objects=slim_cutout2_mpu.edges().group_by(Axis.Z)[0][6])\n",
" chamfer(length2=12, length=10, objects=slim_cutout2_mpu.edges().group_by(Axis.Z)[0][2])\n",
"\n",
"with BuildPart() as inner_cutout:\n",
" with BuildSketch(Plane.XY.offset(w1-10)) as handle_sk:\n",
" with Locations((0,h)):\n",
" Circle(r*2.4)\n",
" extrude(amount=30)\n",
" \n",
"with BuildPart() as screwholes:\n",
" with BuildSketch() as screwholes_sk:\n",
" with Locations(*locs):\n",
" Circle(1.5)\n",
" extrude(amount=12)\n",
" with BuildSketch() as screwholes_sk1:\n",
" with Locations(*locs):\n",
" Circle(3)\n",
" extrude(amount=2)\n",
" \n",
"r_sens = 6\n",
" \n",
"with BuildPart() as sensor_cutout:\n",
" with BuildSketch(Plane.XZ) as sensor_sk1:\n",
" d = 0\n",
" with Locations((w2/2+d,w1/2),(-w2/2-d,w1/2)):\n",
" Rectangle(sensor_width-4, sensor_width-4)\n",
" sensor_space = extrude(amount=-14)\n",
" faces = (sensor_space.edges().group_by(Axis.Y)[-1] | Axis.Z)\n",
" chamfer(objects=faces, length=6)\n",
" \n",
" with BuildSketch(Plane.XZ) as sensor_sk:\n",
" with Locations((w2/2,w1/2),(-w2/2,w1/2)):\n",
" RectangleRounded(sensor_width, sensor_width, r_sens)\n",
" extrude(amount=-10)\n",
" \n",
" \n",
"with BuildPart() as snapfit_cutout:\n",
" d = 2\n",
" l = 10\n",
" hc=3\n",
" with BuildSketch(Plane.XY.offset(w1/2-l/2)) as snap_sk:\n",
" with Locations((w2/2+w1/2-1.5*d,hc),(-w2/2-w1/2+1.5*d,hc)):\n",
" Rectangle(d, d, rotation=45)\n",
" extrude(amount=l)\n",
" \n",
"\n",
"with BuildPart() as cable_paths:\n",
" with BuildSketch(Plane.XZ) as sensor_sk:\n",
" with Locations((w2/2-w1/2+2,w1/2),(-w2/2+w1/2-2,w1/2)):\n",
" Rectangle(2, 4)\n",
" extrude(amount=-12)\n",
" \n",
"with BuildPart() as cable_paths_mpu:\n",
" with BuildSketch(Plane.XZ) as sensor_sk:\n",
" with Locations((w2/2-w1/2+2,w1/2)):\n",
" Rectangle(2, 4)\n",
" extrude(amount=-12)\n",
" with BuildSketch(Plane.XZ) as sensor_sk:\n",
" with Locations((-w2/2+w1/2-2,w1/2)):\n",
" Rectangle(2, 4)\n",
" extrude(amount=-22)\n",
" \n",
"with BuildPart() as tunnels: \n",
" with BuildLine() as tunnel_right:\n",
" Spline((w2/2-w1/2+1,8.5,w1/2),(0,h-r+3,w1/2), tangents=((-0.1,0.05,0),(0,1,0)))\n",
" with BuildSketch(Plane.YZ.offset(w2/2-w1/2+1)) as tunnel_hole:\n",
" with Locations((8.5, w1/2)):\n",
" Circle(3)\n",
" tunnel = sweep(path=tunnel_right, mode=Mode.ADD)\n",
" mirror(objects=tunnel, about=Plane.YZ)\n",
"\n",
"with BuildPart() as tunnels_mpu: \n",
" with BuildLine() as tunnel_right:\n",
" Spline((-w2/2-w1/2+54, h3-15+1.5, w1/2),(0, h-r+3, w1/2), tangents=((0.1,0.05,0),(0,1,0)))\n",
" with BuildSketch(Plane.YZ.offset(-w2/2-w1/2+54)) as tunnel_mpu_r_hole:\n",
" with Locations((h3-15+1.5, w1/2)):\n",
" Circle(3)\n",
" tunnel = sweep(path=tunnel_right, mode=Mode.ADD)\n",
" with BuildLine() as tunnel_left:\n",
" Spline((w2/2-w1/2,8.5,w1/2),(0,h-r+3,w1/2), tangents=((-0.1,0.05,0),(0,1,0)))\n",
" with BuildSketch(Plane.YZ.offset(w2/2-w1/2+1)) as tunnel_mpu_l_hole:\n",
" with Locations((8.5, w1/2)):\n",
" Circle(3)\n",
" sweep(path=tunnel_left, mode=Mode.ADD)\n",
" \n",
"mpu_width = 28\n",
"mpu_len = 53\n",
"mpu_h = 15\n",
"with BuildPart() as mpu_cutout:\n",
" lift = 20\n",
" with BuildSketch(Plane.XZ.offset(-h3-lift)) as mpu_sk:\n",
" with Locations((-w2/2-w1/2+mpu_len/2+2, w1/2)):\n",
" RectangleRounded(mpu_len,28, 4)\n",
" extrude(amount=lift+mpu_h)\n",
" \n",
"with BuildPart() as mpu_standoff:\n",
" standoff_len = 10\n",
" x = -(w2/2+w1/2-mpu_len-1)\n",
" y1 = w1/2-mpu_width/2+standoff_len/2\n",
" y2 = w1/2+mpu_width/2-standoff_len/2\n",
" with BuildSketch(Plane.XZ.offset(-h3+mpu_h)) as standoff_sk:\n",
" with Locations((x, y1),\\\n",
" (x, y2)):\n",
" Rectangle(2,standoff_len)\n",
" extrude(amount=-7)\n",
" \n",
"with BuildPart() as grip:\n",
" with BuildSketch() as base_sk:\n",
" Polygon((w2/2+w1/2,0),(w2/2-w1/2,0),\\\n",
" (w2/2-w1/2-20,h2),(0,h2),(0,h+2.3*r),\\\n",
" (w2/2-w1/2, h1+10),(w2/2+w1/2, h1),\\\n",
" align=Align.MIN)\n",
" mirror(about=Plane.YZ)\n",
" fillet(radius=r,objects=base_sk.vertices().group_by(Axis.Y)[-1])\n",
" fillet(radius=r*2,objects=base_sk.vertices().group_by(Axis.Y)[3])\n",
" fillet(radius=10,objects=base_sk.vertices().group_by(Axis.Y)[2])\n",
" fillet(radius=2*r,objects=base_sk.vertices().group_by(Axis.Y)[1])\n",
" extrude(amount=w1)\n",
" fillet(radius=r1, objects=grip.edges().group_by(Axis.Z)[0].sort_by(Axis.Y)[-1])\n",
" with BuildSketch(Plane.XY.offset(10)) as pole_cutout:\n",
" with Locations((0,h)):\n",
" Circle(r+0.5)\n",
" extrude(amount=100, mode=Mode.SUBTRACT)\n",
" fillet(radius=r1, objects=grip.edges().group_by(Axis.Y)[-6])\n",
" fillet(radius=r1, objects=grip.edges().group_by(Axis.X)[0].sort_by(Axis.Z)[-1])\n",
" add(screwholes,mode=Mode.SUBTRACT)\n",
" add(sensor_cutout,mode=Mode.SUBTRACT)\n",
" add(cable_paths, mode=Mode.SUBTRACT)\n",
" add(slim_cutout,mode=Mode.SUBTRACT)\n",
" add(slim_cutout2,mode=Mode.SUBTRACT)\n",
" add(tunnels,mode=Mode.SUBTRACT)\n",
" add(inner_cutout,mode=Mode.SUBTRACT)\n",
" add(snapfit_cutout, mode=Mode.SUBTRACT)\n",
" \n",
"with BuildPart() as grip_mpu:\n",
" with BuildSketch() as base_sk:\n",
" with Locations((-w2/2-w1/2,0)):\n",
" Polygon((w2/2+w1/2,0),(w2/2-w1/2,0),\\\n",
" (w2/2-w1/2-20,h2),(-w2/2+w1/2+20,h2),(-w2/2+w1/2,0),(-w2/2-w1/2,0),\\\n",
" (-w2/2-w1/2,h3),(-w2/2-w1/2+55,h3+1),\\\n",
" #(-r,h),\\\n",
" (-6.5,h+2.77*r),\\\n",
" #(r,h),\\\n",
" (w2/2-w1/2, h1+10),(w2/2+w1/2, h1),\\\n",
" \n",
" align=Align.MIN)\n",
" #mirror(about=Plane.YZ)\n",
" fillet(radius=r,objects=base_sk.vertices().group_by(Axis.Y)[-1])\n",
" fillet(radius=r,objects=base_sk.vertices().group_by(Axis.Y)[5])\n",
" fillet(radius=r*2,objects=base_sk.vertices().group_by(Axis.Y)[3])\n",
" fillet(radius=10,objects=base_sk.vertices().group_by(Axis.Y)[2])\n",
" fillet(radius=2*r,objects=base_sk.vertices().group_by(Axis.Y)[1])\n",
" extrude(amount=w1)\n",
" #\n",
" with BuildSketch(Plane.XY.offset(10)) as pole_cutout:\n",
" with Locations((0,h)):\n",
" Circle(r+.5)\n",
" extrude(amount=100, mode=Mode.SUBTRACT)\n",
" fillet(radius=r1, objects=grip_mpu.edges().sort_by(Axis.Y)[-7])\n",
" fillet(radius=r1, objects=grip_mpu.edges().sort_by(Axis.Y)[-6])\n",
" fillet(radius=r1, objects=grip_mpu.edges().group_by(Axis.Z)[0].sort_by(Axis.Y)[-1])\n",
" fillet(radius=r1, objects=grip_mpu.edges().group_by(Axis.Z)[-1].sort_by(Axis.Y)[-1])\n",
" add(screwholes, mode=Mode.SUBTRACT)\n",
" add(sensor_cutout, mode=Mode.SUBTRACT)\n",
" add(cable_paths_mpu, mode=Mode.SUBTRACT)\n",
" add(slim_cutout_mpu, mode=Mode.SUBTRACT)\n",
" add(slim_cutout2_mpu, mode=Mode.SUBTRACT)\n",
" add(tunnels_mpu, mode=Mode.SUBTRACT)\n",
" #usb slot\n",
" with BuildSketch(Plane.YZ.offset(-w2/2-w1/2)) as usb_sk:\n",
" with Locations((h3-6, w1/2)):\n",
" SlotCenterToCenter(6,4, rotation=90)\n",
" extrude(amount=10, mode=Mode.SUBTRACT)\n",
" add(mpu_cutout,mode=Mode.SUBTRACT)\n",
" add(inner_cutout,mode=Mode.SUBTRACT)\n",
" add(mpu_standoff)\n",
" add(snapfit_cutout, mode=Mode.SUBTRACT)\n",
"\n",
" \n",
"with BuildPart() as nut_m3_slot:\n",
" with BuildSketch() as base_sk:\n",
" sw = 3.3\n",
" RegularPolygon(sw,6)\n",
" with Locations((50,0)):\n",
" RegularPolygon(sw,6)\n",
" make_hull()\n",
" extrude(amount=3)\n",
"\n",
"with BuildPart() as handle:\n",
" with BuildSketch(Plane.XY.offset(10)) as handle_sk:\n",
" with Locations((0,h)):\n",
" Circle(r)\n",
" extrude(amount=handle_len)\n",
" with BuildSketch(Plane.XY.offset(10)) as screwholes_sk:\n",
" with Locations(*locs):\n",
" Circle(1.5)\n",
" extrude(amount=30, mode=Mode.SUBTRACT)\n",
" with BuildSketch(Plane.XY.offset(10+handle_len)) as screwholes_sk:\n",
" with Locations(*locs):\n",
" Circle(1.5)\n",
" extrude(amount=-30, mode=Mode.SUBTRACT)\n",
" # add tunnel\n",
" with BuildLine(Plane.YZ) as tnl:\n",
" rr=10\n",
" j = JernArc((h-r-0.5,w1/2), (1,0), arc_size=90, radius=rr)\n",
" l = Line(j@1, j@1+(0,handle_len-w1/2-2*rr))\n",
" JernArc(l@1, (0,1), arc_size=90, radius=rr)\n",
" with BuildSketch(Plane.XZ.offset(-h+r+0.5)) as tunnel_hole:\n",
" with Locations((0, w1/2)):\n",
" Circle(3)\n",
" sweep(path=tnl, mode=Mode.SUBTRACT)\n",
" # add nut slots \n",
" with Locations((0,10+h,20), (0,10+h, handle_len),\\\n",
" (10,h-10,20), (10,h-10, handle_len)):\n",
" add(nut_m3_slot, mode=Mode.SUBTRACT)\n",
" with Locations((0,10+h,20), (0,10+h, handle_len),\\\n",
" (10,h-10,20), (10,h-10, handle_len)):\n",
" add(nut_m3_slot, mode=Mode.SUBTRACT)\n",
" with Locations((-10,h-10,20), (-10,h-10, handle_len)):\n",
" add(Rotation(0,0,180)*nut_m3_slot.part, mode=Mode.SUBTRACT)\n",
" \n",
" \n",
"grip = Rotation(0,180,0)*Location((0,0,-handle_len-20))*grip.part\n",
"#show(grip_mpu, tunnels_mpu, transparent=True,reset_camera=False) \n",
"#show(grip,transparent=True,reset_camera=False)\n",
"#show(grip_mpu,mpu_standoff, transparent=True, reset_camera=False)\n",
"#show(grip, inner_cutout, transparent=True,reset_camera=False)\n",
"#show(tunnel_hole,tnl,grip_mpu,Rotation(0,180,0)*Location((0,0,-handle_len-20))*grip.part, handle,transparent=True,reset_camera=False)\n",
"show( grip, grip_mpu, handle,transparent=True, reset_camera=False)\n",
"#show(slim_cutout_mpu, reset_camera=False)\n",
"#show(grip, sensor_cutout, tunnel_right,transparent=True,reset_camera=False)"
]
},
{
"cell_type": "code",
"execution_count": 3,
"id": "ce464618-0d41-45ab-b17b-9ec93350721e",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"100% ⋮————————————————————————————————————————————————————————————⋮ (2/2) 0.06s\n"
]
},
{
"data": {
"text/plain": [
"<cad_viewer_widget.widget.CadViewer at 0x7cb5ddd01a20>"
]
},
"execution_count": 3,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"with BuildPart() as sensorfoot_housing:\n",
" with BuildSketch(Plane.XZ) as housing_sk:\n",
" with Locations((w2/2, w1/2)):\n",
" RectangleRounded(sensor_width-0.0, sensor_width-0.0, r_sens+0.5)\n",
"\n",
" extrude(amount=-6)\n",
" add(Location((-0.25,0,0))*snapfit_cutout.part)\n",
" opening=sensorfoot_housing.faces().sort_by(Axis.Y)[-1]\n",
" \n",
" offset(amount=-1, openings=opening, side=Side.RIGHT)\n",
" \n",
" with Locations((w2/2,-2,w1/2)):\n",
" Cone(bottom_radius=15, top_radius=12, height=6, rotation=(90,0,0), mode=Mode.SUBTRACT)\n",
" with Locations((w2/2-sensor_width/2, 6, w1/2)):\n",
" Box(7,10,7, mode=Mode.SUBTRACT)\n",
" \n",
"\n",
"with BuildPart() as sensorfoot_bbox:\n",
" with BuildSketch(Plane.XZ) as housing_sk:\n",
" with Locations((w2/2, w1/2)):\n",
" RectangleRounded(sensor_width-4, sensor_width-4, r_sens+0.5)\n",
" extrude(amount=20, both=True)\n",
" \n",
"x_sens = 14.25\n",
"with BuildPart() as sensorfoot:\n",
" with Locations((w2/2,-1.5,w1/2)):\n",
" Cone(bottom_radius=15, top_radius=12, height=6, rotation=(90,0,0), mode=Mode.ADD)\n",
" with Locations((w2/2,2.5,w1/2)):\n",
" Cone(bottom_radius=10, top_radius=15, height=2, rotation=(90,0,0), mode=Mode.ADD)\n",
" with Locations((w2/2-sensor_width/2+x_sens, 3.5, w1/2)):\n",
" Box(12,5,30, mode=Mode.SUBTRACT)\n",
" with Locations((w2/2-sensor_width/2+x_sens, 0, w1/2)):\n",
" Cone(bottom_radius=3, top_radius=2, height=2, rotation=(90,0,0), mode=Mode.SUBTRACT)\n",
" \n",
" #with Locations((w2/2-sensor_width/2+x_sens,2,w1/2)):\n",
" # Box(11,2,30)\n",
" with Locations((w2/2-sensor_width/2+5,2,w1/2), (w2/2+sensor_width/2-5,2,w1/2)):\n",
" Box(3,2,30)\n",
" add(sensorfoot_bbox, mode=Mode.INTERSECT)\n",
" \n",
"\n",
"\n",
"show( sensorfoot, sensorfoot_housing,transparent=True,reset_camera=False)"
]
},
{
"cell_type": "code",
"execution_count": 85,
"id": "03be83e0-4493-44b5-b38a-85c8007838c5",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"100% ⋮————————————————————————————————————————————————————————————⋮ (2/2) 0.07s\n"
]
},
{
"data": {
"text/plain": [
"<cad_viewer_widget.widget.CadViewer at 0x7cb5ddd01a20>"
]
},
"execution_count": 85,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"with BuildPart() as mpu_cover:\n",
" lift = 20\n",
" th = 1.\n",
" with BuildSketch(Plane.XZ.offset(-h3)) as mpu_sk:\n",
" with Locations((-w2/2-w1/2+mpu_len/2+2, w1/2)):\n",
" RectangleRounded(mpu_len,28, 4)\n",
" extrude(amount=1)\n",
" with BuildSketch(mpu_cover.faces().sort_by(Axis.Y)[0]) as stand_sk:\n",
" with Locations((0,-14+th/2), (0,14-th/2)):\n",
" Rectangle(20,th)\n",
" extrude(amount=14)\n",
" buttonlocs = ((-mpu_len/2+5,-t), (-mpu_len/2+5,t))\n",
" with BuildSketch(mpu_cover.faces().sort_by(Axis.Y)[-1]) as holes_sk:\n",
" t = 9\n",
" rr = 2\n",
" dd = 6\n",
" ddd = 0.4\n",
" with Locations(*buttonlocs):\n",
" with Locations((1,0)):\n",
" RectangleRounded(dd+4,dd,rr)\n",
" RectangleRounded(dd+4-ddd,dd-ddd,rr-ddd/2, mode=Mode.SUBTRACT)\n",
" with Locations((5,0)):\n",
" Rectangle(6,2, mode=Mode.SUBTRACT)\n",
" extrude(amount=-2, mode=Mode.SUBTRACT)\n",
" with BuildSketch(mpu_cover.faces().sort_by(Axis.Y)[-1]) as buttons_sk:\n",
" with Locations(*buttonlocs):\n",
" RectangleRounded(5,5,1.5)\n",
" extrude(amount=-5)\n",
" with BuildSketch(mpu_cover.faces().sort_by(Axis.Y)[-1]) as buttons_sk:\n",
" with Locations((2.5,0)):\n",
" Rectangle(32.5,19)\n",
" extrude(amount=-3, mode=Mode.SUBTRACT)\n",
" \n",
" \n",
"show(grip_mpu,mpu_cover,transparent=True,reset_camera=False)"
]
},
{
"cell_type": "code",
"execution_count": 86,
"id": "8d3ecdf0-94b8-4e65-95f9-785784f7cf57",
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"True"
]
},
"execution_count": 86,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"assert False\n",
"foldername = \"SyncGripSTEP/\"\n",
"export_step(sensorfoot.part,foldername+\"sensorfoot.step\")\n",
"export_step(sensorfoot_housing.part,foldername+\"sensorfoot-housing.step\")\n",
"export_step(grip,foldername+\"grip.step\")\n",
"export_step(grip_mpu.part,foldername+\"grip-mpu.step\")\n",
"export_step(handle.part,foldername+\"handle.step\")\n",
"export_step(mpu_cover.part, foldername+\"mpu_cover.step\")"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "4ec1e400-2779-4f43-94c5-07a8d18c0023",
"metadata": {},
"outputs": [],
"source": [
"with BuildPart() as nut_m3:\n",
" with BuildSketch() as base_sk:\n",
" RegularPolygon(3.005,6)\n",
" extrude(amount=2.4)\n",
" chamfer(nut_m3.edges(), length=0.2)\n",
" Cylinder(1.5,6, mode=Mode.SUBTRACT)\n",
" \n",
"\n",
" \n",
" \n",
"show(nut_m3, nut_m3_slot, transparent=True, reset_camera=False)"
]
},
{
"cell_type": "markdown",
"id": "1693d74f-3a6d-4206-91cd-51f126a8285d",
"metadata": {},
"source": [
"# export SVG"
]
},
{
"cell_type": "code",
"execution_count": 87,
"id": "09205ef3-d30d-4da8-a2f0-0f82e397b7cd",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"WARNING, exporting non-planar shape to 2D format.\n",
" This is probably not what you want.\n",
" 1820 points found outside the XY plane.\n"
]
}
],
"source": [
"foldername = \"SyncGripSVG/\"\n",
"\n",
"fullgrip = Compound(children=[grip, grip_mpu.part, handle.part])\n",
"grips = (Location((-200,0,0))*mirror(fullgrip, about=Plane.YZ)) + (Location((200,0,0))*Rotation(0,0,0)*fullgrip)\n",
"\n",
"\n",
"exporter = ExportSVG(unit= Unit.MM, \\\n",
" scale= 1, \\\n",
" margin= 0, \\\n",
" fit_to_stroke= True, \\\n",
" precision = 6, \\\n",
" fill_color= None, \\\n",
" line_weight = 0.09)\n",
"exporter.add_layer(\"Layer 1\", fill_color=(0, 0, 0), line_color=(255, 255, 255))\n",
"exporter.add_shape(grip, layer=\"Layer 1\")\n",
"exporter.write(foldername+\"grip.svg\")"
]
},
{
"cell_type": "code",
"execution_count": 110,
"id": "38da9b1c-8880-4ba2-abef-f9ae0bb3ddb5",
"metadata": {},
"outputs": [],
"source": [
"\n",
"def drawSVG(part,view_port_origin, filename):\n",
" visible, hidden = part.project_to_viewport(view_port_origin, viewport_up=(0,1,0))\n",
" max_dimension = max(*Compound(children=visible + hidden).bounding_box().size)\n",
" exporter = ExportSVG(scale=100 / max_dimension,\\\n",
" fill_color=(12,12,12),\n",
" line_weight=1)\n",
" exporter.add_layer(\"Visible\",\\\n",
" line_weight=0.3,\\\n",
" fill_color=None,\\\n",
" line_color=(75,75,75))\n",
" exporter.add_layer(\"Hidden\", \\\n",
" line_color=(144,44,77), \\\n",
" line_weight=0.2,\\\n",
" line_type=LineType.ISO_DOT)\n",
" exporter.add_shape(visible, layer=\"Visible\")\n",
" #exporter.add_shape(hidden, layer=\"Hidden\")\n",
" exporter.write(foldername+filename+\".svg\")"
]
},
{
"cell_type": "code",
"execution_count": 90,
"id": "068bc1c1-0d80-43cc-8773-e0aaba5a3772",
"metadata": {},
"outputs": [],
"source": [
"view_port_origin=(-200, 85, 250)\n",
"fullgrip = Compound(children=[grip, grip_mpu.part, handle.part])\n",
"drawSVG(fullgrip,view_port_origin, \"fullgrip\")"
]
},
{
"cell_type": "code",
"execution_count": 121,
"id": "fa7fbea4-6725-4b48-aca0-748084e43833",
"metadata": {},
"outputs": [],
"source": [
"view_port_origin=(w2/2, 90, -100)\n",
"#sensorfoot_explode = Compound(children=[Location((0,30,0))*sensorfoot.part, sensorfoot_housing.part])\n",
"sensorfoot_normal = Location((0,0,70))*Compound(children=[sensorfoot.part, sensorfoot_housing.part])\n",
"#drawout = Compound(children=[sensorfoot_explode, sensorfoot_normal])\n",
"drawSVG(sensorfoot_normal, view_port_origin, \"sensorfoot\")"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "b5e75454-c676-4ba7-9c4b-156cfe07c475",
"metadata": {},
"outputs": [],
"source": [
"rf = 30.5/2 # radius of a flask\n",
"nrows = 2\n",
"ncols = 3\n",
"\n",
"t = 2 # wall thickness\n",
"ti = 0.4 # wall thickness inbetween flasks\n",
"df = rf * 2 + ti\n",
"flask_locs = list((i*df,j*df) for i in range(ncols) for j in range(nrows))\n",
"\n",
"w = ncols*df-ti+2*t\n",
"d = nrows*df-ti+2*t\n",
"h = 25\n",
"\n",
"dd = rf+0.2\n",
"cuts_locs = list(((i+0.5)*df, j) for i in range(ncols-1) for j in [-rf-t-dd, d-rf-t+dd])\n",
"cuts1_locs = list((j,(i+0.5)*df) for i in range(nrows-1) for j in [-rf-t-dd, w-rf-t+dd])\n",
"\n",
"\n",
"with BuildPart() as flasks_case:\n",
" with BuildSketch() as case_sk:\n",
" with Locations((-rf-t,-rf-t)):\n",
" RectangleRounded(w, d, rf+t, align=Align.MIN)\n",
" with Locations(*cuts_locs):\n",
" Circle(rf+t, mode=Mode.SUBTRACT)\n",
" with Locations(*cuts1_locs):\n",
" Circle(rf+t, mode=Mode.SUBTRACT)\n",
" \n",
" \n",
" extrude(amount=h) \n",
" fillet(flasks_case.edges()|Axis.Z,radius=rf)\n",
" with BuildSketch() as flasks_sk:\n",
" with Locations(*flask_locs):\n",
" Circle(rf) \n",
" extrude(amount=h-t, mode=Mode.SUBTRACT)\n",
" with BuildSketch() as inner_sk:\n",
" with Locations((-rf+t, -rf+t )):\n",
" RectangleRounded(w-4*t, d-4*t, rf, align=Align.MIN)\n",
" extrude(amount=h-t-8, mode=Mode.SUBTRACT)\n",
" fillet(flasks_case.edges().sort_by(Axis.Z)[0], radius=1)\n",
" \n",
"show(flasks_case, reset_camera=False)"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "316a54b1-f07f-4b7c-88d2-288ee0f45306",
"metadata": {},
"outputs": [],
"source": [
"flasks_case.part.export_step(\"flasks.step\")"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "864538fc-57f4-4c15-bf15-7e76b5b0b5d4",
"metadata": {},
"outputs": [],
"source": [
"from math import sin, cos, asin,pi\n",
"\n",
"def arcd(y):\n",
" return 2*asin(y*0.5)\n",
"\n",
"def secant_phi(length, radius):\n",
" # calculates tht angle of a secant on a circle\n",
" # with given length and the radius of a circle\n",
" return arcd(length/radius)\n",
"\n",
"dt = 2 # how thick the holder should be\n",
"ds = 6 # how big the step at the end of the gripper should be\n",
"r1 = 15.25-dt # the radius of the hole of the weight plate\n",
"h1 = 22 # the height of the gripper\n",
"\n",
"\n",
"dphi = 15./180.*pi # degree of flex\n",
"# how big do i need to make the radius so when it is flexed, \n",
"# the original radius and angle is reached?\n",
"# when flexed, both grippers should be parallel\n",
"phi_flexed_cutout = secant_phi(r1*2 , r)\n",
"phi_flexed = 2*pi - phi_flexed_cutout\n",
"phi_unflexed = phi_flexed - dphi\n",
"# now we need the circumfence of that arc and the new radius\n",
"circ_flexed = 2*(phi_flexed)*r\n",
"r_unflexed = circ_flexed/(2*(phi_unflexed))\n",
"\n",
"r2 = r_unflexed / 2.0\n",
"phi0 = ((2*pi- phi_flexed)/2) - pi/2\n",
"\n",
"p1 = (r_unflexed * cos( phi0), r_unflexed * sin( phi0))\n",
"p2 = (p1[0] +h1*sin(dphi), p1[1]-h1*cos(dphi))\n",
"p3 =(p2[0] + ds *cos(dphi), p2[1]+ ds *sin(dphi))\n",
"\n",
"\n",
"with BuildPart() as calibration_plate_gripper:\n",
" with BuildSketch() as profile_sketch:\n",
" with BuildLine() as line_builder:\n",
" #a = CenterArc(center=(0,0),\\\n",
" # radius=r_unflexed, \\\n",
" # start_angle=phi0, \\\n",
" # arc_size=circ_flexed/2)\n",
" RadiusArc((0,r_unflexed), p1, r_unflexed)\n",
" line = Polyline(\\\n",
" p1,\\\n",
" p2,\\\n",
" p3,\\\n",
" close=False)\n",
" \n",
" \n",
" ##line1 = fillet(radius=6,objects=line.vertices())\n",
" w = offset(amount=dt, side=Side.LEFT) \n",
" \n",
" \n",
" make_face()\n",
" extrude(amount=7)\n",
" mirror(about=Plane.YZ)\n",
" \n",
" \n",
"show(calibration_plate_gripper, Cylinder(25,100),reset_camera=False, transparent=True)"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "9cf1c8e8-adff-4fb0-8453-73e5dbd54c8f",
"metadata": {},
"outputs": [],
"source": [
"foldername = \"SyncGripSTEP/\"\n",
"\n",
"calibration_plate_gripper.part.export_step(foldername+\"calibration_plate_gripper.step\")"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "32b7d490-319f-4aa7-8fa4-056bad961d6f",
"metadata": {},
"outputs": [],
"source": [
"phi_unflexed"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "669af16d-c398-4e9c-a048-5da88fc54efc",
"metadata": {},
"outputs": [],
"source": [
"phi_flexed"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "eb1e25ab-df4d-41a3-b5da-f2952efb8d32",
"metadata": {},
"outputs": [],
"source": [
"phi0"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "a5fd2ce3-b39f-4668-89d5-d1810172cdca",
"metadata": {},
"outputs": [],
"source": [
"circ_flexed"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "7f02d3a1-4bf3-4dce-ab79-e8cc97ccdf06",
"metadata": {},
"outputs": [],
"source": [
"offset?"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "ee4e8291-b51d-403a-a589-e48a0710e77c",
"metadata": {},
"outputs": [],
"source": []
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3 (ipykernel)",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.10.8"
}
},
"nbformat": 4,
"nbformat_minor": 5
}