modeling-app/public/kcl-samples/multi-axis-robot/robot-arm-j2.kcl

// J2 Axis for Robot Arm

// Set Units
@settings(defaultLengthUnit = in, kclVersion = 1.0)

import axisJ1, axisJ2, axisJ2ArmWidth, axisJ2ArmLength, axisJ2ArmThickness, plane003 from "globals.kcl"

// Create Body of J2 Robot Arm
sketch011 = startSketchOn(plane003)
  |> startProfile(at = [
       1.75 - (axisJ2ArmWidth / 2 * sin(axisJ2)),
       8 + axisJ2ArmWidth / 2 * cos(axisJ2)
     ])
  |> arc(angleStart = 90 + axisJ2, angleEnd = 270 + axisJ2, radius = axisJ2ArmWidth / 2)
  |> angledLine(angle = axisJ2, length = axisJ2ArmLength)
  |> arc(angleStart = -90 + axisJ2, angleEnd = 90 + axisJ2, radius = axisJ2ArmWidth / 2)
  |> line(endAbsolute = [profileStartX(%), profileStartY(%)])
  |> close()
extrude011 = extrude(sketch011, length = -axisJ2ArmThickness)

sketch012 = startSketchOn(extrude011, face = START)
  |> circle(center = [-1.75, 8], radius = 1.9, tag = $referenceEdge4)

extrude012 = extrude(sketch012, length = 0.15)
  |> fillet(radius = 0.1, tags = [getOppositeEdge(referenceEdge4)])
sketch013 = startSketchOn(extrude011, face = START)
  |> circle(
       center = [
         -1.75 - (axisJ2ArmLength * cos(axisJ2)),
         8 + axisJ2ArmLength * sin(axisJ2)
       ],
       radius = 1.9,
       tag = $referenceEdge5,
     )

extrude013 = extrude(sketch013, length = 1)
  |> fillet(radius = 0.1, tags = [getOppositeEdge(referenceEdge5)])

// Draw Bolt Patterns on J2 Robot Arm
sketch014 = startSketchOn(extrude012, face = END)
  |> circle(center = [-1.75, 6.75], radius = 0.2)
  |> patternCircular2d(
       center = [-1.75, 8],
       instances = 8,
       arcDegrees = 360,
       rotateDuplicates = true,
     )

extrude014 = extrude(sketch014, length = 0.15)

sketch015 = startSketchOn(extrude013, face = END)
  |> circle(
       center = [
         -1.75 - ((axisJ2ArmLength - 1) * cos(axisJ2)),
         8 + (axisJ2ArmLength - 1.5) * sin(axisJ2)
       ],
       radius = 0.2,
     )
  |> patternCircular2d(
       center = [
         -1.75 - (axisJ2ArmLength * cos(axisJ2)),
         8 + axisJ2ArmLength * sin(axisJ2)
       ],
       instances = 4,
       arcDegrees = 360,
       rotateDuplicates = true,
     )

extrude015 = extrude(sketch015, length = 0.15)

sketch016 = startSketchOn(extrude011, face = END)
  |> circle(
       center = [
         1.75 + axisJ2ArmLength * cos(axisJ2),
         8 + axisJ2ArmLength * sin(axisJ2)
       ],
       radius = 0.3,
     )

extrude(sketch016, length = 1)
  |> appearance(color = "#454545", metalness = 90, roughness = 90)