119 lines
4.5 KiB
Plaintext
119 lines
4.5 KiB
Plaintext
// J3 Robot Arm
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// Set Units
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@settings(defaultLengthUnit = in, kclVersion = 1.0)
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import plane002, axisJ2, axisJ3C, axisJ4, axisJ2ArmLength, axisJ3CArmLength, axisJ3CArmWidth, axisJ3CArmThickness from "globals.kcl"
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// Create Body of J3 Robot Arm
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sketch017 = startSketchOn(plane002)
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|> startProfile(at = [
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1.75 + axisJ2ArmLength * cos(axisJ2) - (axisJ3CArmWidth / 2 * sin(axisJ3C)),
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8 + axisJ2ArmLength * sin(axisJ2) + axisJ3CArmWidth / 2 * cos(axisJ3C)
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])
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|> arc(angleStart = 90 + axisJ3C, angleEnd = 270 + axisJ3C, radius = axisJ3CArmWidth / 2)
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|> angledLine(angle = axisJ3C, length = axisJ3CArmLength)
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|> arc(angleStart = 270 + axisJ3C, angleEnd = 90 + axisJ3C, radius = axisJ3CArmWidth / 2)
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|> line(endAbsolute = [profileStartX(%), profileStartY(%)], tag = $seg01)
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|> close()
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extrude017 = extrude(sketch017, length = axisJ3CArmThickness)
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sketch018 = startSketchOn(extrude017, face = END)
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|> circle(
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center = [
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1.75 + axisJ2ArmLength * cos(axisJ2),
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8 + axisJ2ArmLength * sin(axisJ2)
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],
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radius = 3.7 / 2,
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tag = $referenceEdge6,
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)
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extrude018 = extrude(sketch018, length = 0.15)
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|> fillet(radius = 0.1, tags = [getOppositeEdge(referenceEdge6)])
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// Draw Bolt Pattern on J3 Robot Arm
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sketch019 = startSketchOn(extrude018, face = END)
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|> circle(
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center = [
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1.75 + (axisJ2ArmLength - 1) * cos(axisJ2),
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8 + (axisJ2ArmLength - 1.5) * sin(axisJ2)
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],
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radius = 0.2,
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)
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|> patternCircular2d(
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center = [
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1.75 + axisJ2ArmLength * cos(axisJ2),
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8 + axisJ2ArmLength * sin(axisJ2)
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],
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instances = 8,
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arcDegrees = 360,
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rotateDuplicates = true,
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)
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extrude019 = extrude(sketch019, length = 0.15)
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// On the J3 Robot Arm Body, Create Mounting Clevis for Grabber Claw
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sketch020 = startSketchOn(extrude017, face = START)
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|> circle(
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center = [
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-1.75 - (axisJ2ArmLength * cos(axisJ2)) - (axisJ3CArmLength * cos(axisJ3C)),
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8 + axisJ2ArmLength * sin(axisJ2) + axisJ3CArmLength * sin(axisJ3C)
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],
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radius = axisJ3CArmWidth / 2,
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)
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extrude020 = extrude(sketch020, length = -0.5)
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sketch021 = startSketchOn(extrude017, face = END)
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|> circle(
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center = [
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1.75 + axisJ2ArmLength * cos(axisJ2) + axisJ3CArmLength * cos(axisJ3C),
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8 + axisJ2ArmLength * sin(axisJ2) + axisJ3CArmLength * sin(axisJ3C)
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],
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radius = axisJ3CArmWidth / 2.01,
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)
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extrude021 = extrude(sketch021, length = -0.5)
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// Define Grabber Claw Constants
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grabberLength = 7
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sketch022 = startSketchOn(extrude021, face = START)
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|> circle(center = [0, 0], radius = 0.10)
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extrude022 = extrude(sketch022, length = -0.01)
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// Build Upper Claw Finger
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sketch023 = startSketchOn(extrude022, face = START)
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|> startProfile(at = [
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1.75 + axisJ2ArmLength * cos(axisJ2) + axisJ3CArmLength * cos(axisJ3C),
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8 + axisJ2ArmLength * sin(axisJ2) + axisJ3CArmLength * sin(axisJ3C)
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])
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|> angledLine(angle = axisJ3C + axisJ4 / 2, length = grabberLength / 4)
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|> arc(angleStart = 150 + axisJ3C + axisJ4 / 2, angleEnd = 30 + axisJ3C + axisJ4 / 2, radius = grabberLength / 3)
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|> angledLine(angle = axisJ3C + axisJ4 / 2, length = grabberLength / 6)
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|> angledLine(angle = axisJ3C + axisJ4 / 2 + 132, length = grabberLength / 3.5)
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|> angledLine(angle = axisJ3C + axisJ4 / 2 + 160, length = grabberLength / 3.5)
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|> angledLine(angle = axisJ3C + axisJ4 / 2 + 200, length = grabberLength / 3)
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|> line(endAbsolute = [profileStartX(%), profileStartY(%)])
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|> close()
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extrude023 = extrude(sketch023, length = -1.5)
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// Build Lower Claw Finger
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sketch024 = startSketchOn(extrude022, face = START)
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|> startProfile(at = [
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1.75 + axisJ2ArmLength * cos(axisJ2) + axisJ3CArmLength * cos(axisJ3C),
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8 + axisJ2ArmLength * sin(axisJ2) + axisJ3CArmLength * sin(axisJ3C)
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])
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|> angledLine(angle = axisJ3C - (axisJ4 / 2), length = grabberLength / 4)
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|> arc(angleStart = 210 + axisJ3C - (axisJ4 / 2), angleEnd = 330 + axisJ3C - (axisJ4 / 2), radius = grabberLength / 3)
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|> angledLine(angle = axisJ3C - (axisJ4 / 2), length = grabberLength / 6)
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|> angledLine(angle = axisJ3C - (axisJ4 / 2) - 132, length = grabberLength / 3.5)
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|> angledLine(angle = axisJ3C - (axisJ4 / 2) - 160, length = grabberLength / 3.5)
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|> angledLine(angle = axisJ3C - (axisJ4 / 2) - 200, length = grabberLength / 3)
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|> line(endAbsolute = [profileStartX(%), profileStartY(%)])
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|> close()
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extrude(sketch024, length = -1.5)
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|> appearance(color = "#6572b3", metalness = 90, roughness = 90)
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