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

// J2 Axis for Robot Arm


// Set Units
@settings(defaultLengthUnit = in)


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

// Create Body of J2 Robot Arm
sketch011 = startSketchOn(plane003)
  |> startProfileAt([
       1.75 - (axisJ2ArmWidth / 2 * sin(toRadians(axisJ2))),
       8 + axisJ2ArmWidth / 2 * cos(toRadians(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, '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, 'START')
  |> circle(
     center = [
         -1.75 - (axisJ2ArmLength * cos(toRadians(axisJ2))),
         8 + axisJ2ArmLength * sin(toRadians(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, '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, 'END')
  |> circle(
       center = [
         -1.75 - ((axisJ2ArmLength - 1) * cos(toRadians(axisJ2))),
         8 + (axisJ2ArmLength - 1.5) * sin(toRadians(axisJ2))
       ],
       radius = 0.2
     )
  |> patternCircular2d(
       center = [
         -1.75 - (axisJ2ArmLength * cos(toRadians(axisJ2))),
         8 + axisJ2ArmLength * sin(toRadians(axisJ2))
       ],
       instances = 4,
       arcDegrees = 360,
       rotateDuplicates = true
     )

extrude015 = extrude(sketch015, length = 0.15)

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

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