loadpath 0.1.1__py3-none-any.whl

loadpath/evals/briefs/elbow-link-fatigue-fdm.json

@@ -0,0 +1,251 @@
+{
+ "id": "elbow-link-fatigue-fdm",
+ "brief": "Forearm link for my desktop robot arm, PA-CF (carbon-fibre nylon) on an FDM printer, printed flat\nwith layers along +Z. The elbow servo's 25 mm aluminium horn has its face at z = 0 and its axis on Z\nthrough the origin; the link sits on that face and is held by four M3 socket screws on a 16 mm\ncircle (at (8,0), (-8,0), (0,8), (0,-8)) through 3.4 mm holes, heads on top of a 5 mm thick hub (z =\n0 to 5), each with a 7.5 mm diameter column kept clear above it for the head and the hex key. Keep a\n6 mm hole clear on the axis (z = 0 up) for the horn's centre screw. The wrist end, 100 mm out along\n+X, carries two 10 mm OD bearings on a vertical axis at (100, 0): a 10 mm bore through z = 0 to 12\nwith at least 3 mm of wall round it. The wrist cable goes through an 8 mm vertical hole at (50, 0).\nThe link fits in x = -16 to 116, y = -16 to 16, z = 0 to 12. The elbow axis is horizontal, so the\nwrist's 0.8 kg swings in the link's plane (along -Y) on every move, at 2 g: that is 2 million cycles\nover its life, and I want a fatigue safety factor of 1.5 on it. It must also survive the elbow servo\nstalling at 2.5 N·m with the wrist jammed (once, not cycled) and a 10 N push on the wrist bearings\nalong the axis. Static safety factor 2, as light as you can, under 16 g.",
+ "attachments": [],
+ "tags": [
+  "arm",
+  "fdm",
+  "fatigue",
+  "fasteners"
+ ],
+ "gold": {
+  "name": "elbow-link-fatigue-fdm",
+  "designSpace": [
+   {
+    "type": "box",
+    "min": [
+     -16.0,
+     -16.0,
+     0.0
+    ],
+    "max": [
+     116.0,
+     16.0,
+     12.0
+    ]
+   }
+  ],
+  "preserve": [
+   {
+    "id": "wrist-boss",
+    "shape": {
+     "type": "cylinder",
+     "p0": [
+      100.0,
+      0.0,
+      0.0
+     ],
+     "p1": [
+      100.0,
+      0.0,
+      12.0
+     ],
+     "r": 8.0,
+     "rInner": 5.0
+    }
+   }
+  ],
+  "keepOut": [
+   {
+    "id": "horn-screw",
+    "shape": {
+     "type": "cylinder",
+     "p0": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "p1": [
+      0.0,
+      0.0,
+      13.0
+     ],
+     "r": 3.0
+    }
+   },
+   {
+    "id": "wrist-bearings",
+    "shape": {
+     "type": "cylinder",
+     "p0": [
+      100.0,
+      0.0,
+      -1.0
+     ],
+     "p1": [
+      100.0,
+      0.0,
+      13.0
+     ],
+     "r": 5.0
+    }
+   },
+   {
+    "id": "cable",
+    "shape": {
+     "type": "cylinder",
+     "p0": [
+      50.0,
+      0.0,
+      -1.0
+     ],
+     "p1": [
+      50.0,
+      0.0,
+      13.0
+     ],
+     "r": 4.0
+    }
+   }
+  ],
+  "fasteners": [
+   {
+    "id": "h1",
+    "size": "M3",
+    "seat": [
+     8,
+     0,
+     5.0
+    ],
+    "direction": "-z",
+    "grip": 5.0,
+    "end": "face"
+   },
+   {
+    "id": "h2",
+    "size": "M3",
+    "seat": [
+     -8,
+     0,
+     5.0
+    ],
+    "direction": "-z",
+    "grip": 5.0,
+    "end": "face"
+   },
+   {
+    "id": "h3",
+    "size": "M3",
+    "seat": [
+     0,
+     8,
+     5.0
+    ],
+    "direction": "-z",
+    "grip": 5.0,
+    "end": "face"
+   },
+   {
+    "id": "h4",
+    "size": "M3",
+    "seat": [
+     0,
+     -8,
+     5.0
+    ],
+    "direction": "-z",
+    "grip": 5.0,
+    "end": "face"
+   }
+  ],
+  "supports": [
+   {
+    "region": "h1-bore",
+    "fix": "xy"
+   },
+   {
+    "region": "h2-bore",
+    "fix": "xy"
+   },
+   {
+    "region": "h3-bore",
+    "fix": "xy"
+   },
+   {
+    "region": "h4-bore",
+    "fix": "xy"
+   },
+   {
+    "shape": {
+     "type": "cylinder",
+     "p0": [
+      0.0,
+      0.0,
+      -0.5
+     ],
+     "p1": [
+      0.0,
+      0.0,
+      0.3
+     ],
+     "r": 12.5
+    },
+    "fix": "z"
+   }
+  ],
+  "loadCases": [
+   {
+    "name": "duty",
+    "cycles": 2000000.0,
+    "loads": [
+     {
+      "region": "wrist-bearings",
+      "force": [
+       0,
+       -15.696000000000002,
+       0
+      ],
+      "distribution": "bearing"
+     }
+    ]
+   },
+   {
+    "name": "stall",
+    "loads": [
+     {
+      "region": "wrist-bearings",
+      "force": [
+       0,
+       -25.0,
+       0
+      ],
+      "distribution": "bearing"
+     }
+    ]
+   },
+   {
+    "name": "push",
+    "loads": [
+     {
+      "region": "wrist-bearings",
+      "force": [
+       0,
+       0,
+       -10.0
+      ]
+     }
+    ]
+   }
+  ],
+  "material": "pa-cf",
+  "process": {
+   "type": "fdm",
+   "buildDirection": "+z"
+  },
+  "durability": {
+   "safetyFactor": 1.5,
+   "constrain": true
+  },
+  "goal": {
+   "safetyFactor": 2
+  },
+  "resolution": {
+   "maxElements": 60000
+  }
+ },
+ "pass": {
+  "safetyFactor": 2,
+  "durabilitySafetyFactor": 1.5,
+  "maxMass": 16.0
+ }
+}

loadpath/evals/briefs/elbow-stop-pad-tpu.json

@@ -0,0 +1,39 @@
+{
+ "id": "elbow-stop-pad-tpu",
+ "kind": "lattice",
+ "brief": "My GRIP arm's elbow has a hard stop, and when the controller overshoots, the forearm slams into it.\nI want a TPU 95A pad, printed on my FDM printer (0.4 mm nozzle), to glue onto the stop. Worst case\nthe forearm arrives with about 1.2 kg of effective mass at 1 m/s, square onto the pad's top face.\nThe force on the stop has to stay under 220 N or the servo's gears are at risk, and the pad must not\nsquash more than 8 mm. It has a 30 x 30 mm footprint and can be at most 15 mm tall: put the stop face\nat z = 0, the pad centred on x = y = 0 and going up from there. Give it flat solid faces about 1 mm\nthick top and bottom, so it glues on and the forearm hits a surface rather than cell edges.",
+ "attachments": [],
+ "tags": [
+  "fdm",
+  "tpu",
+  "impact",
+  "lattice",
+  "arm"
+ ],
+ "pass": {
+  "impact": {
+   "material": "tpu",
+   "lattice": "gyroid",
+   "axis": "z",
+   "mass": 1.2,
+   "velocity": 1.0,
+   "forceLimit": 220,
+   "maxCrush": 8,
+   "box": {
+    "min": [
+     -15,
+     -15,
+     0
+    ],
+    "max": [
+     15,
+     15,
+     15
+    ]
+   },
+   "faces": true,
+   "cell": 8,
+   "minWall": 0.5
+  }
+ }
+}

loadpath/evals/briefs/forearm-fdm.json

@@ -0,0 +1,146 @@
+{
+ "id": "forearm-fdm",
+ "brief": "Forearm for a small robot arm, PETG on my FDM printer, printed lying flat so the layers stack\nalong Z. The elbow end has an 8 mm steel shaft running through it along Z at the origin (make\nthe hole 8.2 mm, with at least 3 mm of wall). At the wrist end the wrist servo bolts onto a flat\npad: the pad occupies x = 110 to 115, y = -12 to 12, z = -6 to 6, and it has two M3 clearance\nholes along X at y = +8 and y = -8 (z = 0). The whole part has to fit in x = -12 to 115,\ny = -15 to 15, z = -8 to 8. The wrist and gripper weigh 600 g and swing around. The shaft\nholds the forearm. It must not sag more than 0.5 mm at the wrist and needs a safety factor of 2.",
+ "attachments": [],
+ "tags": [
+  "arm",
+  "fdm",
+  "deflection"
+ ],
+ "gold": {
+  "designSpace": [
+   {
+    "type": "box",
+    "min": [
+     -12.0,
+     -15.0,
+     -8.0
+    ],
+    "max": [
+     115.0,
+     15.0,
+     8.0
+    ]
+   }
+  ],
+  "preserve": [
+   {
+    "id": "elbow-boss",
+    "shape": {
+     "type": "cylinder",
+     "center": [
+      0.0,
+      0.0,
+      0.0
+     ],
+     "axis": "z",
+     "length": 8.0,
+     "r": 7.1
+    }
+   },
+   {
+    "id": "wrist-pad",
+    "shape": {
+     "type": "box",
+     "min": [
+      110.0,
+      -12.0,
+      -6.0
+     ],
+     "max": [
+      115.0,
+      12.0,
+      6.0
+     ]
+    }
+   }
+  ],
+  "keepOut": [
+   {
+    "id": "shaft",
+    "shape": {
+     "type": "cylinder",
+     "center": [
+      0.0,
+      0.0,
+      0.0
+     ],
+     "axis": "z",
+     "length": 20.0,
+     "r": 4.1
+    }
+   },
+   {
+    "id": "m3-a",
+    "shape": {
+     "type": "cylinder",
+     "p0": [
+      105.0,
+      8.0,
+      0.0
+     ],
+     "p1": [
+      120.0,
+      8.0,
+      0.0
+     ],
+     "r": 1.7
+    }
+   },
+   {
+    "id": "m3-b",
+    "shape": {
+     "type": "cylinder",
+     "p0": [
+      105.0,
+      -8.0,
+      0.0
+     ],
+     "p1": [
+      120.0,
+      -8.0,
+      0.0
+     ],
+     "r": 1.7
+    }
+   }
+  ],
+  "supports": [
+   {
+    "region": "shaft"
+   }
+  ],
+  "loadCases": [
+   {
+    "name": "payload",
+    "loads": [
+     {
+      "region": "wrist-pad",
+      "force": [
+       0,
+       -8.829,
+       0
+      ]
+     }
+    ]
+   }
+  ],
+  "material": "petg",
+  "process": {
+   "type": "fdm",
+   "buildDirection": "+z"
+  },
+  "goal": {
+   "safetyFactor": 2,
+   "maxDeflection": 0.5
+  },
+  "name": "forearm-fdm",
+  "resolution": {
+   "maxElements": 60000
+  }
+ },
+ "pass": {
+  "safetyFactor": 2,
+  "maxDeflection": 0.5
+ }
+}