loadpath 0.1.1__py3-none-any.whl

loadpath/evals/briefs/forearm-servo-link-fdm.json

@@ -0,0 +1,327 @@
+{
+ "id": "forearm-servo-link-fdm",
+ "brief": "Forearm link for my GRIP arm, carbon-fibre nylon (PA-CF) on an FDM printer, printed flat (layers\nalong +Z). One end screws onto the elbow servo's 25 mm aluminium disc horn: the horn's top face is\nz = 0 with its axis along Z through the origin, and the link sits on it with a solid 25 mm, 4 mm\nthick pad (z = 0 to 4) held by four M3 socket-head screws on a 20 mm circle at (10, 0), (0, 10),\n(-10, 0) and (0, -10), going down through 3.4 mm holes into the horn. Each head bears on top of\nthe pad and needs an 8 mm column clear above it for the hex key, and the horn's own centre screw\nneeds a 7 mm hole straight through the link over it. The other end, 100 mm along +X, holds a 608\nbearing (22 mm OD, 7 mm wide) with its axis along Z at (100, 0): seat z = 0 to 7 with at least 3\nmm of wall, pressed in from below, and the wrist shaft passes right through (10 mm hole). The link\nfits in x = -16 to 116, y = -16 to 16, z = 0 to 14. The elbow servo is a DS3225 (stall torque 2.5\nN.m about Z) and can stall with the far end blocked; the wrist and payload are 0.8 kg on a fast\narm (design for 2 g), pulling the bearing along -Y with their centre of mass 30 mm below the link\n(on the bearing axis at z = -30); and the bearing end can take a 10 N knock along -Z. Safety\nfactor 2, the bearing end may move at most 0.6 mm under any of these, and under 21 g.",
+ "attachments": [],
+ "tags": [
+  "arm",
+  "fdm",
+  "fasteners",
+  "bearing",
+  "moment",
+  "stiffness"
+ ],
+ "gold": {
+  "designSpace": [
+   {
+    "type": "box",
+    "min": [
+     -16.0,
+     -16.0,
+     0.0
+    ],
+    "max": [
+     116.0,
+     16.0,
+     14.0
+    ]
+   }
+  ],
+  "fasteners": [
+   {
+    "id": "horn-0",
+    "size": "M3",
+    "seat": [
+     10,
+     0,
+     4
+    ],
+    "direction": "-z",
+    "grip": 4,
+    "end": "face",
+    "headOn": "this",
+    "counterbore": 8
+   },
+   {
+    "id": "horn-1",
+    "size": "M3",
+    "seat": [
+     0,
+     10,
+     4
+    ],
+    "direction": "-z",
+    "grip": 4,
+    "end": "face",
+    "headOn": "this",
+    "counterbore": 8
+   },
+   {
+    "id": "horn-2",
+    "size": "M3",
+    "seat": [
+     -10,
+     0,
+     4
+    ],
+    "direction": "-z",
+    "grip": 4,
+    "end": "face",
+    "headOn": "this",
+    "counterbore": 8
+   },
+   {
+    "id": "horn-3",
+    "size": "M3",
+    "seat": [
+     0,
+     -10,
+     4
+    ],
+    "direction": "-z",
+    "grip": 4,
+    "end": "face",
+    "headOn": "this",
+    "counterbore": 8
+   }
+  ],
+  "preserve": [
+   {
+    "id": "bearing-ring",
+    "shape": {
+     "type": "cylinder",
+     "p0": [
+      100.0,
+      0.0,
+      0.0
+     ],
+     "p1": [
+      100.0,
+      0.0,
+      7.0
+     ],
+     "r": 14.0,
+     "rInner": 11.0
+    }
+   },
+   {
+    "id": "horn-pad",
+    "shape": {
+     "type": "cylinder",
+     "p0": [
+      0.0,
+      0.0,
+      0.0
+     ],
+     "p1": [
+      0.0,
+      0.0,
+      4.0
+     ],
+     "r": 12.5
+    }
+   }
+  ],
+  "keepOut": [
+   {
+    "id": "bearing",
+    "shape": {
+     "type": "cylinder",
+     "p0": [
+      100.0,
+      0.0,
+      -5.0
+     ],
+     "p1": [
+      100.0,
+      0.0,
+      7.0
+     ],
+     "r": 11.0
+    }
+   },
+   {
+    "id": "shaft",
+    "shape": {
+     "type": "cylinder",
+     "p0": [
+      100.0,
+      0.0,
+      -5.0
+     ],
+     "p1": [
+      100.0,
+      0.0,
+      20.0
+     ],
+     "r": 5.0
+    }
+   },
+   {
+    "id": "horn-screw",
+    "shape": {
+     "type": "cylinder",
+     "p0": [
+      0.0,
+      0.0,
+      -5.0
+     ],
+     "p1": [
+      0.0,
+      0.0,
+      20.0
+     ],
+     "r": 3.5
+    },
+    "bore": false
+   }
+  ],
+  "supports": [
+   {
+    "region": "horn-0-bore",
+    "fix": "xy"
+   },
+   {
+    "region": "horn-1-bore",
+    "fix": "xy"
+   },
+   {
+    "region": "horn-2-bore",
+    "fix": "xy"
+   },
+   {
+    "region": "horn-3-bore",
+    "fix": "xy"
+   },
+   {
+    "shape": {
+     "type": "union",
+     "shapes": [
+      {
+       "type": "cylinder",
+       "p0": [
+        10.0,
+        0.0,
+        -0.5
+       ],
+       "p1": [
+        10.0,
+        0.0,
+        0.3
+       ],
+       "r": 3.75
+      },
+      {
+       "type": "cylinder",
+       "p0": [
+        0.0,
+        10.0,
+        -0.5
+       ],
+       "p1": [
+        0.0,
+        10.0,
+        0.3
+       ],
+       "r": 3.75
+      },
+      {
+       "type": "cylinder",
+       "p0": [
+        -10.0,
+        0.0,
+        -0.5
+       ],
+       "p1": [
+        -10.0,
+        0.0,
+        0.3
+       ],
+       "r": 3.75
+      },
+      {
+       "type": "cylinder",
+       "p0": [
+        0.0,
+        -10.0,
+        -0.5
+       ],
+       "p1": [
+        0.0,
+        -10.0,
+        0.3
+       ],
+       "r": 3.75
+      }
+     ]
+    },
+    "fix": "z"
+   }
+  ],
+  "loadCases": [
+   {
+    "name": "stall",
+    "loads": [
+     {
+      "region": "bearing",
+      "force": [
+       0,
+       25,
+       0
+      ],
+      "distribution": "bearing"
+     }
+    ]
+   },
+   {
+    "name": "payload",
+    "loads": [
+     {
+      "region": "bearing",
+      "force": [
+       0,
+       -15.696,
+       0
+      ],
+      "at": [
+       100,
+       0,
+       -30
+      ],
+      "distribution": "bearing"
+     }
+    ]
+   },
+   {
+    "name": "knock",
+    "loads": [
+     {
+      "region": "bearing",
+      "force": [
+       0,
+       0,
+       -10
+      ]
+     }
+    ]
+   }
+  ],
+  "material": "pa-cf",
+  "process": {
+   "type": "fdm",
+   "buildDirection": "+z"
+  },
+  "goal": {
+   "safetyFactor": 2,
+   "maxDeflection": 0.6
+  },
+  "resolution": {
+   "maxElements": 20000
+  },
+  "name": "forearm-servo-link-fdm"
+ },
+ "pass": {
+  "safetyFactor": 2,
+  "maxDeflection": 0.6,
+  "maxMass": 21
+ }
+}

loadpath/evals/briefs/grip-pad-finger-mm.json

@@ -0,0 +1,354 @@
+{
+ "id": "grip-pad-finger-mm",
+ "kind": "multimat",
+ "brief": "A finger for my GRIP robot gripper, printed on a Bambu with the AMS in two materials: a rigid\ncore (PLA, PETG or PA-CF, your call) and a TPU 95A grip pad, printed flat (layers along Z).\nIt pivots on a 3 mm pin along Z at the origin (3.2 mm hole with 2.5 mm of wall round it); the\ndrive link pin is at (12, -8), also along Z, same hole and wall. The finger fits in x = -6 to\n70, y = -14 to 8, z = -5 to 5. The contact face is the +Y face from x = 38 to 70: put a 2 mm\nTPU pad there (y = 6 to 8, full height), all TPU through its thickness, with rigid material\nright behind it, and keep the pin bosses rigid. Loads: hold it at both pins; grip is 20 N on\nthe pad face pushing in -Y; slip is the same squeeze plus 8 N of friction along -X dragging the\npad (that's what peels pads off) and 4 N along Z. Safety factor 2 on the plastic and on the\nbond between the TPU and the core. Under 9 g please.",
+ "attachments": [],
+ "tags": [
+  "gripper",
+  "fdm",
+  "multimat",
+  "mass"
+ ],
+ "gold": {
+  "name": "grip-pad-finger-mm",
+  "designSpace": [
+   {
+    "type": "box",
+    "min": [
+     -6,
+     -14,
+     -5
+    ],
+    "max": [
+     70,
+     8,
+     5
+    ]
+   }
+  ],
+  "preserve": [
+   {
+    "id": "pivot-boss",
+    "shape": {
+     "type": "cylinder",
+     "p0": [
+      0,
+      0,
+      -5
+     ],
+     "p1": [
+      0,
+      0,
+      5
+     ],
+     "r": 4.1
+    }
+   },
+   {
+    "id": "link-boss",
+    "shape": {
+     "type": "cylinder",
+     "p0": [
+      12,
+      -8,
+      -5
+     ],
+     "p1": [
+      12,
+      -8,
+      5
+     ],
+     "r": 4.1
+    }
+   },
+   {
+    "id": "pad",
+    "shape": {
+     "type": "box",
+     "min": [
+      38,
+      6,
+      -5
+     ],
+     "max": [
+      70,
+      8,
+      5
+     ]
+    }
+   }
+  ],
+  "keepOut": [
+   {
+    "id": "pivot",
+    "shape": {
+     "type": "cylinder",
+     "p0": [
+      0,
+      0,
+      -7
+     ],
+     "p1": [
+      0,
+      0,
+      7
+     ],
+     "r": 1.6
+    }
+   },
+   {
+    "id": "link",
+    "shape": {
+     "type": "cylinder",
+     "p0": [
+      12,
+      -8,
+      -7
+     ],
+     "p1": [
+      12,
+      -8,
+      7
+     ],
+     "r": 1.6
+    }
+   }
+  ],
+  "supports": [
+   {
+    "region": "pivot"
+   },
+   {
+    "region": "link"
+   }
+  ],
+  "loadCases": [
+   {
+    "name": "grip",
+    "loads": [
+     {
+      "shape": {
+       "type": "box",
+       "min": [
+        38,
+        7.8,
+        -5
+       ],
+       "max": [
+        70,
+        8,
+        5
+       ]
+      },
+      "force": [
+       0,
+       -20,
+       0
+      ]
+     }
+    ]
+   },
+   {
+    "name": "slip",
+    "loads": [
+     {
+      "shape": {
+       "type": "box",
+       "min": [
+        38,
+        7.8,
+        -5
+       ],
+       "max": [
+        70,
+        8,
+        5
+       ]
+      },
+      "force": [
+       -8,
+       -20,
+       4
+      ]
+     }
+    ]
+   }
+  ],
+  "process": {
+   "type": "fdm",
+   "buildDirection": "+z"
+  },
+  "multiMaterial": {
+   "materials": [
+    "pla",
+    "tpu"
+   ],
+   "assign": [
+    {
+     "region": "pad",
+     "material": "tpu"
+    },
+    {
+     "region": "pivot-boss",
+     "material": "pla"
+    },
+    {
+     "region": "link-boss",
+     "material": "pla"
+    }
+   ],
+   "interfaceSafetyFactor": 2.0
+  },
+  "goal": {
+   "safetyFactor": 2.0
+  },
+  "resolution": {
+   "maxElements": 40000
+  }
+ },
+ "reference": [
+  {
+   "material": "tpu",
+   "shape": {
+    "type": "box",
+    "min": [
+     38,
+     6,
+     -5
+    ],
+    "max": [
+     70,
+     8,
+     5
+    ]
+   }
+  },
+  {
+   "material": "pla",
+   "shape": {
+    "type": "union",
+    "shapes": [
+     {
+      "type": "box",
+      "min": [
+       -2,
+       0,
+       -5
+      ],
+      "max": [
+       70,
+       6,
+       5
+      ]
+     },
+     {
+      "type": "box",
+      "min": [
+       8,
+       -10,
+       -5
+      ],
+      "max": [
+       16,
+       0,
+       5
+      ]
+     },
+     {
+      "type": "cylinder",
+      "p0": [
+       0,
+       0,
+       -5
+      ],
+      "p1": [
+       0,
+       0,
+       5
+      ],
+      "r": 4.1
+     },
+     {
+      "type": "cylinder",
+      "p0": [
+       12,
+       -8,
+       -5
+      ],
+      "p1": [
+       12,
+       -8,
+       5
+      ],
+      "r": 4.1
+     }
+    ]
+   }
+  }
+ ],
+ "pass": {
+  "safetyFactor": 2.0,
+  "interfaceSafetyFactor": 2.0,
+  "maxMass": 9,
+  "materials": [
+   "pla",
+   "petg",
+   "pa-cf",
+   "tpu"
+  ],
+  "minMaterials": 2,
+  "zones": [
+   {
+    "id": "pad",
+    "region": "pad",
+    "materials": [
+     "tpu"
+    ],
+    "minShare": 0.85,
+    "minFill": 0.9
+   },
+   {
+    "id": "backing",
+    "shape": {
+     "type": "box",
+     "min": [
+      38,
+      2,
+      -5
+     ],
+     "max": [
+      70,
+      6,
+      5
+     ]
+    },
+    "materials": [
+     "pla",
+     "petg",
+     "pa-cf"
+    ],
+    "minShare": 0.5
+   },
+   {
+    "id": "pivot-boss",
+    "region": "pivot-boss",
+    "materials": [
+     "pla",
+     "petg",
+     "pa-cf"
+    ],
+    "minShare": 0.9
+   },
+   {
+    "id": "link-boss",
+    "region": "link-boss",
+    "materials": [
+     "pla",
+     "petg",
+     "pa-cf"
+    ],
+    "minShare": 0.9
+   }
+  ]
+ }
+}