loadpath 0.1.1__py3-none-any.whl

loadpath/evals/cases/grip-upper-arm.json

@@ -0,0 +1,253 @@
+{
+  "name": "grip-upper-arm",
+  "description": "GRIP's upper arm (github.com/connorwhite-online/grip, SLS edition), rebuilt generatively from its interfaces: a bolt ring on the J2 output flange with its four M3 bolts and the hex-driver access that runs through the link to them, the J3 elbow socket (a 5 mm sleeve round the drive housing and the ledge its inserts sit in), the NEMA 17 motor and its CAN driver hanging below it, the cable run, and clearance for the forearm swinging past the elbow. Loads: reaching horizontally with 1 kg at the gripper (distal weight about 3.3 kg x 1.5, plus the J3 holding torque), J3 at its rated 13 N\u00b7m, and a 20 N push along the joint axis. Goal: no softer at the elbow than the original under the same loads (0.54 mm reaching), safety factor 2, as light as possible. The original verifies at 214 g.",
+  "designSpace": [
+    {
+      "type": "box",
+      "min": [-50, -90, 150],
+      "max": [50, -30.5, 440]
+    }
+  ],
+  "preserve": [
+    {
+      "id": "shoulder-hub",
+      "shape": {
+        "type": "cylinder",
+        "p0": [0, -34.5, 200],
+        "p1": [0, -30.5, 200],
+        "r": 24,
+        "rInner": 12
+      }
+    },
+    {
+      "id": "elbow-socket",
+      "shape": {
+        "type": "cylinder",
+        "p0": [0, -74.5, 387],
+        "p1": [0, -51.5, 387],
+        "r": 48.35,
+        "rInner": 43.35
+      }
+    },
+    {
+      "id": "elbow-ledge",
+      "shape": {
+        "type": "cylinder",
+        "p0": [0, -80.5, 387],
+        "p1": [0, -74.5, 387],
+        "r": 48.35,
+        "rInner": 31
+      }
+    }
+  ],
+  "keepOut": [
+    {
+      "id": "hub-bolt-0",
+      "shape": {
+        "type": "cylinder",
+        "p0": [12.728, -29.5, 212.728],
+        "p1": [12.728, -41, 212.728],
+        "r": 1.7
+      }
+    },
+    {
+      "id": "hub-bolt-1",
+      "shape": {
+        "type": "cylinder",
+        "p0": [-12.728, -29.5, 212.728],
+        "p1": [-12.728, -41, 212.728],
+        "r": 1.7
+      }
+    },
+    {
+      "id": "hub-bolt-2",
+      "shape": {
+        "type": "cylinder",
+        "p0": [-12.728, -29.5, 187.272],
+        "p1": [-12.728, -41, 187.272],
+        "r": 1.7
+      }
+    },
+    {
+      "id": "hub-bolt-3",
+      "shape": {
+        "type": "cylinder",
+        "p0": [12.728, -29.5, 187.272],
+        "p1": [12.728, -41, 187.272],
+        "r": 1.7
+      }
+    },
+    {
+      "id": "hub-driver-0",
+      "shape": {
+        "type": "cylinder",
+        "p0": [12.728, -33.5, 212.728],
+        "p1": [12.728, -95, 212.728],
+        "r": 3.0
+      }
+    },
+    {
+      "id": "hub-driver-1",
+      "shape": {
+        "type": "cylinder",
+        "p0": [-12.728, -33.5, 212.728],
+        "p1": [-12.728, -95, 212.728],
+        "r": 3.0
+      }
+    },
+    {
+      "id": "hub-driver-2",
+      "shape": {
+        "type": "cylinder",
+        "p0": [-12.728, -33.5, 187.272],
+        "p1": [-12.728, -95, 187.272],
+        "r": 3.0
+      }
+    },
+    {
+      "id": "hub-driver-3",
+      "shape": {
+        "type": "cylinder",
+        "p0": [12.728, -33.5, 187.272],
+        "p1": [12.728, -95, 187.272],
+        "r": 3.0
+      }
+    },
+    {
+      "id": "j3-drive",
+      "shape": {
+        "type": "cylinder",
+        "p0": [0, -74.5, 387],
+        "p1": [0, -29, 387],
+        "r": 43.35
+      }
+    },
+    {
+      "id": "j3-motor",
+      "shape": {
+        "type": "box",
+        "min": [-21.75, -135.5, 365.25],
+        "max": [21.75, -74.5, 408.75]
+      }
+    },
+    {
+      "id": "j3-driver",
+      "shape": {
+        "type": "box",
+        "min": [-21.75, -152.5, 365.25],
+        "max": [21.75, -133.5, 408.75]
+      }
+    },
+    {
+      "id": "forearm-sweep",
+      "shape": {
+        "type": "cylinder",
+        "p0": [0, -41, 387],
+        "p1": [0, -28, 387],
+        "r": 55
+      }
+    },
+    {
+      "id": "cable-1",
+      "shape": {
+        "type": "cylinder",
+        "p0": [0, -52, 245],
+        "p1": [0, -57, 300],
+        "r": 5
+      }
+    },
+    {
+      "id": "cable-2",
+      "shape": {
+        "type": "cylinder",
+        "p0": [0, -57, 300],
+        "p1": [0, -64, 345],
+        "r": 5
+      }
+    },
+    {
+      "id": "cable-3",
+      "shape": {
+        "type": "cylinder",
+        "p0": [0, -64, 345],
+        "p1": [0, -90, 375],
+        "r": 5
+      }
+    }
+  ],
+  "supports": [
+    {
+      "region": "hub-bolt-0"
+    },
+    {
+      "region": "hub-bolt-1"
+    },
+    {
+      "region": "hub-bolt-2"
+    },
+    {
+      "region": "hub-bolt-3"
+    },
+    {
+      "shape": {
+        "type": "cylinder",
+        "p0": [0, -31, 200],
+        "p1": [0, -30, 200],
+        "r": 24
+      },
+      "fix": "y"
+    }
+  ],
+  "loadCases": [
+    {
+      "name": "reach",
+      "loads": [
+        {
+          "region": "elbow-socket",
+          "force": [-50, 0, 0],
+          "moment": [0, 10000, 0]
+        }
+      ]
+    },
+    {
+      "name": "j3-max-torque",
+      "loads": [
+        {
+          "region": "elbow-socket",
+          "moment": [0, 13000, 0]
+        }
+      ]
+    },
+    {
+      "name": "axial-push",
+      "loads": [
+        {
+          "region": "elbow-socket",
+          "force": [0, -20, 0]
+        }
+      ]
+    }
+  ],
+  "material": "pa12-gf",
+  "goal": {
+    "safetyFactor": 2.0,
+    "maxDeflection": 0.54,
+    "volumeFraction": 0.15
+  },
+  "minMember": 3.0,
+  "symmetry": [
+    "x"
+  ],
+  "resolution": {
+    "maxElements": 80000
+  },
+  "expect": {
+    "maxDeflection": 0.54,
+    "minSafetyFactor": 2.0,
+    "maxKeepOutIntrusion": 1.0,
+    "maxPreserveMissing": 1.0,
+    "bodies": 1,
+    "maxMass": 214,
+    "maxBoundaryCutArea": 1300
+  }
+}