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Refactor assemble #75

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Refactor assemble #75

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8088d7a
added comment for test
LesHall Jan 27, 2015
99a41df
added individual parts instead of tray
LesHall Feb 5, 2015
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197 changes: 150 additions & 47 deletions Assembly/Assembly.scad
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Original file line number Diff line number Diff line change
@@ -1,7 +1,8 @@
/*
assemble e-NABLE hand prosthetic components into a customized design.

This program assembles the components from various e-NABLE designs, and scales and arranges them based on measurements.
This program assembles the components from various e-NABLE designs,
and scales and arranges them based on measurements.

Copyright (C) 2014, Laird Popkin

Expand All @@ -21,21 +22,52 @@ This program assembles the components from various e-NABLE designs, and scales a
Included designs:

- Assembler source is https://github.com/e-nable/e-NABLE-Assembler
- Cyborg Beast http://www.thingiverse.com/thing:261462 by JorgeZuniga, verson 1.4 and 2.0 by Marc Petrykowski
- Cyborg Beast http://www.thingiverse.com/thing:261462 by JorgeZuniga,
verson 1.4 and 2.0 by Marc Petrykowski
- Creo version of Cyborg Beast http://www.thingiverse.com/thing:340750 by Ryan Dailey
- Parametric Gauntlet from http://www.thingiverse.com/thing:270259 by David Orgeman
- Cyborg Beast Short Gauntlet (Karuna's Gauntlet) http://www.thingiverse.com/thing:270322 by Frankie Flood
- Cyborg Beast Short Gauntlet (Karuna's Gauntlet)
http://www.thingiverse.com/thing:270322 by Frankie Flood
- Parametric Finger v2 http://www.thingiverse.com/thing:257544 by David Orgeman

Note that while parameters are commented using Customizer notation, this script won't work in Customizer because it includes STL files.
Note that while parameters are commented using Customizer notation,
this script won't work in Customizer because it includes STL files.

The following are the includes for each component. Note that STL components are represented by a simple OpenSCAD wrapper.
Refactoring done by Les Hall starting Tue Jan 27, 2014.
*/

/* Cyborg_Beast/STL Files/STL Files (Marc Petrykowsk)/CyborgLeftPalm.scad */

echo("Version",version());

/* outline of sections in code */
/* ~<{ Includes }>~ */
/* ~<{ Selectors }>~ */
/* ~<{ Measurements }>~ */
/* ~<{ Fixtures }>~ */
/* ~<{ Label }>~ */
/* ~<{ Hidden }>~ */
/* ~<{ Calculations }>~ */
/* ~<{ Parametric Gauntlet }>~ */
/* ~<{ Offsets }>~ */
/* ~<{ Measurements }>~ */
/* ~<{ Draw Hand }>~ */
/* ~<{ Control Points }>~ */
/* ~<{ Error Routine }>~ */




echo("Version", version() );




/* ~<{ Includes }>~ */

/* The following are the includes for each component.
Note that STL components are represented by a simple OpenSCAD wrapper.
*/

/* Cyborg_Beast/STL Files/STL Files (Marc Petrykowsk)/CyborgLeftPalm.scad */
include <Cyborg Proximal Phalange.scad>
include <Cyborg Finger.scad>
include <CyborgLeftPalm.scad>
Expand All @@ -51,49 +83,49 @@ include <CreoCyborgThumbPhalange.scad>
include <CreoCyborgThumbFinger.scad>

/* Raptor */
include <EH2LeftPalm.scad> // left palm
include <EH2Gauntlet.scad> // gauntlet
include <EH2ProximalPhalange.scad> // for all fingers
include <EH2Fingertip.scad> // all sizes
include <EH2Parts.scad> // all other parts
include <EH2LeftPalm.scad> // left palm
include <EH2Gauntlet.scad> // gauntlet
include <EH2ProximalPhalange.scad> // for all fingers
include <EH2Fingertip.scad> // all sizes
include <EH2Parts.scad> // all other parts

/* David's Finger */
include <../david-Finger/David-FingerProximal.scad> // Proximal
include <../david-Finger/David-FingerDistal2.scad> // Distal
include <../david-Finger/David-FingerDistal2.scad> // Distal

/* Other parts */
include <ModelArm.scad> // uses full measurements to render arm
include <KarunaGauntlet.scad> // Karuna's Gauntlet
include <../Parametric_Gauntlet/David-Gauntlet.scad> // David's parametric gauntlet
include <../Cyborg_Beast/OpenSCAD Files/cyborgbeast07e.scad> // MakerBlock's OpenSCAD Cyborg Beast
include <ModelArm.scad> // uses full measurements to render arm
include <KarunaGauntlet.scad> // Karuna's Gauntlet
include <../Parametric_Gauntlet/David-Gauntlet.scad> // David's parametric gauntlet
include <../Cyborg_Beast/OpenSCAD Files/cyborgbeast07e.scad> // MakerBlock's OpenSCAD Cyborg Beast

/* [Selectors] */



/* ~<{ Selectors }>~ */

/* [Selectors] */
/*
Good view: [ 54.30, 0.00, 341.60 ]

Note that all params are overridden by OpenSCAD's command line parameters.
e.g. 'openscad Assembly.scad -D part=2' would run OpenSCAD and render part 2.
The following assignments serve defaults for stand-alone testing.

Selectors
*/

// Part to render/print
part = 0; //[-1: Exploded, 0:Assembled, 1:Gauntlet, 2:Palm, 3:Finger Proximal, 4:Finger Distal Medium, 5:Thumb Proximal, 6:Thumb Distal, 7:Other Parts, 8:Finger Distal Short, 9:Finger Distal Long, 10:Hinge Caps]
part = 0; //[-1: Exploded, 0:Assembled, 1:Gauntlet, 2:Palm, 3:Finger Proximal, 4:Finger Distal Medium, 5:Thumb Proximal, 6:Thumb Distal, 7:Other Parts, 8:Finger Distal Short, 9:Finger Distal Long, 10:Hinge Caps, 11:EHtensioner, 12:EHhingePins, 13:EHhexPins, 14:EHdovetail]
echo("part ",part);

/* flags useful for development/debugging */

showGuide = 0; // Set to 1 to show the target size and location of the palm, to check alignment
showControls = 0; // Set to 1 to show control points (elbow, wrist, etc., joints) in assembly
showGuide = 0; // Set to 1 to show the target size and location of the palm, to check alignment
showControls = 0; // Set to 1 to show control points (elbow, wrist, etc., joints) in assembly

/* Select design options */

// Which finger design do you like
fingerSelect = 1; //[1:Cyborg Beast with Bumps, 2:David, 3:Creo Cyborg Beast, 4:e-Nable Hand 2.0, 5: Raptor Fingers, no supports, 6:Cyborg Beast, No Bumps, ]
// Which finger design do you like?
fingerSelect = 1; //[1:Cyborg Beast with Bumps, 2:David, 3:Creo Cyborg Beast, 4:e-Nable Hand 2.0, 5: Raptor Fingers, no supports, 6:Cyborg Beast, No Bumps, ]
echo("fingerSelect ",fingerSelect);

// set cyborgFingers to one if the finger selected is a cyborg finger
cyborgFingers = ((fingerSelect==1) || (fingerSelect==6));

// Which palm design do you like?
Expand All @@ -108,9 +140,19 @@ gauntletSelect = 7; //[1:Parametric Gauntlet, 2:Karuna Short Gauntlet, 3:Raptor,
echo("gauntletSelect ",gauntletSelect);
isFlared = ((gauntletSelect==5) || (gauntletSelect==6));
echo("is flared ",isFlared);

echo(str("*** part-h",prostheticHand,"-a",palmSelect,"-f",fingerSelect,"-g",gauntletSelect,"-",part,".stl"));

// Which hand is the prosthetic for?
prostheticHand=1; // [0:Left, 1:Right for mirroring hand]
echo("prosthetic hand ",prostheticHand);
pHand = prostheticHand;
echo("pHand ",pHand);




/* ~<{ Measurements }>~ */

/* [Measurements] */
// See Measurement Guide at:
// https://docs.google.com/a/popk.in/document/d/1LX3tBpio-6IsMMo3aaUdR-mLwWdv1jS4ooeEHb79JYo for details.
Expand Down Expand Up @@ -159,29 +201,23 @@ RightExtension = 0;
// Padding thickness (mm) between hand and parts
padding = 5;

// Which hand is the prosthetic for?
prostheticHand=1; // [0:Left, 1:Right for mirroring hand]
echo("prosthetic hand ",prostheticHand);
pHand = prostheticHand;
echo("pHand ",pHand);

// pack in arrays to pass around more easily.
// e,g, Left4 = measurements[0][4], Right9 = measurements[1][9].
// measurements[0][0] is the prosthetic hand, measurements[1][0] is the other one.

measurements = [[pHand, Left1, Left2, Left3, Left4, Left5, Left6, Left7,
Left8, Left9, Left10, LeftFlexion, LeftExtension],
[1-pHand, Right1, Right2, Right3, Right4, Right5, Right6, Right7,
Right8, Right9, Right10, RightFlexion, RightExtension]];

//Comment out except when testing code:


//measurements = [[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],[1, 0, 0, 0, 0, 55, 0, 0, 55, 71, 0, 0, 0]];

echo("Measurements: prosthetic", measurements[0]);
echo("Measurements: full", measurements[1]);




/* ~<{ Fixtures }>~ */

/* [Fixtures] */

// MM diameter of wrist bolt. M5=5.5, M3=3.3, etc.
Expand All @@ -193,11 +229,23 @@ JointBolt = 3.3;
// MM diameter of thumb bolt. M5=5.5, M3=3.3, etc.
ThumbBolt = 3.3;





/* ~<{ Label }>~ */

/* [Label] */

label="http://e-nable.me/"; // "http://e-NABLE.me/12345"
font="Letters.dxf";





/* ~<{ Hidden }>~ */

/* [Hidden] */

// Constants to make code more readable
Expand All @@ -207,6 +255,12 @@ DavidFingers = 2;
CyborgBeastPalm = 1;
CBParametricPalm = 2;





/* ~<{ Calculations }>~ */

// Calculations

// true if we should print a thumb, false if not. This logic will
Expand All @@ -225,29 +279,34 @@ fullHand = 1-pHand;

if (showGuide) %translate([0,targetLen/2,0]) cube([targetWidth, targetLen, 5], center=true);



/* ~<{ Parametric Gauntlet }>~ */

/* [Parametric Gauntlet] */

// Parametric Gauntlet parameters
Print_Tuners=false;//default value true
gauntletOffset = [0, -8, -4];
Pivot_Screw_Size=M4;

// Offset for Cyborg Beast Parametric Palm



/* ~<{ Offsets }>~ */

// Offset for Cyborg Beast Parametric Palm
parametricPalmOffset = [-21.5,25.5,-18];

// offsets of Cyborg Beast finger to align to palm

fingerOffset = [15, 58,-4];

// offset for David Finger to align to palm

davidFingerProximalOffset = [20,74,-6];
davidFingerDistalOffset = [20,74+38,3];
Scale_Factor=.8;

// offsets of proximal phalange to align to palm

phalangeOffset = [38, 52, -5];

// finger spacing
Expand All @@ -259,8 +318,12 @@ phalangeOffset = [38, 52, -5];
// elbowControl = end of elbow
// tipControl = center of fingertips

//echo(measurements[pHand]);



/* ~<{ Measurements }>~ */

//echo(measurements[pHand]);
wristControl = [0,0,0];

// Hacked the following to force palm length scaling to match
Expand Down Expand Up @@ -329,8 +392,12 @@ thumbRotate = isRaptor? EHThumbRotate : (palmSelect==1)||(palmSelect==4)? CBThum

fingerSpacing = isRaptor? EHFingerSpacing : (palmSelect==1)||(palmSelect==4)? CBFingerSpacing : CCBFingerSpacing; // spacing of fingers for CB and CCB models (before scaling)

// draw what's asked for



/* ~<{ Draw Hand }>~ */

// draw what's asked for
doEverything(prostheticHand);

/* -- this doesn't work because mirroring inverts normals. so we hack around it.
Expand Down Expand Up @@ -499,7 +566,30 @@ module doEverything(prostheticHand)
}
else fail("This design does not contain hinge caps");
}
}
if (part==11) {
if (isRaptor && haveGauntlet) {
EHtensioner(scaleL, scaleW, thumb);
}
else fail("This design does not contain ****");
}
if (part==12) {
if (isRaptor && haveGauntlet) {
EHhingePins(scaleL, scaleW);
}
else fail("This design does not contain ****");
}
if (part==13) {
if (isRaptor && haveGauntlet) {
EHhexPins(scaleL, scaleW);
}
else fail("This design does not contain ****");
}
if (part==14) {
if (isRaptor && haveGauntlet) {
EHdovetail(scaleL, scaleW, flare=flare);
}
else fail("This design does not contain ****");
}

// Draw all of the parts. Like above but translating to appropriate positions.

Expand Down Expand Up @@ -698,6 +788,11 @@ module assembled(CBscale, CBscaleW, CCBscale, CCBscaleW, EHscale, EHscaleW, scal
//showControlPoints();
}




/* ~<{ Control Points }>~ */

module showControlPoints() {
translate(wristControl) color("yellow") sphere(5);
translate(knuckleControl) color("blue") sphere(15);
Expand All @@ -706,6 +801,10 @@ module showControlPoints() {
}




/* ~<{ Error Routine }>~ */

// return this if there's an error
module fail(msg) {
echo(str("ERROR: ",msg));
Expand All @@ -717,3 +816,7 @@ module fail(msg) {
color("white") cylinder(r=15,h=.5);
}
}