// Global constants for the multi-axis robot

// Set Units
@settings(defaultLengthUnit = in)

// Axis Angles
export axisJ4 = 25
export axisJ3 = 60
export axisJ2 = 110
export axisJ1 = 80

// Robot Arm Base
export basePlateRadius = 5
export basePlateThickness = 0.5
export baseChamfer = 2
export baseHeight = 5

// J2 Axis for Robot Arm
export axisJ2ArmLength = 31
export axisJ2ArmWidth = 4
export axisJ2ArmThickness = 2.5

// J3 Axis for Robot Arm
export axisJ3C = axisJ3 - 180 + axisJ2
export axisJ3CArmLength = 20
export axisJ3CArmWidth = 3.75
export axisJ3CArmThickness = 2.5

// Planes
export plane001 = {
    plane = {
      origin = [0.0, 0.0, baseHeight - 1.5 + 0.1],
      xAxis = [1.0, 0.0, 0.0],
      yAxis = [0.0, 1.0, 0.0],
      zAxis = [0.0, 0.0, 1.0]
    }
  }

export plane002 = {
    plane = {
      origin = [0.0, 0.0, 0.0],
      xAxis = [
        sin(toRadians(axisJ1)),
        cos(toRadians(axisJ1)),
        0.0
      ],
      yAxis = [0.0, 0.0, 1.0],
      zAxis = [1.0, 0.0, 0.0]
    }
  }

// Define Plane to Move J2 Axis Robot Arm
export plane003 = {
    plane = {
      origin = [-0.1, 0.0, 0.0],
      xAxis = [
        sin(toRadians(axisJ1)),
        cos(toRadians(axisJ1)),
        0.0
      ],
      yAxis = [0.0, 0.0, 1.0],
      zAxis = [1.0, 0.0, 0.0]
    }
  }

globals

// Robot Arm Base


// Set Units
@settings(defaultLengthUnit = in)


// Import Constants
import basePlateRadius, basePlateThickness, baseChamfer, baseHeight from "globals.kcl"

// Base Plate
sketch001 = startSketchOn('XY')
  |> startProfileAt([-basePlateRadius, -basePlateRadius], %)
  |> angledLine([0, 2 * basePlateRadius], %, $rectangleSegmentA001)
  |> angledLine([
       segAng(rectangleSegmentA001) + 90,
       2 * basePlateRadius
     ], %, $rectangleSegmentB001)
  |> angledLine([
       segAng(rectangleSegmentA001),
       -segLen(rectangleSegmentA001)
     ], %, $rectangleSegmentC001)
  |> line(endAbsolute = [profileStartX(%), profileStartY(%)], tag = $rectangleSegmentD001)
  |> close()
extrude001 = extrude(sketch001, length = basePlateThickness)
  |> chamfer(
       length = baseChamfer,
       tags = [
         getNextAdjacentEdge(rectangleSegmentA001),
         getNextAdjacentEdge(rectangleSegmentB001),
         getNextAdjacentEdge(rectangleSegmentC001),
         getNextAdjacentEdge(rectangleSegmentD001)
       ]
     )

// Base Motor for actuating first joint
sketch002 = startSketchOn(extrude001, 'END')
  |> circle({ center = [0, 0], radius = 4 }, %, $referenceEdge)
extrude002 = extrude(sketch002, length = baseHeight - basePlateThickness - 1.5)
  |> fillet(
       radius = 0.1,
       tags = [getOppositeEdge(referenceEdge)]
     )
sketch003 = startSketchOn(extrude002, 'END')
  |> circle({ center = [0, 0], radius = 0.5 }, %)
extrude003 = extrude(sketch003, length = 1)

// Pattern M8 mounting bolts in base
sketch4A = startSketchOn(extrude001, 'END')
  |> circle({
       center = [
         -basePlateRadius + 1,
         -basePlateRadius + baseChamfer + 0.5
       ],
       radius = 0.4
     }, %)
  |> patternCircular2d(
       arcDegrees = 360,
       center = [0, 0],
       instances = 4,
       rotateDuplicates = true
     )

extrude4A = extrude(sketch4A, length = -basePlateThickness)

sketch4B = startSketchOn(extrude001, 'END')
  |> circle({
       center = [
         -basePlateRadius + 0.5 + baseChamfer,
         -basePlateRadius + 1
       ],
       radius = 0.4
     }, %)
  |> patternCircular2d(
       arcDegrees = 360,
       center = [0, 0],
       instances = 4,
       rotateDuplicates = true
     )

extrude(sketch4B, length = -basePlateThickness)
  |> appearance(color = "#754110", roughness = 90, metalness = 90)


robot-arm-base

// 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 }, %, $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
     }, %, $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)


robot-arm-j2

// J3 Robot Arm


// Set Units
@settings(defaultLengthUnit = in)


import plane002, axisJ2, axisJ3C, axisJ4, axisJ2ArmLength, axisJ3CArmLength, axisJ3CArmWidth, axisJ3CArmThickness from "globals.kcl"

// Create Body of J3 Robot Arm
sketch017 = startSketchOn(plane002)
  |> startProfileAt([
       1.75 + axisJ2ArmLength * cos(toRadians(axisJ2)) - (axisJ3CArmWidth / 2 * sin(toRadians(axisJ3C))),
       8 + axisJ2ArmLength * sin(toRadians(axisJ2)) + axisJ3CArmWidth / 2 * cos(toRadians(axisJ3C))
     ], %)
  |> arc({
       angleStart = 90 + axisJ3C,
       angleEnd = 270 + axisJ3C,
       radius = axisJ3CArmWidth / 2
     }, %)
  |> angledLine({
       angle = axisJ3C,
       length = axisJ3CArmLength
     }, %)
  |> arc({
       angleStart = 270 + axisJ3C,
       angleEnd = 90 + axisJ3C,
       radius = axisJ3CArmWidth / 2
     }, %)
  |> line(endAbsolute = [profileStartX(%), profileStartY(%)], tag = $seg01)
  |> close()
extrude017 = extrude(sketch017, length = axisJ3CArmThickness)

sketch018 = startSketchOn(extrude017, 'END')
  |> circle({
       center = [
         1.75 + axisJ2ArmLength * cos(toRadians(axisJ2)),
         8 + axisJ2ArmLength * sin(toRadians(axisJ2))
       ],
       radius = 3.7 / 2
     }, %, $referenceEdge6)

extrude018 = extrude(sketch018, length = 0.15)
  |> fillet(
       radius = 0.1,
       tags = [getOppositeEdge(referenceEdge6)]
     )

// Draw Bolt Pattern on J3 Robot Arm
sketch019 = startSketchOn(extrude018, '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 = 8,
       arcDegrees = 360,
       rotateDuplicates = true
     )

extrude019 = extrude(sketch019, length = 0.15)

// On the J3 Robot Arm Body, Create Mounting Clevis for Grabber Claw
sketch020 = startSketchOn(extrude017, 'START')
  |> circle({
       center = [
         -1.75 - (axisJ2ArmLength * cos(toRadians(axisJ2))) - (axisJ3CArmLength * cos(toRadians(axisJ3C))),
         8 + axisJ2ArmLength * sin(toRadians(axisJ2)) + axisJ3CArmLength * sin(toRadians(axisJ3C))
       ],
       radius = axisJ3CArmWidth / 2
     }, %)
extrude020 = extrude(sketch020, length = -0.5)

sketch021 = startSketchOn(extrude017, 'END')
  |> circle({
       center = [
         1.75 + axisJ2ArmLength * cos(toRadians(axisJ2)) + axisJ3CArmLength * cos(toRadians(axisJ3C)),
         8 + axisJ2ArmLength * sin(toRadians(axisJ2)) + axisJ3CArmLength * sin(toRadians(axisJ3C))
       ],
       radius = axisJ3CArmWidth / 2.01
     }, %)

extrude021 = extrude(sketch021, length = -0.5)

// Define Grabber Claw Constants
grabberLength = 7

sketch022 = startSketchOn(extrude021, 'START')
  |> circle({ center = [0, 0], radius = 0.10 }, %)

extrude022 = extrude(sketch022, length = -0.01)

// Build Upper Claw Finger
sketch023 = startSketchOn(extrude022, 'START')
  |> startProfileAt([
       1.75 + axisJ2ArmLength * cos(toRadians(axisJ2)) + axisJ3CArmLength * cos(toRadians(axisJ3C)),
       8 + axisJ2ArmLength * sin(toRadians(axisJ2)) + axisJ3CArmLength * sin(toRadians(axisJ3C))
     ], %)
  |> angledLine({
       angle = axisJ3C + axisJ4 / 2,
       length = grabberLength / 4
     }, %)
  |> arc({
       angleStart = 150 + axisJ3C + axisJ4 / 2,
       angleEnd = 30 + axisJ3C + axisJ4 / 2,
       radius = grabberLength / 3
     }, %)
  |> angledLine({
       angle = axisJ3C + axisJ4 / 2,
       length = grabberLength / 6
     }, %)
  |> angledLine({
       angle = axisJ3C + axisJ4 / 2 + 132,
       length = grabberLength / 3.5
     }, %)
  |> angledLine({
       angle = axisJ3C + axisJ4 / 2 + 160,
       length = grabberLength / 3.5
     }, %)
  |> angledLine({
       angle = axisJ3C + axisJ4 / 2 + 200,
       length = grabberLength / 3
     }, %)
  |> line(endAbsolute = [profileStartX(%), profileStartY(%)])
  |> close()

extrude023 = extrude(sketch023, length = -1.5)

// Build Lower Claw Finger
sketch024 = startSketchOn(extrude022, 'START')
  |> startProfileAt([
       1.75 + axisJ2ArmLength * cos(toRadians(axisJ2)) + axisJ3CArmLength * cos(toRadians(axisJ3C)),
       8 + axisJ2ArmLength * sin(toRadians(axisJ2)) + axisJ3CArmLength * sin(toRadians(axisJ3C))
     ], %)
  |> angledLine({
       angle = axisJ3C - (axisJ4 / 2),
       length = grabberLength / 4
     }, %)
  |> arc({
       angleStart = 210 + axisJ3C - (axisJ4 / 2),
       angleEnd = 330 + axisJ3C - (axisJ4 / 2),
       radius = grabberLength / 3
     }, %)
  |> angledLine({
       angle = axisJ3C - (axisJ4 / 2),
       length = grabberLength / 6
     }, %)
  |> angledLine({
       angle = axisJ3C - (axisJ4 / 2) - 132,
       length = grabberLength / 3.5
     }, %)
  |> angledLine({
       angle = axisJ3C - (axisJ4 / 2) - 160,
       length = grabberLength / 3.5
     }, %)
  |> angledLine({
       angle = axisJ3C - (axisJ4 / 2) - 200,
       length = grabberLength / 3
     }, %)
  |> line(endAbsolute = [profileStartX(%), profileStartY(%)])
  |> close()

extrude(sketch024, length = -1.5)
  |> appearance(color = "#6572b3", metalness = 90, roughness = 90)


robot-arm-j3

// Robot Rotating Base


// Set Units
@settings(defaultLengthUnit = in)


import axisJ1, baseHeight, plane001, plane002 from "globals.kcl"

// Create Rotating Base
sketch005 = startSketchOn(plane001)
  |> circle({ center = [0, 0], radius = 3.9 }, %, $referenceEdge1)
extrude005 = extrude(sketch005, length = 1.5 - 0.1)
  |> fillet(
       radius = 0.1,
       tags = [getOppositeEdge(referenceEdge1)]
     )
  |> appearance(color = "#4f7d54", metalness = 90, roughness = 90)

sketch006 = startSketchOn(plane002)
  |> startProfileAt([3.5, baseHeight], %)
  |> angledLine({ angle = 60, length = 1.75 }, %)
  |> arc({
       angleStart = -30,
       angleEnd = -30 + 180,
       radius = 3
     }, %)
  |> angledLineToY({ angle = 60, to = baseHeight }, %)
  |> line(endAbsolute = [profileStartX(%), profileStartY(%)])
  |> close()

extrude006 = extrude(sketch006, length = 1)

sketch007 = startSketchOn(extrude006, 'END')
  |> circle({
       center = [
         1.75 * cos(toRadians(axisJ1)) / abs(cos(toRadians(axisJ1))),
         8
       ],
       radius = 2.75
     }, %, $referenceEdge2)
extrude007 = extrude(sketch007, length = 1.5)
  |> fillet(
       radius = 0.1,
       tags = [getOppositeEdge(referenceEdge2)]
     )

// Draw Bolt Pattern on Rotating Base
sketch008 = startSketchOn(extrude007, 'END')
  |> circle({
       center = [
         1.75 * cos(toRadians(axisJ1)) / abs(cos(toRadians(axisJ1))),
         6.75
       ],
       radius = 0.2
     }, %)
  |> patternCircular2d(
       center = [
         1.75 * cos(toRadians(axisJ1)) / abs(cos(toRadians(axisJ1))),
         8
       ],
       instances = 4,
       arcDegrees = 360,
       rotateDuplicates = true
     )
extrude008 = extrude(sketch008, length = 0.2)

sketch009 = startSketchOn(extrude007, 'END')
  |> circle({
       center = [
         1.75 * cos(toRadians(axisJ1)) / abs(cos(toRadians(axisJ1))),
         8
       ],
       radius = 0.5
     }, %, $referenceEdge3)
extrude009 = extrude(sketch009, length = 0.15)
  |> fillet(
       radius = 0.1,
       tags = [getOppositeEdge(referenceEdge3)]
     )
  |> appearance(color = "#4f7d54", metalness = 90, roughness = 90)

sketch010 = startSketchOn(plane002)
  |> circle({ center = [1.75, 8], radius = 0.3 }, %)

extrude(sketch010, length = -1)


robot-rotating-base

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