Sensor

cad/demo_leg.scad

@@ -4,6 +4,7 @@ use <leg_holder.scad>
 use <leg.scad>
 use <spacer.scad>
 use <spring.scad>
+use <sensor.scad>
 
 $fn = 20;
 
@@ -117,6 +118,11 @@ module leg() {
     rotate([ -90, 0, 0]) {
         mounted_arm();
     }
+
+    // Leg sensor
+    translate([0, 14, -65]) {
+        sensor_all();
+    }
 }
 
 leg();

cad/sensor.scad

@@ -0,0 +1,112 @@
+
+use <spacer.scad>
+
+$fn = 50;
+
+ARM_THICKNESS = 3.8;
+
+ARMS_SPACING = 20;
+ARM_WIDTH = 20;
+
+SUPPORT_HEIGHT = 15;
+SUPPORT_DIAMETER = 7.7;
+
+SCREW_DIAMETER = 2.7;
+
+module sensor_support_top() {
+    clear = 0.2;
+    difference() {
+        union() {
+            cylinder(r = ARMS_SPACING / 2, h = 3);
+
+            translate([6.3, 0, 0]) {
+                cylinder(r = SCREW_DIAMETER / 2 - clear, h = 10);
+            }
+
+            translate([-6.3, 0, 0]) {
+                cylinder(r = SCREW_DIAMETER / 2 - clear, h = 10);
+            }
+        }
+
+        // Holes
+        translate([0, 6.3, -1]) {
+            cylinder(r = 1.5, h = 30);
+        }
+
+        translate([0, -6.3, -1]) {
+            cylinder(r = 1.5, h = 30);
+        }
+
+        poutre();
+    }
+}
+
+module poutre() {
+    cylinder(r = SUPPORT_DIAMETER / 2, h = SUPPORT_HEIGHT);
+}
+
+module sensor_support() {
+    difference() {
+        union() {
+            poutre();
+            cylinder(r = 10.5, h = 3);
+            cylinder(r = 11.3, h = 1);
+        }
+
+        // Holes
+        translate([0, 6.3, -1]) {
+            cylinder(r = 2.3, h = 30);
+        }
+
+        translate([0, -6.3, -1]) {
+            cylinder(r = 2.3, h = 30);
+        }
+
+        // Passe cable
+        translate([0, 0, -1]) {
+            cylinder(r = 2.5, h = 30);
+        }
+    }
+}
+
+module sensor() {
+    translate([0, 0, 6]) {
+        difference() {
+            sphere(r = 13);
+            sphere(r = 12);
+            translate([0, 0, 6]) {
+                cube(size = [30, 30, 20], center = true);
+            }
+
+            translate([0, 0, -6]) {
+                sensor_support();
+            }
+        }
+    }
+}
+
+translate([0, 0, SUPPORT_HEIGHT + 5]) {
+    %spacer(ARMS_SPACING, ARM_WIDTH, ARM_THICKNESS, true);
+}
+
+module sensor_all() {
+    sensor();
+    sensor_support();
+
+    translate([0, 0, SUPPORT_HEIGHT]) {
+        sensor_support_top();
+    }
+}
+
+PRINT = -1;
+
+if (PRINT == 0) {
+    sensor();
+} else if (PRINT == 1) {
+    sensor_support();
+} else if (PRINT == 2) {
+    sensor_support_top();
+} else {
+    sensor_all();
+}
+