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Archived session d7e9b3b063002026-10-01 02:39 UTC

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doneI built a six-axis-style robotic arm in its default pose. It's about 471 × 327 × 366 mm overall, and it built and rendered without errors. **Parts, from the floor up:** - A slate-grey base disc with a steel-blue turret on top. - A grey shoulder joint, then an orange upper arm. - A grey elbow joint, then a gold forearm. - A grey wrist joint, then a red hand stub. - A dark palm with two parallel gripper fingers. **Inputs you can change in the Inputs panel:** - **Pose (sliders):** base yaw (−180° to 180°), shoulder (0° to 120°, measured up from horizontal), elbow and wrist (each relative to the part before it), and gripper opening (10 to 80 mm). The arm moves as a chain, so turning the shoulder carries the forearm and gripper with it. - **Sizes:** upper-arm length and forearm length (both have sliders), plus base radius and height, turret height, hand length, finger length and link thickness. **Limits:** - The parts are separate simple shapes placed together, not one combined solid. - The gripper has no wrist roll. - Parts don't detect collisions, so some angle combinations will push the arm through the base or the floor.

toolrender

toolcheck_model

toolwrite_model

promptRobotic arm

noteSession d7e9b3b06300 opened for an external agent.

PL-REPLAY-D7E9B3B06300::model
- base
- turret
- shoulder-joint
- upper-arm
- elbow-joint
- forearm
- wrist-joint
- hand
- palm
- fingers 0
- fingers 1

PL-REPLAY-D7E9B3B06300::modelmodel

root

Inputs13auto

Base yaw (deg)

Shoulder (deg)

Elbow (deg)

Wrist (deg)

gripper-opening

upper-arm-length

forearm-length

base-radius

base-height

turret-height

hand-length

finger-length

link-thickness

Slots75

a1unbound

a2unbound

a3unbound

basebase

base-height30

base-radius90

bounding-boxunbound

centerunbound

children(#<cylinder 4174> #<cylinder 4175> #<joint-cyl 4176> ...)

direct-mixinsunbound

display-controlsnil

elbow-70

elbow-jointelbow-joint

elbow-ptunbound

finger-length60

fingerssequence of 2

first?unbound

forearmforearm

forearm-length210

gripper-opening40

half-heightunbound

half-lengthunbound

half-widthunbound

handhand

hand-length50

heightunbound

hidden-childrenunbound

hidden?unbound

image-fileunbound

indexunbound

input-controls(:yaw (:min -180 :max ...) :shoulder ...)

last?unbound

leaf?nil

leaves(#<cylinder 4174> #<cylinder 4175> #<joint-cyl 4176> ...)

lengthunbound

line-thickness0.5

link-thickness44

local-bboxunbound

local-boxunbound

local-center*unbound

local-orientation*unbound

name-for-displayunbound

nextunbound

null-part?unbound

object-unique-idunbound

onclick-functionunbound

orientationunbound

orientation*unbound

palmpalm

palm-ptunbound

parentnil

previousunbound

remember-children?unbound

rootPL-REPLAY-D7E9B3B06300::model

root-pathnil

root-path-localunbound

root?t

safe-children(#<cylinder 4174> #<cylinder 4175> #<joint-cyl 4176> ...)

safe-hidden-childrenunbound

shoulder55

shoulder-jointshoulder-joint

shoulder-ptunbound

sideunbound

strings-for-display"PL-REPLAY-D7E9B3B06300::model"

turretturret

turret-height70

typemodel

ui-display-list-objectsunbound

upper-armupper-arm

upper-arm-length260

widthunbound

wrist-40

wrist-jointwrist-joint

wrist-ptunbound

yaw30

viewport 1Wireframe · hidden lines remove · trimetric

Model file

(defun rad (d) (* d (/ pi 180)))

(defun arm-dir (a yaw)
  "Unit vector in the arm's vertical plane at elevation A (deg), plane turned by YAW (deg)."
  (make-vector (* (cos (rad a)) (cos (rad yaw)))
               (* (cos (rad a)) (sin (rad yaw)))
               (sin (rad a))))

(defun arm-up (a yaw)
  (make-vector (- (* (sin (rad a)) (cos (rad yaw))))
               (- (* (sin (rad a)) (sin (rad yaw))))
               (cos (rad a))))

(defun arm-side (yaw)
  (make-vector (- (sin (rad yaw))) (cos (rad yaw)) 0))

(define-object link-box (box)
  :input-slots (start dir up (thick 40) (color :darkorange))
  :computed-slots ((width (the thick)) (height (the thick))
                   (center (translate-along-vector (the start) (the dir) (half (the length))))
                   (orientation (alignment :rear (the dir) :top (the up)))
                   (display-controls (list :color (the color)))))

(define-object joint-cyl (cylinder)
  :input-slots (at side (color :dimgray))
  :computed-slots ((center (the at))
                   (orientation (alignment :rear (the side)))
                   (display-controls (list :color (the color)))))

(define-object model (base-object)
  :input-slots ((base-radius 90) (base-height 30)
                (turret-height 70)
                (upper-arm-length 260) (forearm-length 210) (hand-length 50)
                (finger-length 60)
                (link-thickness 44)
                (yaw 30) (shoulder 55) (elbow -70) (wrist -40)
                (gripper-opening 40))
  :computed-slots
  ((input-controls (list :yaw (list :min -180 :max 180 :step 5 :label "Base yaw (deg)")
                         :shoulder (list :min 0 :max 120 :step 5 :label "Shoulder (deg)")
                         :elbow (list :min -150 :max 150 :step 5 :label "Elbow (deg)")
                         :wrist (list :min -120 :max 120 :step 5 :label "Wrist (deg)")
                         :gripper-opening (list :min 10 :max 80 :step 2)
                         :upper-arm-length (list :min 120 :max 500 :step 10)
                         :forearm-length (list :min 100 :max 450 :step 10)))
   (a1 (the shoulder))
   (a2 (+ (the a1) (the elbow)))
   (a3 (+ (the a2) (the wrist)))
   (side (arm-side (the yaw)))
   (shoulder-pt (make-point 0 0 (+ (the base-height) (the turret-height) (* 0.6 (the link-thickness)))))
   (elbow-pt (translate-along-vector (the shoulder-pt) (arm-dir (the a1) (the yaw)) (the upper-arm-length)))
   (wrist-pt (translate-along-vector (the elbow-pt) (arm-dir (the a2) (the yaw)) (the forearm-length)))
   (palm-pt (translate-along-vector (the wrist-pt) (arm-dir (the a3) (the yaw)) (the hand-length))))
  :objects
  ((base :type 'cylinder :radius (the base-radius) :length (the base-height)
         :center (make-point 0 0 (half (the base-height)))
         :orientation (alignment :rear (make-vector 0 0 1))
         :display-controls (list :color :slategray))
   (turret :type 'cylinder :radius (* 0.65 (the base-radius)) :length (the turret-height)
           :center (make-point 0 0 (+ (the base-height) (half (the turret-height))))
           :orientation (alignment :rear (make-vector 0 0 1))
           :display-controls (list :color :steelblue))
   (shoulder-joint :type 'joint-cyl :at (the shoulder-pt) :side (the side)
                   :radius (* 0.7 (the link-thickness)) :length (* 1.6 (the link-thickness)))
   (upper-arm :type 'link-box :start (the shoulder-pt) :dir (arm-dir (the a1) (the yaw))
              :up (arm-up (the a1) (the yaw)) :length (the upper-arm-length)
              :thick (the link-thickness) :color :darkorange)
   (elbow-joint :type 'joint-cyl :at (the elbow-pt) :side (the side)
                :radius (* 0.6 (the link-thickness)) :length (* 1.4 (the link-thickness)))
   (forearm :type 'link-box :start (the elbow-pt) :dir (arm-dir (the a2) (the yaw))
            :up (arm-up (the a2) (the yaw)) :length (the forearm-length)
            :thick (* 0.8 (the link-thickness)) :color :goldenrod)
   (wrist-joint :type 'joint-cyl :at (the wrist-pt) :side (the side)
                :radius (* 0.45 (the link-thickness)) :length (* 1.1 (the link-thickness)))
   (hand :type 'link-box :start (the wrist-pt) :dir (arm-dir (the a3) (the yaw))
         :up (arm-up (the a3) (the yaw)) :length (the hand-length)
         :thick (* 0.6 (the link-thickness)) :color :firebrick)
   (palm :type 'box :center (the palm-pt)
         :orientation (alignment :rear (arm-dir (the a3) (the yaw)) :top (arm-up (the a3) (the yaw)))
         :width (+ (the gripper-opening) 30) :length 12 :height (* 0.6 (the link-thickness))
         :display-controls (list :color :darkslategray))
   (fingers :type 'link-box :sequence (:size 2)
            :start (translate-along-vector
                    (translate-along-vector (the palm-pt) (arm-dir (the a3) (the yaw)) 6)
                    (the side)
                    (* (if (zerop (the-child index)) 1 -1) (+ (half (the gripper-opening)) 5)))
            :dir (arm-dir (the a3) (the yaw)) :up (arm-up (the a3) (the yaw))
            :length (the finger-length) :thick 10 :color :dimgray)))