# No. 65 (Brown 1868): intermittent rotary motion by a tappet and studs, with a stop.
#
# As drawn (cm; the drawing plane is x-z, depth y, the tappet and studs in front): C at the left (the one
# motor-driven shaft) turns clockwise, carrying the tappet A on its face and a notch in its rim; D at the
# right has 12 studs on its face. Once a turn A strikes a stud and moves D the distance of one stud.
# A stop lever on a fixed centre below the wheels has its right end between two studs and its left end
# held up against C's rim, so D cannot be turned. As A strikes a stud the notch faces the lever: the stud
# passing thrusts the right end out and the left end enters the notch; as C turns on, the notch's edge
# forces the left end down again and the right end up in front of the next stud, where C's rim holds it.
# Generator: opencode-runs/batch8/gen065.py.
number: 65
slug: tappet-stud-wheel-stop
name: Intermittent motion by a tappet, studs and a stop
brown: "The left-hand disk or wheel, C, is the driving-wheel, upon which is fixed the tappet, A. The other disk or wheel, D, has a series of equidistant studs projecting from its face. Every rotation of the tappet acting upon one of the studs in the wheel, D, causes the latter wheel to move the distance of one stud. In order that this may not be exceeded, a lever-like stop is arranged on a fixed center. This stop operates in a notch cut in wheel, C, and at the instant tappet, A, strikes a stud, said notch faces the lever. As wheel, D, rotates, the end between studs is thrust out, and the other extremity enters the notch; but immediately on the tappet leaving stud, the lever is again forced up in front of next stud, and is there held by periphery of C pressing on its other end."
units: cm
sim:
  timestep: 0.0002
  integrator: implicitfast
  iterations: 100
  solver: PGS
  multiccd: false
  duration_s: 22
  floor: false
bodies:
  - id: wheel_c
    shape: part
    pos: [-6.0, 0, 0]
    friction: 0.1
    color: "#e8dec6"
    pieces:
      - {kind: disc, center: [-6.0, 0], radius: 4.2, y: [-1.6, 0.6]}   # C, inside its rim
      # its rim and notch
      - {kind: poly, points: [[-3.1679, -3.1015], [-2.6487, -3.6701], [-2.59, -3.6568], [-2.5575, -3.6237], [-2.5278, -3.5877], [-2.501, -3.549], [-2.477, -3.5077], [-2.4748, -3.4371], [-2.9928, -2.932]], y: [-1.6, 0.6], collide: 2}
      - {kind: poly, points: [[-3.0549, -2.9944], [-2.5253, -3.5328], [-2.477, -3.5077], [-2.4559, -3.4639], [-2.4376, -3.4178], [-2.422, -3.3695], [-2.409, -3.3194], [-2.4197, -3.2407], [-2.8862, -2.8185]], y: [-1.6, 0.6], collide: 2}
      - {kind: poly, points: [[-2.9459, -2.8831], [-2.4457, -3.3553], [-2.409, -3.3194], [-2.3986, -3.2677], [-2.3905, -3.2145], [-2.3847, -3.1601], [-2.3808, -3.1048], [-2.4015, -3.0222], [-2.7838, -2.7011]], y: [-1.6, 0.6], collide: 2}
      - {kind: poly, points: [[-2.8411, -2.7679], [-2.4079, -3.1474], [-2.3808, -3.1048], [-2.3786, -3.0488], [-2.378, -2.9923], [-2.3787, -2.9357], [-2.3804, -2.8791], [-2.4069, -2.7972], [-2.6858, -2.58]], y: [-1.6, 0.6], collide: 2}
      - {kind: poly, points: [[-2.7406, -2.6488], [-2.4019, -2.9241], [-2.3804, -2.8791], [-2.3829, -2.8228], [-2.3858, -2.767], [-2.3888, -2.712], [-2.3917, -2.6578], [-2.4188, -2.5805], [-2.5925, -2.4553]], y: [-1.6, 0.6], collide: 2}
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      - {kind: poly, points: [[-2.5533, -2.4], [-2.4213, -2.4919], [-2.3962, -2.4537], [-2.3942, -2.4065], [-2.3904, -2.361], [-2.3845, -2.3172], [-2.3765, -2.2752], [-2.3902, -2.2142], [-2.4199, -2.1961]], y: [-1.6, 0.6], collide: 2}
      - {kind: poly, points: [[-2.4666, -2.2706], [-2.4107, -2.3065], [-2.3765, -2.2752], [-2.3662, -2.235], [-2.3533, -2.1966], [-2.3377, -2.16], [-2.3194, -2.125], [-2.3215, -2.0727], [-2.3409, -2.0618]], y: [-1.6, 0.6], collide: 2}
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      - {kind: poly, points: [[-2.0022, -1.2874], [-1.4033, -1.4803], [-1.3298, -1.4501], [-1.2929, -1.4139], [-1.2589, -1.3763], [-1.2281, -1.3374], [-1.2008, -1.2972], [-1.2032, -1.2428], [-1.9342, -1.0534]], y: [-1.6, 0.6], collide: 2}
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      - {kind: poly, points: [[-2.9509, 2.8884], [-2.3919, 3.418], [-2.4063, 3.4764], [-2.5322, 3.602], [-2.6625, 3.723], [-2.7969, 3.8393], [-2.9355, 3.9508], [-2.9951, 3.9588], [-3.4607, 3.3454]], y: [-1.6, 0.6], collide: 2}
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      - {kind: rod, from: [-6.0, -2.1, 0], to: [-2.05, -2.1, 6.8416], radius: 0.3, capsule: true, collide: 2, color: "#6b5a44"}   # the tappet A
      - {kind: disc, center: [-6.0, 0], radius: 1.0, y: [-2.5, -1.6], color: "#8f8a80"}   # its boss
  - id: wheel_d
    shape: part
    pos: [6.0, 0, 0]
    friction: 0.1
    color: "#e4d9bf"
    pieces:
      - {kind: disc, center: [6.0, 0], radius: 5.0, y: [0.0, 0.6]}   # D
      - {kind: disc, center: [6.0, 0], radius: 0.9, y: [-1.0, 0.0], color: "#8f8a80"}
      - {kind: rod, from: [9.5513, -2.6, 1.8408], to: [9.5513, 0.0, 1.8408], radius: 0.4, capsule: true, collide: 1, color: "#6b5a44"}
      - {kind: rod, from: [8.1551, -2.6, 3.3698], to: [8.1551, 0.0, 3.3698], radius: 0.4, capsule: true, collide: 1, color: "#6b5a44"}
      - {kind: rod, from: [6.1815, -2.6, 3.9959], to: [6.1815, 0.0, 3.9959], radius: 0.4, capsule: true, collide: 1, color: "#6b5a44"}
      - {kind: rod, from: [4.1592, -2.6, 3.5513], to: [4.1592, 0.0, 3.5513], radius: 0.4, capsule: true, collide: 1, color: "#6b5a44"}
      - {kind: rod, from: [2.6302, -2.6, 2.1551], to: [2.6302, 0.0, 2.1551], radius: 0.4, capsule: true, collide: 1, color: "#6b5a44"}
      - {kind: rod, from: [2.0041, -2.6, 0.1815], to: [2.0041, 0.0, 0.1815], radius: 0.4, capsule: true, collide: 1, color: "#6b5a44"}
      - {kind: rod, from: [2.4487, -2.6, -1.8408], to: [2.4487, 0.0, -1.8408], radius: 0.4, capsule: true, collide: 1, color: "#6b5a44"}
      - {kind: rod, from: [3.8449, -2.6, -3.3698], to: [3.8449, 0.0, -3.3698], radius: 0.4, capsule: true, collide: 1, color: "#6b5a44"}
      - {kind: rod, from: [5.8185, -2.6, -3.9959], to: [5.8185, 0.0, -3.9959], radius: 0.4, capsule: true, collide: 1, color: "#6b5a44"}
      - {kind: rod, from: [7.8408, -2.6, -3.5513], to: [7.8408, 0.0, -3.5513], radius: 0.4, capsule: true, collide: 1, color: "#6b5a44"}
      - {kind: rod, from: [9.3698, -2.6, -2.1551], to: [9.3698, 0.0, -2.1551], radius: 0.4, capsule: true, collide: 1, color: "#6b5a44"}
      - {kind: rod, from: [9.9959, -2.6, -0.1815], to: [9.9959, 0.0, -0.1815], radius: 0.4, capsule: true, collide: 1, color: "#6b5a44"}
  - id: stop
    shape: part
    pos: [0.4778, 0, -4.8731]
    friction: 0.1
    mass: 0.05
    color: "#cfc4ad"
    pieces:
      - {kind: rod, from: [-6.0, -1.0, -5.6], to: [6.9556, -1.0, -4.6462], radius: 0.3}   # the stop lever
      - {kind: rod, from: [-6.0, -1.4, -5.4], to: [-6.0, -0.6, -5.4], radius: 0.4, capsule: true, collide: 1}   # its left end, on C's rim
      - {kind: rod, from: [6.9556, -1.4, -4.3462], to: [6.9556, -0.6, -4.3462], radius: 0.55, capsule: true, collide: 2}   # its right end, between the studs
  - id: frame
    shape: frame
    color: "#8f8a80"
    rods:
      - {from: [-6.0, 0.6, 0], to: [-6.0, 2.0, 0], radius: 0.6}
      - {from: [6.0, 0.6, 0], to: [6.0, 2.0, 0], radius: 0.6}
      - {from: [0.4778, -1.6, -4.8731], to: [0.4778, 1.0, -4.8731], radius: 0.4}   # the stop's fixed centre
joints:
  - {id: j_c, type: hinge, body: wheel_c, axis: [0, 1, 0], damping: 0.05}
  - {id: j_d, type: hinge, body: wheel_d, axis: [0, 1, 0], damping: 0.002}
  - {id: j_stop, type: hinge, body: stop, axis: [0, 1, 0], damping: 0.002, stiffness: 0.3, springref: 0.15, range: [-0.05, 0.11]}   # a light spring: its left end up against C
contact: {solref: [0.002, 1.0], solimp: [0.95, 0.99, 0.0005], margin: 0}
driver: {joint: j_c, kind: velocity, rpm: 12, kv: 20, max_torque: 20}
checks:
  - {type: ratio, out: j_d, in: j_c, expect: -0.08333, tol: 0.006, settle_s: 2.0, window_s: 20.0}   # one stud a turn
  - {type: still, joint: j_d, max: 0.05, settle_s: 2.5, window_s: 2.5}   # held by the stop between strokes
  - {type: penetration, max: 0.001, settle_s: 0.5}
camera: {target: [0, 0, -1], position: [0, -60, 6], fov: 34}
display:
  output: j_d
  labels: {j_c: "C with tappet A (driver)", j_d: "D, the stud wheel", j_stop: "Stop lever"}
  proof: {label: "Stop out of contact", sub: "nothing holds D between strokes"}