# No. 120 (Brown 1868): "Each jaw is attached to one of the two segments, one of which has teeth outside and the other teeth inside. On turning the shaft carrying the two pinions, one of which gears with one and the other with the other segment, the jaws are brought together with great force."
#
# Model (cm): a pair of tongs, both jaws on the one pivot (0, 24.0). One jaw carries a segment about the pivot with teeth outside (pitch radius 19.2), the other a segment with teeth inside (pitch radius 32.0). The shaft below carries a pinion of
# 12 teeth (pitch radius 4.8) that gears with the first and one of 20 teeth (8.0) that gears with the second, one in front of the other. The pivot is placed at 2 r1 r2/(r2-r1) so that the two jaws
# turn at the same rate, 0.25 of the shaft's angle, in opposite senses: they close and open together. The shaft (the one driven joint) is rocked to and fro by hand. No gravity (a flat plan on the bench). Generator: opencode-runs/batch9/gen120.py.
number: 120
slug: calipers-two-pinions
name: Two toothed segments closing a pair of jaws by two pinions
brown: "Each jaw is attached to one of the two segments, one of which has teeth outside and the other teeth inside. On turning the shaft carrying the two pinions, one of which gears with one and the other with the other segment, the jaws are brought together with great force."
units: cm
sim:
  timestep: 0.0002
  integrator: implicitfast
  iterations: 100
  solver: PGS
  multiccd: true
  duration_s: 10
  gravity: 0
  floor: false
bodies:
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    pos: [0, 0, 0]
    density: 7800
    friction: 0.1
    color: "#d9cfb6"
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    mass: 0.3
    friction: 0.1
    color: "#b8ad97"
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      - {kind: poly, points: [[-11.68, 35.2879], [-10.2822, 35.3664], [-10.2289, 37.2652], [-11.6201, 37.4219]], y: [1.2, 2.8], collide: 0}
      - {kind: poly, points: [[-11.6201, 37.4219], [-10.2289, 37.2652], [-9.8584, 39.1282], [-11.2036, 39.5158]], y: [1.2, 2.8], collide: 0}
      - {kind: poly, points: [[-11.2036, 39.5158], [-9.8584, 39.1282], [-9.1809, 40.9029], [-10.4423, 41.5103]], y: [1.2, 2.8], collide: 0}
      - {kind: poly, points: [[-10.4423, 41.5103], [-9.1809, 40.9029], [-8.2158, 42.539], [-9.3576, 43.3491]], y: [1.2, 2.8], collide: 0}
      - {kind: poly, points: [[-9.3576, 43.3491], [-8.2158, 42.539], [-6.9903, 43.9903], [-7.9803, 44.9803]], y: [1.2, 2.8], collide: 0}
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    color: "#cfc6b4"
    pieces:
      - {kind: rod, from: [0, -1.6, 24.0], to: [0, 3.4, 24.0], radius: 1.2, collide: 0, color: "#8f8a80"}
joints:
  - {id: j_p, type: hinge, body: shaft, axis: [0, 1, 0], damping: 0.002}   # the shaft (the one driven joint); + : clockwise
  - {id: j_a, type: hinge, body: jaw_a, axis: [0, 1, 0], damping: 0.002}   # the jaw with the outside teeth (the right-hand jaw)
  - {id: j_b, type: hinge, body: jaw_b, axis: [0, 1, 0], damping: 0.002}   # the jaw with the inside teeth (the left-hand jaw)
contact: {solref: [0.002, 1.0], solimp: [0.95, 0.99, 0.0005], margin: 0}
driver: {joint: j_p, kind: velocity, rpm: 0, swing: {amplitude: 1.2, hz: 0.1}, kv: 3.0, max_torque: 20.0}
checks:
  - {type: follow, out: j_a, in: j_p, expect: -0.25, tol: 0.0125, min_r2: 0.99, settle_s: 0.3, window_s: 9.5}   # the outside-toothed jaw turns the one way
  - {type: follow, out: j_b, in: j_p, expect: 0.25, tol: 0.0125, min_r2: 0.99, settle_s: 0.3, window_s: 9.5}   # the inside-toothed jaw the other, as fast
camera: {target: [0, 0, 13.0], position: [0, -125.0, 13.0], fov: 34}
display:
  output: j_a
  labels: {j_p: "Shaft (driver)", j_a: "Right jaw (teeth outside)", j_b: "Left jaw (teeth inside)"}
  proof: {label: "Teeth out of contact", sub: "the shaft turns but the jaws stand"}