# No. 142 (Brown 1868): "Movement used for varying the length of the traversing guide-bar which, in silk machinery, guides the silk on to spools or bobbins. The spur-gear, turning freely on its center, is carried round by the larger circular disk, which turns on a fixed central stud, which has a pinion fast on its end. Upon the spur-gear is bolted a small crank, to which is jointed a connecting-rod attached to traversing guide-bar. ..."
#
# Model (cm, no gravity): a 12-tooth pinion (module 0.8) is fast on the fixed stud; the large disc turning on the stud is the one driven joint (15 turns a minute, clockwise in the view). The 24-tooth spur gear, turning freely on its pin in the disc, meshes with the
# pinion by real teeth and so turns 0.5 of a turn relative to the disc for each turn of the disc. A crank 6.0 cm long is bolted on the spur gear, a connecting rod 30.0 cm long joins it to the traversing guide-bar, which slides in fixed guides. Every disc turn the crank has
# swung round towards or away from the disc's centre, so the bar's throw first grows to 20.4 and then shrinks to 8.4 cm on each side (a full cycle in 2.0 turns). Generator: opencode-runs/batch10/gen142.py.
number: 142
slug: traverse-guide-bar
name: A traversing guide-bar of varying stroke
brown: "Movement used for varying the length of the traversing guide-bar which, in silk machinery, guides the silk on to spools or bobbins. The spur-gear, turning freely on its center, is carried round by the larger circular disk, which turns on a fixed central stud, which has a pinion fast on its end. Upon the spur-gear is bolted a small crank, to which is jointed a connecting-rod attached to traversing guide-bar."
units: cm
sim:
  timestep: 0.0002
  integrator: implicitfast
  iterations: 100
  solver: PGS
  multiccd: true
  duration_s: 9.6
  floor: false
  gravity: 0
bodies:
  - id: stud
    shape: part
    pos: [0, 0, 0]
    fixed: true
    density: 7800
    friction: 0.1
    color: "#d9cfb6"
    pieces:
      - {kind: disc, center: [0, 0], radius: 3.75, inner: 0.6, y: [-0.8, 0.8]}
      - {kind: rod, from: [0, -1.2, 0], to: [0, 3.5, 0], radius: 0.6, color: "#8f8a80"}
      - {kind: poly, points: [[3.3852, -0.4863], [4.4647, -0.6414], [4.5748, -0.6409], [4.6867, -0.6265], [4.7997, -0.6024], [4.9133, -0.5701], [5.0274, -0.5303], [5.1415, -0.4834], [5.2556, -0.4299], [5.3694, -0.3698], [5.4827, -0.3034], [5.5952, -0.2308], [5.5952, 0.2308], [5.4827, 0.3034], [5.3694, 0.3698], [5.2556, 0.4299], [5.1415, 0.4834], [5.0274, 0.5303], [4.9133, 0.5701], [4.7997, 0.6024], [4.6867, 0.6265], [4.5748, 0.6409], [4.4647, 0.6414], [3.3852, 0.4863]], y: [-0.8, 0.8], collide: 1}
      - {kind: poly, points: [[3.1749, 1.2715], [4.1872, 1.6769], [4.2823, 1.7324], [4.3721, 1.8008], [4.4579, 1.8781], [4.5401, 1.9629], [4.619, 2.0544], [4.6944, 2.1521], [4.7664, 2.2555], [4.8349, 2.3645], [4.8998, 2.4786], [4.961, 2.5977], [4.7302, 2.9975], [4.5964, 3.0041], [4.4651, 3.0049], [4.3366, 3.0001], [4.211, 2.9894], [4.0887, 2.973], [3.97, 2.9504], [3.8555, 2.9216], [3.7456, 2.8859], [3.6415, 2.8424], [3.5458, 2.7878], [2.6886, 2.1138]], y: [-0.8, 0.8], collide: 1}
      - {kind: poly, points: [[2.1138, 2.6886], [2.7878, 3.5458], [2.8424, 3.6415], [2.8859, 3.7456], [2.9216, 3.8555], [2.9504, 3.97], [2.973, 4.0887], [2.9894, 4.211], [3.0001, 4.3366], [3.0049, 4.4651], [3.0041, 4.5964], [2.9975, 4.7302], [2.5977, 4.961], [2.4786, 4.8998], [2.3645, 4.8349], [2.2555, 4.7664], [2.1521, 4.6944], [2.0544, 4.619], [1.9629, 4.5401], [1.8781, 4.4579], [1.8008, 4.3721], [1.7324, 4.2823], [1.6769, 4.1872], [1.2715, 3.1749]], y: [-0.8, 0.8], collide: 1}
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      - {kind: poly, points: [[-1.2715, 3.1749], [-1.6769, 4.1872], [-1.7324, 4.2823], [-1.8008, 4.3721], [-1.8781, 4.4579], [-1.9629, 4.5401], [-2.0544, 4.619], [-2.1521, 4.6944], [-2.2555, 4.7664], [-2.3645, 4.8349], [-2.4786, 4.8998], [-2.5977, 4.961], [-2.9975, 4.7302], [-3.0041, 4.5964], [-3.0049, 4.4651], [-3.0001, 4.3366], [-2.9894, 4.211], [-2.973, 4.0887], [-2.9504, 3.97], [-2.9216, 3.8555], [-2.8859, 3.7456], [-2.8424, 3.6415], [-2.7878, 3.5458], [-2.1138, 2.6886]], y: [-0.8, 0.8], collide: 1}
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      - {kind: poly, points: [[-3.3852, 0.4863], [-4.4647, 0.6414], [-4.5748, 0.6409], [-4.6867, 0.6265], [-4.7997, 0.6024], [-4.9133, 0.5701], [-5.0274, 0.5303], [-5.1415, 0.4834], [-5.2556, 0.4299], [-5.3694, 0.3698], [-5.4827, 0.3034], [-5.5952, 0.2308], [-5.5952, -0.2308], [-5.4827, -0.3034], [-5.3694, -0.3698], [-5.2556, -0.4299], [-5.1415, -0.4834], [-5.0274, -0.5303], [-4.9133, -0.5701], [-4.7997, -0.6024], [-4.6867, -0.6265], [-4.5748, -0.6409], [-4.4647, -0.6414], [-3.3852, -0.4863]], y: [-0.8, 0.8], collide: 1}
      - {kind: poly, points: [[-3.1749, -1.2715], [-4.1872, -1.6769], [-4.2823, -1.7324], [-4.3721, -1.8008], [-4.4579, -1.8781], [-4.5401, -1.9629], [-4.619, -2.0544], [-4.6944, -2.1521], [-4.7664, -2.2555], [-4.8349, -2.3645], [-4.8998, -2.4786], [-4.961, -2.5977], [-4.7302, -2.9975], [-4.5964, -3.0041], [-4.4651, -3.0049], [-4.3366, -3.0001], [-4.211, -2.9894], [-4.0887, -2.973], [-3.97, -2.9504], [-3.8555, -2.9216], [-3.7456, -2.8859], [-3.6415, -2.8424], [-3.5458, -2.7878], [-2.6886, -2.1138]], y: [-0.8, 0.8], collide: 1}
      - {kind: poly, points: [[-2.1138, -2.6886], [-2.7878, -3.5458], [-2.8424, -3.6415], [-2.8859, -3.7456], [-2.9216, -3.8555], [-2.9504, -3.97], [-2.973, -4.0887], [-2.9894, -4.211], [-3.0001, -4.3366], [-3.0049, -4.4651], [-3.0041, -4.5964], [-2.9975, -4.7302], [-2.5977, -4.961], [-2.4786, -4.8998], [-2.3645, -4.8349], [-2.2555, -4.7664], [-2.1521, -4.6944], [-2.0544, -4.619], [-1.9629, -4.5401], [-1.8781, -4.4579], [-1.8008, -4.3721], [-1.7324, -4.2823], [-1.6769, -4.1872], [-1.2715, -3.1749]], y: [-0.8, 0.8], collide: 1}
      - {kind: poly, points: [[-0.4863, -3.3852], [-0.6414, -4.4647], [-0.6409, -4.5748], [-0.6265, -4.6867], [-0.6024, -4.7997], [-0.5701, -4.9133], [-0.5303, -5.0274], [-0.4834, -5.1415], [-0.4299, -5.2556], [-0.3698, -5.3694], [-0.3034, -5.4827], [-0.2308, -5.5952], [0.2308, -5.5952], [0.3034, -5.4827], [0.3698, -5.3694], [0.4299, -5.2556], [0.4834, -5.1415], [0.5303, -5.0274], [0.5701, -4.9133], [0.6024, -4.7997], [0.6265, -4.6867], [0.6409, -4.5748], [0.6414, -4.4647], [0.4863, -3.3852]], y: [-0.8, 0.8], collide: 1}
      - {kind: poly, points: [[1.2715, -3.1749], [1.6769, -4.1872], [1.7324, -4.2823], [1.8008, -4.3721], [1.8781, -4.4579], [1.9629, -4.5401], [2.0544, -4.619], [2.1521, -4.6944], [2.2555, -4.7664], [2.3645, -4.8349], [2.4786, -4.8998], [2.5977, -4.961], [2.9975, -4.7302], [3.0041, -4.5964], [3.0049, -4.4651], [3.0001, -4.3366], [2.9894, -4.211], [2.973, -4.0887], [2.9504, -3.97], [2.9216, -3.8555], [2.8859, -3.7456], [2.8424, -3.6415], [2.7878, -3.5458], [2.1138, -2.6886]], y: [-0.8, 0.8], collide: 1}
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  - id: disc
    shape: part
    pos: [0, 0, 0]
    mass: 0.5
    color: "#d8d0bd"
    pieces:
      - {kind: disc, center: [0, 0], radius: 25.5, inner: 1.0, y: [1.0, 2.0]}
  - id: gear
    shape: part
    pos: [14.400000000000002, 0, 0]
    mount: disc
    mass: 0.3
    density: 7800
    friction: 0.1
    color: "#d9cfb6"
    pieces:
      - {kind: disc, center: [14.400000000000002, 0], radius: 8.55, inner: 1.0, y: [-0.8, 0.8]}
      - {kind: rod, from: [14.400000000000002, -1.9, 0], to: [14.400000000000002, 1.4, 0], radius: 0.7, color: "#8f8a80"}
      - {kind: poly, points: [[14.4, 0.8], [20.4, 0.8], [20.4, -0.8], [14.4, -0.8]], y: [-1.9, -1.0], collide: 0, color: "#a89a7e"}
      - {kind: disc, center: [20.4, -0.0], radius: 1.3, inner: 0.35, y: [-1.9, -1.0], color: "#a89a7e"}
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      - {kind: poly, points: [[6.8295, 1.6111], [5.5766, 1.8778], [5.4383, 1.8907], [5.2973, 1.89], [5.1545, 1.8801], [5.0103, 1.8625], [4.865, 1.8379], [4.7188, 1.807], [4.5718, 1.7699], [4.4242, 1.727], [4.2761, 1.6786], [4.1277, 1.6246], [4.0572, 1.0894], [4.1866, 0.9989], [4.3171, 0.9137], [4.4486, 0.8341], [4.581, 0.7603], [4.7142, 0.6925], [4.8482, 0.6312], [4.9829, 0.5769], [5.1183, 0.5304], [5.2543, 0.4932], [5.3912, 0.4699], [6.6705, 0.4031]], y: [-0.8, 0.8], collide: 2}
  - id: conrod
    shape: part
    pos: [20.4, 0, -0.0]
    mount: gear
    mass: 0.1
    color: "#c4baa2"
    pieces:
      - {kind: poly, points: [[20.4, 0.7], [50.4, 0.7], [50.4, -0.7], [20.4, -0.7]], y: [-2.9, -2.0], collide: 0, color: "#c4baa2"}
      - {kind: disc, center: [20.4, -0.0], radius: 1.1, inner: 0.35, y: [-2.9, -2.0]}
      - {kind: disc, center: [50.4, 0.0], radius: 1.1, inner: 0.35, y: [-2.9, -2.0]}
  - id: bar
    shape: part
    pos: [50.4, 0, 0.0]
    mass: 0.2
    color: "#b9a98a"
    pieces:
      - {kind: poly, points: [[50.4, -0.8], [116.4, -0.8], [116.4, 0.8], [50.4, 0.8]], y: [-3.8, -2.9], collide: 0, color: "#b9a98a"}
      - {kind: disc, center: [50.4, 0.0], radius: 1.1, inner: 0.35, y: [-3.8, -2.0], color: "#8f8a80"}
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    color: "#9b917c"
    pieces:
      - {kind: poly, points: [[62.0, -5.0], [66.0, -5.0], [66.0, 5.0], [62.0, 5.0]], y: [-4.4, -2.9], collide: 0, color: "#9b917c"}
      - {kind: poly, points: [[74.0, -5.0], [78.0, -5.0], [78.0, 5.0], [74.0, 5.0]], y: [-4.4, -2.9], collide: 0, color: "#9b917c"}
      - {kind: poly, points: [[61.0, -5.8], [79.0, -5.8], [79.0, -5.0], [61.0, -5.0]], y: [-4.4, -2.9], collide: 0, color: "#7e7664"}
joints:
  - {id: j_d, type: hinge, body: disc, axis: [0, 1, 0], damping: 0.002}   # the one driven joint; + : clockwise
  - {id: j_g, type: hinge, body: gear, axis: [0, 1, 0], damping: 0.002}   # the spur gear on its pin in the disc
  - {id: j_r, type: hinge, body: conrod, axis: [0, 1, 0], damping: 0.002}
  - {id: j_b, type: slide, body: bar, axis: [1, 0, 0], damping: 0.05}   # the traversing guide-bar; + : to the right
pins:
  - {id: pin_b, a: conrod, b: bar, at: [50.4, 0, 0.0]}
contact: {solref: [0.002, 1.0], solimp: [0.95, 0.99, 0.0005], margin: 0}
driver: {joint: j_d, kind: velocity, rpm: 15.0, kv: 2.0, max_torque: 0.2}
checks:
  - {type: ratio, out: j_g, in: j_d, expect: 0.5, tol: 0.02, settle_s: 1, window_s: 6}
  - {type: follow, out: j_b, in: j_d, expect: -0.2448, tol: 0.0122, min_r2: 0.97, settle_s: 0.3, window_s: 0.7}
  - {type: follow, out: j_b, in: j_d, expect: 0.1263, tol: 0.0063, min_r2: 0.97, settle_s: 2.4, window_s: 0.7}
  - {type: follow, out: j_b, in: j_d, expect: -0.1259, tol: 0.0063, min_r2: 0.97, settle_s: 5.1, window_s: 0.7}
  - {type: follow, out: j_b, in: j_d, expect: 0.253, tol: 0.0126, min_r2: 0.97, settle_s: 7.2, window_s: 0.7}
  - {type: follow, out: j_b, in: j_d, expect: -0.253, tol: 0.0126, min_r2: 0.97, settle_s: 8.4, window_s: 0.7}
  - {type: position, joint: j_b, min: -37.713, max: 0.4, settle_s: 0.0, window_s: 8.6}
  - {type: penetration, max: 0.001, settle_s: 0.5}
camera: {target: [38.0, 0, -3.0], position: [38.0, -150.0, -3.0], fov: 34}
display:
  output: j_b
  labels: {j_d: "Disc (driver)", j_g: "Spur gear", j_b: "Guide-bar"}
  proof: {label: "Connecting rod unpinned", sub: "the disc and spur gear turn but the guide-bar stands still"}