# No. 166 (Brown 1868): "The rotation of the disk carrying the crank pin gives a to-and-fro motion to the connecting-rod, and the slot allows the rod to remain at rest at the termination of each stroke; it has been used in a brick-press, in which the connecting-rod draws a mold backward and forward, and permits it to rest at the termination of each stroke, that the clay may be deposited in it and the brick extracted."
#
# Model (cm, no gravity; a plan): the disk (the one driven joint, 20 turns a minute, clockwise in the view) carries a crank-pin 5 cm from its centre. The pin works by real contact in an endless groove (1.44 cm wide, 1.2 mm clearance a side)
# cut in the connecting-rod, which slides to and fro 4 cm in fixed guides. The slot is the path of the pin in the rod's own frame when the rod rests for 60 degrees of the turn at each end of its stroke and goes between by a smooth cycloidal stroke: the pin runs round the arcs at the ends without moving the rod.
# Generator: opencode-runs/batch11/gen166.py.
number: 166
slug: crank-pin-slot-brick-press
name: A crank-pin in a slot, the rod resting at each end of the stroke
brown: "The rotation of the disk carrying the crank pin gives a to-and-fro motion to the connecting-rod, and the slot allows the rod to remain at rest at the termination of each stroke; it has been used in a brick-press, in which the connecting-rod draws a mold backward and forward, and permits it to rest at the termination of each stroke, that the clay may be deposited in it and the brick extracted."
units: cm
sim:
  timestep: 0.0002
  integrator: implicitfast
  iterations: 100
  solver: PGS
  multiccd: true
  duration_s: 9.0
  floor: false
  gravity: 0
bodies:
  - id: crank
    shape: part
    pos: [0, 0, 0]
    mass: 1.0
    friction: 0.05
    color: "#d9cfb6"
    pieces:
      - {kind: rod, from: [0, 0.5, 0], to: [0, 3.0, 0], radius: 0.8, color: "#8f8a80"}   # the shaft
      - {kind: disc, center: [0, 0], radius: 7.2, y: [0.0, 0.5]}   # the disk, behind the rod
      - {kind: rod, from: [5.0, 0.0, 0.0], to: [5.0, -1.3, 0.0], radius: 0.6, collide: 1, capsule: true, color: "#8f8a80"}   # the crank-pin
  - id: yoke
    shape: part
    pos: [2.0, 0, 0]
    mass: 0.6
    friction: 0.05
    color: "#b8ad97"
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      - {kind: poly, points: [[5.72, 0.0], [5.7152, 0.2181], [7.2138, 0.2835], [7.22, 0.0]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[5.7152, 0.2181], [5.701, 0.4358], [7.1953, 0.5665], [7.2138, 0.2835]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[5.701, 0.4358], [5.6772, 0.6526], [7.1664, 0.8322], [7.1953, 0.5665]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[5.6772, 0.6526], [5.6527, 0.839], [7.1376, 1.051], [7.1664, 0.8322]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[5.6527, 0.839], [5.6195, 1.0546], [7.0967, 1.3151], [7.1376, 1.051]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[5.6195, 1.0546], [5.5769, 1.2685], [7.0414, 1.5932], [7.0967, 1.3151]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[5.5769, 1.2685], [5.5251, 1.4804], [6.974, 1.8687], [7.0414, 1.5932]], y: [-1.2, -0.1], collide: 2}
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      - {kind: poly, points: [[5.4641, 1.6899], [5.3939, 1.8965], [6.8035, 2.4095], [6.8946, 2.1409]], y: [-1.2, -0.1], collide: 2}
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      - {kind: poly, points: [[5.2429, 2.2734], [5.1551, 2.4731], [6.5145, 3.107], [6.6224, 2.8625]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[5.1551, 2.4731], [5.0586, 2.6687], [6.3891, 3.3614], [6.5145, 3.107]], y: [-1.2, -0.1], collide: 2}
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      - {kind: poly, points: [[3.5954, 4.6049], [3.4811, 4.7261], [4.5679, 5.76], [4.6915, 5.6288]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[3.4811, 4.7261], [3.3725, 4.8392], [4.4502, 5.8826], [4.5679, 5.76]], y: [-1.2, -0.1], collide: 2}
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      - {kind: poly, points: [[3.27, 4.9442], [3.1739, 5.0407], [4.2306, 6.1053], [4.3381, 5.9974]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[3.1739, 5.0407], [3.0844, 5.1285], [4.1264, 6.2075], [4.2306, 6.1053]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[3.0844, 5.1285], [3.0012, 5.2076], [4.0232, 6.3056], [4.1264, 6.2075]], y: [-1.2, -0.1], collide: 2}
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      - {kind: poly, points: [[2.0, 5.72], [1.9483, 5.7152], [1.7816, 7.2059], [2.0, 7.22]], y: [-1.2, -0.1], collide: 2}
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      - {kind: poly, points: [[1.762, 5.6907], [1.7093, 5.6764], [1.2252, 7.0962], [1.4673, 7.1615]], y: [-1.2, -0.1], collide: 2}
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      - {kind: poly, points: [[1.5357, 5.6045], [1.481, 5.5808], [0.8066, 6.9206], [0.9498, 6.9854]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[1.481, 5.5808], [1.4234, 5.5476], [0.6209, 6.8149], [0.8066, 6.9206]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[1.4234, 5.5476], [1.362, 5.505], [0.4779, 6.7167], [0.6209, 6.8149]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[1.362, 5.505], [1.2129, 5.3906], [0.2928, 6.5752], [0.4779, 6.7167]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[1.2129, 5.3906], [1.1469, 5.3387], [0.195, 6.498], [0.2928, 6.5752]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[1.1469, 5.3387], [1.0758, 5.2777], [0.0824, 6.4016], [0.195, 6.498]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[1.0758, 5.2777], [0.9988, 5.2076], [-0.0232, 6.3056], [0.0824, 6.4016]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[0.9988, 5.2076], [0.9156, 5.1285], [-0.1264, 6.2075], [-0.0232, 6.3056]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[0.9156, 5.1285], [0.8261, 5.0407], [-0.2306, 6.1053], [-0.1264, 6.2075]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[0.8261, 5.0407], [0.73, 4.9442], [-0.3381, 5.9974], [-0.2306, 6.1053]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[0.73, 4.9442], [0.6275, 4.8392], [-0.4502, 5.8826], [-0.3381, 5.9974]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[0.6275, 4.8392], [0.5189, 4.7261], [-0.5679, 5.76], [-0.4502, 5.8826]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[0.5189, 4.7261], [0.4046, 4.6049], [-0.6915, 5.6288], [-0.5679, 5.76]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[0.4046, 4.6049], [0.2852, 4.4759], [-0.8212, 5.4887], [-0.6915, 5.6288]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[0.2852, 4.4759], [0.1616, 4.3393], [-0.9567, 5.339], [-0.8212, 5.4887]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[0.1616, 4.3393], [0.0347, 4.1955], [-1.0974, 5.1796], [-0.9567, 5.339]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[0.0347, 4.1955], [-0.0945, 4.0447], [-1.2426, 5.01], [-1.0974, 5.1796]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[-0.0945, 4.0447], [-0.2246, 3.8871], [-1.3912, 4.83], [-1.2426, 5.01]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[-0.2246, 3.8871], [-0.3544, 3.7231], [-1.5376, 4.645], [-1.3912, 4.83]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[-0.3544, 3.7231], [-0.4688, 3.5739], [-1.6633, 4.4812], [-1.5376, 4.645]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[-0.4688, 3.5739], [-0.5967, 3.4038], [-1.8085, 4.2879], [-1.6633, 4.4812]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[-0.5967, 3.4038], [-0.7212, 3.2279], [-1.9598, 4.074], [-1.8085, 4.2879]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[-0.7212, 3.2279], [-0.8407, 3.0465], [-2.1087, 3.8478], [-1.9598, 4.074]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[-0.8407, 3.0465], [-0.9537, 2.86], [-2.2531, 3.6094], [-2.1087, 3.8478]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[-0.9537, 2.86], [-1.0586, 2.6687], [-2.3891, 3.3614], [-2.2531, 3.6094]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[-1.0586, 2.6687], [-1.1551, 2.4731], [-2.5145, 3.107], [-2.3891, 3.3614]], y: [-1.2, -0.1], collide: 2}
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      - {kind: poly, points: [[-1.3149, 2.0998], [-1.3939, 1.8965], [-2.8035, 2.4095], [-2.7069, 2.6586]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[-1.3939, 1.8965], [-1.4641, 1.6899], [-2.8946, 2.1409], [-2.8035, 2.4095]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[-1.4641, 1.6899], [-1.5251, 1.4804], [-2.974, 1.8687], [-2.8946, 2.1409]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[-1.5251, 1.4804], [-1.5769, 1.2685], [-3.0414, 1.5932], [-2.974, 1.8687]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[-1.5769, 1.2685], [-1.6195, 1.0546], [-3.0967, 1.3151], [-3.0414, 1.5932]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[-1.6195, 1.0546], [-1.6527, 0.839], [-3.1376, 1.051], [-3.0967, 1.3151]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[-1.6527, 0.839], [-1.6772, 0.6526], [-3.1664, 0.8322], [-3.1376, 1.051]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[-1.6772, 0.6526], [-1.701, 0.4358], [-3.1953, 0.5665], [-3.1664, 0.8322]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[-1.701, 0.4358], [-1.7152, 0.2181], [-3.2138, 0.2835], [-3.1953, 0.5665]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[-1.7152, 0.2181], [-1.72, 0.0], [-3.22, 0.0], [-3.2138, 0.2835]], y: [-1.2, -0.1], collide: 2}
      - {kind: poly, points: [[-3.22, 6.02], [7.22, 6.02], [7.22, 7.82], [-3.22, 7.82]], y: [-1.2, -0.1], collide: 0}   # the head of the rod
      - {kind: rod, from: [-8.0, -0.65, 6.92], to: [12.0, -0.65, 6.92], radius: 0.55, collide: 0, color: "#a89a7e"}   # the connecting-rod
  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    color: "#cfc6b4"
    pieces:
      - {kind: poly, points: [[-1.4, -14.0], [1.4, -14.0], [1.0, 0], [-1.0, 0]], y: [1.8, 2.8]}   # the shaft's standard, behind
      - {kind: poly, points: [[-12.5, 5.02], [-10.5, 5.02], [-10.5, 8.82], [-12.5, 8.82]], y: [-1.7, 0.4], collide: 0}   # the guide at the left
      - {kind: poly, points: [[10.5, 5.02], [12.5, 5.02], [12.5, 8.82], [10.5, 8.82]], y: [-1.7, 0.4], collide: 0}   # and at the right
      - {kind: poly, points: [[-12.5, 8.82], [12.5, 8.82], [12.5, 9.82], [-12.5, 9.82]], y: [-1.7, 0.4], collide: 0}
      - {kind: poly, points: [[-12.5, -14.0], [-11.5, -14.0], [-11.5, 9.82], [-12.5, 9.82]], y: [1.0, 1.8], collide: 0}   # the posts, behind
      - {kind: poly, points: [[11.5, -14.0], [12.5, -14.0], [12.5, 9.82], [11.5, 9.82]], y: [1.0, 1.8], collide: 0}
      - {kind: poly, points: [[-14.5, -15.0], [14.5, -15.0], [14.5, -14.0], [-14.5, -14.0]], y: [-3, 3], collide: 0, color: "#b9b09c"}
joints:
  - {id: j_s, type: hinge, body: crank, axis: [0, 1, 0], damping: 0.002}   # the one driven joint; + : clockwise
  - {id: j_u, type: slide, body: yoke, axis: [1, 0, 0], damping: 2.0}   # the connecting-rod in its guides; + : to the right
contact: {solref: [0.002, 1.0], solimp: [0.95, 0.99, 0.0005], margin: 0}
driver: {joint: j_s, kind: velocity, rpm: 20, kv: 20.0, max_torque: 20}
checks:
  - {type: follow, out: j_u, in: j_s, expect: -0.0374, tol: 0.003, min_r2: 0.99, settle_s: 0.77, window_s: 0.2}   # the rod falls through the middle of its stroke
  - {type: follow, out: j_u, in: j_s, expect: 0.0374, tol: 0.003, min_r2: 0.99, settle_s: 2.27, window_s: 0.2}   # the rod rises through the middle of its stroke
  - {type: follow, out: j_u, in: j_s, expect: -0.0374, tol: 0.003, min_r2: 0.99, settle_s: 3.77, window_s: 0.2}   # the rod falls through the middle of its stroke
  - {type: ratio, out: j_u, in: j_s, expect: 0, tol: 0.0008, settle_s: 1.4533, window_s: 0.3333}   # the rod at rest at the end of its stroke while the disk goes on turning
  - {type: ratio, out: j_u, in: j_s, expect: 0, tol: 0.0008, settle_s: 2.9533, window_s: 0.3333}   # the rod at rest at the end of its stroke while the disk goes on turning
  - {type: ratio, out: j_u, in: j_s, expect: 0, tol: 0.0008, settle_s: 4.4533, window_s: 0.3333}   # the rod at rest at the end of its stroke while the disk goes on turning
  - {type: position, joint: j_u, min: -4.3, max: 0.3, settle_s: 0.0, window_s: 8.5}
camera: {target: [0, 0, -4.0], position: [0, -76.0, -4.0], fov: 34}
display:
  output: j_u
  labels: {j_s: "Disk (driver)", j_u: "Connecting-rod"}
  proof: {label: "Pin out of contact", sub: "the disk turns but the connecting-rod stands"}