# No. 217 (Brown 1868), with No. 218: the roller motion of a wool-combing machine. # # Model (cm): the wheel which carries the grooved heart-cam (217) turns on its centre, 6.5 left of and 6.2 below the roller shaft H. The lever of 218 swings on H; its stud A, # 6.2 below H, works in the groove (radius 0.45, clearance 0.05), and the groove is drawn so that, each turn of the cam wheel, the lever swings back 45 degrees (C to D), # forward 90 (D to e), stands, and comes back 45 (e to C), then stands again. The catch G is pinned to the lever's upper arm and sprung down; its square # tooth drops into one of the 8 notches of the wheel F on H, so F goes back and forward with the lever. At e a projection on the back of the cam wheel meets a pin on the # catch and lifts it out, so on the way back from e to C the catch passes over F's plain rim; at C it drops into the next notch. So F goes back 45, forward 90, # and stands: on one notch each turn. The groove and projection are the stud's and pin's paths in the cam wheel's frame. Only the cam wheel is driven (6 rpm, clockwise as the plate's arrow). # Generator: opencode-runs/batch11/gen217.py. number: 217 slug: heart-cam-roller-motion name: The roller motion of a wool-combing machine brown: "These are parts of the same movement, which has been used for giving the roller motion in wool-combing machines." units: cm sim: timestep: 0.0002 integrator: implicitfast iterations: 100 solver: PGS multiccd: true duration_s: 31.0 floor: false bodies: - id: cam shape: part pos: [-6.5, 0, -6.2] density: 2700 friction: 0.1 color: "#d9cfb6" pieces: - {kind: poly, points: [[-15.1373, -8.5143], [-15.1304, -8.4668], [-15.1231, -8.418], [-15.1153, -8.3693], [-15.1071, -8.3208], [-15.0986, -8.2723], [-15.0898, -8.224], [-15.0805, -8.1758], [-15.0709, -8.1278], [-15.0609, -8.0799], [-15.0506, -8.0322], [-15.0398, -7.9846], [-15.0288, -7.9371], [-15.0173, -7.8898], [-15.0055, -7.8427], [-14.9934, -7.7958], [-14.9809, -7.749], [-14.968, -7.7024], [-14.9548, -7.656], [-14.9413, 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collide: 0, color: "#b8ab8a"} # a counterweight behind - id: wheel_f shape: part pos: [0, 0, 0] density: 8500 friction: 0.15 color: "#cbbd99" pieces: - {kind: poly, points: [[-4.9039, -0.9755], [-4.9098, -0.9453], [-4.9155, -0.9152], [-4.9211, -0.885], [-4.9264, -0.8548], [-4.9315, -0.8246], [-4.9365, -0.7943], [-4.9413, -0.764], [-4.9459, -0.7337], [-4.9503, -0.7033], [-4.9545, -0.6729], [-4.9585, -0.6425], [-4.9624, -0.6121], [-4.9661, -0.5816], [-4.9695, -0.5511], [-4.9728, -0.5206], [-4.9759, -0.4901], [-4.9788, -0.4595], [-4.9816, -0.429], [-4.9841, -0.3984], [-4.9865, -0.3678], [-4.9886, -0.3372], [-4.9906, -0.3066], [-4.9924, -0.276], [-4.994, -0.2453], [-4.9954, -0.2147], [-4.9966, -0.184], [-4.9976, -0.1534], [-4.9985, -0.1227], [-4.9992, -0.092], [-4.9996, -0.0614], [-4.9999, -0.0307], [-5.0, -0.0], [-0.6, -0.0], [-0.5885, -0.1171]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-4.7847, -1.4514], [-4.7935, -1.422], [-4.8022, -1.3926], [-4.8106, -1.3631], [-4.8189, 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poly, points: [[-0.2296, 0.5543], [-1.6404, 3.9604], [-1.6174, 3.9736], [-0.2262, 0.5557]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-1.6559, 4.0681], [-1.7591, 4.2469], [-1.9134, 4.6194], [-1.885, 4.6311]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-0.3333, 0.4989], [-2.3662, 3.5413], [-1.6404, 3.9604], [-0.2296, 0.5543], [-0.2296, 0.5543]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-0.3574, 0.4819], [-2.5484, 3.4361], [-2.3662, 3.5413], [-0.3333, 0.4989], [-0.3574, 0.4819]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-2.6627, 3.4119], [-3.0762, 3.9417], [-3.0519, 3.9605], [-3.0276, 3.9792], [-3.0031, 3.9977], [-3.0015, 3.9988]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-0.369, 0.4729], [-2.6402, 3.3831], [-2.5484, 3.4361], [-0.3574, 0.4819]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-0.3806, 0.4638], [-3.172, 3.8651], [-3.1482, 3.8844], [-3.1243, 3.9037], [-3.1003, 3.9228], [-3.0762, 3.9417], [-2.6402, 3.3831], [-0.369, 0.4729]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-0.4243, 0.4243], [-3.5355, 3.5355], [-3.5138, 3.5572], [-3.4919, 3.5787], [-3.4699, 3.6], [-3.4477, 3.6212], [-3.4254, 3.6423], [-3.403, 3.6633], [-3.3805, 3.6841], [-3.3578, 3.7048], [-3.335, 3.7253], [-3.3121, 3.7457], [-3.289, 3.7659], [-3.2659, 3.786], [-3.2426, 3.806], [-3.2192, 3.8258], [-3.1956, 3.8455], [-3.172, 3.8651], [-3.172, 3.8651], [-0.3806, 0.4638], [-0.3806, 0.4638]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-1.7591, 4.2469], [-1.9623, 4.5988], [-1.9417, 4.6076], [-1.9134, 4.6194]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-0.4989, 0.3333], [-4.1573, 2.7779], [-4.1402, 2.8033], [-4.1229, 2.8287], [-4.1055, 2.8539], [-4.0879, 2.879], [-4.0702, 2.9041], [-4.0523, 2.929], [-4.0342, 2.9538], [-4.016, 2.9785], [-3.9977, 3.0031], [-3.9792, 3.0276], [-3.9605, 3.0519], [-3.9417, 3.0762], [-3.9228, 3.1003], [-3.9037, 3.1243], [-3.8844, 3.1482], [-3.8651, 3.172], [-3.8455, 3.1956], [-3.8258, 3.2192], [-3.806, 3.2426], [-3.786, 3.2659], [-3.7659, 3.289], [-3.7457, 3.3121], [-3.7253, 3.335], [-3.7048, 3.3578], [-3.6841, 3.3805], [-3.6633, 3.403], [-3.6423, 3.4254], [-3.6212, 3.4477], [-3.6, 3.4699], [-3.5787, 3.4919], [-3.5572, 3.5138], [-3.5355, 3.5355], [-3.5355, 3.5355], [-0.4243, 0.4243]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-0.5292, 0.2828], [-4.4096, 2.357], [-4.3951, 2.384], [-4.3804, 2.4109], [-4.3655, 2.4378], [-4.3504, 2.4645], [-4.3352, 2.4911], [-4.3199, 2.5177], [-4.3043, 2.5442], [-4.2886, 2.5705], [-4.2728, 2.5968], [-4.2568, 2.6229], [-4.2406, 2.649], [-4.2243, 2.675], [-4.2078, 2.7009], [-4.1911, 2.7266], [-4.1743, 2.7523], [-4.1573, 2.7779], [-4.1573, 2.7779], [-0.4989, 0.3333]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-0.5424, 0.2565], [-4.5199, 2.1378], [-4.5067, 2.1655], [-4.4934, 2.1931], [-4.4798, 2.2206], [-4.4661, 2.2481], [-4.4522, 2.2754], [-4.4382, 2.3027], [-4.424, 2.3299], [-4.4096, 2.357], [-0.5292, 0.2828]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-0.5484, 0.2431], [-4.571, 2.0262], [-4.5585, 2.0542], [-4.5458, 2.0821], [-4.533, 2.11], [-4.5199, 2.1378], [-0.5424, 0.2565]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-0.5513, 0.2363], [-4.5956, 1.97], [-4.5834, 1.9981], [-4.571, 2.0262], [-0.5484, 0.2431]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-0.5528, 0.233], [-3.9535, 1.6661], [-4.0474, 1.7057], [-4.6076, 1.9417], [-4.5956, 1.97], [-0.5513, 0.2363]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-4.0474, 1.7057], [-4.2469, 1.7591], [-4.3691, 1.8098], [-4.4404, 1.8393], [-4.6194, 1.9134], [-4.6076, 1.9417], [-4.6076, 1.9417]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-0.5543, 0.2296], [-3.9604, 1.6404], [-3.9535, 1.6661], [-0.5528, 0.233]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-0.5885, 0.1171], [-4.1773, 0.8309], [-3.9604, 1.6404], [-0.5543, 0.2296]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-0.5935, 0.088], [-4.2317, 0.6277], [-4.1773, 0.8309], [-0.5885, 0.1171], [-0.5885, 0.1171]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-4.2954, 0.5298], [-4.9624, 0.6121], [-4.9585, 0.6425], [-4.9545, 0.6729], [-4.9503, 0.7033], [-4.95, 0.7052]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-0.5953, 0.0734], [-4.2592, 0.5253], [-4.2317, 0.6277], [-0.5935, 0.088]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-0.5971, 0.0588], [-4.9759, 0.4901], [-4.9728, 0.5206], [-4.9695, 0.5511], [-4.9661, 0.5816], [-4.9624, 0.6121], [-4.2592, 0.5253], [-0.5953, 0.0734]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-0.6, 0.0], [-5.0, 0.0], [-4.9999, 0.0307], [-4.9996, 0.0614], [-4.9992, 0.092], [-4.9985, 0.1227], [-4.9976, 0.1534], [-4.9966, 0.184], [-4.9954, 0.2147], [-4.994, 0.2453], [-4.9924, 0.276], [-4.9906, 0.3066], [-4.9886, 0.3372], [-4.9865, 0.3678], [-4.9841, 0.3984], [-4.9816, 0.429], [-4.9788, 0.4595], [-4.9759, 0.4901], [-0.5971, 0.0588], [-0.5971, 0.0588]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[-4.2469, 1.7591], [-4.6394, 1.8643], [-4.6311, 1.885], [-4.6194, 1.9134], [-4.6194, 1.9134]], y: [-0.5, 0.5], collide: 1} - {kind: poly, points: [[4.9924, -0.276], [4.95, -0.7052], [4.2605, -0.5204], [3.9499, -1.6795], [4.6394, -1.8643], [4.3951, -2.384], [4.0879, -2.879], [3.7253, -3.335], [3.335, -3.7253], [3.0015, -3.9988], [2.6446, -3.3806], [1.6054, -3.9806], [1.9623, -4.5988], [1.422, -4.7935], [0.8548, -4.9264], [0.276, -4.9924], [-0.276, -4.9924], [-0.7052, -4.95], [-0.5204, -4.2605], [-1.6795, -3.9499], [-1.8643, -4.6394], [-2.384, -4.3951], [-2.879, -4.0879], [-3.3121, -3.7457], [-3.7253, -3.335], [-3.9988, -3.0015], [-3.3806, -2.6446], [-3.9806, -1.6054], [-4.5988, -1.9623], [-4.7935, -1.422], [-4.9264, -0.8548], [-4.9924, -0.276], [-4.9924, 0.276], [-4.95, 0.7052], [-4.2605, 0.5204], [-3.9499, 1.6795], [-4.6394, 1.8643], [-4.3951, 2.384], [-4.0879, 2.879], [-3.7253, 3.335], [-3.335, 3.7253], [-3.0015, 3.9988], [-2.6446, 3.3806], [-1.6054, 3.9806], [-1.9623, 4.5988], [-1.422, 4.7935], [-0.8548, 4.9264], [-0.276, 4.9924], [0.276, 4.9924], [0.7052, 4.95], [0.5204, 4.2605], [1.6795, 3.9499], [1.8643, 4.6394], [2.384, 4.3951], [2.879, 4.0879], [3.3121, 3.7457], [3.7253, 3.335], [3.9988, 3.0015], [3.3806, 2.6446], [3.9806, 1.6054], [4.5988, 1.9623], [4.7935, 1.422], [4.9264, 0.8548], [4.9924, 0.276]], y: [-0.54, -0.5], collide: 0, density: 1} - {kind: disc, center: [0, 0], radius: 1.3, inner: 0.5, y: [-0.55, 0.55], collide: 0} - id: lever shape: part pos: [0, 0, 0] density: 7800 friction: 0.1 color: "#8f8573" pieces: - {kind: disc, center: [0, 0], radius: 1.0, inner: 0.5, y: [-1.4, -0.6], collide: 0} - {kind: poly, points: [[-0.4313, -2.8122], [0.4491, -6.1719], [0.4257, -6.3459], [0.3374, -6.4977], [0.1978, -6.6042], [0.0281, -6.6491], [-0.2262, -6.589], [-0.3578, -6.4729], [-0.435, -6.3152], [-1.3489, -2.831], [-1.3284, -2.6623], [-0.4284, 0.1377], [-0.2797, 0.3525], [-0.1235, 0.4327], [0.0515, 0.447], [0.2186, 0.3933], [0.3525, 0.2797], [0.4327, 0.1235], [0.447, -0.0515]], y: [-1.4, -0.6], collide: 0} # the lower arm, to A - {kind: poly, points: [[2.4626, 2.5128], [2.5976, 2.5853], [5.9988, 3.6631], [6.1621, 3.6494], [6.3077, 3.5743], [6.4136, 3.4491], [6.4634, 3.293], [6.4193, 3.0532], [6.3172, 2.925], [6.1739, 2.8457], [2.9273, 1.8088], [0.2627, -0.3277], [0.1173, -0.4033], [-0.0459, -0.4175], [-0.2701, -0.3216], [-0.3726, -0.1938], [-0.4184, -0.0364], [-0.4005, 0.1265], [-0.3216, 0.2701]], y: [-1.4, -0.6], collide: 0} # the upper arm, to the catch's pin - {kind: disc, center: [0, -6.2], radius: 0.45, y: [-1.4, 1.9], collide: 2, color: "#5d564b"} # the stud A, in the groove - id: catch_g shape: part pos: [6.0461, 0, 3.2458] mount: lever density: 7800 friction: 0.1 color: "#6b5a44" pieces: - {kind: poly, points: [[5.0301, 2.2057], [4.9718, 2.1759], [4.9086, 2.1586], [4.8433, 2.1545], [4.7784, 2.1638], [4.7169, 2.1861], [4.6611, 2.2204], [4.6135, 2.2654], [4.5761, 2.3191], [4.3971, 2.642], [4.2021, 2.9423], [3.9866, 3.2283], [3.7517, 3.4985], [3.4985, 3.7517], [3.2283, 3.9866], [2.9423, 4.2021], [2.642, 4.3971], [2.3289, 4.5707], [2.0044, 4.722], [1.6701, 4.8503], [1.3277, 4.955], [0.9679, 5.0381], [0.9085, 5.0581], [0.8541, 5.0894], [0.8068, 5.1306], [0.7685, 5.1803], [0.7407, 5.2365], [0.7243, 5.2971], [0.7201, 5.3596], [0.7281, 5.4219], [0.7481, 5.4813], [0.7794, 5.5357], [0.8207, 5.5829], [0.8703, 5.6212], [0.9265, 5.6491], [0.9871, 5.6655], [1.0497, 5.6697], [1.1119, 5.6617], [1.4825, 5.5761], [1.5041, 5.5703], [1.8679, 5.4591], [1.889, 5.4518], [2.2442, 5.3155], [2.2647, 5.3068], [2.6095, 5.146], [2.6294, 5.1359], [2.9621, 4.9514], [2.9812, 4.9399], [3.3003, 4.7328], [3.3186, 4.7199], [3.6224, 4.491], [3.6397, 4.477], [3.9268, 4.2274], [3.9432, 4.2122], [4.2122, 3.9432], [4.2274, 3.9268], [4.477, 3.6397], [4.491, 3.6224], [4.7199, 3.3186], [4.7328, 3.3003], [4.9399, 2.9812], [4.9514, 2.9621], [4.9696, 2.9293], [5.872, 3.5143], [5.9277, 3.5431], [5.988, 3.5604], [6.0505, 3.5657], [6.1129, 3.5587], [6.1726, 3.5397], [6.2275, 3.5093], [6.2755, 3.4689], [6.3146, 3.4198], [6.3434, 3.3641], [6.3608, 3.3038], [6.366, 3.2413], [6.359, 3.179], [6.34, 3.1192], [6.3097, 3.0643], [6.2692, 3.0164], [6.2201, 2.9772]], y: [-2.2, -1.45], collide: 0} # the catch's arm, drawn - {kind: poly, points: [[1.4286, 4.1724], [1.564, 4.2914], [1.7711, 5.0642], [0.9983, 5.2712], [0.7913, 4.4985], [0.849, 4.3277]], y: [-2.2, 0.5], collide: 2} # its tooth, in F's notches - {kind: disc, center: [3.7282, 4.4431], radius: 0.3, y: [-2.2, 1.9], collide: 2, color: "#4a463f"} # the pin the projection lifts - {kind: disc, center: [6.0461, 3.2458], radius: 0.4, inner: 0.15, y: [-2.3, -1.4], collide: 0, color: "#4a463f"} - id: frame shape: part pos: [0, 0, 0] fixed: true color: "#cfc6b4" pieces: - {kind: rod, from: [0, -1.6, 0], to: [0, 4.4, 0], radius: 0.45, collide: 0, color: "#8f8a80"} # the roller shaft H - {kind: rod, from: [-6.5, 0.8, -6.2], to: [-6.5, 4.4, -6.2], radius: 0.5, collide: 0, color: "#8f8a80"} # the cam wheel's shaft joints: - {id: j_cam, type: hinge, body: cam, axis: [0, -1, 0], damping: 0.01} # the one driven joint; + : counter-clockwise - {id: j_lever, type: hinge, body: lever, axis: [0, -1, 0], damping: 0.002} - {id: j_catch, type: hinge, body: catch_g, axis: [0, -1, 0], damping: 0.0005, range: [-0.35, 0.0], stiffness: 0.03, springref: 0.3} # sprung down onto F - {id: j_f, type: hinge, body: wheel_f, axis: [0, -1, 0], damping: 0.002, frictionloss: 0.05} contact: {solref: [0.002, 1.0], solimp: [0.95, 0.99, 0.0005], margin: 0} driver: {joint: j_cam, kind: velocity, rpm: -6, kv: 2.0, max_torque: 20} checks: - {type: ratio, out: j_f, in: j_lever, expect: 1.0, tol: 0.02, settle_s: 11.2, window_s: 1.2} # back a: the catch carries F with the lever - {type: ratio, out: j_f, in: j_lever, expect: 1.0, tol: 0.02, settle_s: 13.8, window_s: 2.2} # forward 2a - {type: position, joint: j_f, min: 0.70, max: 0.77, settle_s: 7.2, window_s: 2.6} # F stands while the catch is lifted: on a notch (0.785) less the backlash - {type: position, joint: j_f, min: 1.49, max: 1.55, settle_s: 17.2, window_s: 2.6} # two notches - {type: position, joint: j_f, min: 2.28, max: 2.34, settle_s: 27.2, window_s: 2.6} # three - {type: position, joint: j_catch, min: -0.2, max: 0.01, settle_s: 0.5, window_s: 30} # the catch: down, or lifted by the projection - {type: penetration, max: 0.001, settle_s: 0.5} camera: {target: [-6.5, 0, -7.0], position: [-6.5, -78.0, -7.0], fov: 34} display: output: j_f labels: {j_cam: "Cam wheel (driver)", j_lever: "Lever (stud A)", j_catch: "Catch G", j_f: "Notch-wheel F"} proof: {label: "Contact off", sub: "the cam wheel turns and F stays put"}