# No. 462 (Brown 1868): Chain pump; lifting water by continuous circular motion. Wood or metal disks, carried by endless chain, are adapted to water-tight cylinder, and form with it a succession of buckets filled with water. Power is applied at upper wheel.
# Model (cm, gravity on, Brown's view from in front, the pipe cut in section). Two sprocket-wheels of 10 teeth, one 33.6 over the
# other, and an endless chain of 38 real links (rollers on the teeth), a disk on every other link, 5 a turn. The upper wheel is turned
# 30 rpm (the only drive; its left side rises) and drives the chain by its teeth; the lower wheel, under the well's water, is turned by
# the chain. The rising run goes up the pipe, its disks fitting it so that each, with the next, holds a bucket of water. The water is lumped
# vessels: the upper wheel is a screw (src/fluid/vessels.c) that a turn carries 129.624 cm^3 from the well up 22.5167 into the
# pipe's column (the pockets' water, at most a pocketful a disk) and is loaded by that lift; the column spills over the pipe's top into the
# head and runs down the trough and off its spout; some leaks back past the disks to the well.
# Generator: opencode-runs/water/gen462.py.
number: 462
slug: chain-pump
name: "Chain pump"
brown: "Chain pump; lifting water by continuous circular motion. Wood or metal disks, carried by endless chain, are adapted to water-tight cylinder, and form with it a succession of buckets filled with water. Power is applied at upper wheel."
units: cm
sim:
  timestep: 0.0002
  integrator: implicitfast
  iterations: 100
  duration_s: 14
  floor: false
bodies:
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    shape: part
    pos: [0, 0, 30]
    mass: 0.5
    friction: 0.2
    color: "#d9cfb6"
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    mass: 0.5
    friction: 0.2
    color: "#cfc3a6"
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  - id: ch_x
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    mass: 0.001
    color: "#8f8a80"
    pieces:
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  - id: ch_z
    shape: part
    mount: ch_x
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    color: "#8f8a80"
    pieces:
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    color: "#8f8a80"
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    mount: L13
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    color: "#8f8a80"
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    shape: part
    mount: L14
    pos: [-3.1416, 0, -5.8825]
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    color: "#8f8a80"
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    color: "#8f8a80"
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    mount: L19
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    shape: part
    mount: L20
    pos: [3.8833, 0, 1.2]
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    shape: part
    mount: L21
    pos: [3.8833, 0, 3.6]
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    friction: 0.2
    color: "#8f8a80"
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  - id: L23
    shape: part
    mount: L22
    pos: [3.8833, 0, 6]
    mass: 0.008
    friction: 0.2
    color: "#8f8a80"
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  - id: L24
    shape: part
    mount: L23
    pos: [3.8833, 0, 8.4]
    mass: 0.008
    friction: 0.2
    color: "#8f8a80"
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  - id: L25
    shape: part
    mount: L24
    pos: [3.8833, 0, 10.8]
    mass: 0.008
    friction: 0.2
    color: "#8f8a80"
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  - id: L26
    shape: part
    mount: L25
    pos: [3.8833, 0, 13.2]
    mass: 0.008
    friction: 0.2
    color: "#8f8a80"
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  - id: L27
    shape: part
    mount: L26
    pos: [3.8833, 0, 15.6]
    mass: 0.008
    friction: 0.2
    color: "#8f8a80"
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  - id: L28
    shape: part
    mount: L27
    pos: [3.8833, 0, 18]
    mass: 0.008
    friction: 0.2
    color: "#8f8a80"
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  - id: L29
    shape: part
    mount: L28
    pos: [3.8833, 0, 20.4]
    mass: 0.008
    friction: 0.2
    color: "#8f8a80"
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  - id: L30
    shape: part
    mount: L29
    pos: [3.8833, 0, 22.8]
    mass: 0.008
    friction: 0.2
    color: "#8f8a80"
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  - id: L31
    shape: part
    mount: L30
    pos: [3.8833, 0, 25.2]
    mass: 0.008
    friction: 0.2
    color: "#8f8a80"
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  - id: L32
    shape: part
    mount: L31
    pos: [3.8833, 0, 27.6]
    mass: 0.008
    friction: 0.2
    color: "#8f8a80"
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  - id: L33
    shape: part
    mount: L32
    pos: [3.8833, 0, 30]
    mass: 0.008
    friction: 0.2
    color: "#8f8a80"
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  - id: L34
    shape: part
    mount: L33
    pos: [3.1416, 0, 32.2825]
    mass: 0.008
    friction: 0.2
    color: "#8f8a80"
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  - id: L35
    shape: part
    mount: L34
    pos: [1.2, 0, 33.6932]
    mass: 0.008
    friction: 0.2
    color: "#8f8a80"
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  - id: L36
    shape: part
    mount: L35
    pos: [-1.2, 0, 33.6932]
    mass: 0.008
    friction: 0.2
    color: "#8f8a80"
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  - id: L37
    shape: part
    mount: L36
    pos: [-3.1416, 0, 32.2825]
    mass: 0.008
    friction: 0.2
    color: "#8f8a80"
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  - id: frame
    shape: part
    pos: [0, 0, 0]
    fixed: true
    color: "#d6cdb8"
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      - {kind: loft, a: [[-2.4333, 1.6, 27.3167], [-1.9333, 1.6, 27.3167], [-1.9333, 1.6, 25.5167], [-2.4333, 1.6, 25.5167]], b: [[-2.4333, -1.6, 27.3167], [-1.9333, -1.6, 27.3167], [-1.9333, -1.6, 25.5167], [-2.4333, -1.6, 25.5167]], collide: 0, color: "#a8875a"}
      - {kind: loft, a: [[-20.8333, 2, 25.9167], [-20.3333, 2, 25.9167], [-20.3333, 2, 24.6167], [-20.8333, 2, 24.6167]], b: [[-20.8333, -1.6, 25.9167], [-20.3333, -1.6, 25.9167], [-20.3333, -1.6, 24.6167], [-20.8333, -1.6, 24.6167]], collide: 0, color: "#a8875a"}
      - {kind: loft, a: [[-20.3333, 1.6, 24.6167], [-5.8333, 1.6, 24.6167], [-5.8333, 1.6, 22.6167], [-20.3333, 1.6, 22.6167]], b: [[-20.3333, -1.6, 24.6167], [-5.8333, -1.6, 24.6167], [-5.8333, -1.6, 22.6167], [-20.3333, -1.6, 22.6167]], collide: 0, color: "#7a6f60"}
      - {kind: loft, a: [[-19.3333, 1, 22.6167], [-18.3333, 1, 22.6167], [-18.3333, 1, 3], [-19.3333, 1, 3]], b: [[-19.3333, -1, 22.6167], [-18.3333, -1, 22.6167], [-18.3333, -1, 3], [-19.3333, -1, 3]], collide: 0, color: "#7a6f60"}
      - {kind: rod, from: [0, 0.8, 30], to: [0, 3, 30], radius: 0.5, collide: 0, color: "#8f8a80"}
      - {kind: rod, from: [0, 0.8, -3.6], to: [0, 3, -3.6], radius: 0.5, collide: 0, color: "#8f8a80"}
      - {kind: loft, a: [[-0.4, 2.8, 36], [0.4, 2.8, 36], [0.4, 2.8, -3.6], [-0.4, 2.8, -3.6]], b: [[-0.4, 2.2, 36], [0.4, 2.2, 36], [0.4, 2.2, -3.6], [-0.4, 2.2, -3.6]], collide: 0, color: "#7a6f60"}
      - {kind: loft, a: [[-7, 2.8, 36.2], [9, 2.8, 36.2], [9, 2.8, 35.4], [-7, 2.8, 35.4]], b: [[-7, 2.2, 36.2], [9, 2.2, 36.2], [9, 2.2, 35.4], [-7, 2.2, 35.4]], collide: 0, color: "#7a6f60"}
      - {kind: loft, a: [[-34, 8, -10.4833], [14, 8, -10.4833], [14, 8, -11.4833], [-34, 8, -11.4833]], b: [[-34, -1, -10.4833], [14, -1, -10.4833], [14, -1, -11.4833], [-34, -1, -11.4833]], collide: 0, color: "#9c9282"}
      - {kind: loft, a: [[-34.6, 8, 4.5], [-34, 8, 4.5], [-34, 8, -11.4833], [-34.6, 8, -11.4833]], b: [[-34.6, -1, 4.5], [-34, -1, 4.5], [-34, -1, -11.4833], [-34.6, -1, -11.4833]], collide: 0, color: "#9c9282"}
      - {kind: loft, a: [[14, 8, 4.5], [14.6, 8, 4.5], [14.6, 8, -11.4833], [14, 8, -11.4833]], b: [[14, -1, 4.5], [14.6, -1, 4.5], [14.6, -1, -11.4833], [14, -1, -11.4833]], collide: 0, color: "#9c9282"}
pins:
  - {id: pin_close, a: L37, b: L0, at: [-3.8833, 0, 30.0]}   # the last pin, closing the chain
joints:
  - {id: j_a, type: hinge, body: s_up, axis: [0, 1, 0], damping: 0.001}   # the upper wheel (the one driven joint); + clockwise as seen
  - {id: j_b, type: hinge, body: s_lo, axis: [0, 1, 0], damping: 0.002}
  - {id: j_cx, type: slide, body: ch_x, axis: [1, 0, 0], damping: 0.0005}
  - {id: j_cz, type: slide, body: ch_z, axis: [0, 0, 1], damping: 0.0005}
  - {id: j_c0, type: hinge, body: L0, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L1, type: hinge, body: L1, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L2, type: hinge, body: L2, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L3, type: hinge, body: L3, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L4, type: hinge, body: L4, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L5, type: hinge, body: L5, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L6, type: hinge, body: L6, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L7, type: hinge, body: L7, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L8, type: hinge, body: L8, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L9, type: hinge, body: L9, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L10, type: hinge, body: L10, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L11, type: hinge, body: L11, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L12, type: hinge, body: L12, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L13, type: hinge, body: L13, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L14, type: hinge, body: L14, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L15, type: hinge, body: L15, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L16, type: hinge, body: L16, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L17, type: hinge, body: L17, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L18, type: hinge, body: L18, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L19, type: hinge, body: L19, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L20, type: hinge, body: L20, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L21, type: hinge, body: L21, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L22, type: hinge, body: L22, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L23, type: hinge, body: L23, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L24, type: hinge, body: L24, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L25, type: hinge, body: L25, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L26, type: hinge, body: L26, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L27, type: hinge, body: L27, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L28, type: hinge, body: L28, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L29, type: hinge, body: L29, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L30, type: hinge, body: L30, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L31, type: hinge, body: L31, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L32, type: hinge, body: L32, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L33, type: hinge, body: L33, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L34, type: hinge, body: L34, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L35, type: hinge, body: L35, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L36, type: hinge, body: L36, axis: [0, -1, 0], damping: 0.0002}
  - {id: j_L37, type: hinge, body: L37, axis: [0, -1, 0], damping: 0.0002}
contact: {solref: [0.002, 1.0], solimp: [0.95, 0.99, 0.0005], margin: 0}
vessels:
  substeps: 4
  nodes:
    - {id: spring, kind: source, p: 1322.71}
    - {id: well, kind: tank, area: 432, z: -10.4833, level: 13.4833, draw: {section: [[-34, -10.4833], [14, -10.4833], [14, 4], [-34, 4]], y: [1.1, 8]}}
    - {id: pipe, kind: tank, area: 5.8, z: 3, level: 22.4167, draw: {section: [[-5.3333, 1.0833], [-2.4333, 1.0833], [-2.4333, 27.0167], [-5.3333, 27.0167]], y: [-1, 1]}}   # the column the disks carry up
    - {id: head, kind: tank, area: 48, z: 25.1167, level: 0.3, draw: {section: [[-20.3333, 25.1167], [-5.8333, 25.1167], [-5.8333, 26.7167], [-20.3333, 26.7167]], y: [-1.6, 1.6]}}
    - {id: air, kind: source, p: 0}
  links:
    - {id: feed, from: spring, to: well, area: 10, cd: 0.62, z: -10.4833}
    - {id: over, from: pipe, to: head, area: 5.8, cd: 0.62, z: 25.5167, zTo: 99, draw: {from: [-3.8833, 0, 26.1167], to: [-6.3333, 0, 25.5167], width: 1.4, flow: 0.06}}   # over the pipe's top
    - {id: leak, from: pipe, to: well, area: 0.03, cd: 0.62, z: 3, zTo: 3}   # back past the disks
    - {id: spout, from: head, to: well, zTo: 99, area: 2.5, cd: 0.62, z: 25.1167, draw: {from: [-19.8333, 0, 25.3167], to: [-21.1333, 0, 25.4167], width: 1.4, flow: 0.05,
       fall: {dir: [-1, 0, -0.5], floor: 3.4}}}   # off the trough's end
  screws:
    - {id: chain, joint: j_a, from: well, to: pipe, volume: 129.624, lift: 22.5167, sense: 1}
driver: {joint: j_a, kind: velocity, rpm: 30, kv: 2, max_torque: 5}
checks:
  - {type: turning, joint: j_a, direction: 1, min_mean: 2.8274, min_fraction: 0.95, settle_s: 1.0, window_s: 12.5}
  - {type: ratio, out: j_b, in: j_a, expect: 1.0, tol: 0.03, settle_s: 1, window_s: 12.5}
  - {type: penetration, max: 0.003, settle_s: 0.5}
camera: {target: [-5, 0, 8], position: [-5, -200, 11], fov: 18}
display:
  output: j_b
  labels: {j_a: "Upper wheel (driver)", j_b: "Lower wheel"}