Add scara design figure

graphics/scara_design.tex

@@ -0,0 +1,165 @@
+
+%&tex
+\documentclass{standalone}
+\usepackage{tikz}
+\usepackage{siltex}
+\usetikzlibrary {calc,arrows.meta,positioning,patterns,math}
+%\input{graphics/tics.tikz}
+        
+\begin{document}
+    \begin{tikzpicture}[on grid]
+        % Define Drawing Box dimentions
+        \def \boxheight {5};
+        \def \boxwidth {6};
+        \def \boxorigin {(-\boxwidth/2,-1)};
+        \def \boxsize {(\boxwidth,\boxheight)};
+        \def \armcolor {gray};
+
+        
+        \def \width {0.3};
+        \def \length {5};
+        \def \holediameter {0.10};
+        \def \floorheight {0.5};
+        \pgfmathsetmacro{\floorwidth}{4};
+        \def \arm {
+            \draw[fill=\armcolor] (0,0)  ++(0,\width/2) arc[start angle=90, end angle=270, radius=\width/2] -- ++(\length,0) arc[start angle=-90, end angle=90, radius=\width/2] -- cycle;
+            \draw[fill=white] (0,0) circle (\holediameter/2);
+            \draw[fill=white] (\length,0) circle (\holediameter/2);
+        }
+        \def \doublescara {
+            \pgfmathsetmacro{\C}{sqrt(pow(\A,2)+pow(\B,2)-2*\A*\B*cos(\c))};
+            \pgfmathsetmacro{\b}{acos((pow(\A,2) + pow(\C,2) - pow(\B,2))/(2*\A*\C))};
+            \pgfmathsetmacro{\d}{180-\h-\b};
+            \pgfmathsetmacro{\D}{sqrt(pow(\C,2)+pow(\B,2)-2*\B*\C*cos(\d))};
+            \pgfmathsetmacro{\g}{acos(\D/(2*\B))};
+            \pgfmathsetmacro{\f}{acos((pow(\D,2) + pow(\B,2) - pow(\C,2))/(2*\D*\B))};
+            \pgfmathsetmacro{\a}{180-\b-\c};
+            \pgfmathsetmacro{\e}{180-\d-\f};
+            \pgfmathsetmacro{\k}{180-\f-\g};
+            \pgfmathsetmacro{\m}{180-\g-\e-\a};
+            \begin{scope}[shift={(-\A/2,0)}, rotate=\c]
+                \def \length{\B}
+                \arm
+                \begin{scope}[shift={(\B,0)}, rotate=-\m]
+                    \def \length{\B}
+                    \arm
+                \end{scope}
+            \end{scope}
+            \begin{scope}[shift={(\A/2,0)}, rotate=\h]
+                \def \length{\B}
+                \arm
+                \begin{scope}[shift={(\B,0)}, rotate=\k]
+                    \def \length{\B}
+                    \arm
+                \end{scope}
+            \end{scope}
+        };
+
+
+
+        \tikzset{arm/.pic={
+            \def \length {#1}
+            \draw[fill=gray] (0,0)  ++(0,\width/2) arc[start angle=90, end angle=270, radius=\width/2] -- ++(\length,0) arc[start angle=-90, end angle=90, radius=\width/2] -- cycle;
+            \draw[fill=white] (0,0) circle (\holediameter/2);
+            \draw[fill=white] (\length,0) circle (\holediameter/2);
+        },
+        floor/.pic={
+            \def \width {#1/2};
+            \draw (-\width,0) -- (\width,0);
+            \fill[pattern=north west lines] (-\width,-\floorheight) rectangle (\width,0);
+        },
+        box/.pic={
+            \draw \boxorigin rectangle ++\boxsize;
+        }
+        };
+
+        \pgfmathsetmacro{\B}{2};
+        \pgfmathsetmacro{\A}{1};
+        \begin{scope}[shift={(0,0)}]
+            \draw (0,0) pic {box};
+            \draw (0,0) pic {floor=2};
+            \pgfmathsetmacro{\c}{90};
+            \pgfmathsetmacro{\h}{40};
+            \def \armcolor{lightgray};
+            \doublescara;
+            \pgfmathsetmacro{\c}{130};
+            \pgfmathsetmacro{\h}{60};
+            \def \armcolor{gray};
+            \doublescara;
+        \end{scope}
+
+        \begin{scope}[shift={(0*\boxwidth,\boxheight)}]
+            \draw (0,0) pic {box};
+            \draw (0,0) pic {floor=2};
+            \begin{scope}[shift={(0,0)}, rotate=120]
+                \def \length{\B}
+                \arm
+                \begin{scope}[shift={(\B,0)}, rotate=-100]
+                    \def \length{\B}
+                    \arm
+                \end{scope}
+            \end{scope}
+        \end{scope}
+        \begin{scope}[shift={(\boxwidth,0*\boxheight)}]
+            \draw (0,0) pic {box};
+            \draw (0,0) pic {floor=2};
+            \def \a {105};
+            \def \b {5};
+            \def \c {\b-\a};
+            \def \C {1};
+            \def \B {2.5};
+            \def \A {3};
+            \begin{scope}[shift={(0,0)}, rotate=180+\b]
+                \def \length{\C}
+                \begin{scope}[shift={(\length,0)}, rotate=-(180+\c)]
+                    \def \length{\A}
+                    \arm
+                    \begin{scope}[shift={(\length,0)}, rotate=\c]
+                        \def \length{\B+\C}
+                        \arm
+                    \end{scope}
+                \end{scope}
+                \arm
+            \end{scope}
+            \begin{scope}[shift={(0,0)}, rotate=\a]
+                \def \length{\A}
+                \arm
+            \end{scope}
+            \begin{scope}[shift={(\C,0)}, rotate=\a]
+                \def \length{\C}
+                \begin{scope}[shift={(\length,0)}, rotate=-180-\a]
+                    \def \length{\C}
+                    \arm
+                \end{scope}
+                \arm
+            \end{scope}
+        \end{scope}
+        \begin{scope}[shift={(1*\boxwidth,1*\boxheight)}]
+            \draw (0,0) pic {box};
+            \draw (0,0) pic {floor=2};
+            \def \a {105};
+            \def \b {5};
+            \def \c {\b-\a};
+            \def \C {1};
+            \def \B {2.5};
+            \def \A {3};
+            \begin{scope}[shift={(0,0)}, rotate=180+\b]
+                \def \length{\C}
+                \begin{scope}[shift={(\length,0)}, rotate=-(180+\c)]
+                    \def \length{\A}
+                    \arm
+                    \begin{scope}[shift={(\length,0)}, rotate=\c]
+                        \def \length{\B+\C}
+                        \arm
+                    \end{scope}
+                \end{scope}
+                \arm
+            \end{scope}
+            \begin{scope}[shift={(0,0)}, rotate=\a]
+                \def \length{\A}
+                \arm
+            \end{scope}
+        \end{scope}
+
+    \end{tikzpicture}
+\end{document}