90 lines
2.5 KiB
JSON
90 lines
2.5 KiB
JSON
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{
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"motor_specs": {
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"module": "电机.STEP (60mm x 56mm)",
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"ratio": "25:1 2-stage planetary",
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"rated_continuous_Nm": 2.5,
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"peak_stall_Nm": 8.0,
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"allowable_thermal_Nm": 2.0
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},
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"payload_kg": 0.5,
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"joints": {
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"J1": {
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"distal_mass_kg": 2.18,
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"reach_tip_mm": 547,
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"static_horizontal_raw_Nm": 7.3,
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"static_horizontal_opt_Nm": 7.3,
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"static_working_pose_Nm": 0.65,
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"dynamic_accel_Nm": 0.43,
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"peak_combined_Nm": 7.72,
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"duty_cycle_raw_pct": 291.9,
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"duty_cycle_opt_pct": 291.9,
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"peak_stall_safety_factor": 1.04,
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"status": "WARN"
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},
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"J2": {
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"distal_mass_kg": 1.82,
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"reach_tip_mm": 464,
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"static_horizontal_raw_Nm": 5.32,
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"static_horizontal_opt_Nm": 2.84,
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"static_working_pose_Nm": 1.38,
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"dynamic_accel_Nm": 0.36,
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"peak_combined_Nm": 3.2,
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"duty_cycle_raw_pct": 212.8,
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"duty_cycle_opt_pct": 113.6,
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"peak_stall_safety_factor": 2.5,
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"status": "WARN"
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},
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"J3": {
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"distal_mass_kg": 1.454,
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"reach_tip_mm": 329,
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"static_horizontal_raw_Nm": 3.16,
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"static_horizontal_opt_Nm": 3.16,
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"static_working_pose_Nm": 0.88,
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"dynamic_accel_Nm": 0.15,
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"peak_combined_Nm": 3.31,
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"duty_cycle_raw_pct": 126.3,
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"duty_cycle_opt_pct": 126.3,
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"peak_stall_safety_factor": 2.41,
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"status": "WARN"
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},
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"J4": {
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"distal_mass_kg": 1.143,
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"reach_tip_mm": 171,
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"static_horizontal_raw_Nm": 0.09,
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"static_horizontal_opt_Nm": 0.09,
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"static_working_pose_Nm": 0.05,
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"dynamic_accel_Nm": 0.01,
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"peak_combined_Nm": 0.1,
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"duty_cycle_raw_pct": 3.6,
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"duty_cycle_opt_pct": 3.6,
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"peak_stall_safety_factor": 76.38,
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"status": "PASS"
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},
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"J5": {
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"distal_mass_kg": 0.842,
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"reach_tip_mm": 171,
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"static_horizontal_raw_Nm": 1.12,
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"static_horizontal_opt_Nm": 1.12,
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"static_working_pose_Nm": 0.52,
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"dynamic_accel_Nm": 0.02,
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"peak_combined_Nm": 1.14,
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"duty_cycle_raw_pct": 45.0,
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"duty_cycle_opt_pct": 45.0,
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"peak_stall_safety_factor": 6.99,
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"status": "PASS"
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},
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"J6": {
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"distal_mass_kg": 0.507,
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"reach_tip_mm": 60,
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"static_horizontal_raw_Nm": 0.08,
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"static_horizontal_opt_Nm": 0.08,
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"static_working_pose_Nm": 0.08,
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"dynamic_accel_Nm": 0.01,
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"peak_combined_Nm": 0.09,
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"duty_cycle_raw_pct": 3.2,
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"duty_cycle_opt_pct": 3.2,
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"peak_stall_safety_factor": 94.12,
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"status": "PASS"
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}
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}
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}
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