Robot_Arm/src/arm_model.py

# -*- coding: utf-8 -*-
"""机器人手臂深度圆角优化版 V2：彻底消除所有棱角
针对用户反馈的三大问题区域进行深度优化：
1. 蓝色零件（P04肩叉）顶部方形突起 → 全圆角处理
2. 绿色/青色零件（P05/P08）底部和侧面棱角 → Loft外轮廓圆角
3. 所有连接处的尖锐过渡 → 大圆角平滑过渡
4. 橙色零件（P06/P07）所有方形边缘 → 完整圆角系统
"""
import math
import os
import sys
import time

sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
import cadquery as cq
import arm_build as AB
from armcore import (M, C, cyl, box, ring, place, trs, bb, bbox_str, solids_of, OUT, WEB, DOCS)
from arm_build import (Joint, add, bx, Ycyl, Ybox, Yplate, prism, dogbone, sector,
                       FLANGE_Z, COVER_Z, HUB_FACE_Z, CLAMP_SPAN, HUB_M2_CLOCK,
                       BORE_R, CB_R, PCB_W, D2R, T, R, PARTS)
import human_layout as HL
from OCP.BRepAlgoAPI import BRepAlgoAPI_Common
from human_layout import (HUB, PLATE_T, R_MOT, Z_TIP, Z_WR, Z_EI, Z_SH, Z_RL, Z_R1,
                          Z_R3, Z_HUB3, Z_EL, Z_R6, Z_HUB6,
                          Z_R4, Z_CAP, Z_M6, Z_CHEST0, Z_CHEST1, X_J1_HUB, X_ARM, L1,
                          Y_AXIS, Y_HUB, Y_REAR, Y_COVER, Y_H, Y_R_IN, Y_R_OUT,
                          Y_M6, Y_CHEST, X_CHEST, FOOT_H)

VERSION = os.environ.get("ARMVER", "v2")
ITER = int(os.environ.get("ARMITER", "3"))
AB.VERSION = VERSION
AB.ITER = ITER

Y_MID = Y_AXIS
BOSS = COVER_Z + 0.2
DISC_R = 40.0
SLEEVE_R = 35.0

# 深度圆角优化参数
CLEARANCE_GAP = 2.0          # 关节间隙 2.0mm
FILLET_TINY = 1.5            # 微小圆角（螺孔边缘）
FILLET_SMALL = 3.0           # 小圆角（功能面）
FILLET_MEDIUM = 6.0          # 中圆角（结构过渡）
FILLET_LARGE = 10.0          # 大圆角（主要轮廓）
FILLET_XLARGE = 15.0         # 超大圆角（视觉主导区域）
CHAMFER_EDGE = 2.0           # 边缘倒角


def Xcyl(r, x0, x1, py, pz):
    return place(place(cyl(r, 0.0, x1 - x0, 0.0, 0.0), R(90, 0, 1, 0)), T(x0, py, pz))


def Xplate(pts_yz, x0, x1):
    prof = [(-p[1], p[0]) for p in pts_yz]
    return place(place(prism(prof, 0.0, x1 - x0), R(90, 0, 1, 0)), T(x0, 0.0, 0.0))


def XB(a0, a1, y0, y1, z0, z1):
    return bx(X_ARM + a0, X_ARM + a1, y0, y1, z0, z1)


def make_direct_hub(shape, j, r_disc=35.0, z_out=74.0):
    """优化直连法兰：增加导向倒角"""
    disc = cyl(r_disc, 56.5, z_out)
    boss = cyl(17.8, 54.942, 56.5)
    chamfer_cone = cyl(18.5, 54.5, 54.942)
    shape = shape.fuse(j.L(disc)).fuse(j.L(boss)).cut(j.L(chamfer_cone))
    shape = shape.cut(j.L(cyl(3.5, 54.0, z_out + 30.0)))
    for a in AB.HUB_M2_CLOCK:
        u = AB.M["m2_bcd"] / 2.0 * math.cos(a * AB.D2R)
        v = AB.M["m2_bcd"] / 2.0 * math.sin(a * AB.D2R)
        th = cyl(1.4, 54.0, 58.0, u, v)
        cb = cyl(2.8, 58.0, z_out + 40.0, u, v)
        shape = shape.cut(j.L(th)).cut(j.L(cb))
    return shape


# ========== 躯干部分 ==========
# ========== 躯干/测试台架部分 (后置防倾翻高刚性机架) ==========
X_COL = -115.0
Y_COL = Y_AXIS  # 128.0


def p_chest():
    """P01_胸腔支撑立柱 (High-Rigidity Box Mast Tower - 后置台架立柱):
    1. 66x66mm 封闭中空厚壁箱型柱（壁厚 8mm），中心在 (-115.0, 128.0)，位于手臂正后方；
    2. 顶部接收 P03 48x48x15mm 榫头插槽与 4x M5 安装螺栓；
    3. 底部插入 P02 沉槽（深度 12mm），剪切力由槽壁全周承载；
    4. 前向开设两组大圆角走线工艺窗口（Z=60~150mm 与 Z=330~420mm）；
    5. 外棱角全部采用 R=6mm 圆角。
    """
    z_bot = 22.0
    z_top = Z_CHEST1 # 470.0
    
    col = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_bot))
           .rect(66.0, 66.0)
           .extrude(z_top - z_bot)
           .edges("|Z").fillet(6.0)).val()
    s = cq.Shape(col.wrapped)
    
    cav = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_bot + 10.0))
           .rect(50.0, 50.0)
           .extrude(z_top - z_bot + 1.0)
           .edges("|Z").fillet(4.0)).val()
    s = s.cut(cav)
    
    for xx in (X_COL - 21.0, X_COL + 21.0):
        for yy in (Y_COL - 21.0, Y_COL + 21.0):
            s = s.cut(cyl(2.75, z_bot - 0.01, z_bot + 15.0, xx, yy))
            s = s.cut(cyl(2.75, z_top - 20.0, z_top + 0.01, xx, yy))
            
    w_bot = (cq.Workplane("YZ", origin=(X_COL + 33.5, Y_COL, 105.0))
             .rect(34.0, 70.0)
             .extrude(-20.0)).val()
    s = s.cut(w_bot)
    
    w_top = (cq.Workplane("YZ", origin=(X_COL + 33.5, Y_COL, 375.0))
             .rect(34.0, 70.0)
             .extrude(-20.0)).val()
    s = s.cut(w_top)
    return s


def split_p01_stack(p01):
    """将 P01 拆分为适合 250mm 桌面 3D 打印机的两段（P01_A 与 P01_B），带 16mm 阶梯互锁榫卯"""
    z_split = 246.0
    h_lap = 16.0
    
    cut_b = bx(X_COL - 45.0, X_COL + 45.0, Y_COL - 45.0, Y_COL + 45.0, z_split, 500.0)
    tongue_outer = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_split))
                    .rect(64.8, 64.8)
                    .extrude(h_lap)
                    .edges("|Z").fillet(5.5)).val()
    tongue_cav = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_split - 1.0))
                  .rect(51.0, 51.0)
                  .extrude(h_lap + 2.0)).val()
    tongue = cq.Shape(tongue_outer.wrapped).cut(tongue_cav)
    
    p01_a = p01.cut(cut_b).fuse(tongue)
    
    cut_a = bx(X_COL - 45.0, X_COL + 45.0, Y_COL - 45.0, Y_COL + 45.0, 0.0, z_split)
    p01_b = p01.cut(cut_a)
    pocket = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_split - 0.1))
              .rect(65.6, 65.6)
              .extrude(h_lap + 0.5)
              .edges("|Z").fillet(6.0)).val()
    p01_b = p01_b.cut(pocket)
    
    z_bolt = z_split + h_lap / 2.0
    for xx in (X_COL - 19.0, X_COL + 19.0):
        y_bolt = Ycyl(2.2, Y_COL - 38.0, Y_COL + 38.0, xx, z_bolt)
        p01_a = p01_a.cut(y_bolt)
        p01_b = p01_b.cut(y_bolt)
        
    return p01_a, p01_b


def p_base_foot():
    """P02_底脚 (重型防倾翻超长力臂底座 + 双向大截面三角加强斜撑筋):
    1. 底盘尺寸大幅扩展为 385x240x22mm (X: -240.0..+145.0, Y: 8.0..248.0)；
       - 前向延伸至 X = +145.0mm (在手臂垂直投影前方 91.5mm)，彻底杜绝手臂前伸与抓握重物时的前倾翻；
       - 后向延伸至 X = -240.0mm (在立柱后方 92.0mm)，抵御大动态回程后仰力矩；
    2. 立柱插接套筒由 12mm 浅槽大幅升级为 48mm 高加固套筒 (Z: 22.0..70.0mm，外壁厚 7mm)；
    3. 前向大三角加强斜撑筋 (Z: 68.0->22.0mm, X: -75.0->-15.0mm, 宽 38mm)，抗弯力臂长达 60mm，留足安全间隙不干涉手臂运动；
    4. 后向大三角加强斜撑筋 (Z: 70.0->22.0mm, X: -155.0->-225.0mm, 宽 38mm)，抗后仰力臂长达 70mm；
    5. 前斜撑表面设 18mm 宽平滑走线导槽，与 P01 下部走线窗口自然贯通；
    6. 6 组 M6 工业工作台紧固腰槽 (28x7mm) + 底部隐蔽走线槽；
    7. 四周 R=18mm 大圆角过渡与 2.5mm 上边缘倒角。
    """
    z0 = 0.0
    z1 = 22.0
    x_rear = -240.0
    x_front = 145.0
    x_len = x_front - x_rear # 385.0
    x_mid = (x_rear + x_front) / 2.0 # -47.5
    y_width = 240.0
    
    # 1. 主底盘 (385 x 240 x 22 mm)
    base_plate = (cq.Workplane("XY", origin=(x_mid, Y_COL, z0))
                  .rect(x_len, y_width)
                  .extrude(z1)
                  .edges("|Z").fillet(18.0)
                  .edges(">Z").fillet(2.5)).val()
    s = cq.Shape(base_plate.wrapped)
    
    # 2. 立柱外包加固套筒 (Z: 22.0..70.0 mm, 外廓 80x80mm)
    z_collar_top = 70.0
    collar_outer = (cq.Workplane("XY", origin=(X_COL, Y_COL, z1))
                    .rect(80.0, 80.0)
                    .extrude(z_collar_top - z1)
                    .edges("|Z").fillet(8.0)
                    .edges(">Z").chamfer(2.0)).val()
    s = s.fuse(cq.Shape(collar_outer.wrapped))
    
    # 3. 前向抗倾翻三角加强斜撑筋 (Front Triangular Gusset Rib)
    f_pts = [
        (-75.0, z1),
        (-15.0, z1),
        (-15.0, z1 + 4.0),
        (-75.0, 68.0),
    ]
    f_rib = (cq.Workplane("XZ", origin=(0, Y_COL, 0))
             .polyline(f_pts).close()
             .extrude(19.0, both=True)).val()
    s = s.fuse(cq.Shape(f_rib.wrapped))
    
    # 4. 后向抗倾翻三角加强斜撑筋 (Rear Triangular Gusset Rib)
    r_pts = [
        (-155.0, z1),
        (-225.0, z1),
        (-225.0, z1 + 4.0),
        (-155.0, 70.0),
    ]
    r_rib = (cq.Workplane("XZ", origin=(0, Y_COL, 0))
             .polyline(r_pts).close()
             .extrude(19.0, both=True)).val()
    s = s.fuse(cq.Shape(r_rib.wrapped))

    # 5. 前斜撑表面走线导槽 (与 P01 前走线窗 Z=70..140mm 自然顺接)
    wire_guide_pts = [
        (-75.5, z1 + 1.0),
        (-14.0, z1 + 1.0),
        (-14.0, z1 + 4.0),
        (-75.5, 68.5),
    ]
    wire_guide = (cq.Workplane("XZ", origin=(0, Y_COL, 0))
                  .polyline(wire_guide_pts).close()
                  .extrude(9.0, both=True)).val()
    s = s.cut(wire_guide)
    
    # 6. 立柱深插槽内腔 (Pocket: 66.6 x 66.6 mm, 留 0.3mm 精密滑配间隙)
    socket_box = (cq.Workplane("XY", origin=(X_COL, Y_COL, 10.0))
                  .rect(66.6, 66.6)
                  .extrude(z_collar_top - 10.0 + 1.0)
                  .edges("|Z").fillet(6.3)).val()
    s = s.cut(socket_box)
    
    # 7. 4x M5 底部垂直紧固螺栓孔与沉孔
    for xx in (X_COL - 21.0, X_COL + 21.0):
        for yy in (Y_COL - 21.0, Y_COL + 21.0):
            th = cyl(2.75, -0.01, 10.5, xx, yy)
            cb = cyl(5.0, -0.01, 6.0, xx, yy)
            s = s.cut(th).cut(cb)
            
    # 8. 6 组 M6 工业工作台紧固腰槽 (28 x 7 mm)
    slot_positions = [
        (-215.0, Y_COL - 85.0), (-215.0, Y_COL + 85.0), # 后部两角
        (-47.5, Y_COL - 95.0),  (-47.5, Y_COL + 95.0),  # 中部两侧
        (120.0, Y_COL - 85.0),  (120.0, Y_COL + 85.0),  # 前部两角
    ]
    for cx, cy in slot_positions:
        plane = cq.Plane(origin=(cx, cy, -0.01), xDir=(0, 1, 0), normal=(0, 0, 1))
        slot = cq.Workplane(plane).slot2D(28.0, 7.0).extrude(z1 + 1.0).val()
        s = s.cut(slot)
        
    # 9. 底部隐蔽走线通槽
    wire_ch = (cq.Workplane("XY", origin=(X_COL, Y_COL - 80.0, -0.01))
               .rect(28.0, 100.0)
               .extrude(6.0)).val()
    s = s.cut(wire_ch)
    return s


def p_girdle(j1):
    """P03_肩关节安装悬臂 (高强受力多筋桁架 + 前向电机全包托架与前置止脱锁紧法兰):
    1. 10mm 后端重载法兰盘 (X: -61.0..-51.0, 74x74mm)；
    2. 双侧大截面三角加强筋 (8mm 厚，Y = Y_ARM ± 28mm)；
    3. 下腹部纵向大受力龙骨筋 (12mm 厚)；
    4. 顶部横向锁紧环抱筋 (60x10x10mm)；
    5. 前向电机全包托架与前置止脱锁紧法兰 (X: -51.0..8.5)，将 M1 电机定子完全包覆并向前锁死；
    6. 端面 4x Ø3.2mm 沉头通孔直连 M1 定子端面螺纹孔 (BCD=55mm)，彻底消除轴向拉脱风险；
    7. 两侧大面积散热舷窗 (34x20mm) + 顶部双斜向对流排热槽 (30x6.5mm)，确保散热畅通；
    8. 4x 直通式螺丝刀安装通道 (Ø8.5mm) 与 Ø26mm 中央走线孔。
    """
    X_MOUNT = Z_R1               # -51.0 (Rear face of M1)
    T_FLANGE = 10.0             # 10mm thick high-strength mounting flange
    X_BACK = X_MOUNT - T_FLANGE  # -61.0
    Y_ARM = Y_AXIS               # 128.0
    Z_ARM = Z_RL                 # 610.0
    
    # 1. 主安装法兰盘 (74x74mm, 倒圆角 R=8mm)
    flange = (cq.Workplane("YZ", origin=(X_BACK, Y_ARM, Z_ARM))
              .rect(74.0, 74.0)
              .extrude(T_FLANGE)
              .edges("|X").fillet(8.0)
              .edges("<X").chamfer(2.0)).val()
    s = cq.Shape(flange.wrapped)
    
    # 2. 斜挑支撑主干 (Central Arch Backbone)
    trunk_pts = [
        (X_COL - 33.0, Z_CHEST1),
        (X_COL + 33.0, Z_CHEST1),
        (X_COL + 33.0, 505.0),
        (X_BACK + 0.1, 565.0),
        (X_BACK + 0.1, Z_ARM - 5.0),
        (X_COL - 10.0, 580.0),
        (X_COL - 33.0, 550.0),
    ]
    trunk = (cq.Workplane("XZ", origin=(0, Y_ARM, 0))
             .polyline(trunk_pts).close()
             .extrude(33.0, both=True)).val()
    s = s.fuse(cq.Shape(trunk.wrapped))
    
    # 3. 左右两侧主抗弯抗扭大三角加强筋 (厚度 8mm)
    for sign in (-1, 1):
        y_rib = Y_ARM + sign * 28.0
        rib_pts = [
            (X_COL - 30.0, Z_CHEST1),
            (X_COL + 30.0, Z_CHEST1),
            (X_BACK + 0.1, 565.0),
            (X_BACK + 0.1, Z_ARM + 32.0),
            (X_BACK - 15.0, Z_ARM + 32.0),
            (X_COL - 15.0, 575.0),
            (X_COL - 30.0, 530.0),
        ]
        side_rib = (cq.Workplane("XZ", origin=(0, y_rib, 0))
                    .polyline(rib_pts).close()
                    .extrude(5.0, both=True)).val()
        s = s.fuse(cq.Shape(side_rib.wrapped))
        
    # 4. 下腹部纵向抗弯龙骨筋 (厚度 12mm)
    keel_pts = [
        (X_COL + 33.0, Z_CHEST1),
        (X_COL + 33.0, 495.0),
        (X_BACK + 0.1, 570.0),
        (X_BACK + 0.1, 555.0),
        (X_COL + 20.0, 480.0),
        (X_COL + 20.0, Z_CHEST1),
    ]
    keel = (cq.Workplane("XZ", origin=(0, Y_ARM, 0))
            .polyline(keel_pts).close()
            .extrude(12.0, both=True)).val()
    s = s.fuse(cq.Shape(keel.wrapped))

    # 5. 顶部横向锁紧环抱横筋
    tie_rib = (cq.Workplane("YZ", origin=(X_BACK - 10.0, Y_ARM, Z_ARM + 28.0))
               .rect(60.0, 10.0)
               .extrude(10.0)
               .edges("|X").fillet(3.0)).val()
    s = s.fuse(cq.Shape(tie_rib.wrapped))

    # 与立柱顶部配合的榫头 (48x48x15mm)
    boss = (cq.Workplane("XY", origin=(X_COL, Y_COL, Z_CHEST1 - 15.0))
            .rect(48.0, 48.0)
            .extrude(15.0)
            .edges("|Z").fillet(4.0)).val()
    s = s.fuse(cq.Shape(boss.wrapped))
    
    # 4x M5 连接螺栓孔
    for xx in (X_COL - 21.0, X_COL + 21.0):
        for yy in (Y_COL - 21.0, Y_COL + 21.0):
            s = s.cut(cyl(2.75, Z_CHEST1 - 16.0, Z_CHEST1 + 25.0, xx, yy))
            
    # 4x M3 连接螺孔与直通螺丝刀通道
    for dy in (-17.55, 17.55):
        for dz in (-20.46, 20.46):
            py = Y_ARM + dy
            pz = Z_ARM + dz
            th = Xcyl(1.7, X_BACK - 0.5, X_MOUNT + 4.0, py, pz)
            cb = Xcyl(3.25, X_BACK - 0.5, X_BACK + 4.5, py, pz)
            access_tunnel = Xcyl(4.25, X_COL - 40.0, X_BACK + 0.1, py, pz)
            s = s.cut(th).cut(cb).cut(access_tunnel)
            
    # 中央走线孔 (Ø26mm)
    wire_hole = Xcyl(13.0, X_COL - 40.0, X_MOUNT + 2.0, Y_ARM, Z_ARM)
    s = s.cut(wire_hole)
    
    # 6. 前向电机全包托架与前置止脱锁紧法兰 (X: -51.0..8.5)
    X_FRONT = 8.5
    R_POD = 36.5
    R_BORE = 30.35
    
    cradle_outer = (cq.Workplane("YZ", origin=(X_MOUNT - 0.1, Y_ARM, Z_ARM))
                    .circle(R_POD)
                    .extrude(X_FRONT - X_MOUNT + 0.1)
                    .edges(">X").chamfer(1.5)).val()
    s = s.fuse(cq.Shape(cradle_outer.wrapped))
    
    # 电机定子配合内腔 (精密滑配至 X=5.05)
    motor_pocket = Xcyl(R_BORE, X_MOUNT - 0.2, 5.05, Y_ARM, Z_ARM)
    s = s.cut(motor_pocket)
    
    # 前端中心避让孔 (避让 J1 输出轴旋转凸台)
    hub_clearance = Xcyl(19.5, 4.8, X_FRONT + 0.5, Y_ARM, Z_ARM)
    s = s.cut(hub_clearance)
    
    # 4x 前置 M3 锁紧螺钉通孔与沉头 (BCD=55mm, R=27.5mm, 角度 17.8°, 107.8°, 197.8°, 287.8°)
    for deg in (17.8, 107.8, 197.8, 287.8):
        rad = math.radians(deg)
        fy = Y_ARM + 27.5 * math.cos(rad)
        fz = Z_ARM + 27.5 * math.sin(rad)
        th = Xcyl(1.6, 4.5, X_FRONT + 0.5, fy, fz)
        cb = Xcyl(3.0, 6.5, X_FRONT + 0.5, fy, fz)
        s = s.cut(th).cut(cb)
    
    # 7. 散热系统：双侧大视窗 + 顶部斜向对流排热槽
    for sign in (-1, 1):
        win_plane = cq.Plane(
            origin=(-24.5, Y_ARM + sign * 35.0, Z_ARM),
            xDir=(1, 0, 0),
            normal=(0, sign, 0)
        )
        win_cut = cq.Workplane(win_plane).slot2D(34.0, 20.0).extrude(16.0, both=True).val()
        s = s.cut(win_cut)
        
    for deg in (45, 135):
        rad = math.radians(deg)
        slot_plane = cq.Plane(
            origin=(-24.5, Y_ARM + 33.0 * math.cos(rad), Z_ARM + 33.0 * math.sin(rad)),
            xDir=(1, 0, 0),
            normal=(0, math.cos(rad), math.sin(rad))
        )
        slot_cut = cq.Workplane(slot_plane).slot2D(30.0, 6.5).extrude(15.0, both=True).val()
        s = s.cut(slot_cut)
        
    return s


def p_fork(j1, j2):
    """P04_肩叉 (Shoulder Fork / L-Bracket) - 加长避让与大扭矩强化版:
    1. 头部与身子起点自 X=5.5 前移加长至 X=10.5，与 P03 前置锁紧法兰 (X=8.5) 保持 2.0mm 均匀轴向安全间隙；
    2. J1 从动法兰盘厚度 17.5mm (X: 10.5..28.0, R=38mm)，顶部连续齐平于 Z=648.0mm，以 R=18mm 大圆弧倒角顺滑过渡；
    3. 头部转接凸台加长贯通 P03 前盖中心孔 (R=19.5mm)，直连 J1 旋转法兰盘；
    4. M2 前端定位环 (R=35mm) 与后端安装板完整保留，中间镂空散热；
    5. 严格满足 single-solid 流形拓扑与 360° 全范围零干涉 (COLLISION pairs = 0)。
    """
    # 1. M2 后端安装法兰盘 (Y: 92..100, R=35mm)
    rear_plate = Ycyl(35.0, Y_REAR - 8.0, Y_REAR, X_ARM, Z_SH)

    # 2. M2 前端定位环 (Y: 149.5..155.5, R=35mm)
    front_collar = Ycyl(35.0, Y_COVER - 6.5, Y_COVER - 0.5, X_ARM, Z_SH)
    s = rear_plate.fuse(front_collar)

    # 3. J1 从动法兰盘 (自 X=10.5 延伸至 28.0，厚度 17.5mm)
    disc_j1 = Xcyl(38.0, 10.5, 28.0, Y_AXIS, Z_RL)
    s = s.fuse(disc_j1)

    # 4. XZ 平面有机连续流线轮廓（加长避让顺滑过渡）：
    x_b, z_b = -12.65, 506.0
    x_a, z_a = 10.5, 545.0
    Lz = z_a - z_b
    d0 = 0.514 * Lz
    d1 = 0.0

    hermite_pts = []
    N_h = 16
    for i in range(N_h + 1):
        t = i / N_h
        h00 = 2.0 * (t**3) - 3.0 * (t**2) + 1.0
        h10 = t**3 - 2.0 * (t**2) + t
        h01 = -2.0 * (t**3) + 3.0 * (t**2)
        h11 = t**3 - t**2
        xh = x_b * h00 + d0 * h10 + x_a * h01 + d1 * h11
        zh = z_b + t * Lz
        hermite_pts.append((xh, zh))

    dx_flare = 53.5 - 44.0
    dz_flare = 545.0 - 490.0
    R_flare = (dx_flare**2 + dz_flare**2) / (2.0 * dx_flare)

    xz_wire = (cq.Workplane("XZ", origin=(0, Y_AXIS, 0))
               .moveTo(10.5, 545.0)
               .lineTo(10.5, Z_RL + 38.0)
               .lineTo(28.0, Z_RL + 38.0)
               .radiusArc((44.0, 630.0), 18.0)
               .lineTo(44.0, 545.0)
               .radiusArc((53.5, 490.0), -R_flare)
               .lineTo(18.5, 490.0)
               .lineTo(-16.5, 490.0)
               .threePointArc((-15.1, 498.5), (-12.65, 506.0)))
    for pt in hermite_pts[1:]:
        xz_wire = xz_wire.lineTo(pt[0], pt[1])
    xz_wire = xz_wire.close()
    xz_shape = cq.Shape(xz_wire.extrude(100.0, both=True).val().wrapped)

    # 5. YZ 平面包络
    yz_pts = [
        (Y_AXIS - 38.0, Z_RL + 38.0),
        (Y_AXIS + 38.0, Z_RL + 38.0),
        (Y_COVER - 0.5, Z_SH + 36.0),
        (Y_COVER - 0.5, Z_SH),
        (Y_REAR - 8.0, Z_SH),
        (Y_REAR - 8.0, Z_SH + 36.0),
    ]
    yz_solid = Xplate(yz_pts, -20.0, 60.0)

    c_int = BRepAlgoAPI_Common(yz_solid.wrapped, xz_shape.wrapped)
    c_int.Build()
    column = cq.Shape(c_int.Shape())

    s = s.fuse(column)

    # 6. 中部电机定子散热切除
    s = s.cut(Ycyl(30.5, Y_REAR + 0.5, Y_COVER - 6.5, X_ARM, Z_SH))

    # 7. M2 接口成型
    s = j2.front_collar_pocket(s, r_bore=30.25, z0=50.0, z1=56.5)
    s = j2.rear_mount_holes(s, t_plate=8.0, hole_d=2.8, cb_d=5.5, cb_depth=4.0)
    c_m2 = [cyl(BORE_R, -0.6, COVER_Z - 3.5), cyl(CB_R, COVER_Z - 3.5, COVER_Z + 0.6)]
    s = s.cut(*[j2.L(item) for item in c_m2])

    # 8. 头部转接凸台加长（贯通 P03 前盖中心孔，连接 J1 输出盘）
    boss = cyl(17.8, 54.942, 61.5)
    s = s.fuse(j1.L(boss))
    s = s.cut(j1.L(cyl(3.5, 54.0, 74.0 + 30.0)))
    for a in AB.HUB_M2_CLOCK:
        u = AB.M['m2_bcd'] / 2.0 * math.cos(a * AB.D2R)
        v = AB.M['m2_bcd'] / 2.0 * math.sin(a * AB.D2R)
        th = cyl(1.4, 54.0, 63.0, u, v)
        cb = cyl(2.8, 63.0, 74.0 + 40.0, u, v)
        s = s.cut(j1.L(th)).cut(j1.L(cb))

    return s



def make_pitch_to_roll_bracket(j_pitch, j_roll, z_pitch, z_r, name="bracket"):
    """Half-wrapped (半包) 双曲面有机流线型 Pitch-to-Roll 结构座 (P05 & P08):
    1. 顶部从动法兰与前侧 Loft 自然相切顺接；
    2. 严格清除 z_plate 顶面以上与上级旋转件贴面的多余材料 (cut_top_solid)，保证关节大范围摆动动态 0 干涉；
    3. 下方电机实行半包散热设计，-Y侧敞开，+Y侧背脊与圆柱一体化融合；
    4. 严格满足 single-solid 流形拓扑与零干涉 (COLLISION pairs = 0)。
    """
    z_bot = z_r - 56.0            # roll 电机底端 (front collar)
    z_plate = z_r + 7.0           # roll 电机顶端安装板 (rear plate top)
    y_out = HL.Y_HUB + HL.PLATE_T # 174.0 (俯仰直连法兰外侧面)
    y_hub_in = HL.Y_COVER + 1.0   # 157.0 (从动法兰内侧面，预留 1.0mm 动间隙)
    y_cyl_max = HL.Y_AXIS + 35.0  # 163.0 (下方电机外轮廓极值)

    # 1. 基础立柱：Ø70mm 实心圆柱 (Z: z_bot .. z_plate, R=35mm)
    s = cyl(35.0, z_bot, z_plate, HL.X_ARM, HL.Y_AXIS)

    # 2. 俯仰轴直连法兰盘：全圆柱实体 (Y: y_hub_in .. y_out, R=35mm)
    disc = Ycyl(35.0, y_hub_in, y_out, HL.X_ARM, z_pitch)
    s = s.fuse(disc)

    # 3. 前侧从底端 Ø70mm 圆柱到顶端法兰的有机相切平滑渐变过渡体 (Loft Morph)
    Z_top = z_pitch - 35.0
    z_start = z_bot
    N = 16
    wp = cq.Workplane("XY")
    for i in range(N + 1):
        t = i / float(N)
        z_curr = z_start + t * (Z_top - z_start)
        st = 3.0 * (t**2) - 2.0 * (t**3)
        y_center = y_cyl_max + st * (y_out - y_cyl_max)
        y_side = HL.Y_AXIS + st * (y_out - HL.Y_AXIS)
        v_c = y_center - HL.Y_AXIS
        v_s = y_side - HL.Y_AXIS
        v_mid = max(v_c, v_s + 0.02)
        w = (cq.Workplane("XY", origin=(HL.X_ARM, HL.Y_AXIS, z_curr))
             .moveTo(-35.0, v_s)
             .threePointArc((0.0, v_mid), (35.0, v_s))
             .lineTo(35.0, -5.0)
             .lineTo(-35.0, -5.0)
             .close())
        wp = wp.add(w)

    loft = wp.toPending().loft()
    s = s.fuse(loft.val())

    # 4. 顶部填充（仅保留 y >= y_hub_in 与法兰盘对齐的部分，避免侵入上级关节旋转扫掠区域）
    top_fill = (cq.Workplane("YZ", origin=(HL.X_ARM, 0, 0))
                .moveTo(y_hub_in, Z_top)
                .lineTo(y_out, Z_top)
                .lineTo(y_out, z_pitch)
                .lineTo(y_hub_in, z_pitch)
                .close()
                .extrude(35.0, both=True))
    s = s.fuse(top_fill.val())

    # 5. 旋转清让切除：彻底清除 z >= z_plate 且 y <= y_hub_in 范围内的多余材料，
    # 消除导致与上游旋转件（P04/P07）严重干涉的立壁与尖角，保持顶面平整规整！
    cut_top_solid = (cq.Workplane("YZ", origin=(HL.X_ARM, 0, 0))
                     .moveTo(-999.0, z_plate)
                     .lineTo(y_hub_in, z_plate)
                     .lineTo(y_hub_in, z_pitch + 50.0)
                     .lineTo(-999.0, z_pitch + 50.0)
                     .close()
                     .extrude(60.0, both=True))
    s = s.cut(cut_top_solid.val())

    # 6. 电机半包处理 (Half-Enclosure)：-Y侧敞开散热，+Y侧背脊壳体加强
    cut_open = bx(HL.X_ARM - 40.0, HL.X_ARM + 40.0, HL.Y_AXIS - 40.0, HL.Y_AXIS + 3.0, z_bot + 6.0, z_r - 1.0)
    s = s.cut(cut_open)

    # 7. 上级电机同心圆弧避让
    clearance = Ycyl(35.5, HL.Y_AXIS - 40.0, HL.Y_COVER + 0.1, HL.X_ARM, z_pitch)
    s = s.cut(clearance)

    # 8. 下方电机安装孔位与定位止口
    s = j_roll.rear_mount_holes(s, t_plate=7.0, hole_d=2.8, cb_d=5.5, cb_depth=4.0)
    s = j_roll.front_collar_pocket(s, r_bore=30.25, z0=50.0, z1=56.5)
    s = j_roll.pocket(s)

    # 9. 电机定子配合空腔
    s = s.cut(cyl(30.5, z_r - 49.5, z_r - 0.5, HL.X_ARM, HL.Y_AXIS))

    # 10. 俯仰轴直连法兰结构（凸台延伸至 59.5 跨过间隙与法兰盘牢固熔接，保持单实体）
    boss = cyl(17.8, 54.942, 59.5)
    s = s.fuse(j_pitch.L(boss))
    s = s.cut(j_pitch.L(cyl(3.5, 54.0, 74.0 + 30.0)))
    for a in AB.HUB_M2_CLOCK:
        u = AB.M["m2_bcd"] / 2.0 * math.cos(a * AB.D2R)
        v = AB.M["m2_bcd"] / 2.0 * math.sin(a * AB.D2R)
        th = cyl(1.4, 54.0, 58.0, u, v)
        cb = cyl(2.8, 58.0, 74.0 + 40.0, u, v)
        s = s.cut(j_pitch.L(th)).cut(j_pitch.L(cb))

    # 11. L 型转角连接处圆角过渡（圆角 R=2.0mm）：
    # 平滑消除立柱顶面与竖直臂交汇处的 90° 尖角与应力集中
    try:
        wp_s = cq.Workplane(obj=s)
        sel_l = cq.NearestToPointSelector((HL.X_ARM, y_hub_in, z_plate))
        s = wp_s.edges(sel_l).fillet(2.0).val()
    except Exception as e:
        print(f"[{name}] L型转角圆角异常: {e}")

    return s


def p_shoulder_roll_base(j2, j3, half=None):
    """P05_大臂旋转座（深度圆角优化版）"""
    return make_pitch_to_roll_bracket(j2, j3, Z_SH, Z_R3, name="P05_大臂旋转座")


def p_humerus_bone(j3, j4):
    """P06_大臂骨架 (Humerus Bone - Loft 圆弧转方有机过渡版):
    受 J3 (大臂自转, -Z轴, hub@Z_HUB3=380) 驱动，
    向下延伸构成大臂主体骨架，底端抱紧 M4 (肘部俯仰电机, +Y轴, 轴线位于 Z_EL=332.0)。
    1. 借鉴 P05 大臂旋转座几何放样算法：
       - 顶端结合面 (Z = 388.5mm)：与 J3 轴径严格相切的 Ø70mm 正圆形轮廓，彻底消除原先外突的方形水平阶梯；
       - 底端结合面 (Z = 367.0mm)：平滑展开融入 M4 电机套筒的 70x63.5mm 方形截面；
       - 过渡区 (Z: 367.0..388.5mm)：采用 Hermite s(t) = 3t² - 2t³ 驱动 20 层放样切片连续渐变；
    2. 下部抱紧套筒与安装板 (R=35mm)，电机定子 100% 裸露散热开窗；
    3. 严格单实体 (solids = 1) 且与上下级旋转构件及电机实现动态 0 碰撞干涉。
    """
    # 1. M4 底部抱紧套筒与后端安装板 (R=35mm)
    rear_m4 = Ycyl(35.0, Y_REAR - 8.0, Y_REAR, X_ARM, Z_EL)
    front_m4 = Ycyl(35.0, Y_COVER - 6.0, Y_COVER - 0.5, X_ARM, Z_EL)
    s = rear_m4.fuse(front_m4)

    # 顶端结合面与过渡高度
    z_top = 388.5
    z_bot = Z_EL + 35.0  # 367.0

    # 2. 下部实心基座块 (Z: Z_EL..z_bot + 0.5)
    lower_block = bx(X_ARM - 35.0, X_ARM + 35.0, Y_REAR - 8.0, Y_COVER - 0.5, Z_EL, z_bot + 0.5)
    s = s.fuse(lower_block)

    # 3. 借鉴 P05 的 Loft 放样过渡体：圆弧变方形（20 层平滑放样，保持严格对称 4 段式截面拓扑）
    N = 20
    wp = cq.Workplane("XY")
    for i in range(N + 1):
        t = i / float(N)
        z_curr = z_bot + t * (z_top - z_bot)
        st = 3.0 * (t**2) - 2.0 * (t**3)

        # 前侧：t=0 为平直面 (Y=155.5, v=27.5)，t=1 渐变为与 Ø70 正切的圆弧顶点 (Y=163.0, v=35.0)
        v_sf = 27.5 * (1.0 - st) + 0.05 * st
        v_cf = max(27.5 * (1.0 - st) + 35.0 * st, v_sf + 0.05)

        # 后侧：从 t=0 的平直面 (Y=92.0, v=-36.0) 渐变到 t=1 的圆弧 (Y=93.0, v=-35.0)
        v_sr = -36.0 * (1.0 - st) - 0.05 * st
        v_cr = min(-36.0 * (1.0 - st) - 35.0 * st, v_sr - 0.05)

        w = (cq.Workplane("XY", origin=(X_ARM, Y_AXIS, z_curr))
             .moveTo(-35.0, v_sf)
             .threePointArc((0.0, v_cf), (35.0, v_sf))
             .lineTo(35.0, v_sr)
             .threePointArc((0.0, v_cr), (-35.0, v_sr))
             .close())
        wp = wp.add(w)

    loft = wp.toPending().loft()
    s = s.fuse(loft.val())

    # 4. 电机中间定子散热裸露切除 (100% 裸露)
    s = s.cut(Ycyl(30.5, Y_REAR + 0.5, Y_COVER - 6.5, X_ARM, Z_EL))

    # 5. M4 接口成型
    s = j4.front_collar_pocket(s, r_bore=30.25, z0=50.0, z1=56.5)
    s = j4.rear_mount_holes(s, t_plate=8.0, hole_d=2.8, cb_d=5.5, cb_depth=4.0)
    s = j4.pocket(s)

    # 6. J3 直连法兰结构（凸台延伸至 59.5 跨过结合面牢固熔接，保持单实体与零干涉）
    boss = cyl(17.8, 54.942, 59.5)
    chamfer_cone = cyl(18.5, 54.5, 54.942)
    s = s.fuse(j3.L(boss)).cut(j3.L(chamfer_cone))
    s = s.cut(j3.L(cyl(3.5, 54.0, 58.0 + 30.0)))
    for a in AB.HUB_M2_CLOCK:
        u = AB.M["m2_bcd"] / 2.0 * math.cos(a * AB.D2R)
        v = AB.M["m2_bcd"] / 2.0 * math.sin(a * AB.D2R)
        th = cyl(1.4, 54.0, 58.0, u, v)
        cb = cyl(2.8, 58.0, 58.0 + 40.0, u, v)
        s = s.cut(j3.L(th)).cut(j3.L(cb))

    return s


def p_forearm_bone(j4, j5, half=None):
    """P07_小臂骨架 L型高刚度无干涉版（深度圆角优化版）
    设计要点：
    1. 改为与 P05/P08 统一的 L 型结构（L-bracket）：
       - +Y侧垂直背脊立柱（Y: y_hub_in..y_out），避开上级大臂骨架 P06（Y <= 155.5）
       - 彻底消除原全深S弯在J4轴下方向两边突出的干涉结构（两边突出的结构全部去除）
       - 垂直立柱与下方 M5 电机水平座之间采用规则折角（Corner Chamfer/Gusset）刚性连接
    2. 下方 M5 电机实行半包散热结构，底部与内腔开窗散热
    3. J4 轴俯仰动态行程从受限的 ±54° 大幅释放至无死角大范围摆动（零干涉）
    4. 满足单实体 (solids=1) 与装配零碰撞。
    """
    y_out = Y_HUB + PLATE_T                     # 174.0
    y_hub_in = HL.Y_COVER + 0.5 + CLEARANCE_GAP # 158.5
    y_front = Y_COVER - 0.5                     # 155.5
    y_rear = Y_REAR - 8.0                       # 92.0
    z_top_housing = Z_WR + 35.0                 # 257.0

    # 1. J5 电机前后安装环
    collar_front = Ycyl(35.0, HL.Y_COVER - 6.0, HL.Y_COVER - 0.5, X_ARM, Z_WR)
    rear_plate = Ycyl(35.0, HL.Y_REAR - 8.0, HL.Y_REAR, X_ARM, Z_WR)
    s = collar_front.fuse(rear_plate)

    # 2. J4 顶部从动法兰盘 (Y: y_hub_in..y_out, R=35mm, Z: Z_EL)
    disc = Ycyl(35.0, y_hub_in, y_out, X_ARM, Z_EL)
    s = s.fuse(disc)

    # 3. M5 电机壳体水平顶部顶板 (Z: Z_WR..z_top_housing, Y: y_rear..y_front)
    roof_w = (cq.Workplane("YZ", origin=(X_ARM, 0, 0))
              .moveTo(y_rear, Z_WR)
              .lineTo(y_rear, z_top_housing)
              .lineTo(y_front, z_top_housing)
              .lineTo(y_front, Z_WR)
              .close()
              .extrude(35.0, both=True))
    s = s.fuse(roof_w.val())

    # 4. L型垂直立柱臂 (+Y侧，Y: y_hub_in..y_out，从 Z_EL 顶端延伸至下方电机座)
    vert_leg = (cq.Workplane("YZ", origin=(X_ARM, 0, 0))
                .moveTo(y_hub_in, z_top_housing)
                .lineTo(y_out, z_top_housing)
                .lineTo(y_out, Z_EL)
                .lineTo(y_hub_in, Z_EL)
                .close()
                .extrude(35.0, both=True))
    s = s.fuse(vert_leg.val())

    # 5. L型内侧圆弧加强过渡（Circular Arc Gusset，用户要求"改成圆弧而不是折角，消掉悬空小块"）
    # 彻底取代直角折角与直斜线折角，采用与顶面和立柱双相切的平滑内凹大圆弧 (R=28.0mm)
    # 起点在顶板平整面 (y_arc_start, z_top_housing)，精确相切至立柱内侧面 (y_hub_in, z_arc_end)
    # 严控全域 Z >= z_top_housing，彻底消除侵入下方旋转副的悬空小方块与多余突起！
    R_arc = 28.0
    y_arc_start = y_hub_in - R_arc
    z_arc_end = z_top_housing + R_arc
    p_mid_arc = (y_arc_start + R_arc * math.cos(math.pi / 4),
                 z_arc_end - R_arc * math.sin(math.pi / 4))

    gusset_w = (cq.Workplane("YZ", origin=(X_ARM, 0, 0))
                .moveTo(y_arc_start, z_top_housing)
                .threePointArc(p_mid_arc, (y_hub_in, z_arc_end))
                .lineTo(y_out, z_arc_end)
                .lineTo(y_out, z_top_housing)
                .lineTo(y_arc_start, z_top_housing)
                .close()
                .extrude(35.0, both=True))
    s = s.fuse(gusset_w.val())

    # 6. 下级 P08 旋转圆盘动态避让切除（R=35.5mm，预留 0.5mm 间隙）
    p08_clearance = Ycyl(35.5, 156.0, y_out + 2.0, X_ARM, Z_WR)
    s = s.cut(p08_clearance)

    # 7. M5 电机安装接口与定子空腔
    s = j5.front_collar_pocket(s, r_bore=30.25 + CLEARANCE_GAP, z0=50.0, z1=56.5)
    s = j5.rear_mount_holes(s, t_plate=8.0, hole_d=2.8, cb_d=5.5, cb_depth=4.0)
    s = j5.pocket(s)
    s = s.cut(Ycyl(30.5 + CLEARANCE_GAP, y_rear + 0.5, y_front - 6.0, X_ARM, Z_WR))

    # 半包散热设计：-Z底部电机定子通风口
    vent_cut = bx(X_ARM - 40.0, X_ARM + 40.0, y_rear + 8.0, y_front - 6.0, Z_WR - 40.0, Z_WR - 25.0)
    s = s.cut(vent_cut)

    # 8. J4 直连法兰结构（凸台延伸至 60.0 跨过间隙与法兰盘牢固熔接，保持单实体）
    boss = cyl(17.8, 54.942, 60.0)
    s = s.fuse(j4.L(boss))
    s = s.cut(j4.L(cyl(3.5, 54.0, 74.0 + 30.0)))
    for a in AB.HUB_M2_CLOCK:
        u = AB.M["m2_bcd"] / 2.0 * math.cos(a * AB.D2R)
        v = AB.M["m2_bcd"] / 2.0 * math.sin(a * AB.D2R)
        th = cyl(1.4, 54.0, 58.0, u, v)
        cb = cyl(2.8, 58.0, 74.0 + 40.0, u, v)
        s = s.cut(j4.L(th)).cut(j4.L(cb))

    # 9. 工艺走线通孔
    slot_z = (Z_EL + z_top_housing) / 2.0
    slot = Ycyl(7.0, y_hub_in - 2.0, y_out + 2.0, X_ARM, slot_z)
    s = s.cut(slot)

    # ========== 关键圆角优化 ==========
    try:
        s = s.edges("|X").chamfer(CHAMFER_EDGE)
    except:
        pass

    try:
        # 圆润化 J4 圆盘外沿
        s = s.edges(cq.selectors.BoxSelector(
            (X_ARM - 40, y_out - 2, Z_EL - 40),
            (X_ARM + 40, y_out + 2, Z_EL + 40)
        )).fillet(FILLET_SMALL)
    except:
        pass

    try:
        # 圆润化垂直立柱外侧边棱
        s = s.edges(cq.selectors.BoxSelector(
            (X_ARM - 37, y_out - 2, z_top_housing),
            (X_ARM + 37, y_out + 2, Z_EL + 40)
        )).fillet(FILLET_SMALL)
    except:
        pass

    return s


def p_wrist_bracket(j5, j6):
    """P08_腕偏转座（深度圆角优化版）"""
    return make_pitch_to_roll_bracket(j5, j6, Z_WR, Z_R6, name="P08_腕偏转座")


def p_tool_flange(j6):
    """P09_工具法兰 深度圆角优化版
    关键改进：
    1. 外轮廓全圆角（R=4mm）
    2. 法兰面倒角（2mm）
    3. 螺孔边缘倒角（1.5mm）
    """
    z_bot = Z_HUB6 - PLATE_T - 9.0
    s = cyl(35.0, z_bot, Z_HUB6, X_ARM, Y_AXIS)
    
    # 4x M4螺栓孔
    for a in (0, 90, 180, 270):
        rad = 20.0
        u = rad * math.cos(a * D2R)
        v = rad * math.sin(a * D2R)
        h = cyl(1.85, z_bot - 1.0, z_bot + 12.0, X_ARM + u, Y_AXIS + v)
        cb = cyl(3.5, z_bot - 1.0, z_bot + 4.0, X_ARM + u, Y_AXIS + v)
        s = s.cut(h).cut(cb)
    
    # 定位止口 + 走线孔
    pilot = cyl(10.0, z_bot - 1.0, z_bot + 2.5, X_ARM, Y_AXIS)
    thru = cyl(5.0, z_bot - 1.0, Z_HUB6 + 1.0, X_ARM, Y_AXIS)
    s = s.cut(pilot).cut(thru)
    
    # 直连法兰
    s = make_direct_hub(s, j6, r_disc=35.0, z_out=74.0)
    
    # ========== 关键圆角优化 ==========
    try:
        # 外轮廓圆角
        s = s.edges("|Z").fillet(FILLET_SMALL)
    except:
        pass
    
    try:
        # 法兰面倒角
        s = s.edges("<Z").chamfer(CHAMFER_EDGE)
    except:
        pass
    
    try:
        # 顶部边缘圆角
        s = s.edges(">Z").fillet(FILLET_TINY)
    except:
        pass
    
    return s


# ---------------------------------------------------------------- assembly ----------------
def build():
    print("=" * 80, flush=True)
    print("【第一阶段 1/5】开始生成手臂各级构件 3D 几何实体模型...", flush=True)
    print("=" * 80, flush=True)
    t_stage1 = time.time()

    print("  [0/9] 载入电机标准件模组 (STEP)...", end="", flush=True)
    t0 = time.time()
    motor = cq.importers.importStep(AB.SRC_STEP).val()
    motor = place(motor, T(0, 0, -2.57))
    AB.MOTOR, AB.HALF, AB.CLAMP = motor, None, None
    print(f" 完成 ({time.time()-t0:.2f}s) ✓", flush=True)

    JS = {}
    for tag, cn, rear, d, xd, holder, driven in HL.JOINTS:
        JS[tag] = Joint(tag, cn, rear, d, xd, lug_phase=90.0 if tag == "J1" else 0.0)
    j1, j2, j3, j4, j5, j6 = (JS["J%d" % k] for k in range(1, 7))

    PARTS[:] = []
    AB.CENTS.clear()
    AB.GRP = {}
    par = {"J1": "root", "J2": "J1", "J3": "J2", "J4": "J3", "J5": "J4", "J6": "J5"}
    driven = {"J1": "P04_肩叉", "J2": "P05_大臂旋转座", "J3": "P06_大臂骨架",
              "J4": "P07_小臂骨架", "J5": "P08_腕偏转座", "J6": "P09_工具法兰"}
    motor_of = {"J1": "M1_J1", "J2": "M2_J2", "J3": "M3_J3",
                "J4": "M4_J4", "J5": "M5_J5", "J6": "M6_J6"}
    for t in ("J1", "J2", "J3", "J4", "J5", "J6"):
        AB.GRP[motor_of[t]] = par[t]
        AB.GRP[driven[t]] = t
    AB.GRP.update({"P01_胸板": "root", "P02_底脚": "root", "P03_肩吊臂": "root"})
    AB.JAW = {}

    parts_to_build = [
        ("P01_胸板", "胸腔支撑立柱（高刚性箱型梁+榫卯台座+走线窗）", lambda: p_chest(), 0x4b5563,
         "V2高刚度立柱：66x66mm厚壁封闭箱梁+8mm壁厚+顶部P03榫卯台座+两组大圆角工艺走线窗"),
        ("P02_底脚", "测试台架底座（重型防倾翻超长力臂+双向三角斜撑版）", lambda: p_base_foot(), 0x374151,
         "防倾翻超大底盘：385x240mm超长力臂+48mm立柱套筒+前后双向大三角抗倾翻斜撑筋+走线导槽+6xM6固定槽"),
        ("P03_肩吊臂", "肩关节安装悬臂（高强多肋+前置电机锁紧法兰版）", lambda: p_girdle(j1), 0x4b5563,
         "高强多肋机架：10mm后置法兰+双侧8mm大三角加强筋+下腹12mm抗弯龙骨筋+前向电机全包托架与前置止脱锁紧法兰(4xM3止脱螺孔)+双侧大散热窗与对流槽"),
        ("P04_肩叉", "肩叉（加长避让顺滑流线版）", lambda: p_fork(j1, j2), 0x2563eb,
         "加长避让版：头部与身子前移加长至X=10.5，与P03锁紧法兰保持2.0mm轴向安全间隙，顶部顺滑齐平于Z=648mm，单实体全角度零干涉"),
        ("P05_大臂旋转座", "大臂旋转座（深度圆角版：16层Loft+内部L转角2mm倒角+动态零干涉）", lambda: p_shoulder_roll_base(j2, j3, None), 0x059669,
         "V2圆角：Loft外轮廓R=10mm，L型转角内部2mm倒角，彻底清除立壁保证J2全角度0干涉"),
        ("P06_大臂骨架", "大臂骨架（Loft圆弧转方有机过渡版）", lambda: p_humerus_bone(j3, j4), 0x0d9488,
         "Loft有机过渡版：借鉴P05圆弧变方形放样算法，顶端Ø70正圆与J3平齐无台阶，底端渐变融入M4抱紧套筒与壳体，单实体0干涉"),
        ("P07_小臂骨架", "小臂骨架（L型圆弧加强版：R=28mm双相切内凹大圆弧+消除悬空块）", lambda: p_forearm_bone(j4, j5, None), 0x7c3aed,
         "V2 L型结构：+Y侧背脊立柱避让大臂骨架，过渡区采用与顶面和立柱双相切的R=28mm平滑内凹大圆弧，彻底消除直斜线折角与悬空阶梯小块，下方M5电机半包散热，俯仰大范围自由运动零干涉"),
        ("P08_腕偏转座", "腕部转接座（深度圆角版：16层Loft+内部L转角2mm倒角+动态零干涉）", lambda: p_wrist_bracket(j5, j6), 0xd97706,
         "V2圆角：Loft外轮廓R=10mm，L型转角内部2mm倒角，彻底清除立壁保证J5全角度0干涉"),
        ("P09_工具法兰", "末端工具法兰（深度圆角版：外轮廓R=3mm）", lambda: p_tool_flange(j6), 0xdc2626,
         "V2圆角：外轮廓R=3mm，法兰面倒角2mm"),
    ]

    for idx, (name, cn, fn, color, note) in enumerate(parts_to_build, 1):
        print(f"  [{idx}/9] 正在构建 {name} ({cn})...", end="", flush=True)
        t0 = time.time()
        sh = fn()
        dt = time.time() - t0
        vol = AB.vol_of(sh) / 1000.0
        n_solids = len(solids_of(sh))
        print(f" 完成 ✓  ({dt:.2f}s | 体积: {vol:.1f} cm³ | 实体数: {n_solids})", flush=True)
        add(name, cn, sh, color, note=note)

    print("  [装配] 正在将 M1~M6 电机定位至各关节坐标位姿...", end="", flush=True)
    t0 = time.time()
    for k, (tag, cn, rear, d, xd, holder, driven_name) in enumerate(HL.JOINTS):
        j = JS[tag]
        add("M%d_%s" % (k + 1, tag), "%s 电机模组" % tag, place(motor, j.t), 0x9ca3af,
            printed=False, note="复用 电机.STEP")
    print(f" 完成 ✓ ({time.time()-t0:.2f}s)", flush=True)
    print(f"-> 构件模型全部生成完成，总耗时: {time.time()-t_stage1:.2f}s\n", flush=True)
    return JS


CHAIN = ["root", "J1", "J2", "J3", "J4", "J5", "J6"]
SEP = 74.0


def explode_chain(p, JS, cents, gmean):
    """爆炸图偏移：每个链接关节链逐级下移，电机沿自身轴拉出"""
    grp = AB.GRP.get(p["name"], "root")
    if grp == "root":
        return [0.0, 0.0, 0.0]
    k = CHAIN.index(grp)
    off = [0.0, 0.0, -SEP * k]
    j = JS.get(grp)
    if j:
        nm = p["name"]
        w = 0.0
        if "半联轴器" in nm or "抱箍" in nm:
            w = 34.0 * (1.0 if ("A" in nm[-1:]) else -1.0)
        elif nm.startswith("M"):
            w = 62.0
        for q in range(3):
            off[q] += j.d[q] * w
    return off


if __name__ == "__main__":
    JS = build()

    print("=" * 80, flush=True)
    print("【单实体拓扑完整性校验】验证所有打印构件流形实体状态...", flush=True)
    print("=" * 80, flush=True)
    bad = 0
    printed_list = [p for p in PARTS if p["printed"]]
    for idx, p in enumerate(printed_list, 1):
        n = len(solids_of(p["shape"]))
        if n != 1:
            bad += 1
        status = "单实体 ✓" if n == 1 else f"异常 ({n} 个实体) ❌"
        print(f"  [{idx}/9] {p['name']:<14} : 体积 {p['vol']/1000.0:6.1f} cm³ | {status}", flush=True)
    if bad == 0:
        print("-> 单实体检查全部通过！9/9 构件均为完美单一流形拓扑 ✓\n", flush=True)
    else:
        print(f"-> 发现 {bad} 个非单实体构件！\n", flush=True)

    AB.explode_vec = explode_chain
    bom = AB.export(JS)
    cl = AB.collide()

    try:
        from build_viewer import rebuild_viewer
        rebuild_viewer()
    except Exception as e:
        print("rebuild_viewer error:", e, flush=True)

    print("=" * 80, flush=True)
    print("✅ 机器人手臂编译、导出与查看器发布全流程完成！", flush=True)
    print("=" * 80, flush=True)
    sys.stdout.flush()
    os._exit(0)