121 lines
3.3 KiB
JSON
121 lines
3.3 KiB
JSON
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{
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"assumptions": {
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"motor": "60mm 方形标准关节电机模组，2 级行星减速",
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"T_cont_Nm": 2.5,
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"T_peak_Nm": 8.0,
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"T_allow_Nm": 2.0,
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"alpha_rad_s2": 5.0,
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"payload_kg": 0.5,
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"note": "电机参数为工程假定，仓库内无数据手册；结论对此敏感，见报告第 4 节"
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},
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"joints": {
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"J1": {
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"cn": "肩抬举",
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"axis": "roll(绕X)",
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"distal_mass_kg": 2.127,
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"arm_mass_kg": 1.627,
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"weight_N": 20.9,
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"reach_tip_mm": 512.0,
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"tau_gravity_Nm": 6.137,
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"tau_gravity_arm_only_Nm": 3.84,
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"I_distal_kgm2": 0.28468,
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"tau_dynamic_Nm": 1.423,
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"tau_required_static_Nm": 6.137,
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"tau_required_peak_Nm": 7.561,
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"duty_vs_Tcont_pct": 245.5,
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"duty_vs_Tallow_pct": 306.9,
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"peak_margin_x": 1.06,
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"status": "OVERLOAD"
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},
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"J2": {
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"cn": "肩俯仰",
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"axis": "pitch(绕Y)",
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"distal_mass_kg": 1.753,
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"arm_mass_kg": 1.253,
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"weight_N": 17.2,
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"reach_tip_mm": 394.0,
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"tau_gravity_Nm": 4.395,
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"tau_gravity_arm_only_Nm": 2.478,
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"I_distal_kgm2": 0.14623,
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"tau_dynamic_Nm": 0.731,
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"tau_required_static_Nm": 4.395,
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"tau_required_peak_Nm": 5.126,
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"duty_vs_Tcont_pct": 175.8,
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"duty_vs_Tallow_pct": 219.8,
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"peak_margin_x": 1.56,
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"status": "OVERLOAD"
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},
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"J3": {
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"cn": "大臂自转",
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"axis": "roll(绕Z)",
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"distal_mass_kg": 1.468,
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"arm_mass_kg": 0.968,
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"weight_N": 14.4,
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"reach_tip_mm": 250.0,
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"tau_gravity_Nm": 1.712,
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"tau_gravity_arm_only_Nm": 0.742,
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"I_distal_kgm2": 0.03871,
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"tau_dynamic_Nm": 0.194,
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"tau_required_static_Nm": 1.712,
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"tau_required_peak_Nm": 1.906,
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"duty_vs_Tcont_pct": 68.5,
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"duty_vs_Tallow_pct": 85.6,
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"peak_margin_x": 4.2,
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"status": "OK"
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},
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"J4": {
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"cn": "肘部俯仰",
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"axis": "pitch(绕Y)",
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"distal_mass_kg": 1.178,
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"arm_mass_kg": 0.678,
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"weight_N": 11.6,
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"reach_tip_mm": 241.0,
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"tau_gravity_Nm": 2.062,
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"tau_gravity_arm_only_Nm": 0.89,
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"I_distal_kgm2": 0.04258,
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"tau_dynamic_Nm": 0.213,
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"tau_required_static_Nm": 2.062,
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"tau_required_peak_Nm": 2.275,
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"duty_vs_Tcont_pct": 82.5,
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"duty_vs_Tallow_pct": 103.1,
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"peak_margin_x": 3.52,
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"status": "OVERLOAD"
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},
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"J5": {
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"cn": "腕部俯仰",
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"axis": "pitch(绕Y)",
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"distal_mass_kg": 0.832,
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"arm_mass_kg": 0.332,
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"weight_N": 8.2,
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"reach_tip_mm": 132.0,
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"tau_gravity_Nm": 0.863,
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"tau_gravity_arm_only_Nm": 0.23,
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"I_distal_kgm2": 0.01018,
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"tau_dynamic_Nm": 0.051,
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"tau_required_static_Nm": 0.863,
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"tau_required_peak_Nm": 0.914,
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"duty_vs_Tcont_pct": 34.5,
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"duty_vs_Tallow_pct": 43.1,
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"peak_margin_x": 8.75,
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"status": "OK"
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},
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"J6": {
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"cn": "腕自转",
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"axis": "roll(绕Z)",
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"distal_mass_kg": 0.547,
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"arm_mass_kg": 0.047,
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"weight_N": 5.4,
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"reach_tip_mm": 83.0,
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"tau_gravity_Nm": 0.0,
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"tau_gravity_arm_only_Nm": 0.0,
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"I_distal_kgm2": 0.0,
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"tau_dynamic_Nm": 0.0,
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"tau_required_static_Nm": 0.0,
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"tau_required_peak_Nm": 0.0,
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"duty_vs_Tcont_pct": 0.0,
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"duty_vs_Tallow_pct": 0.0,
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"peak_margin_x": null,
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"status": "OK"
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}
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}
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}
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