30 lines
650 KiB
XML
30 lines
650 KiB
XML
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<text x="490" y="30" text-anchor="middle" font-size="21" font-weight="bold" fill="#16324f">运动学工作空间剖面（(x, r) 平面，真实 FK 采样 60000 位形）</text>
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<text x="490" y="54" text-anchor="middle" font-size="13" fill="#5c7185">r = 离 J1 轴的距离；J1 整周连续 ⇒ 可达集对该轴旋转对称，本剖面即完整工作空间（未计自碰撞与胶囊干涉）</text>
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<text x="761.2" y="524" text-anchor="end" font-size="13" font-weight="bold" fill="#16324f">x：CAD 前后方向 (mm)</text>
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<text x="64" y="282.8" font-size="13" font-weight="bold" fill="#16324f" transform="rotate(-90 64 282.8)">r：离 J1 轴距离 (mm)</text>
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<circle cx="435.23" cy="401.2" r="3.2" fill="#7c5cd6"/><text x="444.23" y="405.2" font-size="11" fill="#5c3a90" stroke="#ffffff" stroke-width="3" paint-order="stroke">J2 r=120</text><circle cx="435.23" cy="367.9" r="3.2" fill="#7c5cd6"/><text x="444.23" y="371.9" font-size="11" fill="#5c3a90" stroke="#ffffff" stroke-width="3" paint-order="stroke">J3 r=165</text><circle cx="435.23" cy="284.28" r="3.2" fill="#7c5cd6"/><text x="444.23" y="288.28" font-size="11" fill="#5c3a90" stroke="#ffffff" stroke-width="3" paint-order="stroke">J4 r=278</text><circle cx="435.23" cy="202.88" r="3.2" fill="#7c5cd6"/><text x="444.23" y="206.88" font-size="11" fill="#5c3a90" stroke="#ffffff" stroke-width="3" paint-order="stroke">J5 r=388</text><circle cx="435.23" cy="168.84000000000003" r="3.2" fill="#7c5cd6"/><text x="444.23" y="172.84000000000003" font-size="11" fill="#5c3a90" stroke="#ffffff" stroke-width="3" paint-order="stroke">J6 r=434</text><circle cx="435.23" cy="107.42000000000002" r="3.2" fill="#7c5cd6"/><text x="444.23" y="111.42000000000002" font-size="11" fill="#5c3a90" stroke="#ffffff" stroke-width="3" paint-order="stroke">TCP r=517</text>
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<text x="716.4054753823943" y="129.5961182888991" text-anchor="end" font-size="12" font-weight="bold" fill="#b03030" stroke="#ffffff" stroke-width="4" paint-order="stroke">rmax = 517（离 J1 轴最远，与预置自检一致）</text>
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<text x="490" y="542" text-anchor="middle" font-size="12.5" fill="#3d5164">采样口径与查看器「可达空间」一致：限位内随机位形（travel.json + adj 机械区间），J6=0；边界 x ∈ [-377, 416]</text>
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</svg>
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