初始提交：机械臂 CadQuery 建模源码、设计文档与 3D 查看器

2026-09-26 18:05:21 +08:00
commit 1dfd48278b
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+[
+ {
+  "axis": "J1",
+  "lo": -1.9,
+  "hi": 180.0,
+  "continuous": false,
+  "zero": 0.0,
+  "note": "正向 +180° / 反向 -2°，总行程 182°"
+ },
+ {
+  "axis": "J2",
+  "lo": -123.0,
+  "hi": 108.8,
+  "continuous": false,
+  "zero": 0.0,
+  "note": "正向 +109° / 反向 -123°，总行程 232°"
+ },
+ {
+  "axis": "J3",
+  "lo": -180.0,
+  "hi": 180.0,
+  "continuous": true,
+  "zero": 0.0,
+  "note": "大臂轴向旋转，整周无干涉，可 360° 连续自转"
+ },
+ {
+  "axis": "J4",
+  "lo": -120.0,
+  "hi": 120.0,
+  "continuous": false,
+  "zero": 0.0,
+  "note": "肘部俯仰弯曲，正向 +120° / 反向 -120°"
+ },
+ {
+  "axis": "J5",
+  "lo": -108.9,
+  "hi": 108.9,
+  "continuous": false,
+  "zero": 0.0,
+  "note": "腕部俯仰，正向 +109° / 反向 -109°，总行程 218°"
+ },
+ {
+  "axis": "J6",
+  "lo": -180.0,
+  "hi": 180.0,
+  "continuous": true,
+  "zero": 0.0,
+  "note": "工具法兰自转，整周无干涉，可 360° 连续旋转"
+ }
+]