feat: P07小臂骨架顶板整条加高19mm补强+前后外缘R3圆角，gusset弧R28->R14随顶板联动相切融入；重算全关节行程J4反向-121->-111，同步重建模型数据与查看器

docs/bom.json

@@ -104,10 +104,10 @@
   "名称": "小臂骨架",
   "类型": "3D打印",
   "数量": 1,
-  "体积cm3": 209.6,
-  "质量g_PLA": 259.9,
+  "体积cm3": 289.1,
+  "质量g_PLA": 358.5,
   "包络": "[-16.5 92.0 187.0 .. 53.5 174.0 367.0] (70.0x82.0x180.0)",
-  "说明": "V2 L型结构：+Y侧背脊立柱避让大臂骨架，过渡区采用与顶板和立柱双相切的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，顶板前后外缘2mm倒角改R3圆角，J4圆盘外沿与立柱外棱不倒圆保持原始尖角，下方M5电机半包散热，俯仰大范围自由运动零干涉"
+  "说明": "V2 L型结构：+Y侧背脊立柱避让大臂骨架，过渡区采用与顶板和立柱双相切的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，顶板前后外缘2mm倒角改R3圆角，顶板整条加高19mm(z261->280)加强连接且gusset弧R28->R14重定相切融入，J4圆盘外沿与立柱外棱不倒圆保持原始尖角，下方M5电机半包散热，俯仰大范围自由运动零干涉"
  },
  {
   "件号": "P08_腕偏转座",

docs/screws.json

@@ -0,0 +1,102 @@
+[
+ {
+  "id": "S01",
+  "规格": "M2 x 10",
+  "螺纹": "M2",
+  "长度mm": 10,
+  "头型": "圆柱头内六角",
+  "数量": 18,
+  "位置": "J1~J6 输出毂：P04/P05/P06/P07/P08/P09 各 3 颗",
+  "备注": "Ø2.8 通孔 + Ø5.6 沉孔，BCD 29（3 孔均布），旋入电机输出毂螺纹孔（深 6mm）"
+ },
+ {
+  "id": "S02",
+  "规格": "M3 x 10",
+  "螺纹": "M3",
+  "长度mm": 10,
+  "头型": "圆柱头内六角",
+  "数量": 20,
+  "位置": "P04/P05/P06/P07/P08 各 4 颗 -> 下级电机尾端面",
+  "备注": "Ø2.8 通孔 + Ø5.5 沉孔（深 4mm），旋入电机尾端面 4 螺纹孔 (±17.55, ±20.46)"
+ },
+ {
+  "id": "S03",
+  "规格": "M3 x 16",
+  "螺纹": "M3",
+  "长度mm": 16,
+  "头型": "沉头内六角",
+  "数量": 4,
+  "位置": "P03 后置重载法兰 -> M1 电机尾端面",
+  "备注": "Ø3.4 通孔 + Ø6.5 沉孔，孔距 35.1 x 40.9，轴向锁死防拉脱"
+ },
+ {
+  "id": "S04",
+  "规格": "M3 x 8",
+  "螺纹": "M3",
+  "长度mm": 8,
+  "头型": "沉头内六角",
+  "数量": 4,
+  "位置": "P03 前置止脱锁紧法兰 -> M1 电机前端面",
+  "备注": "Ø3.2 通孔 + Ø6.0 沉孔，BCD 55（R27.5，4 孔 17.8/107.8/197.8/287.8°）"
+ },
+ {
+  "id": "S05",
+  "规格": "M4 x 25",
+  "螺纹": "M4",
+  "长度mm": 25,
+  "头型": "圆柱头内六角",
+  "数量": 4,
+  "位置": "P01 立柱分段对锁：A-B 缝 2 颗 + B-C 缝 2 颗",
+  "备注": "Ø4.4 通孔，非对称偏心孔位物理防反装；需另配 M4 螺母 4 枚"
+ },
+ {
+  "id": "S06",
+  "规格": "M4 x 16",
+  "螺纹": "M4",
+  "长度mm": 16,
+  "头型": "沉头内六角",
+  "数量": 4,
+  "位置": "P09 末端工具法兰 -> 末端工具/夹爪",
+  "备注": "Ø3.7 通孔 + Ø7.0 沉孔（深 4mm），4 孔分布圆 R20"
+ },
+ {
+  "id": "S07",
+  "规格": "M5 x 25",
+  "螺纹": "M5",
+  "长度mm": 25,
+  "头型": "圆柱头内六角",
+  "数量": 4,
+  "位置": "P02 底座中核心 -> P01 立柱底部榫头",
+  "备注": "Ø5.5 通孔 + Ø10 沉孔（深 6mm），非对称孔位防反装，轴向力由榫座面承载"
+ },
+ {
+  "id": "S08",
+  "规格": "M5 x 25",
+  "螺纹": "M5",
+  "长度mm": 25,
+  "头型": "圆柱头内六角",
+  "数量": 4,
+  "位置": "P02 前/后力臂 -> 中核心：前臂 2 颗 + 后臂 2 颗",
+  "备注": "Ø5.5 通孔 + Ø10 沉孔；需另配 M5 六角螺母 4 枚（嵌入螺母沉槽）"
+ },
+ {
+  "id": "S09",
+  "规格": "M5 x 35",
+  "螺纹": "M5",
+  "长度mm": 35,
+  "头型": "圆柱头内六角",
+  "数量": 4,
+  "位置": "P03 肩吊臂安装台 -> P01_C 立柱顶面",
+  "备注": "Ø5.5 通孔，穿过 15mm 凸台旋入立柱 20mm"
+ },
+ {
+  "id": "S10",
+  "规格": "M6 x 35",
+  "螺纹": "M6",
+  "长度mm": 35,
+  "头型": "外六角",
+  "数量": 6,
+  "位置": "底座 6 组 28x7 紧固腰槽 -> 工作台/桌面",
+  "备注": "需另配 M6 螺母 + 平垫圈各 6（建议加弹垫防松）"
+ }
+]

docs/travel.json

@@ -25,11 +25,11 @@
  },
  {
   "axis": "J4",
-  "lo": -121.0,
+  "lo": -111.0,
   "hi": 16.0,
   "continuous": false,
   "zero": 0.0,
-  "note": "正向 +16° / 反向 -121°，总行程 137°（全对全动态扫描验证，含相邻件与电机）"
+  "note": "正向 +16° / 反向 -111°，总行程 127°（全对全动态扫描验证，含相邻件与电机）"
  },
  {
   "axis": "J5",