refactor(layout): src/ 收成顶层包 arm/，入口统一 python -m；提升承担构建的 scratch 脚本
单文件约束取消后，Python 侧没必要再靠 16 处 sys.path.insert 维持扁平模块互认。
现在按职责分包：
arm/paths.py 路径唯一来源（含新增 CACHE、TPL）
arm/constants.py 实测接口数值（原 armcore 的 M/C/CLR/FIT/MOTOR_TOL 段）
arm/cad/{helpers,arm_build,part_tools,parts/} 几何与装配
arm/kinematics.py（原 human_layout.py，唯一运动学事实源）
arm/analysis/{sweep_v2,strength_check,torque_balance,finalize_travel,ws_sweep,gen_env_mesh}
arm/dataio/{screw_mesh,draw_sheet} arm/viewer/{build_viewer,shot}
arm/build_model.py（原 arm_model.py）
顺带修掉的既有缺陷（都是实测撞出来的，不是预防性改动）：
- arm_model 第二次 sys.path 跳到 gitignore 的 scratch/ 去 import 构建必需的包络脚本：
ws_sweep/gen_env_mesh 提升进 arm/analysis/，缓存挪到 data/cache/（gitignore，可重生成）。
- finalize_travel / draw_sheet 顶层就是"算完写文件"，一次 importlib 冒烟测试就把
docs/travel.json 重写了一遍；现在被 import 直接抛错。
- strength_check 用 OUT.replace("/out","/web") 靠字符串形状推路径，改成直接用 WEB。
- build_viewer 里 WORKSPACE 使用点漏改导致 NameError —— 已由构建关卡抓到并修掉。
os._exit 的处置与计划里的假设相反：实测光是 `python -c "import arm.cad.helpers"`
就会在解释器退出时段错误（exit 139，OCC 静态析构），全流程跑完也一样。所以入口
脚本尾部保留 flush + os._exit，并把原因写进注释；被 import 时不生效。
关卡（tests/）：
- verify.py 一条命令跑三层：产物 md5、IK 数值 exact 段、截图。
- 截图基线重做并分级：同一构建连跑两轮实测 102 张逐字节可复现（要求 md5 相同），
3 张线束 x-ray 不可复现（mean<=0.0017、无像素差>8）改为与参考像素比容差；
这 3 张不再入库，免得每次跑关卡都脏 git。
- 新增 ?view=sheet / ?sheet=N / ?theme / ?guide=N 四个 URL 参数：工程图与装配向导
占了约一半 CSS 和 700 行 JS，原先没有任何截图覆盖，拆它们等于没有关卡。
- 关卡灵敏度已验：改坏 IK 基线一个数 -> FAIL；换旧版求解器 -> 5 处 exact 差异。
实测：python -m arm.build_model 退出码 0，全部产物 md5 与基线一致，
105 视图截图全过，IK exact 段逐字节一致。
This commit is contained in:
@@ -0,0 +1,6 @@
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# -*- coding: utf-8 -*-
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"""6 自由度人形机械臂：CadQuery 参数化建模、行程/干涉扫描、制造文件与查看器数据。
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入口一律从仓根以 `python -m arm.xxx` 运行：`python -m` 会把仓根放进 sys.path，
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包内 import 因此直接可解析，不需要 pip install。
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"""
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@@ -0,0 +1,3 @@
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# -*- coding: utf-8 -*-
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"""行程与干涉扫描、强度与力矩核算、可达包络采样与网格注入。
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"""
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@@ -0,0 +1,71 @@
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# -*- coding: utf-8 -*-
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"""从 travel_detail.json 的单关节硬限位重新生成 docs/travel.json。
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滑块范围 = 单关节硬限位（任意单关节推满零干涉，含 1° 安全余量）；
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组合折叠约束保留在 travel_detail.json 的 combos 字段里，供报告引用。
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注意 note 的措辞：单轴整周无干涉 **不等于** 任意组合姿态无干涉。sweep_v2 的组合扫描
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已经在 J1/J3/J6 上找到了真实卡死（工具法兰 P09 撞固定立柱 P01_A），例如 J3≈±162°。
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所以连续轴的 note 必须写明"单轴"并指向 combos，否则这份文件会误导人——查看器运行期
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另有胶囊碰撞模型按姿态夹取（ik-glue.js 的 dynLimit），但静态滑块范围按设计不压缩。
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"""
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import json
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import math
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import os
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import sys
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from arm.analysis.sweep_v2 import CHAIN
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from arm.paths import DOCS
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# 这两个脚本的顶层就是"算完并写文件"，被 import 时会静默重写 travel/mesh 派生产物
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# （实测：一次 importlib 冒烟测试就把 docs/travel.json 重写了一遍）。这里改成直接炸。
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if __name__ != "__main__":
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raise RuntimeError(
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"finalize_travel 是脚本：顶层代码一执行就重写产物，不能 import。"
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"要用就跑 python -m arm.analysis.finalize_travel。")
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d = json.load(open(DOCS + "/travel_detail.json", encoding="utf-8"))
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# 组合扫描中，每个被扫轴真实出现卡死的最小绝对角
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combo_warn = {}
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for c in d.get("combos", []):
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if not c.get("jams"):
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continue
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ax = c["swept"]
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for a in c["jams"]:
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try:
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v = abs(float(a))
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except (TypeError, ValueError):
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continue
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combo_warn[ax] = min(combo_warn.get(ax, 1e9), v)
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out = []
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for t in CHAIN[1:]:
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s = d["singles"][t]
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lo, hi = s["lo"], s["hi"]
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warn = combo_warn.get(t)
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warn_txt = ("；组合折叠姿态下（其余关节同时处于各自极限）约 ±%.0f° 起与躯干占位"
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"（台架 P01 立柱）干涉，见 travel_detail.combos，"
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"运行期由查看器碰撞模型按姿态夹取" % warn) if warn is not None else ""
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if lo <= -179.9 and hi >= 179.9:
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out.append(dict(axis=t, lo=-180.0, hi=180.0, continuous=True, zero=0.0,
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combo_warn_deg=warn,
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note="单轴整周无干涉（滑块按单轴限位给出）%s" % (warn_txt or
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"；组合扫描未发现该轴卡死")))
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else:
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lo_out = float(math.ceil(lo + 1.0)) if lo < -0.5 else 0.0
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hi_out = float(math.floor(hi - 1.0)) if hi > 0.5 else 0.0
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out.append(dict(axis=t, lo=lo_out, hi=hi_out, continuous=False, zero=0.0,
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combo_warn_deg=warn,
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note="单轴正向 +%d° / 反向 %d°，总行程 %d°（单关节硬限位，含相邻件与电机）%s"
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% (hi_out, lo_out, hi_out - lo_out, warn_txt)))
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print("%-3s %7.1f .. %7.1f -> %s .. %s%s"
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% (t, lo, hi, out[-1]["lo"], out[-1]["hi"],
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(" 组合卡死阈值 ±%.0f°" % warn) if warn is not None else ""))
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json.dump(out, open(DOCS + "/travel.json", "w", encoding="utf-8"),
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ensure_ascii=False, indent=1)
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d["final"] = out
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json.dump(d, open(DOCS + "/travel_detail.json", "w", encoding="utf-8"),
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ensure_ascii=False, indent=1)
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print("rewrote docs/travel.json (single-joint hard stops) + updated travel_detail.json")
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@@ -0,0 +1,100 @@
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# -*- coding: utf-8 -*-
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"""生成可达外包络的 ENV 零件（经纬网单件）追加进 web/mesh_arm.json：
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ENV_WL_包络经纬网 —— kind=line，LineSegments 渲染（经向 10°/条、纬向 8mm/环）
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包络 = rmax(x) 母线绕 J1 轴（平行 X，过 (y=128, z=610)）整周回转；grp=root 不随关节动。"""
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import json
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import math
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import os
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import sys
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import numpy as np
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from arm.paths import WEB, CACHE
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from arm import kinematics as HL
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Y_AX = HL.Y_AXIS # 128
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Z_AX = HL.Z_RL # 610
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def main():
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d = np.load(CACHE + "/ws_cloud.npz")
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xs, rmax = d["xs"], d["rmax"]
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ok = ~np.isnan(rmax)
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xs, rmax = xs[ok], rmax[ok]
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def grid(step_x, dphi_deg):
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"""经纬参数网格 -> verts(NX*NP,3), segs(扁平索引对), tris。"""
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xs_e = np.arange(xs.min(), xs.max() + 1e-9, step_x)
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rm_e = np.interp(xs_e, xs, rmax)
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nph = int(round(360.0 / dphi_deg))
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phg = np.linspace(0.0, 2.0 * math.pi, nph, endpoint=False)
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nx = len(xs_e)
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V = np.empty((nx * nph, 3))
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for i, x in enumerate(xs_e):
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r = rm_e[i]
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for j, ph in enumerate(phg):
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V[i * nph + j] = (x, Y_AX + r * math.cos(ph), Z_AX + r * math.sin(ph))
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segs = []
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for i in range(nx - 1): # 经线（沿 x）
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for j in range(nph):
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segs += [i * nph + j, (i + 1) * nph + j]
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for i in range(nx): # 纬线（沿 φ）
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for j in range(nph):
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j2 = (j + 1) % nph
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segs += [i * nph + j, i * nph + j2]
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tris = []
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for i in range(nx - 1):
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for j in range(nph):
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j2 = (j + 1) % nph
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a, b = i * nph + j, i * nph + j2
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c, e = (i + 1) * nph + j, (i + 1) * nph + j2
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tris += [a, c, b, b, c, e]
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return V, segs, tris
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# 经纬网单件：经向 10°一条、纬向 8mm一环（无需贴片面，线自带罩体感）
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Vl, sl, _tl = grid(8.0, 10.0)
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# 自证：包络尺寸应等于 ws_metrics 极值。
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# 【2026-10-05c 修正】原来是 <1.0 的硬比较，但网格 x 是从 xs.min() 起按 step_x
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# 对齐的（np.arange），最后一个采样点最多比真极值短一个步长 —— 一旦
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# (x_fwd - xs.min()) 不是 step_x 的整数倍，断言就会假失败（实测差 6.46mm，
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# 正好 < 8.0），导致包络注不进去、查看器里"可达包络"整个消失。改为
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# "不得超出、且至多少一个步长"这个真正成立的判据。
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step_x = 8.0
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met = json.load(open(CACHE + "/ws_metrics.json", encoding="utf-8"))
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assert Vl[:, 0].min() >= met["x_back"] - 1e-6, (Vl[:, 0].min(), met["x_back"])
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assert Vl[:, 0].min() <= met["x_back"] + step_x + 1e-6, (Vl[:, 0].min(), met["x_back"])
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assert Vl[:, 0].max() <= met["x_fwd"] + 1e-6, (Vl[:, 0].max(), met["x_fwd"])
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assert Vl[:, 0].max() >= met["x_fwd"] - step_x - 1e-6, (Vl[:, 0].max(), met["x_fwd"])
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rl = np.hypot(Vl[:, 1] - Y_AX, Vl[:, 2] - Z_AX)
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# rl.max() 就是 rmax(x) 网格插值后的峰值，与 met["r_max"]（原始点云极值）之间
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# 只允许有插值/取整量级的差（实测 0.044mm），故给 1.0mm 容差。
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assert abs(rl.max() - met["r_max"]) < 1.0, (rl.max(), met["r_max"])
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assert np.all((Vl[:, 1] - Y_AX) ** 2 + (Vl[:, 2] - Z_AX) ** 2
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<= (np.interp(Vl[:, 0], xs, rmax) + 1e-6) ** 2), "line"
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print("包络经纬网: 顶点%d 线段%d（经10° x 纬8mm）" % (len(Vl), len(sl) // 2))
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# ---- 追加进 mesh_arm.json ----
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path = WEB + "/mesh_arm.json"
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data = json.load(open(path, encoding="utf-8"))
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data["parts"] = [p for p in data["parts"] if not p["name"].startswith("ENV_")]
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mx = max(p["idx"] for p in data["parts"])
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note_ws = ("可达外包络（运动学，docs/travel.json 滑块限位下的全组合 FK 包络）："
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"r=rmax(x) 绕 J1 轴整周回转。高 %.0f~%.0f mm，前伸 %.0f / 后伸 %.0f mm，"
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"离 J1 轴最远 %.0f mm；包络内含死区（肩下折不进），多关节同极位由控制器避碰。"
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% (met["z_min"], met["z_max"], met["x_fwd"], met["x_back"], met["r_max"]))
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line = dict(name="ENV_WL_包络经纬网", cn="包络经纬网", v=[list(p) for p in Vl],
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s=sl, color=0x60a5fa, printed=False, vol=round(met["vol_dm3"] * 1e6, 1),
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note=note_ws + " 经纬线：经向 10°/条，纬向 8mm/环。",
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grp="root", jaw=0.0, ex=[0.0, 0.0, 0.0], idx=mx + 1,
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kind="line")
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data["parts"] += [line]
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tmp = path + ".tmp"
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with open(tmp, "w", encoding="utf-8") as f:
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json.dump(data, f, ensure_ascii=False, separators=(",", ":"))
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os.replace(tmp, path)
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print("已写入", path, "大小 %.1f MB" % (os.path.getsize(path) / 1e6))
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if __name__ == "__main__":
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main()
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@@ -0,0 +1,494 @@
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# -*- coding: utf-8 -*-
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"""Structural check of the printed arm, using section properties measured from the SOLIDS.
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Nothing here is hand-waved from a sketch dimension: for each critical cut plane the part is
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boolean-cut and the freshly created planar face is taken and integrated with
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BRepGProp.SurfaceProperties_s, so area, centroid and the second moments are the real
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section of the real printed part (including whatever the lightening windows left behind).
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Why the allowables are so low: a printed part is not the material datasheet. Bending
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across layers, an un-filleted internal corner (Kt ~ 2.5 measured on square corners), and
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PLA creep under permanent static load together cut 35-50 MPa down to single digits, which
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is exactly the failure mode to design against. See docs/strength.md.
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Run: python strength.py -> docs/strength.md (+ console table)
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"""
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import io
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import json
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import math
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import os
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import re
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import sys
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try:
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sys.stdout.reconfigure(encoding="utf-8")
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except Exception:
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pass
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import cadquery as cq
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from arm.paths import OUT, WEB, DOCS
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from arm.cad.helpers import solids_of, bb, mesh_of
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from OCP.BRepAlgoAPI import BRepAlgoAPI_Common
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from OCP.BRepGProp import BRepGProp
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from OCP.GProp import GProp_GProps
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from OCP.BRepPrimAPI import BRepPrimAPI_MakeBox
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from OCP.gp import gp_Pnt, gp_Dir, gp_Ax2, gp_Vec
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from arm import kinematics as HL
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RHO = {"PLA": 1.24e-3, "motor_g": 210.0} # g/mm3 for printed, g per module
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# a slicer does not print solid: 3 perimeters + 30% infill lands near this fraction of
|
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# the CAD envelope, and using the solid mass would blame the part for plastic that is not there
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INFILL = float(os.environ.get("ARMINFILL", "0.38"))
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# allowable bending stress across the print layers, after notch + creep derating
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ALLOW = {"PLA": 12.0, "PETG": 20.0, "PA_CF": 30.0} # MPa
|
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# Young's modulus of the printed lattice, for the deflection estimate only
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EMOD = {"PLA": 3000.0, "PETG": 2100.0, "PA_CF": 8000.0} # MPa
|
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MAT = os.environ.get("ARMMAT", "PLA")
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PAYLOAD = float(os.environ.get("ARMPAY", "0.5")) # kg held at the fingertip
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DYN = float(os.environ.get("ARMDYN", "2.0")) # dynamic factor on the moving mass
|
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|
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G981 = 9.81
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GRIP_T = 12.0 # N*mm per motor is far too small to matter; the grip force
|
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# case is carried separately below as a normal force at the pad
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_cache = {}
|
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GRP = {"root": 0, "J1": 1, "J2": 2, "J3": 3, "J4": 4, "J5": 5, "J6": 6}
|
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|
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|
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def load(name):
|
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if name not in _cache:
|
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_cache[name] = cq.importers.importStep("%s/parts_step/%s.step" % (OUT, name)).val()
|
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return _cache[name]
|
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|
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|
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def volume(sh):
|
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p = GProp_GProps()
|
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BRepGProp.VolumeProperties_s(sh.wrapped, p)
|
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return p.Mass()
|
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|
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|
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def _caps_at(sh, n, o, t):
|
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"""The section faces of (solid ∩ thin slab), taken on the +normal side of the slab.
|
||||
|
||||
Two things this replaces. (1) 'Zero extent along the normal' on a HALF-SPACE cut also
|
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matches the part's own horizontal faces (top chord, gusset crowns) sitting anywhere above
|
||||
the plane - that over-read the shoulder fork by 2.4x (480 mm2 true vs 1155 reported).
|
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(2) The half-space Common outright fails on the filleted fork at z=600 (returns an empty
|
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shape) while a thin slab of the same solid cuts fine.
|
||||
A slab is also self-checking: its volume / t must equal the integrated area.
|
||||
"""
|
||||
c0 = sum(n[k] * o[k] for k in range(3))
|
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lo, hi = [], []
|
||||
for k in range(3):
|
||||
if n[k] > 0:
|
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lo.append(o[k] - t / 2.0); hi.append(o[k] + t / 2.0)
|
||||
elif n[k] < 0:
|
||||
lo.append(o[k] - t / 2.0); hi.append(o[k] + t / 2.0)
|
||||
else:
|
||||
lo.append(o[k] - 400.0); hi.append(o[k] + 400.0)
|
||||
box = BRepPrimAPI_MakeBox(gp_Pnt(*lo), gp_Pnt(*hi)).Shape()
|
||||
cut = BRepAlgoAPI_Common(sh.wrapped, box)
|
||||
cut.Build()
|
||||
if not cut.IsDone():
|
||||
return []
|
||||
off = c0 + t / 2.0
|
||||
out = []
|
||||
for f in cq.Shape(cut.Shape()).Faces():
|
||||
if f.geomType() != "PLANE" or f.Area() <= 1e-6:
|
||||
continue
|
||||
cx, cy, cz = f.Center().toTuple()
|
||||
if abs(n[0] * cx + n[1] * cy + n[2] * cz - off) > 1e-4:
|
||||
continue
|
||||
out.append(f)
|
||||
return out
|
||||
|
||||
|
||||
def section_props(sh, normal, origin, bend=2, size=400.0):
|
||||
"""Cut the solid with a thin slab and integrate the section face.
|
||||
|
||||
Returns (area mm2, Ixx mm4, Iyy mm4, cmax mm, bbox) about the face centroid, with the
|
||||
in-plane axes taken as (u, v) where u x v = normal.
|
||||
"""
|
||||
n = [float(x) for x in normal]
|
||||
o = [float(x) for x in origin]
|
||||
caps = []
|
||||
for t in (0.2, 0.05, 1.0):
|
||||
for nudge in (0.0, 0.05, -0.05, 0.25, -0.25):
|
||||
oo = [o[k] + nudge * n[k] for k in range(3)]
|
||||
caps = _caps_at(sh, n, oo, t)
|
||||
if caps:
|
||||
break
|
||||
if caps:
|
||||
break
|
||||
if not caps:
|
||||
return None
|
||||
plane_ax = [k for k in (0, 1, 2) if abs(n[k]) < 0.5]
|
||||
p_ax, q_ax = plane_ax
|
||||
bend_ax = bend if bend in plane_ax else q_ax
|
||||
far_ax = p_ax if bend_ax == q_ax else q_ax
|
||||
A = Sv = Suu = Svv = S = 0.0
|
||||
for f in caps:
|
||||
verts, tris = mesh_of(f, 0.02)
|
||||
fa = fu = fv = fuu = fvv = 0.0
|
||||
for t in tris:
|
||||
(u1, v1), (u2, v2), (u3, v3) = [(verts[k][p_ax], verts[k][q_ax]) for k in t]
|
||||
ar = ((u2 - u1) * (v3 - v1) - (u3 - u1) * (v2 - v1)) / 2.0
|
||||
fa += ar # SIGNED: inner wires (holes) cancel
|
||||
fu += ar * (u1 + u2 + u3) / 3.0
|
||||
fv += ar * (v1 + v2 + v3) / 3.0
|
||||
fvv += ar * (v1**2 + v2**2 + v3**2 + v1*v2 + v2*v3 + v3*v1) / 6.0
|
||||
fuu += ar * (u1**2 + u2**2 + u3**2 + u1*u2 + u2*u3 + u3*u1) / 6.0
|
||||
if fa < 0: # face normal opposed to the cut normal
|
||||
fa, fu, fv, fvv, fuu = -fa, -fu, -fv, -fvv, -fuu
|
||||
A += fa; S += fu; Sv += fv; Svv += fvv; Suu += fuu
|
||||
if A <= 1e-9:
|
||||
return None
|
||||
uc, vc = S / A, Sv / A
|
||||
best = max(caps, key=lambda f: f.Area()) # only for the bounding box below
|
||||
allb = [f.BoundingBox() for f in caps]
|
||||
lo = [min(getattr(b, ("xmin", "ymin", "zmin")[k]) for b in allb) for k in range(3)]
|
||||
hi = [max(getattr(b, ("xmax", "ymax", "zmax")[k]) for b in allb) for k in range(3)]
|
||||
cmax = max(hi[far_ax] - uc if far_ax == p_ax else hi[far_ax] - vc,
|
||||
uc - lo[far_ax] if far_ax == p_ax else vc - lo[far_ax]) / 1.0
|
||||
# distance from the neutral axis to the extreme fibre, measured in the bending direction
|
||||
ext = (hi[far_ax] - lo[far_ax])
|
||||
cen = uc if far_ax == p_ax else vc
|
||||
cmax = max(hi[far_ax] - cen, cen - lo[far_ax])
|
||||
I = (Svv - A * vc * vc) if far_ax == q_ax else (Suu - A * uc * uc)
|
||||
return dict(A=A, I=I, c=cmax, bend=bend_ax, centroid=(uc, vc))
|
||||
|
||||
|
||||
def arm_masses():
|
||||
"""Everything distal to each joint, in grams, from the model itself."""
|
||||
meta = json.load(io.open(WEB + "/mesh_arm.json", encoding="utf-8"))
|
||||
TREE = ["root", "J1", "J2", "J3", "J4", "J5", "J6"]
|
||||
tot = {}
|
||||
for p in meta["parts"]:
|
||||
if not os.path.exists("%s/parts_step/%s.step" % (OUT, p["name"])):
|
||||
continue # 螺钉实例 / 可达包络网格等非 CAD 构件没有 STEP，跳过
|
||||
sh = load(p["name"])
|
||||
v = volume(sh) / 1000.0
|
||||
g = (v * RHO["PLA"] * 1000.0 * INFILL) if p["printed"] else RHO["motor_g"]
|
||||
tot[p["name"]] = (g, p["grp"])
|
||||
out = {}
|
||||
for k, jid in enumerate(TREE[1:], 1):
|
||||
down = set(TREE[k:])
|
||||
out[jid] = sum(g for g, grp in tot.values() if grp in down)
|
||||
out["all"] = sum(g for g, _ in tot.values())
|
||||
return out, tot
|
||||
|
||||
|
||||
# ------------------------------------------------------------------ 零件表：质量 + 零位世界质心
|
||||
def _mesh_vol_cg(v, t):
|
||||
"""四面体法求闭合三角网格的体积与体积加权质心。
|
||||
|
||||
网格顶点已在零位世界系（mesh_arm.json 由 arm_model 直接落盘），所以质心就是零件
|
||||
在装配中的真实位置。实测体积与 STEP/BOM 差 <0.1%（电机包络 1.7%），可作载荷输入。
|
||||
"""
|
||||
vol = mx = my = mz = 0.0
|
||||
for a, b, c in t:
|
||||
x1, y1, z1 = v[a]
|
||||
x2, y2, z2 = v[b]
|
||||
x3, y3, z3 = v[c]
|
||||
det = x1 * (y2 * z3 - y3 * z2) - x2 * (y1 * z3 - y3 * z1) + x3 * (y1 * z2 - y2 * z1)
|
||||
vol += det
|
||||
mx += (x1 + x2 + x3) * det
|
||||
my += (y1 + y2 + y3) * det
|
||||
mz += (z1 + z2 + z3) * det
|
||||
if vol <= 0.0:
|
||||
return 0.0, None
|
||||
V = vol / 6.0
|
||||
return V, (mx / (24.0 * V), my / (24.0 * V), mz / (24.0 * V))
|
||||
|
||||
|
||||
def part_table(payload_kg=None):
|
||||
"""[(name, mass_g, cg_xyz, grp)]，含末端负载这个集中质量点。"""
|
||||
meta = json.load(io.open(WEB + "/mesh_arm.json", encoding="utf-8"))
|
||||
rows = []
|
||||
for p in meta["parts"]:
|
||||
nm = p["name"]
|
||||
if nm.startswith("ENV_") or not p.get("v") or not p.get("t") or p.get("vol", 0) <= 0:
|
||||
continue # 可达包络网格 / 无实体螺钉实例，不承载
|
||||
V, cg = _mesh_vol_cg(p["v"], p["t"])
|
||||
if V <= 0.0 or cg is None:
|
||||
continue
|
||||
if p.get("printed"):
|
||||
m = V * RHO["PLA"] * INFILL
|
||||
elif re.match(r"^M\d", nm):
|
||||
m = RHO["motor_g"]
|
||||
else:
|
||||
continue
|
||||
rows.append([nm, m, cg, GRP.get(p["grp"], 0)])
|
||||
if payload_kg:
|
||||
rows.append(["PAYLOAD", payload_kg * 1000.0,
|
||||
(HL.X_ARM, HL.Y_AXIS, HL.Z_TIP), 6])
|
||||
return rows
|
||||
|
||||
|
||||
# ------------------------------------------------------------------ 运动学：产品外参链
|
||||
def _rodrigues(deg, d, p):
|
||||
"""绕世界轴 d 过点 p 转 deg -> (R, t)，使 x -> R x + t。"""
|
||||
n = math.sqrt(sum(c * c for c in d)) or 1.0
|
||||
x, y, z = d[0] / n, d[1] / n, d[2] / n
|
||||
a = math.radians(deg)
|
||||
c, s = math.cos(a), math.sin(a)
|
||||
t1 = 1.0 - c
|
||||
R = [[t1 * x * x + c, t1 * x * y - s * z, t1 * x * z + s * y],
|
||||
[t1 * x * y + s * z, t1 * y * y + c, t1 * y * z - s * x],
|
||||
[t1 * x * z - s * y, t1 * y * z + s * x, t1 * z * z + c]]
|
||||
t = [p[i] - (R[i][0] * p[0] + R[i][1] * p[1] + R[i][2] * p[2]) for i in range(3)]
|
||||
return R, t
|
||||
|
||||
|
||||
def chain(ang):
|
||||
"""acc[g] = (R, t)：第 g 组零件的刚体变换。
|
||||
|
||||
acc[g] = acc[g-1] o R_g（产品外参，右侧先作用），与 sweep_v2.accum_trsf、
|
||||
查看器嵌套 pivot 三者一致。
|
||||
"""
|
||||
R = [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]
|
||||
t = [0.0, 0.0, 0.0]
|
||||
out = [(R, t)]
|
||||
for j in range(1, 7):
|
||||
ax = HL.AXIS["J%d" % j]
|
||||
Rj, tj = _rodrigues(ang.get(j, 0.0), ax["d"], ax["rear"])
|
||||
Rn = [[sum(R[i][k] * Rj[k][j2] for k in range(3)) for j2 in range(3)] for i in range(3)]
|
||||
tn = [sum(R[i][k] * tj[k] for k in range(3)) + t[i] for i in range(3)]
|
||||
R, t = Rn, tn
|
||||
out.append((R, t))
|
||||
return out
|
||||
|
||||
|
||||
def _xf(T, c):
|
||||
R, t = T
|
||||
return [sum(R[i][k] * c[k] for k in range(3)) + t[i] for i in range(3)]
|
||||
|
||||
|
||||
def _dir(T, v):
|
||||
"""只取旋转部分——方向向量绝不能带平移，否则投影出的"力矩"会被平移量放大。"""
|
||||
R = T[0]
|
||||
return [sum(R[i][k] * v[k] for k in range(3)) for i in range(3)]
|
||||
|
||||
|
||||
def _cross(a, b):
|
||||
return [a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0]]
|
||||
|
||||
|
||||
def joint_loads(parts, payload_kg=None):
|
||||
"""在可达姿态网格上搜索，返回每个关节的：
|
||||
|
||||
F 该关节以下的总重力 (N)（与姿态无关）
|
||||
Mxyz 重力对关节轴点取矩后，三个全局分量各自的最大绝对值 (N*mm)
|
||||
tau 重力绕该关节自身轴的最大力矩 (N*mm) —— 电机真正要出的力
|
||||
Lp 出现 tau 最大值时，TCP 到该关节轴点的距离 (mm)
|
||||
|
||||
为什么搜索姿态：力臂不是常数。J1 是绕 X 的自转轴，手臂在轴正下方时重力对它
|
||||
只产生绕 X 的扭矩（不产生弯曲），手臂摆到侧方时扭矩最大。旧算法把全部 distal
|
||||
质量当作集中在指尖，量级完全错掉。
|
||||
"""
|
||||
trv = {t["axis"]: t for t in json.load(io.open(DOCS + "/travel.json", encoding="utf-8"))}
|
||||
|
||||
def picks(j):
|
||||
t = trv.get("J%d" % j, {"lo": -180.0, "hi": 180.0})
|
||||
if t.get("continuous"):
|
||||
return [0.0, 60.0, -60.0, 120.0, -120.0, 180.0]
|
||||
lo, hi = t["lo"], t["hi"]
|
||||
return sorted({lo, 0.0 if lo < 0 < hi else lo, hi, 0.5 * (lo + hi)})
|
||||
|
||||
grid = [picks(j) for j in range(1, 7)]
|
||||
res = {}
|
||||
for j in range(1, 7):
|
||||
res["J%d" % j] = dict(F=0.0, Mxyz=[0.0, 0.0, 0.0], tau=0.0, Lp=0.0, I=0.0, Iarm=0.0)
|
||||
|
||||
import itertools
|
||||
for combo in itertools.product(*grid):
|
||||
ang = {k + 1: v for k, v in enumerate(combo)}
|
||||
acc = chain(ang)
|
||||
pos = [(nm, m, _xf(acc[g], cg), g) for nm, m, cg, g in parts]
|
||||
tcp = None
|
||||
for nm, m, c, g in pos:
|
||||
if nm == "PAYLOAD":
|
||||
tcp = c
|
||||
for j in range(1, 7):
|
||||
ax = HL.AXIS["J%d" % j]
|
||||
pj = _xf(acc[j - 1], ax["rear"])
|
||||
dj = _dir(acc[j - 1], ax["d"])
|
||||
F = M = [0.0, 0.0, 0.0]
|
||||
wsum = 0.0
|
||||
I = Iarm = 0.0
|
||||
for _nm, m, c, g in pos:
|
||||
if g < j:
|
||||
continue
|
||||
w = m * G981 / 1000.0
|
||||
wsum += w
|
||||
r = [c[i] - pj[i] for i in range(3)]
|
||||
proj = sum(r[i] * dj[i] for i in range(3))
|
||||
perp2 = sum(r[i] * r[i] for i in range(3)) - proj * proj
|
||||
I += m * perp2 / 1e9 # g*mm^2 -> kg*m^2
|
||||
if _nm != "PAYLOAD":
|
||||
Iarm += m * perp2 / 1e9
|
||||
rc = _cross(r, [0.0, 0.0, -w])
|
||||
for i in range(3):
|
||||
M[i] += rc[i]
|
||||
r = res["J%d" % j]
|
||||
r["F"] = max(r["F"], wsum)
|
||||
for i in range(3):
|
||||
r["Mxyz"][i] = max(r["Mxyz"][i], abs(M[i]))
|
||||
tau = abs(M[0] * dj[0] + M[1] * dj[1] + M[2] * dj[2])
|
||||
if tau > r["tau"]:
|
||||
r["tau"] = tau
|
||||
r["Lp"] = math.dist(tcp, pj) if tcp else 0.0
|
||||
r["I"] = max(r["I"], I)
|
||||
r["Iarm"] = max(r["Iarm"], Iarm)
|
||||
return res
|
||||
|
||||
|
||||
def section_moment(jid, bend_axis, ref, refgrp, parts):
|
||||
"""截面绕自身形心、沿 bend_axis 的弯矩最大值 (N*mm)，以及该姿态下 TCP 到该
|
||||
截面的距离 (mm)（挠度估算用）。
|
||||
|
||||
参考点取【剖面形心】而不是关节轴：这两个参考点差得很远。P03 在 z=480 的剖面
|
||||
形心 x≈-111，而臂身所有零件质心 x≈+19.5，真实力臂 130mm；若误用关节轴点
|
||||
(J1 在 x=-51)只会得到 70mm，把弯矩低估 1.85 倍。
|
||||
"""
|
||||
trv = {t["axis"]: t for t in json.load(io.open(DOCS + "/travel.json", encoding="utf-8"))}
|
||||
jj = int(jid[1])
|
||||
|
||||
def picks(j):
|
||||
t = trv.get("J%d" % j, {"lo": -180.0, "hi": 180.0})
|
||||
if t.get("continuous"):
|
||||
return [0.0, 60.0, -60.0, 120.0, -120.0, 180.0]
|
||||
lo, hi = t["lo"], t["hi"]
|
||||
return sorted({lo, 0.0 if lo < 0 < hi else lo, hi, 0.5 * (lo + hi)})
|
||||
|
||||
import itertools
|
||||
best = 0.0
|
||||
best_L = 0.0
|
||||
for combo in itertools.product(*[picks(j) for j in range(1, 7)]):
|
||||
acc = chain({k + 1: v for k, v in enumerate(combo)})
|
||||
rw = _xf(acc[refgrp], ref)
|
||||
s = 0.0
|
||||
tcp = rw
|
||||
for nm, m, cg, g in parts:
|
||||
if g < jj:
|
||||
continue
|
||||
c = _xf(acc[g], cg)
|
||||
if nm == "PAYLOAD":
|
||||
tcp = c
|
||||
s += m * (c[bend_axis] - rw[bend_axis])
|
||||
if abs(s) > best:
|
||||
best = abs(s)
|
||||
best_L = math.dist(tcp, rw)
|
||||
return best * G981 / 1000.0, best_L
|
||||
|
||||
|
||||
# critical cuts: (label, part, plane normal, plane origin, which load case owns it)
|
||||
def cuts():
|
||||
"""(label, part, cut-plane normal, point, joint whose load it carries, bend axis)
|
||||
bend axis: 0=X (roll of the shoulder/forearm), 1=Y (every pitch joint), 2=Z."""
|
||||
Y = HL.Y_AXIS
|
||||
return [
|
||||
("吊臂根座 @z=480", "P03_肩吊臂_螺旋体35%_墙5底5_竖打", (0, 0, 1), (0.0, 55.0, 480.0), "J1", 1),
|
||||
("吊臂颊板 @z=560", "P03_肩吊臂_螺旋体35%_墙5底5_竖打", (0, 0, 1), (0.0, 100.0, 560.0), "J1", 1),
|
||||
("肩叉腹板 @z=560", "P04_肩叉_螺旋体30%_墙5底5_竖打", (0, 0, 1), (HL.X_ARM, Y, 560.0), "J2", 1),
|
||||
("肩叉腹板 @z=600", "P04_肩叉_螺旋体30%_墙5底5_竖打", (0, 0, 1), (HL.X_ARM, Y, 600.0), "J2", 1),
|
||||
("大臂旋转座横梁 @z=480", "P05_大臂旋转座_螺旋体30%_墙4底5_竖打", (0, 0, 1), (HL.X_ARM, Y, 480.0), "J2", 1),
|
||||
("大臂旋转座套筒 @z=440", "P05_大臂旋转座_螺旋体30%_墙4底5_竖打", (0, 0, 1), (HL.X_ARM, Y, 440.0), "J3", 1),
|
||||
("大臂骨架中段 @z=350", "P06_大臂骨架_螺旋体25%_墙4底5_竖打", (0, 0, 1), (HL.X_ARM, Y, 350.0), "J3", 1),
|
||||
("大臂骨架抱箍 @z=325", "P06_大臂骨架_螺旋体25%_墙4底5_竖打", (0, 0, 1), (HL.X_ARM, Y, 325.0), "J4", 1),
|
||||
# 【2026-10-02 补】P06 原减重窗在 Z358~374，原有剖面(350/325)全在它下面，
|
||||
# 根本校核不到被挖的区域。z=365 穿过该段过渡块，承载同 J3。
|
||||
# 【2026-10-03】减重窗已取消、该段恢复实心，此剖面保留为该高度的安全裕度监控点。
|
||||
("大臂骨架过渡块 @z=365", "P06_大臂骨架_螺旋体25%_墙4底5_竖打", (0, 0, 1), (HL.X_ARM, Y, 365.0), "J3", 1),
|
||||
("小臂骨架中段 @z=245", "P07_小臂骨架_螺旋体30%_墙5底5_竖打", (0, 0, 1), (HL.X_ARM, Y, 245.0), "J4", 1),
|
||||
("小臂骨架抱箍 @z=195", "P07_小臂骨架_螺旋体30%_墙5底5_竖打", (0, 0, 1), (HL.X_ARM, Y, 195.0), "J5", 1),
|
||||
# 【2026-10-02 补】P07 减重槽在 Z255~280，同理原有剖面(245/195)没覆盖到。
|
||||
# z=270 穿过槽体本身，承载同 J4；z=280 是槽口所在的顶板上边缘，壁最薄。
|
||||
("小臂骨架减重槽 @z=270", "P07_小臂骨架_螺旋体30%_墙5底5_竖打", (0, 0, 1), (HL.X_ARM, Y, 270.0), "J4", 1),
|
||||
("小臂骨架减重槽口 @z=280", "P07_小臂骨架_螺旋体30%_墙5底5_竖打", (0, 0, 1), (HL.X_ARM, Y, 280.0), "J4", 1),
|
||||
("腕偏转座根部 @z=150", "P08_腕偏转座_螺旋体25%_墙4底5_竖打", (0, 0, 1), (HL.X_ARM, Y, 150.0), "J5", 1),
|
||||
# P09 包络 z=93..121，剖面取 107（法兰中截面）。原 -55 落在零件之外，
|
||||
# 剖切返回空，工具法兰其实一直没被校核过。
|
||||
("工具法兰 @z=107", "P09_工具法兰_螺旋体30%_墙4底5_竖打", (0, 0, 1), (HL.X_ARM, Y, 107.0), "J6", 1),
|
||||
]
|
||||
|
||||
|
||||
MOMENT = { # worst reachable bending moment per joint, N*mm
|
||||
# computed in main() from the reachable pose + masses
|
||||
}
|
||||
|
||||
|
||||
def main():
|
||||
parts = part_table(PAYLOAD)
|
||||
grpof = {nm: g for nm, _, _, g in parts}
|
||||
jl = joint_loads(parts)
|
||||
masses = {"J%d" % j: sum(m for _, m, _, g in parts if g >= j) for j in range(1, 7)}
|
||||
masses["all"] = sum(m for _, m, _, _ in parts)
|
||||
|
||||
from concurrent.futures import ThreadPoolExecutor
|
||||
|
||||
def compute_cut(c_item):
|
||||
lab, part, n, o, jid, bend = c_item
|
||||
sh = load(part)
|
||||
sp = section_props(sh, n, o, bend)
|
||||
if not sp:
|
||||
return (lab, part, None, jid)
|
||||
# 剖面形心的三维重建 + 弯矩所绕的轴
|
||||
nvec = [float(x) for x in n]
|
||||
p_ax, q_ax = [k for k in (0, 1, 2) if abs(nvec[k]) < 0.5]
|
||||
bend_ax = sp["bend"]
|
||||
far_ax = p_ax if bend_ax == q_ax else q_ax # I 绕 bend_ax、c 沿 far_ax
|
||||
ref = list(o)
|
||||
ref[p_ax] += sp["centroid"][0]
|
||||
ref[q_ax] += sp["centroid"][1]
|
||||
M, L = section_moment(jid, far_ax, ref, grpof.get(part, 0), parts)
|
||||
M *= DYN
|
||||
F = jl[jid]["F"] * DYN
|
||||
I, c = sp["I"], sp["c"]
|
||||
sigma = M * c / max(I, 1e-6)
|
||||
tau = 1.5 * F / sp["A"]
|
||||
defl = M * L * L / (2.0 * EMOD[MAT] * I) if I > 1e-6 and L > 0 else 0.0
|
||||
return (lab, part, dict(sp, M=M, F=F, sigma=sigma, tau=tau, L=L, defl=defl,
|
||||
bend_axis=bend_ax, SF=ALLOW[MAT] / sigma if sigma > 0 else 99.0), jid)
|
||||
|
||||
with ThreadPoolExecutor(max_workers=min(13, os.cpu_count() or 4)) as executor:
|
||||
rows = list(executor.map(compute_cut, cuts()))
|
||||
print("材料 %s 许用弯曲 %g MPa（跨层、含缺口与蠕变折减） 弹性模量 %g MPa 末端负载 %g kg 动载系数 %g"
|
||||
% (MAT, ALLOW[MAT], EMOD[MAT], PAYLOAD, DYN))
|
||||
print("载荷模型：每个零件按真实质心（网格体积加权）随姿态变换，在可达姿态网格上取弯矩最大值；"
|
||||
"参考点为剖面形心\n")
|
||||
print("打印件按 %d%% 实体率计质量（壁+填充），电机按 %.0f g/台" % (INFILL * 100, RHO["motor_g"]))
|
||||
print("%-24s %-9s %7s %10s %6s %9s %7s %6s %7s %7s"
|
||||
% ("截面", "零件", "面积mm2", "I mm4", "c mm", "M N*mm", "sigma", "SF", "挠度mm", "需Z mm3"))
|
||||
bad = []
|
||||
for lab, part, d, jid in rows:
|
||||
if not d:
|
||||
print("%-24s %-9s 剖切失败" % (lab, part))
|
||||
continue
|
||||
Zreq = d["M"] / ALLOW[MAT] * 1.5 # section modulus x1.5 SF
|
||||
print("%-24s %-9s %7.0f %10.0f %6.1f %9.0f %7.2f %6.2f %7.1f %7.0f%s"
|
||||
% (lab, part[:9], d["A"], d["I"], d["c"], d["M"], d["sigma"], d["SF"], d["defl"],
|
||||
Zreq, " <<< 不足" if d["SF"] < 1.5 else ""))
|
||||
if d["SF"] < 1.5:
|
||||
bad.append((lab, part, d))
|
||||
print("\n各关节以下质量(g, 含电机与末端负载): "
|
||||
+ " ".join("%s=%.0f" % (k, v) for k, v in masses.items() if k != "all"))
|
||||
print("合计 %.0f g （其中末端负载 %.0f g）" % (masses["all"], PAYLOAD * 1000))
|
||||
print("\n各关节电机需出的重力力矩（绕自身轴，姿态搜索最大值）:")
|
||||
for j in range(1, 7):
|
||||
r = jl["J%d" % j]
|
||||
print(" J%d %6.2f N·m （该关节以下总重 %.1f N，力臂 %.0f mm）"
|
||||
% (j, r["tau"] / 1000.0, r["F"], r["Lp"]))
|
||||
io.open(DOCS + "/strength.json", "w", encoding="utf-8").write(
|
||||
json.dumps([dict(截面=a, 零件=b, 关节=d, **(c or {})) for a, b, c, d in rows],
|
||||
ensure_ascii=False, indent=1, default=float))
|
||||
return bad
|
||||
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
b = main()
|
||||
print("\n不合格截面 %d 处" % len(b))
|
||||
|
||||
# OCC/cadquery 的静态析构在解释器正常退出时必定段错误（实测：光是
|
||||
# `python -c "import arm.cad.helpers"` 就返回 139，与本项目代码无关）。所以入口
|
||||
# 脚本跑完后显式刷缓冲再 os._exit —— 否则全流程已经成功、exit code 却是 139,
|
||||
# 会把上游脚本的 set -e 判成失败。只在 __main__ 出口生效, 被 import 时不触发。
|
||||
sys.stdout.flush()
|
||||
os._exit(0)
|
||||
@@ -0,0 +1,726 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""全对全动态行程扫描与碰撞验证（权威版 v2，多进程并行）
|
||||
|
||||
与旧 travel_sweep.py / real_arm_collision_test.py 的区别（旧脚本漏掉了用户实测到的干涉）：
|
||||
1. 直接在进程内构建当前模型（arm_model.build()），杜绝 STEP/网格过期；
|
||||
2. 关节轴取自 Joint.rear/.d（human_layout 唯一事实源），与网页查看器逐位一致；
|
||||
3. 检查【全部】零件对 —— 包括相邻关节的零件对与电机模组（旧脚本跳过相邻对，
|
||||
而 P04xP05 / P07xP08 恰恰在关节贴面处被卡死）；
|
||||
4. 单关节双向精扫（粗扫 + 二分）得出真实硬限位；
|
||||
5. 组合姿态扫描：每个关节置于其极限，再扫其余关节，收敛出滑块安全范围；
|
||||
6. 写 docs/travel.json（查看器滑块范围）+ docs/travel_detail.json（逐对明细）。
|
||||
|
||||
网格化预筛（用户要求，2026-09）：
|
||||
- 每零件先按 0.5mm 容差网格化取顶点云（凸包顶点集）；
|
||||
- 候选对先跑 GJK（Minkowski 差 + 0.8mm 安全外扩）：只有"凸包外扩后仍分离"
|
||||
才允许跳过精确布尔 —— 该判据数学上保守（网格内缩 ≤0.5mm < 外扩 0.8mm），
|
||||
其余情况（可能干涉/数值退化）一律回落 OCCT 实体会交，结果与纯布尔完全一致；
|
||||
- --no-gjk 可关闭预筛（对比校验用）。
|
||||
|
||||
并行化（用户要求）：
|
||||
- mp.Pool 每个工作进程独立构建一次模型，角度任务批量分发（imap 保序）；
|
||||
- OCCT 布尔运算 SetRunParallel(True)；
|
||||
- 预剪枝：按关节轴计算每对零件的轴向/径向区间，区间不相交的零件对在该关节的
|
||||
任何角度都不可能碰撞，直接跳过（对单关节扫描是精确安全的）。
|
||||
|
||||
台架（P01 立柱 / P02 底盘）代表躯干与机身的连接界面，默认【参与】碰撞计算——臂撞立柱
|
||||
就是臂撞躯干，是真约束。--no-stand 仅用于诊断：排除台架后重扫，给出"不含躯干约束"的
|
||||
自由空间行程，用来分辨某个限位是臂自身折叠产生的还是躯干挡的（台架位置本身是假设，
|
||||
改它等于改测试工装，不等于改设计）。
|
||||
运行：python -m arm.analysis.sweep_v2 [--workers 20] [--step 2] [--combo-step 6]
|
||||
[--no-combos] [--joints J2,J4] [--no-gjk] [--no-stand]
|
||||
"""
|
||||
import json
|
||||
import math
|
||||
import os
|
||||
import sys
|
||||
import time
|
||||
|
||||
import numpy as np
|
||||
try:
|
||||
sys.stdout.reconfigure(encoding="utf-8")
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
import multiprocessing as mp
|
||||
from arm.cad import arm_build as AB
|
||||
import cadquery as cq
|
||||
from arm import kinematics as HL
|
||||
from arm.paths import DOCS
|
||||
from arm.cad.helpers import place, bb
|
||||
VOL_MIN = 2.0 # mm3，超过即计为干涉
|
||||
CHAIN = ["root", "J1", "J2", "J3", "J4", "J5", "J6"]
|
||||
MOUNT_PAIRS = {
|
||||
("P03_肩吊臂_螺旋体35%_墙5底5_竖打", "M1_J1"), ("P04_肩叉_螺旋体30%_墙5底5_竖打", "M1_J1"),
|
||||
("P04_肩叉_螺旋体30%_墙5底5_竖打", "M2_J2"), ("P05_大臂旋转座_螺旋体30%_墙4底5_竖打", "M2_J2"),
|
||||
("P05_大臂旋转座_螺旋体30%_墙4底5_竖打", "M3_J3"), ("P06_大臂骨架_螺旋体25%_墙4底5_竖打", "M3_J3"),
|
||||
("P06_大臂骨架_螺旋体25%_墙4底5_竖打", "M4_J4"), ("P07_小臂骨架_螺旋体30%_墙5底5_竖打", "M4_J4"),
|
||||
("P07_小臂骨架_螺旋体30%_墙5底5_竖打", "M5_J5"), ("P08_腕偏转座_螺旋体25%_墙4底5_竖打", "M5_J5"),
|
||||
("P08_腕偏转座_螺旋体25%_墙4底5_竖打", "M6_J6"), ("P09_工具法兰_螺旋体30%_墙4底5_竖打", "M6_J6"),
|
||||
}
|
||||
|
||||
# 网格化预筛参数：外扩必须 ≥ 网格化偏差，判"分离"才保守可信
|
||||
MESH_TOL = 0.5 # mm，零件网格化容差
|
||||
MESH_MARGIN = 0.8 # mm，凸包安全外扩（> MESH_TOL 保证网格内缩不致漏判）
|
||||
USE_GJK = True # 进程内全局；工作进程由 initializer 传入
|
||||
INCLUDE_FIXTURE = True # True=把 P01 立柱/P02 底盘（代表躯干）算进碰撞；--no-stand 置 False
|
||||
|
||||
|
||||
# ---------------------------------------------------------------- 网格化 + GJK
|
||||
def tessellate_verts(shape):
|
||||
"""零件 → 顶点云 (N,3)。凸包 GJK 的支撑函数直接在顶点云上取极值（等价于其凸包），
|
||||
第二步做精确凸包精简（scipy Qhull）：电机 STEP 网格 15 万顶点 → 约千余点。
|
||||
顶点均为真实表面上的点，亦用作"顶点侵入"快证的采样点。"""
|
||||
try:
|
||||
vs, _ts = shape.tessellate(MESH_TOL)
|
||||
v = np.asarray([(q.x, q.y, q.z) for q in vs], dtype=np.float64)
|
||||
if v.size == 0:
|
||||
return None
|
||||
v = np.unique(v, axis=0)
|
||||
try:
|
||||
from scipy.spatial import ConvexHull
|
||||
v = v[ConvexHull(v).vertices]
|
||||
except Exception:
|
||||
pass # 精简失败则用全顶点云（仍正确，仅慢）
|
||||
return np.ascontiguousarray(v)
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
|
||||
|
||||
|
||||
def gjk_separated(va, vb, margin=MESH_MARGIN, max_iter=40):
|
||||
"""凸包 GJK（带 margin）：va/vb 顶点云。返回 True 仅当
|
||||
conv(va)⊕Ball(margin) 与 conv(vb) 确证分离 —— 保守，可安全跳过精确布尔。
|
||||
可能干涉 / 数值退化 / 迭代超限 一律返回 False，回落 OCCT 精确实体求交。"""
|
||||
d = vb.mean(axis=0) - va.mean(axis=0)
|
||||
nd = np.linalg.norm(d)
|
||||
d = np.array([1.0, 0.0, 0.0]) if nd < 1e-9 else d / nd
|
||||
s = [] # 单纯形顶点，s[-1] 为最新
|
||||
for _ in range(max_iter):
|
||||
pa = va[np.argmax(va @ d)]
|
||||
pb = vb[np.argmax(vb @ (-d))]
|
||||
w = pa - pb + margin * d # ⊕Ball(margin) 的支撑
|
||||
if w @ d < 0.0: # Minkowski 差不含原点 → 确证分离
|
||||
return True
|
||||
s.append(w)
|
||||
d, state = _do_simplex(s)
|
||||
if state != "go":
|
||||
return False # 'hit' 可能干涉 / 'stop' 退化 → 精确布尔
|
||||
nd = np.linalg.norm(d)
|
||||
if nd < 1e-9:
|
||||
return False # 原点贴着单纯形 → 交给精确布尔
|
||||
d = d / nd
|
||||
return False
|
||||
|
||||
|
||||
def _do_simplex(s):
|
||||
"""GJK 单纯形约化（Muratori 形式）。返回 (下一方向 d, state)：
|
||||
'go' 继续 / 'hit' 原点可能在内（→ 精确布尔）/ 'stop' 数值退化（→ 精确布尔）。"""
|
||||
n = len(s)
|
||||
if n == 1:
|
||||
return -s[0], "go"
|
||||
if n == 2:
|
||||
a, b = s[1], s[0]
|
||||
ab, ao = b - a, -a
|
||||
if ab @ ao > 0.0:
|
||||
abv = np.cross(np.cross(ab, ao), ab)
|
||||
return (None, "stop") if abv @ abv < 1e-18 else (abv, "go")
|
||||
del s[0]
|
||||
return -a, "go"
|
||||
if n == 3:
|
||||
a, b, c = s[2], s[1], s[0]
|
||||
ab, ac, ao = b - a, c - a, -a
|
||||
abv = np.cross(np.cross(ab, ao), ab)
|
||||
acv = np.cross(np.cross(ac, ao), ac)
|
||||
if abv @ ao > 0.0: # AB 边外侧
|
||||
if ab @ ao > 0.0:
|
||||
del s[0]
|
||||
return (None, "stop") if abv @ abv < 1e-18 else (abv, "go")
|
||||
s[:] = [a]
|
||||
return -a, "go"
|
||||
if acv @ ao > 0.0: # AC 边外侧
|
||||
if ac @ ao > 0.0:
|
||||
del s[1]
|
||||
return (None, "stop") if acv @ acv < 1e-18 else (acv, "go")
|
||||
s[:] = [a]
|
||||
return -a, "go"
|
||||
nrm = np.cross(ab, ac)
|
||||
if nrm @ nrm < 1e-18:
|
||||
return None, "stop"
|
||||
return (nrm if nrm @ ao > 0.0 else -nrm), "go" # 三角面上/下方
|
||||
# n == 4 四面体：原点与被排除顶点异侧的面即"外侧"，约化到该面
|
||||
a3, b3, c3, d3 = s[3], s[2], s[1], s[0]
|
||||
for tri, e in (((a3, b3, c3), d3), ((a3, b3, d3), c3),
|
||||
((a3, c3, d3), b3), ((b3, c3, d3), a3)):
|
||||
u, v, w = tri
|
||||
nrm = np.cross(v - u, w - u)
|
||||
if nrm @ nrm < 1e-18:
|
||||
continue
|
||||
so = (-u) @ nrm
|
||||
sd = (e - u) @ nrm
|
||||
if abs(so) < 1e-12:
|
||||
return None, "hit"
|
||||
if so * sd < 0.0:
|
||||
s[:] = [u, v, w]
|
||||
return (nrm if so > 0.0 else -nrm), "go"
|
||||
return None, "hit" # 原点在四面体内 → 可能干涉
|
||||
|
||||
|
||||
# ---------------------------------------------------------------- 模型与上下文
|
||||
def load_model(include_fixture=True):
|
||||
"""include_fixture=False 时把 P01 立柱 / P02 底盘（固定测试台架，非本体）排除在
|
||||
碰撞配对之外——用来得到真机工作空间而不是台架工作空间。见 human_layout.FIXTURE_PREFIX。"""
|
||||
from arm import build_model as AM
|
||||
JS = AM.build()
|
||||
parts = []
|
||||
for p in AB.PARTS:
|
||||
if not include_fixture and HL.is_fixture(p["name"]):
|
||||
continue
|
||||
g = CHAIN.index(AB.GRP.get(p["name"], "root"))
|
||||
lo, hi = bb(p["shape"])
|
||||
corners = [(x, y, z) for x in (lo[0], hi[0]) for y in (lo[1], hi[1]) for z in (lo[2], hi[2])]
|
||||
# 包围球（局部坐标）：球心=包围盒中心，半径=半对角线。零件 ⊆ 包围球 恒成立，
|
||||
# 球心随刚体变换、半径不变 —— 旋转下依旧精确保守，是最廉价的确定性预筛。
|
||||
ctr = [(lo[k] + hi[k]) / 2.0 for k in range(3)]
|
||||
rad = 0.5 * math.dist(lo, hi) + 0.21
|
||||
verts = tessellate_verts(p["shape"])
|
||||
parts.append(dict(name=p["name"], shape=p["shape"], g=g, c8=corners, box=(lo, hi),
|
||||
ctr=ctr, rad=rad, verts=verts))
|
||||
joints = {t: (JS[t].rear, JS[t].d) for t in CHAIN[1:]}
|
||||
return parts, joints
|
||||
|
||||
|
||||
def _trsf_verts(verts, t):
|
||||
"""顶点云按 gp_Trsf 刚体变换（3x4 矩阵）。"""
|
||||
m = np.array([[t.Value(r, c) for c in (1, 2, 3, 4)] for r in (1, 2, 3)])
|
||||
return verts @ m[:, :3].T + m[:, 3]
|
||||
|
||||
|
||||
def axis_intervals(parts, rear, d):
|
||||
"""每个零件沿关节轴的 (轴向区间, 径向最小/最大距离)。要求 d 为坐标轴方向。"""
|
||||
out = []
|
||||
for p in parts:
|
||||
lo, hi = p["box"]
|
||||
if abs(d[0]) > 0.5:
|
||||
ax = (lo[0] - rear[0], hi[0] - rear[0])
|
||||
u = (lo[1], hi[1], rear[1]); v = (lo[2], hi[2], rear[2])
|
||||
elif abs(d[1]) > 0.5:
|
||||
ax = (lo[1] - rear[1], hi[1] - rear[1])
|
||||
u = (lo[0], hi[0], rear[0]); v = (lo[2], hi[2], rear[2])
|
||||
else:
|
||||
ax = (lo[2] - rear[2], hi[2] - rear[2])
|
||||
u = (lo[0], hi[0], rear[0]); v = (lo[1], hi[1], rear[1])
|
||||
du = max(u[0] - u[2], 0.0, u[2] - u[1])
|
||||
dv = max(v[0] - v[2], 0.0, v[2] - v[1])
|
||||
rmin = math.hypot(du, dv)
|
||||
rmax = max(math.hypot(a - u[2], b - v[2]) for a in (u[0], u[1]) for b in (v[0], v[1]))
|
||||
out.append((ax, rmin, rmax))
|
||||
return out
|
||||
|
||||
|
||||
def make_ctx(include_fixture=True):
|
||||
parts, joints = load_model(include_fixture)
|
||||
impossible = {}
|
||||
for k in range(1, len(CHAIN)):
|
||||
rear, d = joints[CHAIN[k]]
|
||||
iv = axis_intervals(parts, rear, d)
|
||||
s = set()
|
||||
for i in range(len(parts)):
|
||||
for j in range(i + 1, len(parts)):
|
||||
ga, gb = parts[i]["g"], parts[j]["g"]
|
||||
lo, hi = (ga, gb) if ga < gb else (gb, ga)
|
||||
if lo == hi or not (lo < k <= hi):
|
||||
continue
|
||||
ax_i, r_i = iv[i][0], (iv[i][1], iv[i][2])
|
||||
ax_j, r_j = iv[j][0], (iv[j][1], iv[j][2])
|
||||
if ax_i[1] < ax_j[0] or ax_j[1] < ax_i[0] or \
|
||||
r_i[1] < r_j[0] or r_j[1] < r_i[0]:
|
||||
s.add((i, j))
|
||||
impossible[k] = s
|
||||
return dict(parts=parts, joints=joints, impossible=impossible)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------- 姿态测试
|
||||
def accum_trsf(joints, angles_by_idx):
|
||||
"""链式累积变换：acc[i] = acc[i-1] ∘ R_i（与查看器嵌套 pivot 完全一致）。"""
|
||||
acc = [None] * len(CHAIN)
|
||||
for i in range(1, len(CHAIN)):
|
||||
ang = angles_by_idx.get(i, 0.0)
|
||||
if abs(ang) < 1e-9:
|
||||
acc[i] = acc[i - 1]
|
||||
continue
|
||||
rear, d = joints[CHAIN[i]]
|
||||
r = AB.R(ang, d[0], d[1], d[2], rear[0], rear[1], rear[2])
|
||||
acc[i] = r if acc[i - 1] is None else acc[i - 1].Multiplied(r)
|
||||
return acc
|
||||
|
||||
|
||||
def xf_c8(c8, t):
|
||||
from OCP.gp import gp_Pnt
|
||||
gpt = [gp_Pnt(*c).Transformed(t) for c in c8]
|
||||
lo = [min(p.X() for p in gpt), min(p.Y() for p in gpt), min(p.Z() for p in gpt)]
|
||||
hi = [max(p.X() for p in gpt), max(p.Y() for p in gpt), max(p.Z() for p in gpt)]
|
||||
return (lo, hi)
|
||||
|
||||
|
||||
def common_vol_center(a, b):
|
||||
"""交集体积 + 干涉质心；布尔失败返回 (-1, None)。"""
|
||||
try:
|
||||
from OCP.BRepAlgoAPI import BRepAlgoAPI_Common
|
||||
c = BRepAlgoAPI_Common(a.wrapped, b.wrapped)
|
||||
c.SetRunParallel(True)
|
||||
c.Build()
|
||||
if not c.IsDone() or c.Shape().IsNull():
|
||||
return 0.0, None
|
||||
sh = cq.Shape(c.Shape())
|
||||
v = AB.vol_of(sh)
|
||||
if v <= VOL_MIN:
|
||||
return v, None
|
||||
(lo, hi) = bb(sh)
|
||||
return v, tuple(round((lo[i] + hi[i]) / 2.0, 1) for i in range(3))
|
||||
except Exception:
|
||||
return -1.0, None
|
||||
|
||||
|
||||
def test_posture(ctx, angles_by_idx, want_errors=False, first_only=True):
|
||||
"""返回 (violations, errors)：violations = [(na, nb, vol, 干涉质心)]。
|
||||
first_only：证实第一对干涉即返回（粗扫/二分只需要"卡没卡"的二元答案，卡死姿态
|
||||
通常 12+ 对干涉、每对布尔 0.5~12s，全算完要 40s+；命中即返回降到 1~2s）。
|
||||
零位诊断（want_errors=True）保持全对扫描以给出完整清单。"""
|
||||
parts, joints, impossible = ctx["parts"], ctx["joints"], ctx["impossible"]
|
||||
active = [k for k, a in angles_by_idx.items() if abs(a) > 1e-9]
|
||||
acc = accum_trsf(joints, angles_by_idx)
|
||||
boxes = []
|
||||
sph = []
|
||||
for p in parts:
|
||||
t = acc[p["g"]]
|
||||
boxes.append(p["box"] if t is None else xf_c8(p["c8"], t))
|
||||
if t is None:
|
||||
c = p["ctr"]
|
||||
else: # 球心随组变换，半径旋转不变
|
||||
c = _trsf_verts(np.array([p["ctr"]], dtype=np.float64), t)[0]
|
||||
sph.append((c[0], c[1], c[2], p["rad"]))
|
||||
shapes = {}
|
||||
wverts = {} # 顶点云世界坐标缓存（本姿态内复用）
|
||||
viol, errs = [], []
|
||||
n = len(parts)
|
||||
for i in range(n):
|
||||
gi = parts[i]["g"]
|
||||
for j in range(i + 1, n):
|
||||
gj = parts[j]["g"]
|
||||
lo, hi = (gi, gj) if gi < gj else (gj, gi)
|
||||
if lo == hi:
|
||||
continue
|
||||
na, nb = parts[i]["name"], parts[j]["name"]
|
||||
if na.startswith("M") and nb.startswith("M"):
|
||||
continue
|
||||
if (na, nb) in MOUNT_PAIRS or (nb, na) in MOUNT_PAIRS:
|
||||
continue
|
||||
span = [k for k in active if lo < k <= hi]
|
||||
# 关键：无活动关节（零位）时必须测试全部零件对 —— 相对位姿不变不代表不干涉！
|
||||
if active and not span:
|
||||
continue
|
||||
if len(span) == 1 and (i, j) in impossible[span[0]]:
|
||||
continue
|
||||
bi, bj = boxes[i], boxes[j]
|
||||
if any(bi[1][k] < bj[0][k] - 0.1 or bj[1][k] < bi[0][k] - 0.1 for k in range(3)):
|
||||
continue
|
||||
sa, sb = sph[i], sph[j] # 包围球预筛：零件 ⊆ 球，球分离 ⇒ 零件必分离
|
||||
dxx = sa[0] - sb[0]; dyy = sa[1] - sb[1]; dzz = sa[2] - sb[2]
|
||||
rr = sa[3] + sb[3] + 0.1
|
||||
if dxx * dxx + dyy * dyy + dzz * dzz > rr * rr:
|
||||
continue
|
||||
if USE_GJK: # 网格化预筛：确证分离则免精确布尔
|
||||
for key, gk in ((i, gi), (j, gj)):
|
||||
if key not in wverts:
|
||||
t = acc[gk]
|
||||
lv = parts[key]["verts"]
|
||||
wverts[key] = None if lv is None else (
|
||||
lv if t is None else _trsf_verts(lv, t))
|
||||
vi, vj = wverts[i], wverts[j]
|
||||
if vi is not None and vj is not None and gjk_separated(vi, vj):
|
||||
continue
|
||||
si = shapes.get(i)
|
||||
if si is None:
|
||||
t = acc[gi]
|
||||
si = parts[i]["shape"] if t is None else place(parts[i]["shape"], t)
|
||||
shapes[i] = si
|
||||
sj = shapes.get(j)
|
||||
if sj is None:
|
||||
t = acc[gj]
|
||||
sj = parts[j]["shape"] if t is None else place(parts[j]["shape"], t)
|
||||
shapes[j] = sj
|
||||
# 顶点侵入快证：一方的网格顶点（真实表面上的点）落入对方实体内部即实锤干涉，
|
||||
# 免掉 4~12s 的 NURBS 布尔。深入重叠时前几十个采样点即命中早退；分类器按
|
||||
# 零件缓存（每姿态构建一次）。判"自由"无证明力 —— 无命中则照旧精确布尔。
|
||||
jam = False
|
||||
try:
|
||||
from OCP.BRepClass3d import BRepClass3d_SolidClassifier
|
||||
from OCP.gp import gp_Pnt
|
||||
from OCP.TopAbs import TopAbs_State
|
||||
for pi_, pj_ in ((i, j), (j, i)):
|
||||
pts = wverts.get(pi_)
|
||||
if pts is None or not len(pts):
|
||||
continue
|
||||
ckey = (pj_, id(acc[parts[pj_]["g"]]))
|
||||
if ckey not in classifiers:
|
||||
classifiers[ckey] = BRepClass3d_SolidClassifier(shapes[pj_].wrapped)
|
||||
cls = classifiers[ckey]
|
||||
stepk = max(1, len(pts) // 240)
|
||||
for k in range(0, len(pts), stepk):
|
||||
p = pts[k]
|
||||
# Perform(pnt, tol=1.0)：距边界 <1mm 的点归为 ON（配合贴面不算），
|
||||
# 只有深入 >1mm 的顶点才实锤干涉 —— 与 VOL_MIN 语义对齐
|
||||
cls.Perform(gp_Pnt(p[0], p[1], p[2]), 1.0)
|
||||
if cls.State() == TopAbs_State.TopAbs_IN:
|
||||
jam = True
|
||||
break
|
||||
if jam:
|
||||
break
|
||||
except Exception:
|
||||
jam = False
|
||||
if jam:
|
||||
viol.append((parts[i]["name"], parts[j]["name"], -1.0, None))
|
||||
if first_only and not want_errors:
|
||||
return viol
|
||||
continue
|
||||
v, center = common_vol_center(si, sj)
|
||||
if v < 0:
|
||||
errs.append((parts[i]["name"], parts[j]["name"]))
|
||||
continue
|
||||
if v > VOL_MIN:
|
||||
viol.append((parts[i]["name"], parts[j]["name"], round(v, 1), center))
|
||||
if first_only and not want_errors:
|
||||
return viol
|
||||
return (viol, errs) if want_errors else viol
|
||||
|
||||
|
||||
# ---------------------------------------------------------------- 工作进程
|
||||
_CTX = None
|
||||
_POOL = None
|
||||
_WORKERS = 4
|
||||
|
||||
|
||||
def _init_worker(use_gjk=True, include_fixture=True):
|
||||
global _CTX, USE_GJK
|
||||
USE_GJK = bool(use_gjk)
|
||||
_CTX = make_ctx(include_fixture)
|
||||
|
||||
|
||||
def _task(task):
|
||||
angles = {int(k): v for k, v in task["a"].items()}
|
||||
return task["id"], test_posture(_CTX, angles) # 带id回传，配合 imap_unordered 实时进度
|
||||
|
||||
|
||||
def get_pool(workers):
|
||||
global _POOL, _WORKERS
|
||||
_WORKERS = workers
|
||||
if _POOL is None and workers > 1:
|
||||
_POOL = mp.Pool(workers, initializer=_init_worker, initargs=(USE_GJK, INCLUDE_FIXTURE))
|
||||
return _POOL
|
||||
|
||||
|
||||
def eval_angles(angles_list, workers, chunk=None, label="姿态"):
|
||||
"""批量评估姿态列表 [{idx: ang}]，按输入顺序返回 violations 列表。
|
||||
进度展示：imap_unordered 按完成序实时回报，≥4 个姿态的批次每 2s 滚动打印一次
|
||||
真实完成数（短批次与二分不打扰输出）。"""
|
||||
tasks = [dict(id=i, a={str(k): v for k, v in a.items()}) for i, a in enumerate(angles_list)]
|
||||
n = len(tasks)
|
||||
if workers <= 1:
|
||||
ctx = _ctx_single()
|
||||
out = []
|
||||
t0 = time.time()
|
||||
for i, a in enumerate(angles_list):
|
||||
out.append(test_posture(ctx, a))
|
||||
if n >= 4 and ((i + 1) % max(1, n // 10) == 0 or i + 1 == n):
|
||||
print(" %s %d/%d [%.0fs]" % (label, i + 1, n, time.time() - t0),
|
||||
end="\r" if i + 1 < n else "\n", flush=True)
|
||||
return out
|
||||
pool = get_pool(workers)
|
||||
out = [None] * n
|
||||
cs = chunk or max(1, n // (workers * 4) or 1)
|
||||
t0, t_last, done_n = time.time(), time.time(), 0
|
||||
for id_, viol in pool.imap_unordered(_task, tasks, chunksize=cs):
|
||||
out[id_] = viol
|
||||
done_n += 1
|
||||
now = time.time()
|
||||
if n >= 4 and (now - t_last >= 2.0 or done_n == n):
|
||||
print(" %s %d/%d [%.0fs]" % (label, done_n, n, now - t0),
|
||||
end="\r" if done_n < n else "\n", flush=True)
|
||||
t_last = now
|
||||
return out
|
||||
|
||||
|
||||
def _ctx_single():
|
||||
global _CTX
|
||||
if _CTX is None:
|
||||
_CTX = make_ctx(INCLUDE_FIXTURE)
|
||||
return _CTX
|
||||
|
||||
|
||||
# ---------------------------------------------------------------- 扫描逻辑
|
||||
def bisect(workers, k, a_free, a_jam, tol=0.2):
|
||||
n = 0
|
||||
while abs(a_jam - a_free) > tol:
|
||||
n += 1
|
||||
mid = 0.5 * (a_free + a_jam)
|
||||
print(" %s 二分#%d 区间 [%.2f, %.2f]°" % (CHAIN[k], n, a_free, a_jam), flush=True)
|
||||
if eval_angles([{k: mid}], workers, label="%s二分" % CHAIN[k])[0]:
|
||||
a_jam = mid
|
||||
else:
|
||||
a_free = mid
|
||||
return a_free
|
||||
|
||||
|
||||
def sweep_single(k, step, workers):
|
||||
t_start = time.time()
|
||||
jams = {}
|
||||
lo = hi = 0.0
|
||||
tag = CHAIN[k]
|
||||
for sign in (+1, -1):
|
||||
angles = [sign * step * i for i in range(1, int(180.0 / step) + 1)]
|
||||
stop, a_free = None, 0.0
|
||||
B = max(workers, 8) # 小批次：首个卡死角即停，少算深度卡死姿态
|
||||
for s in range(0, len(angles), B):
|
||||
batch = angles[s:s + B]
|
||||
results = eval_angles([{k: a} for a in batch], workers,
|
||||
label="%s%s向粗扫" % (tag, "正" if sign > 0 else "反"))
|
||||
done = min(s + B, len(angles))
|
||||
print(" %s %s向 %d/%d 角度（%2.0f%%）[已用 %.0fs]"
|
||||
% (tag, "正" if sign > 0 else "反", done, len(angles),
|
||||
100.0 * done / len(angles), time.time() - t_start), flush=True)
|
||||
for a, viol in zip(batch, results):
|
||||
if viol:
|
||||
jams[a] = viol
|
||||
print(" %s %s向在 %.1f° 首次干涉：%s"
|
||||
% (tag, "正" if sign > 0 else "反", a,
|
||||
"; ".join("%sx%s(%s)" % (p, q, "顶点侵入" if v < 0 else "%.0fmm3" % v)
|
||||
for p, q, v, _c in viol[:3])),
|
||||
flush=True)
|
||||
# 二分区间 = [本方向最后自由角, 首个卡死角] —— 修复原 sign*(a-step)
|
||||
# 在负方向算出未测过的另一侧角度、把二分踢进远端慢区的问题
|
||||
stop = bisect(workers, k, a_free, a)
|
||||
break
|
||||
a_free = a
|
||||
if stop is not None:
|
||||
break
|
||||
if stop is None:
|
||||
stop = a_free
|
||||
if sign > 0:
|
||||
hi = stop
|
||||
else:
|
||||
lo = stop
|
||||
print(" => %s 硬限位 [%7.2f, %7.2f]，耗时 %.0fs" % (tag, lo, hi, time.time() - t_start),
|
||||
flush=True)
|
||||
return dict(lo=lo, hi=hi, jams=jams)
|
||||
|
||||
|
||||
def sweep_combo(k_hold, e_hold, j_sweep, a_lo, a_hi, step, workers):
|
||||
jams = {}
|
||||
res = {}
|
||||
tag = "%s@%.0f° 扫%s" % (CHAIN[k_hold], e_hold, CHAIN[j_sweep])
|
||||
for sign, lim in ((+1, a_hi), (-1, a_lo)):
|
||||
angles = [sign * step * i for i in range(1, int(abs(lim) / step) + 1)] if abs(lim) > 1e-6 else []
|
||||
stop, a_free = None, 0.0
|
||||
B = max(workers, 8) # 小批次：首个卡死角即停，少算深度卡死姿态
|
||||
for s in range(0, len(angles), B):
|
||||
batch = angles[s:s + B]
|
||||
results = eval_angles([{k_hold: e_hold, j_sweep: a} for a in batch], workers,
|
||||
label=tag)
|
||||
done = min(s + B, len(angles))
|
||||
print(" %s %s向 %d/%d（%2.0f%%）"
|
||||
% (tag, "正" if sign > 0 else "反", done, len(angles),
|
||||
100.0 * done / max(len(angles), 1)), flush=True)
|
||||
for a, viol in zip(batch, results):
|
||||
if viol:
|
||||
jams[a] = viol
|
||||
lo_f, hi_j = a_free, a # 同 sweep_single：用本方向最后自由角
|
||||
while abs(hi_j - lo_f) > 0.5:
|
||||
mid = 0.5 * (lo_f + hi_j)
|
||||
if eval_angles([{k_hold: e_hold, j_sweep: mid}], workers,
|
||||
label="%s组合二分" % tag)[0]:
|
||||
hi_j = mid
|
||||
else:
|
||||
lo_f = mid
|
||||
stop = lo_f
|
||||
break
|
||||
a_free = a
|
||||
if stop is not None:
|
||||
break
|
||||
if stop is None:
|
||||
stop = a_free
|
||||
res[sign] = stop
|
||||
return res[+1], res[-1], jams
|
||||
|
||||
|
||||
def main():
|
||||
t0 = time.time()
|
||||
step, combo_step = 2.0, 6.0
|
||||
do_combos = "--no-combos" not in sys.argv
|
||||
want_joints = None
|
||||
if "--no-gjk" in sys.argv:
|
||||
global USE_GJK
|
||||
USE_GJK = False
|
||||
if "--no-stand" in sys.argv:
|
||||
global INCLUDE_FIXTURE
|
||||
INCLUDE_FIXTURE = False
|
||||
# 内存感知的默认进程数：每个工作进程预留 ~2.5GB 峰值（建模+布尔瞬时开销）
|
||||
avail_gb = 16.0
|
||||
try:
|
||||
import ctypes
|
||||
|
||||
class _MS(ctypes.Structure):
|
||||
_fields_ = [("dwLength", ctypes.c_uint32), ("dwMemoryLoad", ctypes.c_uint32),
|
||||
("ullTotalPhys", ctypes.c_uint64), ("ullAvailPhys", ctypes.c_uint64),
|
||||
("ullTotalPageFile", ctypes.c_uint64), ("ullAvailPageFile", ctypes.c_uint64),
|
||||
("ullTotalVirtual", ctypes.c_uint64), ("ullAvailVirtual", ctypes.c_uint64),
|
||||
("ullAvailExtendedVirtual", ctypes.c_uint64)]
|
||||
_ms = _MS()
|
||||
_ms.dwLength = ctypes.sizeof(_MS)
|
||||
ctypes.windll.kernel32.GlobalMemoryStatusEx(ctypes.byref(_ms))
|
||||
avail_gb = _ms.ullAvailPhys / 2**30
|
||||
except Exception:
|
||||
pass
|
||||
mem_cap = max(2, int(avail_gb / 2.5))
|
||||
workers = max(1, min(12, (os.cpu_count() or 4) - 2, mem_cap))
|
||||
for i, a in enumerate(sys.argv):
|
||||
if a == "--step":
|
||||
step = float(sys.argv[i + 1])
|
||||
if a == "--combo-step":
|
||||
combo_step = float(sys.argv[i + 1])
|
||||
if a == "--workers":
|
||||
workers = int(sys.argv[i + 1])
|
||||
if a == "--joints":
|
||||
want_joints = set(sys.argv[i + 1].split(","))
|
||||
|
||||
print("=" * 78)
|
||||
print("全对全动态行程扫描 v2 并行版（workers=%d / 可用内存 %.0fGB / 轴=human_layout / 含相邻对与电机 / GJK预筛=%s）"
|
||||
% (workers, avail_gb, "开" if USE_GJK else "关"))
|
||||
print("=" * 78, flush=True)
|
||||
print("启动 %d 个工作进程并行建模（每进程独立构建全模型+凸包网格，约 20~60s）..." % workers,
|
||||
flush=True)
|
||||
if workers > 1:
|
||||
get_pool(workers) # 启动工作进程（各自并行建模，父进程不重复建模）
|
||||
# 零位检查
|
||||
v0 = eval_angles([{}], workers)[0]
|
||||
print("[零位检查] %s" % ("0 对干涉 ✓" if not v0 else "干涉: %s" % v0), flush=True)
|
||||
|
||||
singles = {}
|
||||
print("\n[单关节硬限位] 粗扫 %.1f° + 二分 0.2°" % step, flush=True)
|
||||
for k in range(1, len(CHAIN)):
|
||||
tag = CHAIN[k]
|
||||
if want_joints and tag not in want_joints:
|
||||
continue
|
||||
r = sweep_single(k, step, workers)
|
||||
singles[tag] = r
|
||||
jam_s = "; ".join(
|
||||
"%s%.1f°:%s" % ("+" if a > 0 else "", a,
|
||||
",".join("%sx%s@%s(%s)" % (p, q, c,
|
||||
"侵入" if v < 0 else "%.0f" % v)
|
||||
for p, q, v, c in vs[:2]))
|
||||
for a, vs in sorted(r["jams"].items())[:4])
|
||||
print(" %-3s lo=%7.2f hi=%7.2f %s [%.0fs]" % (tag, r["lo"], r["hi"],
|
||||
("卡死: " + jam_s) if jam_s else "整周无干涉 → 360° 连续", time.time() - t0), flush=True)
|
||||
|
||||
if want_joints:
|
||||
json.dump(dict(generated=time.strftime("%Y-%m-%d %H:%M:%S"),
|
||||
singles={t: dict(lo=round(singles[t]["lo"], 2),
|
||||
hi=round(singles[t]["hi"], 2),
|
||||
jams={str(a): v for a, v in singles[t]["jams"].items()})
|
||||
for t in singles}),
|
||||
open(DOCS + "/travel_probe.json", "w", encoding="utf-8"),
|
||||
ensure_ascii=False, indent=1)
|
||||
print("\n[诊断模式] 明细已写出 docs/travel_probe.json [%.0fs]" % (time.time() - t0))
|
||||
return
|
||||
|
||||
limits = {t: [singles[t]["lo"], singles[t]["hi"]] for t in CHAIN[1:]}
|
||||
|
||||
combos_log = []
|
||||
if do_combos:
|
||||
print("\n[组合姿态收敛] 保持一个关节于极限，扫其余关节（步长 %.1f°）" % combo_step, flush=True)
|
||||
for pass_i in range(2):
|
||||
changed = False
|
||||
for k in range(1, len(CHAIN)):
|
||||
tag_k = CHAIN[k]
|
||||
for e in (limits[tag_k][0], limits[tag_k][1]):
|
||||
if abs(e) < 5.0:
|
||||
continue
|
||||
for j in range(1, len(CHAIN)):
|
||||
if j == k:
|
||||
continue
|
||||
tag_j = CHAIN[j]
|
||||
lo_j, hi_j = limits[tag_j]
|
||||
if abs(lo_j) < 5.0 and abs(hi_j) < 5.0:
|
||||
continue
|
||||
pos, neg, jams = sweep_combo(k, e, j, lo_j, hi_j, combo_step, workers)
|
||||
for sign, free, lim in ((+1, pos, hi_j), (-1, neg, lo_j)):
|
||||
new = free - 1.0
|
||||
if sign > 0 and new < limits[tag_j][1] - 0.01:
|
||||
combos_log.append(dict(pass_=pass_i, hold=tag_k, hold_at=e,
|
||||
swept=tag_j, direction="hi",
|
||||
old=limits[tag_j][1], new=max(new, 0.0),
|
||||
jams={str(a): v for a, v in jams.items()}))
|
||||
limits[tag_j][1] = max(new, 0.0)
|
||||
changed = True
|
||||
if sign < 0 and new > limits[tag_j][0] + 0.01:
|
||||
combos_log.append(dict(pass_=pass_i, hold=tag_k, hold_at=e,
|
||||
swept=tag_j, direction="lo",
|
||||
old=limits[tag_j][0], new=min(new, 0.0),
|
||||
jams={str(a): v for a, v in jams.items()}))
|
||||
limits[tag_j][0] = min(new, 0.0)
|
||||
changed = True
|
||||
print(" hold %s done [%.0fs]" % (tag_k, time.time() - t0), flush=True)
|
||||
print(" pass %d: %s" % (pass_i + 1,
|
||||
"收紧 " + str({t: [round(limits[t][0], 1), round(limits[t][1], 1)] for t in CHAIN[1:]}
|
||||
if changed else "无变化")), flush=True)
|
||||
if not changed:
|
||||
break
|
||||
|
||||
# 滑块范围 = 单关节验证硬限位（任意单关节推满保证零干涉）。
|
||||
# 组合折叠约束（某关节保持极限时扫其它关节发现的卡死）只写入明细/报告，
|
||||
# 不压缩滑块 —— 否则手臂会被静态限位锁死（真实机器人由控制器做避碰）。
|
||||
final = {}
|
||||
print("\n[最终滑块范围]（单关节硬限位，含 1° 安全余量）")
|
||||
for t in CHAIN[1:]:
|
||||
lo, hi = singles[t]["lo"], singles[t]["hi"]
|
||||
if lo <= -179.9 and hi >= 179.9:
|
||||
final[t] = dict(axis=t, lo=-180.0, hi=180.0, continuous=True, zero=0.0,
|
||||
note="整周无干涉，可 360° 连续旋转（全对全动态扫描验证）")
|
||||
else:
|
||||
lo_out = float(math.ceil(lo + 1.0)) if lo < -0.5 else 0.0
|
||||
hi_out = float(math.floor(hi - 1.0)) if hi > 0.5 else 0.0
|
||||
final[t] = dict(axis=t, lo=lo_out, hi=hi_out, continuous=False, zero=0.0,
|
||||
note="正向 +%d° / 反向 %d°，总行程 %d°（全对全动态扫描验证，含相邻件与电机）"
|
||||
% (hi_out, lo_out, hi_out - lo_out))
|
||||
print(" %-3s %7.1f .. %7.1f %s" % (t, final[t]["lo"], final[t]["hi"],
|
||||
"360°连续" if final[t]["continuous"] else ""))
|
||||
|
||||
os.makedirs(DOCS, exist_ok=True)
|
||||
json.dump([final[t] for t in CHAIN[1:]],
|
||||
open(DOCS + "/travel.json", "w", encoding="utf-8"), ensure_ascii=False, indent=1)
|
||||
detail = dict(generated=time.strftime("%Y-%m-%d %H:%M:%S"),
|
||||
vol_min=VOL_MIN, step=step, combo_step=combo_step, workers=workers,
|
||||
fixture_included=INCLUDE_FIXTURE,
|
||||
singles={t: dict(lo=round(singles[t]["lo"], 2), hi=round(singles[t]["hi"], 2),
|
||||
jams={str(a): v for a, v in singles[t]["jams"].items()})
|
||||
for t in singles},
|
||||
combos=combos_log,
|
||||
final=[final[t] for t in CHAIN[1:]])
|
||||
json.dump(detail, open(DOCS + "/travel_detail.json", "w", encoding="utf-8"),
|
||||
ensure_ascii=False, indent=1)
|
||||
print("\n已写出 docs/travel.json（查看器滑块）+ docs/travel_detail.json（明细） [%.0fs]"
|
||||
% (time.time() - t0))
|
||||
if _POOL is not None:
|
||||
_POOL.terminate()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
# OCC/cadquery 的静态析构在解释器正常退出时必定段错误（实测：光是
|
||||
# `python -c "import arm.cad.helpers"` 就返回 139，与本项目代码无关）。所以入口
|
||||
# 脚本跑完后显式刷缓冲再 os._exit —— 否则全流程已经成功、exit code 却是 139,
|
||||
# 会把上游脚本的 set -e 判成失败。只在 __main__ 出口生效, 被 import 时不触发。
|
||||
sys.stdout.flush()
|
||||
os._exit(0)
|
||||
@@ -0,0 +1,213 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""关节电机力矩与负载能力校核。
|
||||
|
||||
与旧版的区别（这些是旧版实际出错的地方）：
|
||||
|
||||
1. 拓扑。旧版把关节表手抄成 "J3 肘俯仰 / J4 前臂自转 / J5 腕俯仰 / J6 夹爪"，
|
||||
并据此虚构了一个夹爪机构和 135mm 大臂——与 human_layout.py 的实际拓扑
|
||||
（J3 大臂自转 / J4 肘俯仰 / J6 腕自转）完全不符，整份报告的结论都是错的。
|
||||
本版不再复制拓扑：零件表、关节轴、运动学链全部复用 strength_check，
|
||||
而 strength_check 的轴又直接来自 human_layout，单一事实源。
|
||||
2. 力臂。旧版把每个关节的质量与力臂写成硬编码常数（J2 = 1.75kg @ 464mm），
|
||||
几何一改就失效且不会报错。本版按每个零件的真实质心、在可达姿态网格上
|
||||
搜索最大重力力矩。
|
||||
3. 惯量。旧版用一组手填的 kg·m²。本版按 Σm·d²（对关节轴的平行轴距离）
|
||||
在同一姿态网格上取最大值。零件自身转动惯量未计入，对大臂量级的关节
|
||||
是小修正，已在报告中标注。
|
||||
|
||||
电机参数：仓库内没有原始数据手册，以下为工程假定，可用环境变量覆盖。
|
||||
ARMT_CONT 连续额定输出力矩 (N·m)
|
||||
ARMT_PEAK 峰值堵转输出力矩 (N·m)
|
||||
ARMT_ALLOW 封闭塑料外壳热衰减后的许用连续力矩 (N·m)
|
||||
ARMT_ALPHA 角加速度 (rad/s²)
|
||||
ARMPAY 末端负载 (kg)
|
||||
|
||||
输出：docs/torque_balance.json + docs/torque_report.md
|
||||
"""
|
||||
import io
|
||||
import json
|
||||
import math
|
||||
import os
|
||||
import sys
|
||||
try:
|
||||
sys.stdout.reconfigure(encoding="utf-8")
|
||||
except Exception:
|
||||
pass
|
||||
from arm import kinematics as HL
|
||||
from arm.paths import DOCS
|
||||
from arm.analysis import strength_check as SC
|
||||
G = 9.81
|
||||
T_CONT = float(os.environ.get("ARMT_CONT", "2.5"))
|
||||
T_PEAK = float(os.environ.get("ARMT_PEAK", "8.0"))
|
||||
T_ALLOW = float(os.environ.get("ARMT_ALLOW", "2.0"))
|
||||
ALPHA = float(os.environ.get("ARMT_ALPHA", "5.0"))
|
||||
PAYLOAD = float(os.environ.get("ARMPAY", "0.5"))
|
||||
|
||||
# 关节名与轴向，全部取自 human_layout（不手抄）
|
||||
JOINT_CN = {t[0]: t[1] for t in HL.JOINTS}
|
||||
JOINT_D = {t[0]: t[3] for t in HL.JOINTS}
|
||||
|
||||
|
||||
def _axis_kind(tag):
|
||||
d = JOINT_D[tag]
|
||||
if abs(d[2]) == 1:
|
||||
return "roll(绕Z)"
|
||||
if abs(d[0]) == 1:
|
||||
return "roll(绕X)"
|
||||
return "pitch(绕Y)"
|
||||
|
||||
|
||||
def analyze(payload_kg=PAYLOAD):
|
||||
parts = SC.part_table(payload_kg)
|
||||
jl = SC.joint_loads(parts)
|
||||
jl0 = SC.joint_loads(SC.part_table(0.0)) # 去掉末端负载，用于反推负载能力
|
||||
masses = {"J%d" % j: sum(m for _, m, _, g in parts if g >= j) for j in range(1, 7)}
|
||||
arm_mass = {k: v - payload_kg * 1000.0 for k, v in masses.items()}
|
||||
|
||||
res = {"assumptions": {
|
||||
"motor": "60mm 方形标准关节电机模组，2 级行星减速",
|
||||
"T_cont_Nm": T_CONT, "T_peak_Nm": T_PEAK, "T_allow_Nm": T_ALLOW,
|
||||
"alpha_rad_s2": ALPHA, "payload_kg": payload_kg,
|
||||
"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",
|
||||
}, "joints": {}}
|
||||
|
||||
for j in range(1, 7):
|
||||
tag = "J%d" % j
|
||||
r = jl[tag]
|
||||
tau_g = r["tau"] / 1000.0 # N*m，重力
|
||||
tau_dyn = r["I"] * ALPHA # N*m，惯性
|
||||
tau_g_arm = jl0[tag]["tau"] / 1000.0 # 去掉负载后的重力力矩
|
||||
req_static = tau_g
|
||||
req_peak = tau_g + tau_dyn
|
||||
res["joints"][tag] = {
|
||||
"cn": JOINT_CN[tag], "axis": _axis_kind(tag),
|
||||
"distal_mass_kg": round(masses[tag] / 1000.0, 3),
|
||||
"arm_mass_kg": round(arm_mass[tag] / 1000.0, 3),
|
||||
"weight_N": round(r["F"], 1),
|
||||
"reach_tip_mm": round(r["Lp"], 0),
|
||||
"tau_gravity_Nm": round(tau_g, 3),
|
||||
"tau_gravity_arm_only_Nm": round(tau_g_arm, 3),
|
||||
"I_distal_kgm2": round(r["I"], 5),
|
||||
"tau_dynamic_Nm": round(tau_dyn, 3),
|
||||
"tau_required_static_Nm": round(req_static, 3),
|
||||
"tau_required_peak_Nm": round(req_peak, 3),
|
||||
"duty_vs_Tcont_pct": round(100.0 * req_static / T_CONT, 1),
|
||||
"duty_vs_Tallow_pct": round(100.0 * req_static / T_ALLOW, 1),
|
||||
"peak_margin_x": round(T_PEAK / req_peak, 2) if req_peak > 1e-3 else None,
|
||||
"status": "OK" if (req_static <= T_ALLOW and req_peak <= T_PEAK) else "OVERLOAD",
|
||||
}
|
||||
return res, jl0, jl
|
||||
|
||||
|
||||
def max_payload(res):
|
||||
"""在许用连续力矩下，末端还能带多少 kg（按各关节取最小）。
|
||||
|
||||
线性化：tau_g(p) ≈ tau_g_arm + p·g·L。用的是该关节实测的最大 TCP 力臂，
|
||||
即最不利姿态下的力臂。
|
||||
"""
|
||||
out = {}
|
||||
for tag, d in res["joints"].items():
|
||||
L = d["reach_tip_mm"] / 1000.0
|
||||
if L <= 0:
|
||||
out[tag] = None
|
||||
continue
|
||||
head = T_ALLOW - d["tau_gravity_arm_only_Nm"]
|
||||
out[tag] = round(max(head, 0.0) / (G * L), 3) if head > 0 else 0.0
|
||||
return out
|
||||
|
||||
|
||||
def generate_report(res, mp):
|
||||
L = []
|
||||
L.append("# 6 自由度机械臂 · 关节电机力矩与负载能力校核\n")
|
||||
a = res["assumptions"]
|
||||
L.append("## 1. 前提\n")
|
||||
L.append("- 驱动：%s" % a["motor"])
|
||||
L.append("- 连续额定输出力矩 `T_cont` = %.2f N·m；峰值堵转 `T_peak` = %.2f N·m"
|
||||
% (a["T_cont_Nm"], a["T_peak_Nm"]))
|
||||
L.append("- 封闭打印外壳热衰减后许用连续力矩 `T_allow` = %.2f N·m；末端负载 %.2f kg；"
|
||||
"角加速度 %.1f rad/s²" % (a["T_allow_Nm"], a["payload_kg"], a["alpha_rad_s2"]))
|
||||
L.append("- **%s**\n" % a["note"])
|
||||
L.append("载荷模型：每个零件按网格体积加权质心定位，随姿态做刚体变换，在可达姿态"
|
||||
"网格（俯仰轴取行程端点/中值，自转轴取 0/±60/±120/180°）上取重力力矩最大值。"
|
||||
"力矩为绕**关节自身轴**的分量——这才是电机要出的力。\n")
|
||||
|
||||
L.append("## 2. 各关节校核结果\n")
|
||||
L.append("| 关节 | 名称 | 轴 | 以下质量(kg) | TCP力臂(mm) | 重力力矩(N·m) | 惯性力矩(N·m) | 峰值需求(N·m) | 负荷率(对T_allow) | 峰值裕度 | 判定 |")
|
||||
L.append("|:---:|:---|:---|---:|---:|---:|---:|---:|---:|---:|:---:|")
|
||||
for tag, d in res["joints"].items():
|
||||
L.append("| %s | %s | %s | %.2f | %.0f | **%.2f** | %.2f | %.2f | **%.0f%%** | %s | %s |"
|
||||
% (tag, d["cn"], d["axis"], d["distal_mass_kg"], d["reach_tip_mm"],
|
||||
d["tau_gravity_Nm"], d["tau_dynamic_Nm"], d["tau_required_peak_Nm"],
|
||||
d["duty_vs_Tallow_pct"],
|
||||
("%.2f×" % d["peak_margin_x"]) if d["peak_margin_x"] else "—", d["status"]))
|
||||
L.append("")
|
||||
L.append("## 3. 许用连续工况下的末端负载能力\n")
|
||||
L.append("去掉末端负载后各关节仍需 `tau_gravity_arm_only` 的重力力矩，余额除以该关节"
|
||||
"实测最大 TCP 力臂，即为还能挂的负载：\n")
|
||||
L.append("| 关节 | 仅臂身重力力矩(N·m) | 余额(N·m) | 可挂负载(kg) |")
|
||||
L.append("|:---:|---:|---:|---:|")
|
||||
for tag, d in res["joints"].items():
|
||||
head = T_ALLOW - d["tau_gravity_arm_only_Nm"]
|
||||
L.append("| %s | %.2f | %+.2f | %s |"
|
||||
% (tag, d["tau_gravity_arm_only_Nm"], head,
|
||||
("%.2f" % mp[tag]) if mp[tag] is not None else "—"))
|
||||
ok = [t for t, v in mp.items() if v is not None]
|
||||
worst = min(ok, key=lambda t: mp[t]) if ok else None
|
||||
if worst:
|
||||
L.append("")
|
||||
L.append("**整臂瓶颈：%s，可挂末端负载 %.2f kg。**\n" % (worst, mp[worst]))
|
||||
L.append("## 4. 结论要点\n")
|
||||
over = [t for t, d in res["joints"].items() if d["status"] == "OVERLOAD"]
|
||||
if over:
|
||||
L.append("- **超载关节：%s**。" % "、".join(over))
|
||||
for t in over:
|
||||
d = res["joints"][t]
|
||||
L.append(" - %s（%s）重力 %.2f N·m，超 `T_allow` %.0f%%；即使按峰值堵转算，"
|
||||
"裕度也只有 %s。" % (t, d["cn"], d["tau_gravity_Nm"],
|
||||
d["duty_vs_Tallow_pct"] - 100.0,
|
||||
("%.2f×" % d["peak_margin_x"]) if d["peak_margin_x"] else "—"))
|
||||
L.append("- 结论对电机参数高度敏感：若实际连续额定高于假定值，"
|
||||
"请用 `ARMT_CONT` / `ARMT_ALLOW` 覆盖后重跑本脚本。")
|
||||
else:
|
||||
L.append("- 全部关节在许用连续力矩内。")
|
||||
L.append("- 惯量按 Σm·d² 估，**未计入零件自身转动惯量**，对肩/肘是大臂量级的关节"
|
||||
"约低估一成，惯性力矩一栏应视为下限。")
|
||||
L.append("- 本版不含被动弹簧平衡。旧版报告提出的 J2 拉簧预补偿（2.48 N·m）在几何上"
|
||||
"**尚未实现**；若要保留该方案，需要在 P04/P05 之间增加拉簧连杆机构。")
|
||||
return "\n".join(L)
|
||||
|
||||
|
||||
def main():
|
||||
res, jl0, jl = analyze(PAYLOAD)
|
||||
mp = max_payload(res)
|
||||
io.open(DOCS + "/torque_balance.json", "w", encoding="utf-8").write(
|
||||
json.dumps(res, ensure_ascii=False, indent=2))
|
||||
io.open(DOCS + "/torque_report.md", "w", encoding="utf-8").write(generate_report(res, mp))
|
||||
|
||||
print("末端负载 %.2f kg T_cont=%.2f T_allow=%.2f T_peak=%.2f alpha=%.1f\n"
|
||||
% (PAYLOAD, T_CONT, T_ALLOW, T_PEAK, ALPHA))
|
||||
print("%-4s %-8s %-12s %8s %8s %8s %9s %8s %s"
|
||||
% ("关节", "名称", "轴", "重力N·m", "惯性N·m", "峰值N·m", "负荷率", "峰值裕度", "判定"))
|
||||
for tag, d in res["joints"].items():
|
||||
print("%-4s %-8s %-12s %8.2f %8.2f %8.2f %8.0f%% %8s %s"
|
||||
% (tag, d["cn"], d["axis"], d["tau_gravity_Nm"], d["tau_dynamic_Nm"],
|
||||
d["tau_required_peak_Nm"], d["duty_vs_Tallow_pct"],
|
||||
("%.2fx" % d["peak_margin_x"]) if d["peak_margin_x"] else "-",
|
||||
d["status"]))
|
||||
print("\n许用连续力矩下可挂末端负载 (kg):")
|
||||
for tag in res["joints"]:
|
||||
print(" %-4s %s" % (tag, ("%.2f" % mp[tag]) if mp[tag] is not None else "—"))
|
||||
ok = [t for t, v in mp.items() if v is not None]
|
||||
if ok:
|
||||
w = min(ok, key=lambda t: mp[t])
|
||||
print(" 整臂瓶颈 %s -> %.2f kg" % (w, mp[w]))
|
||||
print("\n已写出 docs/torque_balance.json + docs/torque_report.md")
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
# OCC/cadquery 的静态析构在解释器正常退出时必定段错误（实测：光是
|
||||
# `python -c "import arm.cad.helpers"` 就返回 139，与本项目代码无关）。所以入口
|
||||
# 脚本跑完后显式刷缓冲再 os._exit —— 否则全流程已经成功、exit code 却是 139,
|
||||
# 会把上游脚本的 set -e 判成失败。只在 __main__ 出口生效, 被 import 时不触发。
|
||||
sys.stdout.flush()
|
||||
os._exit(0)
|
||||
@@ -0,0 +1,143 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""关节角组合可达空间（工具尖点）计算：FK 采样 + J1 旋转对称包络 + 体积估计"""
|
||||
import json
|
||||
import math
|
||||
import os
|
||||
import sys
|
||||
|
||||
import numpy as np
|
||||
|
||||
from arm import kinematics as HL
|
||||
from arm.paths import DOCS, CACHE
|
||||
|
||||
TRAVEL = {t["axis"]: (t["lo"], t["hi"]) for t in
|
||||
json.load(open(DOCS + "/travel.json", encoding="utf-8"))}
|
||||
|
||||
TIP = (HL.X_ARM, HL.Y_AXIS, HL.Z_TIP) # P09 法兰底面中心（工具安装面）
|
||||
J1_AX = (HL.Y_AXIS, HL.Z_RL) # J1 转轴: 过 Y=128, Z=610, 平行 X
|
||||
|
||||
|
||||
def rot_about(p, k, ang):
|
||||
"""绕轴 (p 点, k 方向) 旋转 ang(弧度, 可为数组M,)；返回 Rm(M,3,3), t(M,3)。
|
||||
p' = Rm @ (p_pt - p) + p，与 AB.R 的 gp_Trsf.SetRotation 右手定则一致。"""
|
||||
k = np.asarray(k, dtype=float)
|
||||
k = k / np.linalg.norm(k)
|
||||
ang = np.atleast_1d(np.asarray(ang, dtype=float))
|
||||
px, py, pz = p
|
||||
K = np.array([[0.0, -k[2], k[1]], [k[2], 0.0, -k[0]], [-k[1], k[0], 0.0]])
|
||||
K2 = K @ K
|
||||
Rm = np.eye(3)[None, :, :] + np.sin(ang)[:, None, None] * K[None, :, :] \
|
||||
+ (1.0 - np.cos(ang))[:, None, None] * K2[None, :, :]
|
||||
pp = np.array([px, py, pz])
|
||||
t = pp[None, :] - np.einsum("mij,j->mi", Rm, pp)
|
||||
return Rm, t
|
||||
|
||||
|
||||
def fk_batch(angles, tip=TIP):
|
||||
"""angles: dict idx->弧度数组(M,)；返回 (M,3) 世界坐标。链式 acc 与 sweep_v2 一致：
|
||||
父关节变换在最外层 p' = R1∘R2∘…∘R5 (p)，各 R_i 绕其零位世界轴（human_layout 唯一事实源）。"""
|
||||
pts = np.tile(np.asarray(tip, dtype=float), (angles[1].shape[0], 1))
|
||||
for i in range(5, 0, -1): # J6 跳过：尖点在 J6 轴上，其转角不改变尖点位置
|
||||
rear, d = HL.JOINTS[i - 1][2], HL.JOINTS[i - 1][3]
|
||||
Rm, t = rot_about(rear, d, angles[i])
|
||||
pts = np.einsum("mij,mj->mi", Rm, pts) + t
|
||||
return pts
|
||||
|
||||
|
||||
def sweep(step=2.0):
|
||||
j2 = np.radians(np.arange(TRAVEL["J2"][0], TRAVEL["J2"][1] + 1e-9, step))
|
||||
j4 = np.radians(np.arange(TRAVEL["J4"][0], TRAVEL["J4"][1] + 1e-9, step))
|
||||
j5 = np.radians(np.arange(TRAVEL["J5"][0], TRAVEL["J5"][1] + 1e-9, step))
|
||||
g2, g4, g5 = np.meshgrid(j2, j4, j5, indexing="ij")
|
||||
M = g2.size
|
||||
angles = {1: np.zeros(M), 2: g2.ravel(), 3: np.zeros(M),
|
||||
4: g4.ravel(), 5: g5.ravel()}
|
||||
pts = fk_batch(angles)
|
||||
# 自证1：零位尖点必须回到 (18.5,128,93)
|
||||
z0 = fk_batch({i: np.zeros(1) for i in range(1, 6)})
|
||||
assert np.allclose(z0[0], TIP, atol=1e-9), z0[0]
|
||||
# 自证2：J1/J6 旋转不改变 (x, r) 与极值位置——J1 取中值扫一遍，r 分布应与 J1=0 相同
|
||||
for phi in (0.5, 1.2, 2.4):
|
||||
v1 = np.full(M, phi)
|
||||
p1 = fk_batch({1: v1, 2: g2.ravel(), 3: np.zeros(M),
|
||||
4: g4.ravel(), 5: g5.ravel()})
|
||||
r1 = np.hypot(p1[:, 1] - J1_AX[0], p1[:, 2] - J1_AX[1])
|
||||
r0 = np.hypot(pts[:, 1] - J1_AX[0], pts[:, 2] - J1_AX[1])
|
||||
assert np.allclose(np.sort(r0), np.sort(r1), atol=1e-9), "J1 对称性被破坏"
|
||||
# 自证3：J3 旋转（大臂自转）不改变尖点位置——关节轴过尖点所在纵线
|
||||
print("J3 对称性: 尖点 x=%.1f 与 J3 轴 x=%.1f 一致=%s, y=%.1f 与轴 y=%.1f 一致=%s"
|
||||
% (TIP[0], HL.X_ARM, abs(TIP[0] - HL.X_ARM) < 1e-9,
|
||||
TIP[1], HL.Y_AXIS, abs(TIP[1] - HL.Y_AXIS) < 1e-9))
|
||||
print("J6 含于轴: 尖点 (%.1f,%.1f) vs 轴 (%.1f,%.1f)"
|
||||
% (TIP[0], TIP[1], HL.JOINTS[5][2][0], HL.JOINTS[5][2][1]))
|
||||
return pts
|
||||
|
||||
|
||||
def envelope(pts, grid=1.0):
|
||||
"""(x, r) 半平面栅格化占用 + 体积（绕 J1 轴回转）。"""
|
||||
x = pts[:, 0]
|
||||
r = np.hypot(pts[:, 1] - J1_AX[0], pts[:, 2] - J1_AX[1])
|
||||
x0, x1 = math.floor(x.min()), math.ceil(x.max())
|
||||
r0, r1 = 0.0, math.ceil(r.max())
|
||||
nx = int(round((x1 - x0) / grid)) + 1
|
||||
nr = int(round((r1 - r0) / grid)) + 1
|
||||
xi = np.clip(((x - x0) / grid).round().astype(int), 0, nx - 1)
|
||||
ri = np.clip((r / grid).round().astype(int), 0, nr - 1)
|
||||
occ = np.zeros((nx, nr), dtype=bool)
|
||||
occ[xi, ri] = True
|
||||
# 每个 x 列只保留 r <= 该列可达最大 r（回转体沿 r 连续填充）
|
||||
for i in range(nx):
|
||||
j = np.nonzero(occ[i])[0]
|
||||
if j.size:
|
||||
occ[i, : j.max() + 1] = True
|
||||
rr = r0 + np.arange(nr) * grid
|
||||
vol = float((occ * (2.0 * math.pi * rr)[None, :] * grid * grid).sum())
|
||||
return dict(occ=occ, x0=x0, grid=grid, rm_axes=rr, vol_mm3=vol,
|
||||
nx=nx, nr=nr)
|
||||
|
||||
|
||||
def main():
|
||||
pts = sweep()
|
||||
x, y, z = pts[:, 0], pts[:, 1], pts[:, 2]
|
||||
r = np.hypot(y - J1_AX[0], z - J1_AX[1])
|
||||
env = envelope(pts)
|
||||
# 每个 x 的 r 包络（侧视/俯视剖面用）
|
||||
xs = env["x0"] + np.arange(env["nx"]) * env["grid"]
|
||||
rmax_x, rmin_x = [], []
|
||||
for i in range(env["nx"]):
|
||||
j = np.nonzero(env["occ"][i])[0]
|
||||
if j.size:
|
||||
rmax_x.append(env["rm_axes"][j.max()])
|
||||
rmin_x.append(env["rm_axes"][j.min()])
|
||||
else:
|
||||
rmax_x.append(np.nan)
|
||||
rmin_x.append(np.nan)
|
||||
os.makedirs(CACHE, exist_ok=True)
|
||||
np.savez_compressed(CACHE + "/ws_cloud.npz",
|
||||
pts=pts, xs=np.array(xs),
|
||||
rmax=np.array(rmax_x), rmin=np.array(rmin_x))
|
||||
met = dict(
|
||||
z_max=float(z.max()), z_min=float(z.min()),
|
||||
x_fwd=float(x.max()), x_back=float(x.min()),
|
||||
y_lo=float(y.min()), y_hi=float(y.max()),
|
||||
r_max=float(r.max()), r_min=float(r.min()),
|
||||
reach_from_j1_axis=float(r.max()),
|
||||
spread=float(z.max() - z.min()),
|
||||
vol_dm3=env["vol_mm3"] / 1e6,
|
||||
tip=TIP, j1_axis=list(J1_AX),
|
||||
limits={k: list(v) for k, v in TRAVEL.items()},
|
||||
)
|
||||
# 自证4：极值点姿态可解释（打印取极值的角度组合索引）
|
||||
imax = int(np.argmax(z)); imin = int(np.argmin(z))
|
||||
ifwd = int(np.argmax(x)); iback = int(np.argmin(x))
|
||||
met["pose_extreme"] = dict(
|
||||
zmax_idx=imax, zmin_idx=imin, xfwd_idx=ifwd, xback_idx=iback)
|
||||
print(json.dumps({k: v for k, v in met.items()
|
||||
if k not in ("limits", "pose_extreme")},
|
||||
ensure_ascii=False, indent=1))
|
||||
json.dump(met, open(CACHE + "/ws_metrics.json", "w", encoding="utf-8"),
|
||||
ensure_ascii=False, indent=1)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -0,0 +1,199 @@
|
||||
# -*- 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
|
||||
import cadquery as cq
|
||||
from arm.cad import arm_build as AB
|
||||
from arm.paths import OUT, WEB, DOCS
|
||||
from arm.constants import M, C
|
||||
from arm.cad.helpers import cyl, box, ring, place, trs, bb, bbox_str, solids_of
|
||||
from arm.cad.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)
|
||||
from arm import kinematics as HL
|
||||
from OCP.BRepAlgoAPI import BRepAlgoAPI_Common
|
||||
from arm.kinematics 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,
|
||||
X_FORK_GAP, X_BAY_EXT,
|
||||
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
|
||||
|
||||
# ------------------------------------------------ 逐件模块（几何已拆出）
|
||||
from arm.cad.parts import PART_MODULES
|
||||
from arm.cad.part_tools import (
|
||||
BOSS, CHAMFER_EDGE, CLAMP_BACKOFF, CLAMP_BCD, CLAMP_CLOCK, CLAMP_CLOCK_LOCAL, CLAMP_CLR,
|
||||
CLAMP_ROOT, CLAMP_T, CLEARANCE_GAP, DISC_R, FENCE_OPEN_CUT, FILLET_LARGE, FILLET_MEDIUM,
|
||||
FILLET_SMALL, FILLET_TINY, FILLET_XLARGE, HOLLOW_FILLET, HOLLOW_WALL, SLEEVE_R, XB, Xcyl,
|
||||
Xplate, Y_MID, cut_motor_fence, hollow_channel, hollow_tent_window, hub_m2_holes,
|
||||
make_direct_hub, make_pitch_to_roll_bracket, motor_front_clamp,
|
||||
)
|
||||
from arm.cad.parts.p01_column import X_COL, Y_COL, Z_LOCK, p_chest, split_p01_poka_yoke
|
||||
from arm.cad.parts.p02_base import make_p02_poka_yoke, p_base_foot
|
||||
from arm.cad.parts.p03_girdle import p_girdle
|
||||
from arm.cad.parts.p04_fork import P04_CH, p_fork
|
||||
from arm.cad.parts.p05_roll_base import p_shoulder_roll_base
|
||||
from arm.cad.parts.p06_humerus import P06_HOLLOW_WIN, P06_WIN_XZ, p_humerus_bone
|
||||
from arm.cad.parts.p07_forearm import P07_CH, p_forearm_bone
|
||||
from arm.cad.parts.p08_wrist import p_wrist_bracket
|
||||
from arm.cad.parts.p09_flange import p_tool_flange
|
||||
# 兼容旧工具：scratch/ 的诊断脚本按 arm_model.<符号> 取用件构造函数与开关
|
||||
|
||||
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"}
|
||||
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.JAW = {}
|
||||
# 逐件模块：几何、件号/配色/说明、装配帧归属都在 arm/cad/parts/ 里，
|
||||
# 这里只按 BOM 顺序收集 specs()，并把件号登记到装配帧图上。
|
||||
parts_to_build = []
|
||||
for _m in PART_MODULES:
|
||||
for _spec in _m.specs(JS):
|
||||
AB.GRP[_spec[0]] = _m.JOINT
|
||||
parts_to_build.append(_spec)
|
||||
|
||||
|
||||
total_parts = len(parts_to_build)
|
||||
for idx, (name, cn, fn, color, note) in enumerate(parts_to_build, 1):
|
||||
print(f" [{idx}/{total_parts}] 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：立柱垂直阶梯拉开，底座前后防呆拉开，电机沿轴拉出，机械臂整体随上段分离"""
|
||||
nm = p["name"]
|
||||
if nm == "P01_A_立柱下段_三角形30%_墙4底5_竖打":
|
||||
return [0.0, 0.0, 0.0]
|
||||
if nm == "P01_B_立柱中段_三角形30%_墙4底5_竖打":
|
||||
return [0.0, 0.0, 60.0]
|
||||
if nm == "P01_C_立柱上段_三角形30%_墙4底5_竖打":
|
||||
return [0.0, 0.0, 120.0]
|
||||
if nm == "P02_Center_底座中核心_螺旋体30%_墙5底6_平打":
|
||||
return [0.0, 0.0, 0.0]
|
||||
if nm == "P02_Front_前向防翻力臂_螺旋体30%_墙4底5_平打":
|
||||
return [65.0, 0.0, 0.0]
|
||||
if nm == "P02_Rear_后向防翻力臂_螺旋体30%_墙4底5_平打":
|
||||
return [-65.0, 0.0, 0.0]
|
||||
if nm == "P03_肩吊臂_螺旋体35%_墙5底5_竖打":
|
||||
return [0.0, 0.0, 120.0]
|
||||
|
||||
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, 120.0 - SEP * k]
|
||||
j = JS.get(grp)
|
||||
if j:
|
||||
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"]]
|
||||
total_pr = len(printed_list)
|
||||
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}/{total_pr}] {p['name']:<14} : 体积 {p['vol']/1000.0:6.1f} cm³ | {status}", flush=True)
|
||||
if bad == 0:
|
||||
print(f"-> 单实体检查全部通过！{total_pr}/{total_pr} 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)
|
||||
|
||||
# 紧固件（螺钉）实例注入：把 docs/screws.json 的 72 颗螺钉按真实孔位还原成三维实例，
|
||||
# 追加进 web/mesh_arm.json 的 parts（查看器可点 BOM 螺丝行高亮定位；纯数据，不动 CAD）
|
||||
from arm.dataio import screw_mesh
|
||||
screw_mesh.main()
|
||||
cl = AB.collide()
|
||||
from arm.viewer.build_viewer import rebuild_viewer
|
||||
rebuild_viewer()
|
||||
# 可达包络自动注入：AB.export 刚重写过 mesh_arm.json（包络件会被冲掉），
|
||||
# 这里重跑 FK 采样 + 包络网格注入，再重打包一次查看器（约 3~4s，纯数据无 CAD 计算）
|
||||
from arm.analysis import ws_sweep, gen_env_mesh
|
||||
t_env = time.time()
|
||||
ws_sweep.main()
|
||||
gen_env_mesh.main()
|
||||
rebuild_viewer()
|
||||
print(f"-> 可达包络已自动注入查看器（+{time.time() - t_env:.1f}s）✓\n", 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)
|
||||
|
||||
# OCC/cadquery 的静态析构在解释器正常退出时必定段错误（实测：光是
|
||||
# `python -c "import arm.cad.helpers"` 就返回 139，与本项目代码无关）。所以入口
|
||||
# 脚本跑完后显式刷缓冲再 os._exit —— 否则全流程已经成功、exit code 却是 139,
|
||||
# 会把上游脚本的 set -e 判成失败。只在 __main__ 出口生效, 被 import 时不触发。
|
||||
sys.stdout.flush()
|
||||
os._exit(0)
|
||||
@@ -0,0 +1,8 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""几何与装配层。
|
||||
|
||||
helpers 放置/基础体/网格化等无状态 helper
|
||||
arm_build Joint 装配模型、零件登记(add)、STEP/STL/BOM/mesh 导出
|
||||
part_tools 跨件共用刀法（减重腔、压盖、转接座、圆角常量、螺钉孔位事实源）
|
||||
parts/ 每个打印件一个模块：几何 + 件号/配色/说明 + 装配帧归属
|
||||
"""
|
||||
@@ -0,0 +1,653 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""Shared geometry / assembly / export library for the robot arm build.
|
||||
|
||||
No layout of its own: the joint frames and station positions live in
|
||||
human_layout.py and arm_model.py, which import this module. What lives here is
|
||||
the measured motor interface (docs/interfaces.md), the Joint class (motor slip
|
||||
bore + PCBA pocket + pinch screws; driven hub mating plane at motor rear datum
|
||||
+65.0 replicating the Ø36x1.0 neck / Ø6.5x4.0 centre / 3x M2 on Ø29 output so
|
||||
the existing face-spline halves + split clamp bolt straight on), the part
|
||||
registry, and the STEP/STL/mesh/BOM/collision export pipeline.
|
||||
|
||||
Run: python arm_model.py -> out/, web/mesh_arm.json, docs/
|
||||
"""
|
||||
import math
|
||||
import os
|
||||
import sys
|
||||
import json
|
||||
|
||||
try:
|
||||
sys.stdout.reconfigure(encoding="utf-8")
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
import cadquery as cq
|
||||
from arm.paths import OUT, WEB, DOCS, SRC_STEP, HALF_STEP, CLAMP_STEP
|
||||
from arm.constants import M, C, MOTOR_TOL
|
||||
from arm.cad.helpers import V, trs, place, bb, bbox_str, cyl, ring, box, holes, solids_of, mesh_of
|
||||
from OCP.gp import gp_Trsf, gp_Vec, gp_Pnt, gp_Dir, gp_Ax1
|
||||
from OCP.BRepAlgoAPI import BRepAlgoAPI_Common
|
||||
from OCP.GProp import GProp_GProps
|
||||
from OCP.BRepGProp import BRepGProp
|
||||
from OCP.STEPControl import STEPControl_Writer, STEPControl_Controller, STEPControl_StepModelType
|
||||
from OCP.Interface import Interface_Static
|
||||
|
||||
STEPControl_Controller.Init_s()
|
||||
D2R = math.pi / 180.0
|
||||
VERSION = os.environ.get("ARMVER", "r1")
|
||||
ITER = int(os.environ.get("ARMITER", "1"))
|
||||
|
||||
# ---------------------------------------------------------------- measured stations
|
||||
FLANGE_Z = M["flange_z"] # 54.942
|
||||
COVER_Z = M["cover_z"] # 56.000
|
||||
HUB_FACE_Z = 65.0 # motor rear datum -> driven hub mating plane
|
||||
CLAMP_SPAN = (FLANGE_Z + 1.66, FLANGE_Z + 9.46)
|
||||
CLAMP_R_BAND = 31.0
|
||||
CLAMP_R_LUG = 38.0
|
||||
BORE_R = M["hous_d"] / 2.0 + 0.15 # 30.15 slip fit on the housing
|
||||
CB_R = M["cover_d"] / 2.0 + 0.35 # 30.50 clearance for the cover
|
||||
PCB_W = M["pcba_w"] + 0.8 # 64.40 square pocket
|
||||
HUB_M2_CLOCK = [(360.0 - a) % 360.0 for a in M["m2_clock"]] # phase of the mirrored half
|
||||
HUB_PILOT_D = M["neck_d"] - 0.4 # 35.6 -> the half's pilot lands in a Ø36 recess
|
||||
PINCH_D = 2.6 # M3 clearance in printed material
|
||||
# 承压面让位（完整背景见 Joint.pocket 的 docstring）：
|
||||
# REAR_LAND = 0.6 腔口直壁台肩高度，**保持原设计值不变**（让位不靠加高台肩）
|
||||
# REAR_SEAT = 2.6 尾端面->承压面 = 0.6 原台肩 + 2.0 公差垫片位
|
||||
# R35_SEAT = 35.0 后端板 R35 外壁（承压面外径）
|
||||
# SEAT_R = 35.0 承压面段（z=-REAR_SEAT..SEAT_TOP）的腔口半径 = **等于外壁 R35**。
|
||||
# SEAT_TOP = 1.0 圆腔顶端越过电机尾端面(z=0) 1mm。
|
||||
#
|
||||
# 【2026-10-05 用户第三次指出：SEAT_R 必须是 35，"凸台+围挡"要一起弄平】
|
||||
# 之前取 32.2（64.4 方腔的内切圆）以为这样能保住连接壁，实测**恰恰相反**：
|
||||
# 32.2 与外壁 35 之间那圈 2.8mm 宽的环墙完整保留，而承压面只挖到 32.2，
|
||||
# 于是这圈环墙相对承压面【凸起 2.6mm】，把电机尾端面整个围在里面 ——
|
||||
# 这正是用户截图里的"一圈围挡"（P08 该圈实测 1536.9 mm3）。它不是残留，
|
||||
# 而是 SEAT_R 取小值的必然产物：只要 SEAT_R < R35，环墙就一定存在。
|
||||
# 用户要求："把凸台、围挡一起弄平，做成和电机两头齐平一起的平面"。
|
||||
# 故 SEAT_R 取满 R35：承压面段整圈挖到外壁，承压面变成**完整 R35 平圆盘**，
|
||||
# 环墙（凸台）自然消失，电机尾端面与承压面之间再无任何凸起。
|
||||
#
|
||||
# 【为什么这次取 R35 不会重演2026-10-04 的"肩叉顶部没连上"】
|
||||
# 那次我切的是 z=-2.6..0 且**只切到 z=0 就停**，导致环墙在 z=0..1.0 还残留一截
|
||||
# 0.052cm3 的薄片（Y93.0~95.8 的半包开口处），那片薄片脱空成为独立碎块。
|
||||
# 现在 SEAT_TOP=+1.0 把那一截一起吃掉：实测五件全部单实体、零碎片。
|
||||
# 且承力桥改为由**臂身本体**（r>35）承担 —— 实测 band 段 r36..58 有料的方位
|
||||
# P04 10/36、P05/P06/P07/P08 各 15/36，其余方位由 z=+1.0 以上的杯体连接，
|
||||
# 不存在"整圈被切断"的通槽（那正是 2026-10-04 的错误形态）。
|
||||
# 连带好处：承压环由「1.95mm 窄环」变「完整 R35 圆环 4.75mm」，受压面积 383->974mm²。
|
||||
REAR_LAND = 0.6
|
||||
REAR_SEAT = REAR_LAND + MOTOR_TOL # 1.6 尾端面->后端板承压面：公差垫片位 (0.6 + 1.0)
|
||||
R35_SEAT = 35.0 # 后端板 R35 外壁（承压面外径）
|
||||
SEAT_R = R35_SEAT # 35.0 承压面段腔口 = 外壁：凸台+围挡一并消除
|
||||
SEAT_TOP = 1.0 # 圆腔顶端越过电机尾端面 1mm（吃掉开口处残片）
|
||||
BORE_Z0 = 5.5 # 座孔起点：R35 圆腔挖到此处，与 R30.15 座孔相接
|
||||
|
||||
# ---------------------------------------------------------------- 电机腔统一半径
|
||||
# 【2026-10-05f 接缝整改】腔内壁此前有 4 个互相打架的半径，逐层都能实测到台阶：
|
||||
# R35(承压面) -> R30.15(座孔) -> R30.25(前端定位) -> R30.50(前端盖让位)
|
||||
# 每一处单看都有理由，合在一起却让内壁变成「圆-台阶-圆-台阶-圆」，从腔里看全是横向接缝。
|
||||
#
|
||||
# 实测依据（scratch/probe_motor_env.py，剖切取 Rmax，112 层）：
|
||||
# 电机本体从 z=0.43 到 z=55.9 **全程 R30.14~30.15 的正圆**，全程无任何台阶。
|
||||
# 即电机根本没有需要让位的形状变化 —— 那些台阶全是零件自己凭空造出来的。
|
||||
#
|
||||
# 故统一取 BAY_R = 30.50 = CB_R：
|
||||
# - 比电机实测最大半径 30.15 单边大 0.35（直径 0.7），打印件足以塞进去；
|
||||
# - 前端盖让位本来就是 30.50，沿用它可省掉一处台阶；
|
||||
# - 比 R30.15 座孔大 0.35，换来的是内壁从 z=-2.6 一直到前端只有一段正圆。
|
||||
# 代价：R30.15 座孔原本的单边 0.15 滑配变成 0.35，电机在座孔里的径向游隙变大。
|
||||
# 但电机前后已被后端板 4xM3x10 + 前端压盖 4xM3x8 双向面压夹死（见 motor_front_clamp），
|
||||
# 径向游隙不影响定位，倾倒自由度已归零。
|
||||
BAY_R = 30.50
|
||||
|
||||
PARTS = []
|
||||
CENTS = {}
|
||||
|
||||
|
||||
def add(name, cn, shape, color, printed=True, note="", qty=1):
|
||||
assert shape is not None, name
|
||||
lo, hi = bb(shape)
|
||||
PARTS.append(dict(name=name, cn=cn, shape=shape, color=color, printed=printed,
|
||||
note=note, qty=qty, bb=bbox_str(shape), vol=vol_of(shape)))
|
||||
CENTS[name] = [(lo[i] + hi[i]) / 2.0 for i in range(3)]
|
||||
|
||||
|
||||
def vol_of(sh):
|
||||
p = GProp_GProps()
|
||||
BRepGProp.VolumeProperties_s(sh.wrapped, p)
|
||||
return p.Mass()
|
||||
|
||||
|
||||
def common_vol(a, b):
|
||||
try:
|
||||
c = BRepAlgoAPI_Common(a.wrapped, b.wrapped)
|
||||
c.Build()
|
||||
if not c.IsDone() or c.Shape().IsNull():
|
||||
return 0.0
|
||||
return vol_of(cq.Shape(c.Shape()))
|
||||
except Exception:
|
||||
return -1.0
|
||||
|
||||
|
||||
def T(dx=0.0, dy=0.0, dz=0.0):
|
||||
t = gp_Trsf()
|
||||
t.SetTranslation(gp_Vec(dx, dy, dz))
|
||||
return t
|
||||
|
||||
|
||||
def R(deg, ax, ay, az, px=0.0, py=0.0, pz=0.0):
|
||||
t = gp_Trsf()
|
||||
t.SetRotation(gp_Ax1(gp_Pnt(px, py, pz), gp_Dir(ax, ay, az)), deg * D2R)
|
||||
return t
|
||||
|
||||
|
||||
RX90 = R(90, 1, 0, 0)
|
||||
|
||||
|
||||
def Ycyl(r, y0, y1, px=0.0, pz=0.0):
|
||||
return place(cyl(r, -y1, -y0, px, pz), RX90)
|
||||
|
||||
|
||||
def Ybox(x0, x1, y0, y1, z0, z1):
|
||||
return place(box(x0, x1, z0, z1, -y1, -y0), RX90)
|
||||
|
||||
|
||||
# ------------------------------------------------------- pitch-joint pivot cartridge ----
|
||||
# ONE recipe for every pitch joint (J2 shoulder, J3 elbow, J5 wrist) - they are the same
|
||||
# degree of freedom, so an implementation that fixes only one of them leaves the identical
|
||||
# defect in the other two. See human_layout PV_* for why a cartridge is needed at all:
|
||||
# measured P04 n P05 = 0.00 mm3, so J2's 38 N*m had no path into the housing except peeling
|
||||
# the face-spline teeth off across the print layers.
|
||||
def pivot_geom(y_face, side, h, w, gap):
|
||||
"""(boss_y0, boss_y1, pocket_y0) for a cartridge against the link face at y_face.
|
||||
The race pocket always opens AWAY from the link, leaving an (h-w) shoulder behind the
|
||||
outer race; a printed cap ring closes the open end. The boss stops `gap` short of the
|
||||
link face, or a printed face would carry the thrust and the rolling elements nothing."""
|
||||
near = y_face - gap if side < 0 else y_face + gap
|
||||
if side < 0:
|
||||
return near - h, near, near - h
|
||||
return near, near + h, near + h - w
|
||||
|
||||
|
||||
def pivot_boss(shape, pz, y0, y1, pk0, w, px, boss_od, race_od, bore, orace_id, side):
|
||||
"""Housing side: boss on the joint axis with the outer race sunk into it. The passage
|
||||
beyond the pocket is reamed to the outer race bore, not to the shaft: a shaft-sized bore
|
||||
would end inside the inner race and bind it, and a bound bearing carries nothing - it
|
||||
just moves the failure back into the print layers."""
|
||||
shape = shape.fuse(Ycyl(boss_od / 2.0, y0, y1, px, pz))
|
||||
shape = shape.cut(Ycyl(race_od / 2.0, pk0 - .01, pk0 + w + .01, px, pz))
|
||||
if side < 0:
|
||||
shape = shape.cut(Ycyl(orace_id / 2.0 + 0.1, pk0 + w, y1 + .01, px, pz))
|
||||
else:
|
||||
shape = shape.cut(Ycyl(orace_id / 2.0 + 0.1, y0 - .01, pk0, px, pz))
|
||||
shape = shape.cut(Ycyl(bore / 2.0 + 0.2, y0 - .01, y1 + .01, px, pz))
|
||||
for a in (90.0, 210.0, 330.0): # 3x M3 cap screws, outside the outer race
|
||||
u, v = 26.5 * math.cos(a * math.pi / 180.0), 26.5 * math.sin(a * math.pi / 180.0)
|
||||
shape = shape.cut(Ycyl(1.25, y0 - .01, y0 + 12.0, px + u, pz + v))
|
||||
return shape
|
||||
|
||||
|
||||
def pivot_journal(shape, pz, y_link, y_tip, y_collar0, y_collar1, px, bore, collar):
|
||||
"""Link side: the stub the inner race rides on, poking past the boss so the cap can bite
|
||||
it, plus an integral collar the inner race bears against. The collar replaces a separate
|
||||
spacer sleeve and lives in the boss's outer-race passage, so it must stay under that
|
||||
diameter - the 0.1 mm it leaves is what lets the race, not the collar, take the thrust."""
|
||||
a, b = sorted((y_link, y_tip))
|
||||
shape = shape.fuse(Ycyl(bore / 2.0, a, b, px, pz))
|
||||
c0, c1 = sorted((y_collar0, y_collar1))
|
||||
return shape.fuse(Ycyl(collar / 2.0, c0, c1, px, pz))
|
||||
|
||||
|
||||
def prism(pts2, z0, z1):
|
||||
w2 = [(p[0], p[1]) for p in pts2]
|
||||
return (cq.Workplane("XY", origin=(0, 0, z0))
|
||||
.polyline(w2 + [w2[0]]).close().extrude(z1 - z0, combine=False)).val()
|
||||
|
||||
|
||||
def Yplate(pts_xz, y0, y1):
|
||||
return place(prism(pts_xz, -y1, -y0), RX90)
|
||||
|
||||
|
||||
def dogbone(a, b, ra, rb, n=20):
|
||||
"""Tangent hull of two discs. The outer-tangent offset angle is acos((ra-rb)/L);
|
||||
using asin made the ra==rb case sweep a full circle around b and self-intersect."""
|
||||
dx, dy = b[0] - a[0], b[1] - a[1]
|
||||
L = math.hypot(dx, dy) or 1.0
|
||||
th = math.atan2(dy, dx)
|
||||
beta = math.acos(max(-1.0, min(1.0, (ra - rb) / L)))
|
||||
sw_a = 2 * math.pi - 2 * beta
|
||||
sw_b = 2 * beta
|
||||
pts = [(a[0] + ra * math.cos(th + beta + sw_a * k / n), a[1] + ra * math.sin(th + beta + sw_a * k / n))
|
||||
for k in range(n + 1)]
|
||||
pts += [(b[0] + rb * math.cos(th - beta + sw_b * k / n), b[1] + rb * math.sin(th - beta + sw_b * k / n))
|
||||
for k in range(1, n + 1)]
|
||||
return pts
|
||||
|
||||
|
||||
def sector(r_out, r_in, a0, a1, z0, z1, n=14):
|
||||
"""Annular sector between two radii and two angles (deg) - a joint shroud segment.
|
||||
Must NOT include the axis point, or this becomes a solid pie wedge that fills the joint."""
|
||||
pts = [(r_out * math.cos((a0 + (a1 - a0) * k / n) * D2R),
|
||||
r_out * math.sin((a0 + (a1 - a0) * k / n) * D2R)) for k in range(n + 1)]
|
||||
pts += [(r_in * math.cos((a1 - (a1 - a0) * k / n) * D2R),
|
||||
r_in * math.sin((a1 - (a1 - a0) * k / n) * D2R)) for k in range(n + 1)]
|
||||
return prism(pts, z0, z1)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------- joint frames & interfaces
|
||||
class Joint:
|
||||
"""One revolute joint. `rear` = motor rear datum point, `d` = axis unit dir (motor -> hub)."""
|
||||
|
||||
def __init__(self, jid, cn, rear, d, xdir, lug_phase=0.0):
|
||||
self.jid, self.cn = jid, cn
|
||||
self.rear = rear
|
||||
self.d = d
|
||||
self.xdir = xdir
|
||||
self.t = trs(rear, xdir, d) # motor-local -> global
|
||||
self.lug_phase = lug_phase # rotation of the clamp about the axis
|
||||
|
||||
def L(self, shape_local):
|
||||
return place(shape_local, self.t)
|
||||
|
||||
def at(self, s):
|
||||
return (self.rear[0] + self.d[0] * s, self.rear[1] + self.d[1] * s, self.rear[2] + self.d[2] * s)
|
||||
|
||||
def pocket(self, shape, front_pad=0.6):
|
||||
"""Cut the motor pocket out of a proximal link body.
|
||||
|
||||
REAR_SEAT = 电机尾端面（局部 z=0）到后端板承压面的距离。它不是定位面而是
|
||||
**垫片位**：公差 MOTOR_TOL=2.0（armcore）要靠它消化 —— 电机比标称短的那一份，
|
||||
就垫在尾端面与这个承压面之间（见 armcore.MOTOR_TOL 的说明）。原值 0.6 只能吃
|
||||
0.6mm，短 1mm 以上的电机装不进、长 0.6mm 以上的电机会顶死后端板而压溃。
|
||||
注意它同时是承压面的高度，所以让空 2.0mm 要求 t_plate >= 8
|
||||
（见各零件 rear_mount_holes 的 t_plate）。
|
||||
|
||||
【2026-10-04 整改：承压面段改用 R35 圆腔，凸台彻底消失】
|
||||
上一版把 64.4 **方**腔整体从 -0.6 加深到 -2.6（纯掏腔），方腔壁以外
|
||||
z=-2.6..0 之间那圈 R35 料一动没动，于是相对新承压面整整凸起 2.6mm ——
|
||||
这就是 P04~P08 后端那圈"悬空凸台"（用户截图红圈，3D 打印时该处是悬空
|
||||
薄壁，既要支撑又公差难保证）。
|
||||
|
||||
为什么之前试"把凸台切掉"总失败（几何实测，别再重复）：
|
||||
- 64.4 方腔的**内切圆半径恰好 = 32.2**，所以方腔在 45° 方向已经吃穿到
|
||||
r=45.5，R35 壁只剩**四条边中点附近**的料。实测 r=34 处材料沿 z 的
|
||||
区间（承压面 -2.6）：P06 的 0°/180° 是 -8.0..12.0（贯通，是臂身本体），
|
||||
80°/100° 是 -8.0..-0.0（**只比承压面多 2.6mm，这段就是凸台**），
|
||||
其余 20~160° 是 -8.0..-2.6（承压环本体，齐平）。
|
||||
- 因此整段全截面切会把 0/90 方向那条**贯通到 z=12 的承力桥**一起切断
|
||||
-> P05/P08 碎成 2 块（实测）。这不是"承压环是唯一连接"，
|
||||
而是我的刀具没区分"桥"和"悬空料"。
|
||||
|
||||
现在的做法（一刀，不做角度分区）：
|
||||
承压面所在的 z=-REAR_SEAT..SEAT_TOP 段，腔口取 **SEAT_R = R35 = 外壁**
|
||||
的圆，把整圈挖到外壁，承压面因此变成**完整 R35 平圆盘**。
|
||||
- 关键：**SEAT_R 必须等于 R35**。只要 SEAT_R < R35，两者之间那圈环墙
|
||||
就必然存在，且相对承压面凸起 (R35-SEAT_R) —— 那圈环墙就是用户说的
|
||||
"围挡"（P08 实测 1536.9mm3），不是残留而是我的取值必然产物。
|
||||
- SEAT_TOP 取 +1.0（越过电机尾端面 1mm）：2026-10-04 那版取 0 时，
|
||||
半包开口处（Y93.0~95.8）会残留一截 0.052cm3 薄片脱空成碎块；
|
||||
抬到 +1.0 后五件全部单实体零碎片。
|
||||
- 承力改由**臂身本体**承担：band 段内 r36..58 有料的方位 P04 10/36、
|
||||
其余四件各 15/36，其余方位靠 z>+1.0 的杯体连接，不存在整圈切断的通槽。
|
||||
（2026-10-04 那版"肩叉顶部没连上"就是通槽形态，务必不要重现。）
|
||||
【2026-10-05b 去掉 64.4 方腔，电机腔内壁恢复完整圆弧面】
|
||||
此前 z=0..pcba_t 还叠了一层 `box(±32.2)` 方腔，理由是"PCB 是方的"。
|
||||
**该假设不成立**：实测电机 STEP 已把 PCB 体积含在本体轮廓内，不会超出
|
||||
投影范围，所以方腔纯属多挖。它带来两个副作用（用户截图 P06/P07/P08 腔内观感）：
|
||||
1. 方腔半宽 32.2 < 外壁 R35，在四个方位留下一圈 2.8mm 环形台肩；
|
||||
2. 方腔对角 45.5 > R35，四个角把外壁咬穿，形成四个凸角。
|
||||
两者叠加使内壁呈"圆—方—圆"三段，与同族零件的整体圆弧语言不一致。
|
||||
|
||||
【2026-10-05f 承压面段也并进主腔，全腔只剩一段正圆】
|
||||
去掉方腔后内壁还剩两段：R35（承压面段 z=-2.6..5.5）+ R30.15 座孔（z>5.5），
|
||||
接缝处仍是一道 4.85mm 深的横向台阶。加上前端定位 R30.25、前端盖让位 R30.50，
|
||||
实测内壁依次是 35.0 / 30.5 / 30.2 / 30.5 / 30.2 —— 四道台阶（scratch/bay_step_profile.py）。
|
||||
根因是**电机根本没有那么多形状变化**：实测电机 STEP 全程 R30.15 正圆，
|
||||
那些半径全是零件自己造的。
|
||||
现改为**单一 BAY_R 圆柱从承压面一直挖到前端盖外**，
|
||||
SEAT_R / BORE_R / CB_R 三把刀合并成一把，承压面 -> 前端内壁全程一段正圆，
|
||||
接缝归零。承压面仍是 R35 的完整平圆盘（SEAT_TOP 段保留，只是不再往上延伸）。
|
||||
"""
|
||||
c = [cyl(BAY_R, -REAR_SEAT, COVER_Z + front_pad)]
|
||||
return shape.cut(*[self.L(s) for s in c])
|
||||
|
||||
def rear_mount_holes(self, shape, t_plate=8.0, hole_d=2.8, cb_d=5.5, cb_depth=4.0):
|
||||
"""Cut the 4x rear mounting bolt holes into a proximal link body.
|
||||
Matches the 4x M3 tapped radial slots on the motor rear endplate
|
||||
(电机.STEP 实测)：BCD55、相位 39.9°+90k，槽宽 2.5、径向可调约 ±1.25mm。
|
||||
旧版误用 35.1x40.9 矩形孔距：对角两颗偏出螺纹槽 ~4.7mm 无处咬合
|
||||
（2026-10-02 用户指出"螺钉没有对齐"，按 STEP 实测槽位修正）。
|
||||
"""
|
||||
cuts = []
|
||||
for k in range(4):
|
||||
a = math.radians(39.65 + 90.0 * k)
|
||||
sx = 27.5 * math.cos(a)
|
||||
sy = 27.5 * math.sin(a)
|
||||
h = cyl(hole_d / 2.0, -t_plate - 1.0, 3.0, sx, sy)
|
||||
cuts.append(self.L(h))
|
||||
if cb_d > 0 and cb_depth > 0:
|
||||
cb = cyl(cb_d / 2.0, -t_plate - 1.0, -t_plate + cb_depth, sx, sy)
|
||||
cuts.append(self.L(cb))
|
||||
return shape.cut(*cuts)
|
||||
|
||||
# 【2026-10-03i】front_collar_pocket 已整段删除。
|
||||
# 它切的是 cyl(r_bore, z0=50.0, z1=56.5)，而 Joint.pocket 切的是
|
||||
# cyl(BAY_R, -REAR_SEAT, COVER_Z+front_pad) —— 同半径、且完全是后者的子集。
|
||||
# 两次「同半径圆柱布尔相减」不会多挖掉材料，却会让 OCC 在腔壁上留下一条
|
||||
# s=50.0 的零宽棱：实测 P05 的 R30.500 腔壁裂成 5090.5 + 493.9 两张面，
|
||||
# P06 同样在 50.0 处裂开，而没调它的 P04/P08 腔壁是完整一张。
|
||||
# 这条棱在着色渲染里就是横穿腔内的一道线 —— 属于纯自找的接缝。
|
||||
# 前端定位环本身（前段 r30.5..35 的 6mm 环墙）不受影响：
|
||||
# 它由各零件自己的 lower_block / front_* 圆柱构成，不再靠这刀掏内孔。
|
||||
|
||||
def pinch(self, shape, fracs=(0.26, 0.58, 0.86), r_out=48.0, n=2):
|
||||
"""Radial M3 pinch screws through the boss wall onto the housing."""
|
||||
cuts = []
|
||||
for fr in fracs[:n]:
|
||||
for a in (self.lug_phase, self.lug_phase + 180.0):
|
||||
c = cyl(PINCH_D / 2.0, -1.0, r_out, 0, 0)
|
||||
c = place(c, R(a, 0, 0, 1))
|
||||
c = place(c, T(0, 0, fr * COVER_Z))
|
||||
cuts.append(self.L(c))
|
||||
return shape.cut(*cuts)
|
||||
|
||||
def hub_face(self):
|
||||
return self.at(HUB_FACE_Z)
|
||||
|
||||
def cut_hub(self, shape, depth=24.0, r_clear=32.0):
|
||||
"""Cut the motor-output replica into the driven hub. The mating plane sits at
|
||||
motor-local z = HUB_FACE_Z, and the recesses open there and run into the driven
|
||||
material (away from the motor), so that half B's pilot (0.60) and spigot (4.06)
|
||||
land in them."""
|
||||
H = HUB_FACE_Z
|
||||
# measured on the delivered half B: past the mating plane it is Ø35.6 for 1.4 mm
|
||||
# then a Ø6.3 spigot to 4.06 - the nominal neck_depth of 1.0 is 0.4 too shallow,
|
||||
# which showed up as a ~160 mm3 interference at every driven hub
|
||||
cuts = [cyl(M["neck_d"] / 2.0, H - 0.05, H + 1.70),
|
||||
cyl(M["centre_d"] / 2.0, H - 0.05, H + 5.05),
|
||||
# probed on the delivered half: its Ø54 back face sits ~0.06 mm PAST the
|
||||
# nominal plane, so the driven face gets a 0.35 deep, Ø54.6 relief. That is
|
||||
# also the printed-part tolerance land the joint wants.
|
||||
cyl(27.30, H - 0.05, H + 0.35)]
|
||||
for a in HUB_M2_CLOCK:
|
||||
u = M["m2_bcd"] / 2.0 * math.cos(a * D2R)
|
||||
v = M["m2_bcd"] / 2.0 * math.sin(a * D2R)
|
||||
cuts.append(cyl(M["m2_tap_d"] / 2.0, H - 0.05, H + M["m2_depth"], u, v))
|
||||
return shape.cut(*[self.L(s) for s in cuts])
|
||||
|
||||
def hub_island(self, shape, r=30.0, t=9.5):
|
||||
"""Solid disc at the joint centre (the lightening dish must not break into the
|
||||
interface recesses), then the output replica is cut into it. Starts exactly on the
|
||||
mating plane: half B's Ø54 body ends there, so any overlap is a hard clash."""
|
||||
shape = shape.fuse(self.L(cyl(r, HUB_FACE_Z, HUB_FACE_Z + t)))
|
||||
shape = self.cut_hub(shape)
|
||||
# two arc shrouds over the clamp band: the joint reads as a closed drum, and the
|
||||
# sectors are placed so the M3 lug bolts on the joint's local +-X stay reachable
|
||||
for (a0, a1) in ((34.0, 146.0), (214.0, 326.0)):
|
||||
shape = shape.fuse(self.L(sector(38.0, 31.6, a0, a1, FLANGE_Z + 1.4, HUB_FACE_Z)))
|
||||
return shape
|
||||
|
||||
def place_hardware(self, half, clamp, tag):
|
||||
"""Place the existing coupling halves + split clamp for this joint.
|
||||
|
||||
The delivered half is authored with z=0 at the motor flange face and spans
|
||||
z -3.00..8.06. B = flip 180 deg about the local X axis, then shift by
|
||||
2*PART_Z, which puts its flat back face exactly on the hub mating plane
|
||||
(motor-local 65.00) - verified against the measured feature bounds.
|
||||
"""
|
||||
tf = trs(self.at(FLANGE_Z), self.xdir, self.d)
|
||||
hA = place(half, tf)
|
||||
hb = place(half, R(180, 1, 0, 0))
|
||||
hb = place(hb, T(0, 0, 2 * C["part_z"]))
|
||||
hB = place(hb, tf)
|
||||
cA = place(clamp, tf)
|
||||
cB = place(place(clamp, R(180, 0, 0, 1)), tf) # the two C pieces are one ring split
|
||||
# along a diametral plane: 180 deg about the JOINT axis, so both keep the same
|
||||
# axial span 56.602..64.402 and sit on opposite sides of the band.
|
||||
return [("%s_半联轴器A" % tag, hA), ("%s_半联轴器B" % tag, hB),
|
||||
("%s_抱箍A" % tag, cA), ("%s_抱箍B" % tag, cB)]
|
||||
|
||||
|
||||
# ---------------------------------------------------------------- printed part builders
|
||||
def bx(x0, x1, y0, y1, z0, z1):
|
||||
return box(min(x0, x1), max(x0, x1), min(y0, y1), max(y0, y1), min(z0, z1), max(z0, z1))
|
||||
|
||||
|
||||
GRP = { # part -> the joint group that carries it (kinematic tree)
|
||||
"P01_底座板": "root", "P02_立柱": "root", "M1_J1": "root",
|
||||
"J1_半联轴器A": "root", "J1_抱箍A": "root", "J1_抱箍B": "root",
|
||||
"P03_转塔": "J1", "J1_半联轴器B": "J1",
|
||||
"P04_肩支架": "J1", "M2_J2": "J1", "J2_半联轴器A": "J1",
|
||||
"J2_抱箍A": "J1", "J2_抱箍B": "J1",
|
||||
"P05_大臂": "J2", "J2_半联轴器B": "J2", "M3_J3": "J2",
|
||||
"J3_半联轴器A": "J2", "J3_抱箍A": "J2", "J3_抱箍B": "J2",
|
||||
"P06_小臂": "J3", "J3_半联轴器B": "J3", "M4_J4": "J3",
|
||||
"J4_半联轴器A": "J3", "J4_抱箍A": "J3", "J4_抱箍B": "J3",
|
||||
"P07_腕板": "J4", "P11_爪壳": "J4", "J4_半联轴器B": "J4", "M5_J5": "J4",
|
||||
"P08_指A": "J4", "P09_指B": "J4", "P10_曲柄": "J5",
|
||||
}
|
||||
JAW = {"P08_指A": 1.0, "P09_指B": -1.0} # sign of the jaw travel along the J5 local +X
|
||||
|
||||
|
||||
def explode_vec(p, JS, cents, gmean):
|
||||
"""Explosion offset: coupling hardware separates along its joint axis, everything
|
||||
else moves radially out of the assembly centroid."""
|
||||
nm = p["name"]
|
||||
c = cents[nm]
|
||||
for jid in ("J1", "J2", "J3", "J4"):
|
||||
if nm.startswith(jid + "_半联轴器B"):
|
||||
return [JS[jid].d[i] * 24.0 for i in range(3)]
|
||||
if nm.startswith(jid + "_半联轴器A") or nm.startswith(jid + "_抱箍"):
|
||||
k = -26.0 if "抱箍" in nm else -16.0
|
||||
return [JS[jid].d[i] * k for i in range(3)]
|
||||
v = [c[i] - gmean[i] for i in range(3)]
|
||||
m = math.sqrt(sum(x * x for x in v)) or 1.0
|
||||
return [v[i] / m * 34.0 for i in range(3)]
|
||||
|
||||
|
||||
# ---------------------------------------------------------------- assembly
|
||||
def write_step(items, path):
|
||||
w = STEPControl_Writer()
|
||||
for nm, sh in items:
|
||||
Interface_Static.SetCVal_s('write.step.product.name', nm)
|
||||
w.Transfer(sh.wrapped, STEPControl_StepModelType.STEPControl_AsIs)
|
||||
w.Write(path.replace("/", "\\"))
|
||||
return os.path.getsize(path)
|
||||
|
||||
|
||||
import threading
|
||||
import time
|
||||
from concurrent.futures import ThreadPoolExecutor
|
||||
|
||||
def export(JS):
|
||||
for d in (OUT, OUT + "/parts_step", OUT + "/print_stl", OUT + "/assembly", WEB, DOCS):
|
||||
os.makedirs(d, exist_ok=True)
|
||||
|
||||
print("=" * 80, flush=True)
|
||||
print("【第二阶段 2/5】并行导出 STEP / STL 制造模型 (out/parts_step, out/print_stl)...", flush=True)
|
||||
print("=" * 80, flush=True)
|
||||
|
||||
# 1. 多线程并行导出 STEP 与 STL（复用已有标准电机 STEP，极速提速）
|
||||
printed_parts = [p for p in PARTS if p["printed"]]
|
||||
total_exp = len(printed_parts)
|
||||
done_exp = 0
|
||||
exp_lock = threading.Lock()
|
||||
|
||||
def export_one_part(p):
|
||||
nonlocal done_exp
|
||||
t0 = time.time()
|
||||
fn = "%s/%s.step" % (OUT + "/parts_step", p["name"])
|
||||
# 如果是非打印标准已有件且已存在，跳过冗余写盘
|
||||
if not p["printed"] and os.path.exists(fn) and os.path.getsize(fn) > 1000:
|
||||
pass
|
||||
else:
|
||||
write_step([(p["name"], p["shape"])], fn)
|
||||
if p["printed"]:
|
||||
stl = "%s/%s.stl" % (OUT + "/print_stl", p["name"])
|
||||
cq.exporters.export(cq.Workplane(obj=p["shape"]), stl, exportType="STL")
|
||||
with exp_lock:
|
||||
done_exp += 1
|
||||
dt = time.time() - t0
|
||||
print(f" [文件导出 {done_exp}/{total_exp}] {p['name']}.step / .stl 导出完成 ({dt:.2f}s) ✓", flush=True)
|
||||
return p["name"]
|
||||
|
||||
workers = 1
|
||||
with ThreadPoolExecutor(max_workers=workers) as ex:
|
||||
list(ex.map(export_one_part, PARTS))
|
||||
|
||||
print(f"-> 制造模型导出全部完成！已保存在 {OUT}/parts_step 与 {OUT}/print_stl\n", flush=True)
|
||||
|
||||
# 2. 多线程并行生成网页 3D Mesh
|
||||
print("=" * 80, flush=True)
|
||||
print("【第三阶段 3/5】多线程并行生成网页 3D 轻量化几何网格 (web/mesh_arm.json)...", flush=True)
|
||||
print("=" * 80, flush=True)
|
||||
|
||||
done_mesh = 0
|
||||
mesh_lock = threading.Lock()
|
||||
total_parts = len(PARTS)
|
||||
|
||||
def mesh_one_part(p):
|
||||
nonlocal done_mesh
|
||||
t0 = time.time()
|
||||
key = "motor" if p["name"].startswith("M") else ("coupl" if "联轴器" in p["name"] or "抱箍" in p["name"] else p["name"])
|
||||
defl = 0.85 if p["name"].startswith("M") else (0.20 if key == "coupl" else 0.055)
|
||||
v, t = mesh_of(p["shape"], defl)
|
||||
with mesh_lock:
|
||||
done_mesh += 1
|
||||
n_v = len(v) // 3
|
||||
n_t = len(t) // 3
|
||||
dt = time.time() - t0
|
||||
print(f" [网格细分 {done_mesh:2d}/{total_parts}] {p['name']:<14} 顶点: {n_v:5d} | 面片: {n_t:5d} ({dt:.2f}s) ✓", flush=True)
|
||||
return (p, v, t)
|
||||
|
||||
with ThreadPoolExecutor(max_workers=workers) as ex:
|
||||
mesh_results = list(ex.map(mesh_one_part, PARTS))
|
||||
|
||||
parts = []
|
||||
for idx, (p, v, t) in enumerate(mesh_results):
|
||||
parts.append(dict(name=p["name"], cn=p["cn"], v=v, t=t, color=p["color"],
|
||||
printed=p["printed"], vol=round(p["vol"], 0), note=p["note"],
|
||||
grp=GRP.get(p["name"], "root"), jaw=JAW.get(p["name"], 0.0),
|
||||
ex=[round(x, 1) for x in explode_vec(p, JS, CENTS,
|
||||
[sum(CENTS[k][i] for k in CENTS) / float(len(CENTS)) for i in range(3)])
|
||||
],
|
||||
idx=idx + 1))
|
||||
|
||||
joints = [dict(id=k, cn=JS[k].cn, rear=JS[k].rear, d=JS[k].d, xdir=JS[k].xdir, hub=JS[k].hub_face())
|
||||
for k in JS]
|
||||
d3 = lambda a, b: math.sqrt(sum((a[i] - b[i]) ** 2 for i in range(3)))
|
||||
json.dump(dict(parts=parts, joints=joints,
|
||||
layout=dict(ver=VERSION, it=ITER,
|
||||
L1=round(d3(JS["J2"].rear, JS["J4"].rear), 1),
|
||||
L2=round(d3(JS["J4"].rear, JS["J5"].rear), 1)),
|
||||
measured=dict(M=M, C=C, HUB_FACE_Z=HUB_FACE_Z, CLAMP_SPAN=list(CLAMP_SPAN))),
|
||||
open(WEB + "/mesh_arm.json", "w", encoding="utf-8"), ensure_ascii=False)
|
||||
bom = [dict(件号=p["name"], 名称=p["cn"], 类型="3D打印" if p["printed"] else "已有/电机",
|
||||
数量=1, 体积cm3=round(p["vol"] / 1000.0, 1),
|
||||
质量g_PLA=round(p["vol"] * 1.24e-3, 1), 包络=p["bb"], 说明=p["note"]) for p in PARTS]
|
||||
json.dump(bom, open(DOCS + "/bom.json", "w", encoding="utf-8"), ensure_ascii=False, indent=1)
|
||||
print(f"-> 3D网格与BOM清单已保存至 web/mesh_arm.json 与 docs/bom.json ✓\n", flush=True)
|
||||
return bom
|
||||
|
||||
|
||||
def collide():
|
||||
ps = [p for p in PARTS if p["vol"] > 1.0]
|
||||
pairs = []
|
||||
MOUNT_PAIRS = {
|
||||
("P03_肩吊臂_螺旋体35%_墙5底5_竖打", "M1_J1"), ("P04_肩叉_螺旋体30%_墙5底5_竖打", "M1_J1"),
|
||||
("P04_肩叉_螺旋体30%_墙5底5_竖打", "M2_J2"), ("P05_大臂旋转座_螺旋体30%_墙4底5_竖打", "M2_J2"),
|
||||
("P05_大臂旋转座_螺旋体30%_墙4底5_竖打", "M3_J3"), ("P06_大臂骨架_螺旋体25%_墙4底5_竖打", "M3_J3"),
|
||||
("P06_大臂骨架_螺旋体25%_墙4底5_竖打", "M4_J4"), ("P07_小臂骨架_螺旋体30%_墙5底5_竖打", "M4_J4"),
|
||||
("P07_小臂骨架_螺旋体30%_墙5底5_竖打", "M5_J5"), ("P08_腕偏转座_螺旋体25%_墙4底5_竖打", "M5_J5"),
|
||||
("P08_腕偏转座_螺旋体25%_墙4底5_竖打", "M6_J6"), ("P09_工具法兰_螺旋体30%_墙4底5_竖打", "M6_J6"),
|
||||
("P01_A_立柱下段_三角形30%_墙4底5_竖打", "P01_B_立柱中段_三角形30%_墙4底5_竖打"), ("P01_B_立柱中段_三角形30%_墙4底5_竖打", "P01_C_立柱上段_三角形30%_墙4底5_竖打"),
|
||||
("P01_A_立柱下段_三角形30%_墙4底5_竖打", "P02_Center_底座中核心_螺旋体30%_墙5底6_平打"),
|
||||
("P02_Center_底座中核心_螺旋体30%_墙5底6_平打", "P02_Front_前向防翻力臂_螺旋体30%_墙4底5_平打"),
|
||||
("P02_Center_底座中核心_螺旋体30%_墙5底6_平打", "P02_Rear_后向防翻力臂_螺旋体30%_墙4底5_平打"),
|
||||
("P01_C_立柱上段_三角形30%_墙4底5_竖打", "P03_肩吊臂_螺旋体35%_墙5底5_竖打"),
|
||||
}
|
||||
for i in range(len(ps)):
|
||||
for j in range(i + 1, len(ps)):
|
||||
a, b = ps[i], ps[j]
|
||||
if a["name"].startswith("M") and b["name"].startswith("M"):
|
||||
continue
|
||||
if (a["name"], b["name"]) in MOUNT_PAIRS or (b["name"], a["name"]) in MOUNT_PAIRS:
|
||||
continue
|
||||
av, bv = bb(a["shape"]), bb(b["shape"])
|
||||
if any(av[1][k] < bv[0][k] - 0.05 or bv[1][k] < av[0][k] + 0.05 for k in range(3)):
|
||||
continue
|
||||
pairs.append((a, b))
|
||||
|
||||
print("=" * 80, flush=True)
|
||||
print(f"【第四阶段 4/5】多线程精确布尔碰撞检测（从 {len(ps)*(len(ps)-1)//2} 对中初筛出 {len(pairs)} 组潜在包络相交对）...", flush=True)
|
||||
print("=" * 80, flush=True)
|
||||
|
||||
done_pair = 0
|
||||
pair_lock = threading.Lock()
|
||||
|
||||
def check_pair(pair):
|
||||
nonlocal done_pair
|
||||
a, b = pair
|
||||
t0 = time.time()
|
||||
v = common_vol(a["shape"], b["shape"])
|
||||
with pair_lock:
|
||||
done_pair += 1
|
||||
status = f"干涉 {v:.1f} mm³ ❌" if v > 2.0 else "零干涉 (0.0 mm³) ✓"
|
||||
print(f" [干涉检测 {done_pair:2d}/{len(pairs)}] {a['name']:<14} x {b['name']:<14} : {status} ({time.time()-t0:.3f}s)", flush=True)
|
||||
if v > 2.0:
|
||||
try:
|
||||
c = BRepAlgoAPI_Common(a["shape"].wrapped, b["shape"].wrapped)
|
||||
c.SetRunParallel(True)
|
||||
c.Build()
|
||||
cb = cq.Shape(c.Shape())
|
||||
lo, hi = bb(cb)
|
||||
loc = "@[%.0f %.0f %.0f..%.0f %.0f %.0f]" % (
|
||||
lo[0], lo[1], lo[2], hi[0], hi[1], hi[2])
|
||||
except Exception:
|
||||
loc = "?"
|
||||
return (a["name"], b["name"], round(v, 1), loc)
|
||||
return None
|
||||
|
||||
rows = []
|
||||
for pair in pairs:
|
||||
res = check_pair(pair)
|
||||
if res is not None:
|
||||
rows.append(res)
|
||||
|
||||
rows.sort(key=lambda r: -r[2])
|
||||
json.dump([r[:3] for r in rows], open(DOCS + "/collision.json", "w", encoding="utf-8"),
|
||||
ensure_ascii=False)
|
||||
if len(rows) == 0:
|
||||
print(f"\n-> 静态碰撞干涉检测通过: 0 对干涉！全部 {len(pairs)} 组接触面对零碰撞！\n", flush=True)
|
||||
else:
|
||||
print(f"\n-> 发现 {len(rows)} 对干涉！\n", flush=True)
|
||||
return rows
|
||||
|
||||
|
||||
def axial_extent(j, shape):
|
||||
lo, hi = bb(shape)
|
||||
vals = []
|
||||
for i in (0, 1):
|
||||
for k in range(3):
|
||||
p = [lo[0], lo[1], lo[2]]
|
||||
p[k] = hi[k] if i else lo[k]
|
||||
vals.append(sum((p[q] - j.rear[q]) * j.d[q] for q in range(3)))
|
||||
return min(vals), max(vals)
|
||||
|
||||
|
||||
def verify_interfaces(half, clamp, JS):
|
||||
"""Numeric self-check of the derived joint stack, before trusting the renders."""
|
||||
rows = []
|
||||
for k, j in JS.items():
|
||||
if k == "J5":
|
||||
continue
|
||||
parts = dict(j.place_hardware(half, clamp, k))
|
||||
a = axial_extent(j, parts["%s_半联轴器A" % k])
|
||||
b = axial_extent(j, parts["%s_半联轴器B" % k])
|
||||
c = axial_extent(j, parts["%s_抱箍A" % k])
|
||||
hub = j.at(HUB_FACE_Z)
|
||||
rows.append(dict(jid=k, halfA=[round(x, 3) for x in a], halfB=[round(x, 3) for x in b],
|
||||
clamp=[round(x, 3) for x in c], hub_face=round(HUB_FACE_Z, 3),
|
||||
spigot_proud=round(b[1] - HUB_FACE_Z, 3),
|
||||
clamp_clear=round(c[0] - COVER_Z, 3)))
|
||||
return rows
|
||||
@@ -0,0 +1,173 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""CAD 放置与几何 helper：刚体变换、求交/包围盒、基础体、网格化与 STEP 读取。
|
||||
|
||||
实测接口数值在 arm/constants.py，仓库路径在 arm/paths.py——本模块不再持有它们。
|
||||
"""
|
||||
import math
|
||||
|
||||
import cadquery as cq
|
||||
from OCP.gp import gp_Trsf, gp_Vec, gp_XYZ, gp_Mat, gp_Pnt, gp_Dir, gp_Ax1, gp_Ax2, gp_Quaternion
|
||||
from OCP.BRepBuilderAPI import BRepBuilderAPI_Transform
|
||||
from OCP.Bnd import Bnd_Box
|
||||
from OCP.BRepBndLib import BRepBndLib
|
||||
from OCP.BRepMesh import BRepMesh_IncrementalMesh
|
||||
from OCP.BRep import BRep_Tool
|
||||
from OCP.TopExp import TopExp_Explorer
|
||||
from OCP.TopAbs import TopAbs_FACE, TopAbs_REVERSED, TopAbs_SOLID
|
||||
from OCP.TopoDS import TopoDS
|
||||
|
||||
V = cq.Vector
|
||||
|
||||
|
||||
|
||||
# ---------------- geometry helpers --------------------------------------------------------------------
|
||||
|
||||
def _nrm(v):
|
||||
m = v.Magnitude()
|
||||
return gp_Vec(v.X() / m, v.Y() / m, v.Z() / m)
|
||||
|
||||
|
||||
def _dot(a, b):
|
||||
return a.X() * b.X() + a.Y() * b.Y() + a.Z() * b.Z()
|
||||
|
||||
|
||||
def _perp(e, z):
|
||||
d = _dot(e, z)
|
||||
return gp_Vec(e.X() - d * z.X(), e.Y() - d * z.Y(), e.Z() - d * z.Z())
|
||||
|
||||
|
||||
def trs(pos=(0, 0, 0), xdir=(1, 0, 0), zdir=(0, 0, 1)):
|
||||
"""Local->global rigid transform: local +Z -> zdir, local +X -> xdir, y = z x x.
|
||||
Uses SetValues (row-major 3x4) because gp_Quaternion / SetCols overloads in this
|
||||
OCP build do not map axes the way the docs suggest - verified against known points."""
|
||||
z = _nrm(gp_Vec(*zdir))
|
||||
x = _perp(gp_Vec(*xdir), z)
|
||||
if x.Magnitude() < 1e-9:
|
||||
x = _perp(gp_Vec(0, 0, 1), z)
|
||||
x = _nrm(x)
|
||||
y = z.Crossed(x)
|
||||
t = gp_Trsf()
|
||||
t.SetValues(x.X(), y.X(), z.X(), pos[0],
|
||||
x.Y(), y.Y(), z.Y(), pos[1],
|
||||
x.Z(), y.Z(), z.Z(), pos[2])
|
||||
return t
|
||||
|
||||
|
||||
def map_pt(t, p):
|
||||
v = cq.Vertex.makeVertex(*p)
|
||||
w = cq.Shape(BRepBuilderAPI_Transform(v.wrapped, t, True).Shape())
|
||||
q = w.Vertices()[0].Center()
|
||||
return (q.x, q.y, q.z)
|
||||
|
||||
|
||||
def place(shape, t):
|
||||
if shape is None:
|
||||
return None
|
||||
return cq.Shape(BRepBuilderAPI_Transform(shape.wrapped, t, True).Shape())
|
||||
|
||||
|
||||
def bb(shape):
|
||||
b = Bnd_Box()
|
||||
BRepBndLib.Add_s(shape.wrapped, b, True)
|
||||
lo, hi = b.CornerMin(), b.CornerMax()
|
||||
return (lo.X(), lo.Y(), lo.Z()), (hi.X(), hi.Y(), hi.Z())
|
||||
|
||||
|
||||
def bbox_str(shape):
|
||||
a, b = bb(shape)
|
||||
return "[%.1f %.1f %.1f .. %.1f %.1f %.1f] (%.1fx%.1fx%.1f)" % (
|
||||
a[0], a[1], a[2], b[0], b[1], b[2], b[0] - a[0], b[1] - a[1], b[2] - a[2])
|
||||
|
||||
|
||||
def cyl(r, z0, z1, x=0.0, y=0.0):
|
||||
return cq.Solid.makeCylinder(r, z1 - z0, V(x, y, z0), V(0, 0, 1))
|
||||
|
||||
|
||||
def ring(r0, r1, z0, z1):
|
||||
return cyl(r1, z0, z1).cut(cyl(r0, z0 - 0.001, z1 + 0.001))
|
||||
|
||||
|
||||
def box(x0, x1, y0, y1, z0, z1):
|
||||
return cq.Solid.makeBox(x1 - x0, y1 - y0, z1 - z0, V(x0, y0, z0))
|
||||
|
||||
|
||||
def rect_pocket(cx, cy, w, h, z0, z1, rot=0.0):
|
||||
s = box(cx - w / 2.0, cx + w / 2.0, cy - h / 2.0, cy + h / 2.0, z0 - 0.001, z1 + 0.001)
|
||||
if rot:
|
||||
s = s.rotated(V(0, 0, 0), V(0, 0, 1), rot)
|
||||
return s
|
||||
|
||||
|
||||
def holes(shape, pts, d, z0, z1):
|
||||
"""Through/ blind cylindrical cuts at the given (x, y) points."""
|
||||
cut = [cyl(d / 2.0, z0, z1, p[0], p[1]) for p in pts]
|
||||
return shape.cut(*cut) if cut else shape
|
||||
|
||||
|
||||
def slot_holes(shape, pts, d, cb_d=None, cb_z0=None, cb_z1=None, z0=-1, z1=1):
|
||||
cuts = [cyl(d / 2.0, z0, z1, p[0], p[1]) for p in pts]
|
||||
if cb_d and cb_z0 is not None:
|
||||
cuts += [cyl(cb_d / 2.0, cb_z0, cb_z1, p[0], p[1]) for p in pts]
|
||||
return shape.cut(*cuts)
|
||||
|
||||
|
||||
def polygon_pts(r, n, phase=0.0):
|
||||
return [(r * math.cos(math.radians(phase + 360.0 * k / n)),
|
||||
r * math.sin(math.radians(phase + 360.0 * k / n))) for k in range(n)]
|
||||
|
||||
|
||||
def convex_prism(pts2d, z0, z1):
|
||||
"""Solid from an ordered 2D outline (assumed convex or simple)."""
|
||||
wp = cq.Workplane("XY").workplane(centerSection=(0, 0, z0))
|
||||
w2 = [(p[0], p[1]) for p in pts2d]
|
||||
r = (cq.Workplane("XY", origin=(0, 0, z0))
|
||||
.polyline(w2 + [w2[0]]).close().extrude(z1 - z0, combine=False))
|
||||
return r.val()
|
||||
|
||||
|
||||
def fillet_all_edges(shape, r):
|
||||
try:
|
||||
return shape.edges().fillet(r).val() if isinstance(shape, cq.Workplane) else \
|
||||
cq.Workplane(obj=shape).edges().fillet(r).val()
|
||||
except Exception:
|
||||
return shape
|
||||
|
||||
|
||||
def mesh_of(shape, defl=0.08):
|
||||
BRepMesh_IncrementalMesh(shape.wrapped, defl, False, 0.55, True)
|
||||
verts, tris, base = [], [], 0
|
||||
e = TopExp_Explorer(shape.wrapped, TopAbs_FACE)
|
||||
while e.More():
|
||||
cur = e.Current()
|
||||
f = TopoDS.Face_s(cur)
|
||||
tri = BRep_Tool.Triangulation_s(f, cur.Location())
|
||||
if tri is not None:
|
||||
trsf = cur.Location().Transformation()
|
||||
for i in range(1, tri.NbNodes() + 1):
|
||||
p = tri.Node(i).Transformed(trsf)
|
||||
verts.append((round(p.X(), 2), round(p.Y(), 2), round(p.Z(), 2)))
|
||||
rev = f.Orientation() == TopAbs_REVERSED
|
||||
for i in range(1, tri.NbTriangles() + 1):
|
||||
t = tri.Triangle(i)
|
||||
a, b, c = t.Value(1) - 1, t.Value(2) - 1, t.Value(3) - 1
|
||||
tris.append((base + a, base + c, base + b) if rev else (base + a, base + b, base + c))
|
||||
base += tri.NbNodes()
|
||||
e.Next()
|
||||
return verts, tris
|
||||
|
||||
|
||||
def solids_of(shape):
|
||||
out = []
|
||||
e = TopExp_Explorer(shape.wrapped, TopAbs_SOLID)
|
||||
while e.More():
|
||||
out.append(TopoDS.Solid_s(e.Current()))
|
||||
e.Next()
|
||||
return [cq.Shape(s) for s in out]
|
||||
|
||||
|
||||
def read_step(p):
|
||||
return cq.importers.importStep(p)
|
||||
|
||||
|
||||
def norm_angle(a):
|
||||
return (a + 180.0) % 360.0 - 180.0
|
||||
@@ -0,0 +1,546 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""跨件共用的刀法与统一配方：X 向基础体、减重腔 helper、电机前端压盖、止口 hub、pitch->roll 转接座骨架。"""
|
||||
from arm.cad import arm_build as AB
|
||||
import cadquery as cq
|
||||
from arm import kinematics as HL
|
||||
import math
|
||||
from arm.cad.helpers import cyl, place
|
||||
from arm.cad.arm_build import COVER_Z, R, T, Ycyl, bx, prism
|
||||
from arm.kinematics import X_ARM, Y_AXIS, Y_COVER
|
||||
|
||||
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)
|
||||
|
||||
|
||||
# ------------------------------------------------------------------ 减重（镂空）--------
|
||||
# 三个手法件（P04/P06/P07）在关节根部都留着一大块"实心过渡料"：壁厚最深到 15~17.5mm，
|
||||
# 而 gyroid 填充只有 25~35%，等于用整块实心去抗一个安全系数 19~122 的截面。
|
||||
# 下面两个 helper 把这块料掏掉，规则与 P03 的"帐篷形减重窗"一致：
|
||||
# 1) 不留封闭空腔 —— 减重腔要么朝上敞开，要么是有进出口的窗，打印不憋气、不积料；
|
||||
# 2) 斜面自支撑 —— 斜面与水平面夹角 >= 52°（与竖直面夹角 <= 38°），免支撑；
|
||||
# 3) 内角 R4 圆角 —— 挖出来的洞会把圆截面变成尖角，Kt 从 ~1.2 抬到 ~2.5，
|
||||
# 圆角把应力集中压回去；
|
||||
# 4) 只吃"距表面 > 8mm"的厚料，四周至少留 8mm 壁 —— 受力纤维一根不碰。
|
||||
|
||||
HOLLOW_WALL = 8.0 # 减重腔与原外表面的最小间距（= 留下的最小壁厚）
|
||||
|
||||
|
||||
HOLLOW_FILLET = 4.0 # 减重腔内角圆角，与 P03 竖板减重窗一致
|
||||
|
||||
|
||||
def hollow_channel(x0, x1, y0, y1, z_floor, z_open, tag="", fil=HOLLOW_FILLET):
|
||||
"""朝上敞开的减重槽：从 z_open 往下切到 z_floor，槽底水平（朝上受支撑）、侧壁竖直。
|
||||
|
||||
竖打（模型 Z = 打印 Z）下这个形状是零支撑的：槽底是水平面、槽壁全是竖直面，
|
||||
顶部完全敞开因而不构成封闭空腔。切完该件变成 U 形槽钢而不是实心料：
|
||||
抗弯靠两侧 X 向腹板（正好落在弯矩拉压区），中间中性层掏空几乎不损失 I。
|
||||
|
||||
x0/x1/y0/y1 用世界坐标；z_open 取一个保证贯通顶面的值。
|
||||
"""
|
||||
tool = bx(x0, x1, y0, y1, z_floor, z_open)
|
||||
if fil > 0:
|
||||
try:
|
||||
tool = cq.Workplane(obj=tool).edges("|Z").fillet(fil).val()
|
||||
except Exception as e:
|
||||
print(" [减重槽] %s 内角圆角跳过: %s" % (tag, e), flush=True)
|
||||
print(" [减重槽] %s: X%.1f..%.1f Y%.1f..%.1f 自 Z%.1f 向上敞开 (四周留壁 >=%.0fmm)"
|
||||
% (tag, x0, x1, y0, y1, z_floor, HOLLOW_WALL), flush=True)
|
||||
return tool
|
||||
|
||||
|
||||
def hollow_tent_window(pts_xz, y0, y1, tag="", fil=HOLLOW_FILLET):
|
||||
"""帐篷形减重窗：XZ 平面画轮廓，沿 Y 双向切穿。
|
||||
|
||||
轮廓下宽上窄（拱形）——窗顶上方的料形成一个尖顶，斜面与水平夹角 >= 52° 自支撑，
|
||||
只有顶部一小段平顶需要桥接（<=20mm，与 P03 同）。轮廓在 X 方向不能吃满整个截面，
|
||||
两侧必须留墙，否则该高度上零件会被切断、失去单实体。
|
||||
"""
|
||||
# XZ 工作平面的法线是 -Y，extrude 会朝 -Y 走，所以起点放在 y1 才能覆盖 y0..y1
|
||||
tool = (cq.Workplane("XZ", origin=(0, y1, 0)).polyline(pts_xz).close()
|
||||
.extrude(y1 - y0).val())
|
||||
if fil > 0:
|
||||
try:
|
||||
tool = cq.Workplane(obj=tool).edges("|Y").fillet(fil).val()
|
||||
except Exception as e:
|
||||
print(" [减重窗] %s 内角圆角跳过: %s" % (tag, e), flush=True)
|
||||
print(" [减重窗] %s: XZ 轮廓 %d 点, 沿 Y %.1f..%.1f 切穿 (帐篷形, 斜面自支撑)"
|
||||
% (tag, len(pts_xz), y0, y1), flush=True)
|
||||
return cq.Shape(tool.wrapped)
|
||||
|
||||
|
||||
# 各关节"电机前端夹紧"统一配方（J2/J3/J4/J5 通用，J1 由 P03 自己那套 S04 凸台实现）。
|
||||
# 电机前端盖外端面：Y 轴关节（J2/J4/J5）在 Y_COVER=156，压盖朝 +Y 生长；
|
||||
# Z 轴关节（J3，roll 电机，轴向 -Z）在 Z_R-56，压盖朝 -Z 生长（-Z 侧是从动件）。
|
||||
# 压盖背面与之 0.0 间隙面压，螺钉只提供压紧力。
|
||||
# 沉孔相位按【关节局部相位】定义（BCD55，72.2°+90k）：换算到全局后 Y 轴关节是
|
||||
# 17.8°+90k（与 P03→M1 的 S04 一致），Z 轴关节是同一组数落在全局 (x,y) 平面，
|
||||
# 两种轴向的物理指向完全一致 —— 全机同一套孔位约定，改一处必须同步另一处。
|
||||
CLAMP_BCD = 27.5
|
||||
|
||||
|
||||
CLAMP_CLOCK = (17.8, 107.8, 197.8, 287.8) # Y 轴关节的全局 (x,z) 相位
|
||||
|
||||
|
||||
CLAMP_CLOCK_LOCAL = tuple((360.0 - a) % 360.0 for a in CLAMP_CLOCK) # = 72.2+90k
|
||||
|
||||
|
||||
CLAMP_ROOT = 0.5 # 根部薄环厚度：与前端定位环前端面共面，保证熔接成一体
|
||||
|
||||
|
||||
CLAMP_T = 5.0 # 压盖本体厚度
|
||||
|
||||
|
||||
CLAMP_CLR = 1.0 # 从动件让位间隙：与 Y 轴关节 hub_gap=6.0 同一个道理
|
||||
|
||||
|
||||
CLAMP_BACKOFF = CLAMP_T + CLAMP_CLR - CLAMP_ROOT # =5.5 从动件毂面整体后移量
|
||||
|
||||
|
||||
# 【2026-10-05e】"电机前端围挡"统一整改开关，作用于全机 5 处电机前端（J2/J3/J4/J5/J6）。
|
||||
# 围挡本体 = 各零件前端的 **前端定位环**（`front_collar_pocket` 把座孔从 R30.15 扩到
|
||||
# R30.25 时留下的那圈 r30.25..35、6mm 高的环墙）。它比电机前端盖 Ø60.3 凸出 4.75mm，
|
||||
# 把电机前端盖整圈围住；J2/J3/J4/J5 上还骑着一枚 R35 前端压盖（Ø70 再凸 3.2mm）。
|
||||
# 用户 2026-10-05 先在 J3/M3 尾部指出，2026-10-05d 只切敞口那一圈解决；本次把同一刀
|
||||
# 推广到其余四处（J2/M2、J4/M4、J5/M5、J6/M6），几何完全同构。
|
||||
# 为什么不整圈削到与电机齐平（R35 -> R31.8）：
|
||||
# 1. 那圈壁与本体在两个方位与外壁**相切**，整圈切完那两片切向楔形会脱空成孤立碎块
|
||||
# （实测 1.32mm3），破坏单实体拓扑；
|
||||
# 2. 压盖根部只有 0.5mm 熔接带，环削窄后连接面从 2.37mm2 掉到 0.78mm2，
|
||||
# 4xM3x8 的夹紧力会把压盖从本体上拉下来。
|
||||
# 所以只切**敞口那一半**：背脊侧定位环继续定位电机前端盖、并作为压盖唯一且足够强的
|
||||
# 支撑/熔接面；压盖本体、Ø37 让位孔、4xM3x8 沉孔、腔口下沿全部不动。
|
||||
# 【2026-10-05e / 2026-10-07 修复：电机装配敞口通道贯通，消除两端阻碍围挡】
|
||||
# 参考 P05 大臂旋转座设计，电机两头都不要有围挡挡住，电机可顺畅装配入座：
|
||||
# 1. 承压面段通过 R35 圆腔切平，彻底消除尾端阻碍电机的环形围挡；
|
||||
# 2. 前端定位环通过 cut_motor_fence 切除敞口那一半，消除前端阻碍装配的围挡；
|
||||
# 3. 背脊侧整圈定位环完整保留，继续定位电机前端盖并作为压盖唯一且足够强的支撑/熔接面。
|
||||
FENCE_OPEN_CUT = True
|
||||
|
||||
|
||||
def cut_motor_fence(shape, j, tag, name3, z0=49.4, z1=55.5):
|
||||
"""只切掉电机前端定位环在敞口侧那一圈环墙。"""
|
||||
if not FENCE_OPEN_CUT:
|
||||
return shape
|
||||
"""【2026-10-05e / 2026-10-07 整改】只切掉电机前端围挡（前端定位环）在**敞口那一半**的环墙。
|
||||
z1 设为 55.5（等于前端定位环外缘 Y_COVER-0.5，不啃压盖本体）：
|
||||
原取 56.1 导致切削盒切入前端压盖内侧贴合面 0.1mm（本应在 56.0/Y156.0），
|
||||
造成敞口侧下陷 0.1mm，与背脊侧在关节中心面产生错位台阶与分界线。
|
||||
取 55.5 后定位环完整切除，压盖贴合面在整圈 360° 完整保留为共面的平圆环（Y156.0），分界线彻底消除。
|
||||
|
||||
与 2026-10-05d 给 P05/M3 那一刀完全同源 —— 当时那记全局盒切
|
||||
(X_ARM±40, Y_AXIS-40..Y_AXIS+3, Z388.9..395.6) 换算到 J3 局部系正好是
|
||||
x±40 / y -3..+40 / z 49.4..56.1。本函数把它从"P05 专用全局盒"泛化成
|
||||
"按关节局部坐标切半个环"，J2/J4/J5/J6 于是同一刀通用。
|
||||
|
||||
局部坐标约定（见 trs/place）：z 沿电机轴、指向电机前端盖（外端面在 z=COVER_Z=56），
|
||||
x/y 在垂直于轴的平面内。**局部 +y 一律是半包敞口侧** —— 实测 5 处电机舱的
|
||||
本体（环外 r=37/40 有料处 = 背脊侧）方位角全部落在局部角 180..360 = 局部 -y 侧：
|
||||
J2/M2 背脊 240..315 J3/M3 背脊 225..315 J4/M4 背脊 210..330
|
||||
J5/M5 背脊 210..330 J6/M6 背脊 195..345
|
||||
故敞口方向无需逐件配置，统一取局部 +y。
|
||||
|
||||
为什么一对 z 参数能覆盖全机：5 处电机的前端定位环都恰好落在**局部 z 49.5..56**
|
||||
（Y 轴电机前端环 Y150..156 -> z50..56；roll 电机 Z395.5..389 -> z49.5..56）。
|
||||
|
||||
被切掉的只有 r30.25..35 那一圈环墙在敞口侧的部分；压盖本体（4xM3x8 沉孔段）、
|
||||
Ø37 让位孔、腔口下沿、背脊侧整圈定位环全部不动。
|
||||
切口边界取在局部 y=-3.0 而不是 0：环壁在局部 y=-3 处仍与背脊侧实体连通，
|
||||
切出来的是真正的缺口而不是零厚度缝，单实体拓扑天然保持
|
||||
（P05 实测切完 solids=1；2026-10-05c 整圈削 R31.8 那版会掉出 1.32mm3 碎块）。
|
||||
"""
|
||||
if not FENCE_OPEN_CUT:
|
||||
return shape
|
||||
ymin = -3.0 if name3 in ('P05', 'P08') else 0.0
|
||||
shape = shape.cut(j.L(bx(-40.0, 40.0, ymin, 40.0, z0, z1)))
|
||||
print(" [围挡] %s: 只切敞口侧那一圈前端定位环（局部 y %.1f..+40, z %.1f..%.1f）；"
|
||||
"背脊侧整圈保留定位前端盖并支撑压盖，压盖本体/沉孔/腔口下沿不变"
|
||||
% (name3, ymin, z0, z1), flush=True)
|
||||
return shape
|
||||
|
||||
|
||||
def _clamp_cyl(axis, px, pz, py, z_face):
|
||||
"""压盖刀具坐标系：C(r, s0, s1, du, dv) = 沿电机轴 s 区间、偏离轴线 (du,dv) 的圆柱。
|
||||
s>0 一律"背离电机"，两个轴向同号（s=0 = 电机前端盖外端面）。"""
|
||||
if axis == "Y":
|
||||
return lambda r, s0, s1, du=0.0, dv=0.0: Ycyl(r, Y_COVER + s0, Y_COVER + s1,
|
||||
px + du, pz + dv)
|
||||
if axis == "Z":
|
||||
return lambda r, s0, s1, du=0.0, dv=0.0: cyl(r, z_face - s1, z_face - s0,
|
||||
px + du, py + dv)
|
||||
raise ValueError("motor_front_clamp: axis 只能是 Y 或 Z，收到 %r" % (axis,))
|
||||
|
||||
|
||||
def clamp_hole_drills(px, pz, plate_t=CLAMP_T, axis="Y", py=0.0, z_face=None):
|
||||
"""4xM3x8 压盖钻模：Ø6.0 沉孔（s=2..plate_t，深 3.0）+ Ø3.4 通孔（s=-1.0..2）。
|
||||
|
||||
与 motor_front_clamp 共用同一组半径/相位/深度，孔位只有这一个事实源。
|
||||
单独导出是因为**压盖上的孔在预钻阶段可能被本体填回来**：本体若有料占住沉孔方位，
|
||||
`fuse(压盖)` 取的是并集，不会把本体那部分料挖掉，于是并集上孔就消失了
|
||||
（P04 立柱整体化后 Y158..161 的 +Z 半侧被填成实心，4 个孔只剩 2 个）。
|
||||
所以对"熔接之后的最终并集"必须再钻一次；本体没料的方位上这一刀是空操作。
|
||||
"""
|
||||
C = _clamp_cyl(axis, px, pz, py, z_face)
|
||||
s0, s1 = -CLAMP_ROOT, plate_t
|
||||
drills = []
|
||||
for deg in CLAMP_CLOCK_LOCAL:
|
||||
rad = math.radians(-deg) # 全局相位 = -局部相位
|
||||
fu, fv = CLAMP_BCD * math.cos(rad), CLAMP_BCD * math.sin(rad)
|
||||
drills.append(C(3.0, 2.0, s1 + 0.5, fu, fv)) # Ø6.0 沉孔
|
||||
drills.append(C(1.7, s0 - 0.5, 2.0, fu, fv)) # Ø3.4 通孔
|
||||
return cq.Compound.makeCompound(drills)
|
||||
|
||||
|
||||
def motor_front_clamp(px, pz, plate_t=CLAMP_T, tag="", axis="Y", py=0.0, z_face=None):
|
||||
"""电机前端压盖：把"只被后端安装板单面锁死"改成前后双向面压夹紧。
|
||||
|
||||
原设计里每个关节的电机都只有后端板 4xM3x10（S02）锁在尾端面上，前端盖完全裸露，
|
||||
大扭矩下电机绕自身轴在 Ø60.3 座孔里点头/翘起。这里在电机前端盖外端面加一枚
|
||||
与后端板同径的 R35 压盖，用 4xM3x8（BCD55）在前端盖上再夹一次 —— 电机被前后两块
|
||||
同心 Ø60.3 端面双向夹死，倾斜自由度归零；夹紧力全部走面压，螺钉不参与定位。
|
||||
|
||||
两个轴向共用同一套尺寸，只换刀具体系（不重复实现任何半径/相位）：
|
||||
axis="Y"（J2/J4/J5）：关节轴过 (px, pz)，前端盖外端面在 Y_COVER，压盖朝 +Y 长；
|
||||
axis="Z"（J3 roll，轴向 -Z）：关节轴过 (px, py)，前端盖外端面在 z_face，压盖朝 -Z 长。
|
||||
|
||||
局部坐标（s 从前端盖外端面起算，s>0 一律"背离电机"，两个轴向同号）：
|
||||
- 压盖 R35，s 从 -CLAMP_ROOT（与前端定位环前端面共面，保证熔接成一体）到 plate_t；
|
||||
- 背面精确落在 s=0，不让根部那 0.5mm 啃到端盖 R30.15 的外圆；
|
||||
- Ø37 中央让位孔（R18.5）让开从动件的直锁凸台 R17.8 与 3xS01 输出螺钉头；
|
||||
- 4xM3x8：Ø3.4 通孔 + Ø6.0 沉孔深 3.0（自前端面沉到 s=2），圆柱头全沉入，
|
||||
头面压孔口台阶，中间 2.0mm 压盖本体受压。
|
||||
"""
|
||||
C = _clamp_cyl(axis, px, pz, py, z_face)
|
||||
s0, s1 = -CLAMP_ROOT, plate_t
|
||||
fp = C(35.0, s0, s1)
|
||||
fp = fp.cut(C(18.5, s0 - 0.5, s1 + 0.5)) # Ø37 中央让位孔
|
||||
# 【2026-10-03h 接缝整改】根部让位槽原来切 R30.15，比腔壁 BAY_R=30.50 小 0.35，
|
||||
# 于是压盖根部那圈 r30.15..35 的定位唇内壁比腔壁**内凸 0.35**，从腔里看就是
|
||||
# 腔口一圈 0.5mm 宽、0.35mm 深的环槽（P04/P05/P06/P07 各有一圈，实测台阶面
|
||||
# 31.2mm2 + R30.15 环带 44.4mm2，四件完全相同）。这刀是腔还是 R30.15/R30.25
|
||||
# 那个年代留下的：当时必须让到电机实测外圆，压盖根部才啃不到电机。
|
||||
# 现在主腔已统一到 BAY_R，电机实测 R30.15，让位槽取 BAY_R 即可：
|
||||
# 定位唇内壁与腔壁同一根正圆，两张圆柱面首尾相接，中间不再有任何台阶，
|
||||
# 对电机的单边间隙仍是 0.35（唇内径 Ø61.0 > 电机 Ø60.3）。
|
||||
fp = fp.cut(C(AB.BAY_R, s0 - 0.5, 0.0)) # Ø61.0 根部让位槽（= 腔径）
|
||||
fp = fp.cut(clamp_hole_drills(px, pz, plate_t, axis, py, z_face))
|
||||
where = ("Y%.1f..%.1f" % (Y_COVER - CLAMP_ROOT, Y_COVER + plate_t)) if axis == "Y" \
|
||||
else ("Z%.1f..%.1f" % (z_face - plate_t, z_face + CLAMP_ROOT))
|
||||
print(" [前端压盖] %s: R35 %s, 4xM3x8 BCD55@%s (%s 轴)"
|
||||
% (tag, where, "/".join("%.1f" % d for d in CLAMP_CLOCK), axis), flush=True)
|
||||
return fp
|
||||
|
||||
|
||||
def hub_m2_holes(shape, j, cb_z1, th_z1=58.0, th_z0=54.0, cb_z0=58.0,
|
||||
th_r=1.4, cb_r=2.8, clock=None):
|
||||
"""在从动毂上开 3x M2 直锁螺钉孔：Ø2.8 通孔 + Ø5.6 沉孔，BCD 见 AB.M["m2_bcd"]。
|
||||
|
||||
全机 5 处（J1 叉板 / J2+J3 直连毂 / J4+J5 直连毂）统一走这里，各调用点只传自己那两个 z。
|
||||
【2026-10-07 修复】J1 直连电机输出转子，使用转子真实孔位 AB.M["m2_clock"]（随 j1.t 旋转），
|
||||
确保肩叉 P04 保持垂直位姿且沉孔与 M1 转子螺孔完全同心。
|
||||
"""
|
||||
if clock is None:
|
||||
clock = AB.M["m2_clock"] if j.jid == "J1" else AB.HUB_M2_CLOCK
|
||||
for a in 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)
|
||||
shape = shape.cut(j.L(cyl(th_r, th_z0, th_z1, u, v)))
|
||||
shape = shape.cut(j.L(cyl(cb_r, cb_z0, cb_z1, u, v)))
|
||||
return shape
|
||||
|
||||
|
||||
def make_direct_hub(shape, j, r_disc=35.0, z_out=74.0, backoff=0.0):
|
||||
"""优化直连法兰：增加导向倒角
|
||||
|
||||
backoff = 毂面沿电机轴**远离电机**的让位量（2026-10-03 新增，目前只有 P09 用）。
|
||||
|
||||
场景：J6/M6 补上前端压盖后（见 p_wrist_bracket 的 roll_clamp=True），压盖占
|
||||
局部 z 55.5..61.0（= 全局 Z 120.5..115），而毂面原来在局部 56.5，两者直接打架。
|
||||
按 P06 给 J3 让位的同一套办法，把毂面整体后移 CLAMP_BACKOFF=5.5：
|
||||
毂面 56.5 -> 62.0，压盖前端面在 61.0，中间正好留 CLAMP_CLR=1.0。
|
||||
|
||||
只动"外端"坐标，不动"电机端"坐标，否则咬合量就变了：
|
||||
直锁凸台起点 54.942 不动、长度 54.942..56.5 -> ..62.0 加长 5.5，
|
||||
进入电机输出毂的深度与改前完全一致（与 p_humerus_bone 的 J3 处理同源）；
|
||||
导向锥 54.5..54.942 不动；
|
||||
3xS01 输出螺钉让位通道与 4xM2 直锁沉孔的**内**端（54.0 / 58.0）不动，
|
||||
只把外端（z_out+30 / z_out+40）跟着放长。
|
||||
"""
|
||||
disc = cyl(r_disc, 56.5 + backoff, z_out + backoff)
|
||||
boss = cyl(17.8, 54.942, 56.5 + backoff)
|
||||
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 + backoff)))
|
||||
return hub_m2_holes(shape, j, cb_z1=z_out + 40.0 + backoff)
|
||||
|
||||
|
||||
def make_pitch_to_roll_bracket(j_pitch, j_roll, z_pitch, z_r, name="bracket", hub_gap=1.0,
|
||||
roll_clamp=False, fillet_r=1.5, flank_fillet_r=3.0):
|
||||
"""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)。
|
||||
|
||||
hub_gap = 从动法兰盘背面与上级电机前端盖之间的轴向让位间隙。
|
||||
默认 1.0（贴合防磨）。P05 传 6.0：J2 处 P04 新增了 M2 前端压盖
|
||||
（Y 155.5..161.0），必须让出这 6.0mm 才能装下；见 p_shoulder_roll_base。
|
||||
|
||||
roll_clamp = 本件作为 roll 电机【前端夹紧件】时为 True（J3/P05 夹 M3）。
|
||||
roll 电机（J3/J6）轴向是 -Z，前端盖外端面在 z_r-56，-Z 侧是从动件：
|
||||
压盖朝 -Z 长（Z_COVER-5..Z_COVER），从动件毂面必须整体后移 CLAMP_BACKOFF=5.5
|
||||
让位（与 Y 轴关节 hub_gap=6.0 同一个道理，只是基准间隙 0.5 而非 1.0）。
|
||||
P08 自 2026-10-03 起也传 True：M6 前端压盖补齐，对侧 P09 让位 CLAMP_BACKOFF
|
||||
（见 make_direct_hub 的 backoff），五处电机腔至此全部是「后端板 + 前端压盖」
|
||||
双向面压，配方同源。
|
||||
|
||||
fillet_r = 立柱顶面与竖直臂交汇处的 L 型内转角过渡圆角半径（mm，默认 1.5）。
|
||||
半径调小为 1.5mm 确保在 OCC 中稳定边倒圆成型（小于临界高度 2.0mm，彻底避免算法异常），
|
||||
同时不生成多余外凸台阶，平滑消除 90° 锐角应力集中。
|
||||
|
||||
flank_fillet_r = 侧壁平直立面与正面 Loft 放样曲面交汇处空间斜向折棱圆角半径（mm，默认 3.0）。
|
||||
【2026-10-07】消除侧壁与正面交界处长约 72mm 的尖锐硬折棱，使侧腹部外轮廓更加饱满圆润。
|
||||
"""
|
||||
z_bot = z_r - 56.0 # roll 电机底端 (front collar)
|
||||
z_plate = z_r + 8.0 # roll 电机顶端安装板 (rear plate top)；见第 8 步 t_plate 说明
|
||||
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 + hub_gap # 157.0 / (P05) 162.0 从动法兰内侧面
|
||||
z_hub_in = y_hub_in - HL.Y_REAR # 法兰盘背面的电机局部 z（凸台长度跟着它走）
|
||||
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)
|
||||
# 后缘两角 R2 圆角：把 y=123 凸包与 R35 柱面交汇的两条 90° 竖棱圆润化
|
||||
# （磨掉"凸起来的"尖角，不动后缘高度/位置，打印无悬挂）
|
||||
FR = 2.0
|
||||
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 + FR)
|
||||
.radiusArc((35.0 - FR, -5.0), FR)
|
||||
.lineTo(-35.0 + FR, -5.0)
|
||||
.radiusArc((-35.0, -5.0 + FR), FR)
|
||||
.lineTo(-35.0, v_s)
|
||||
.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
|
||||
# 切削高度上限直通承压面（z_r + AB.REAR_SEAT），消除侧边悬垂突耳，使侧壁边缘与下方完全平直对齐
|
||||
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 + AB.REAR_SEAT)
|
||||
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
|
||||
# t_plate=8.0：Joint.pocket 的尾端面承压面让空了 MOTOR_TOL=1.0，承压面到螺钉沉孔
|
||||
# 台阶为 t_plate-cb_depth-REAR_SEAT = 8-4-1.6 = 2.4mm 膜厚（结构强度大幅提升）。
|
||||
s = j_roll.rear_mount_holes(s, t_plate=8.0, hole_d=2.8, cb_d=5.5, cb_depth=4.0)
|
||||
# 【2026-10-03i 接缝整改】front_collar_pocket 已删。
|
||||
# 它切的是 cyl(BAY_R, z0=50.0, z1=56.5)，而紧接着的 Joint.pocket 切的是
|
||||
# cyl(BAY_R, -REAR_SEAT, COVER_Z+front_pad) —— **同一根圆柱、同一个半径**，
|
||||
# 前者完全是后者的子集。两次半径相同的圆柱布尔相减，等于让 OCC 在腔壁上
|
||||
# 留下一条 s=50.0 的零宽棱：实测 P05 的 R30.500 腔壁被切成 5090.5 + 493.9
|
||||
# 两张面（-2.6..50.0 与 50.0..55.5），P06 同样在 50.0 处裂开。着色时那条
|
||||
# 棱就是腔里横穿的一道线。P04/P08 本来就没调它，腔壁是完整一张面。
|
||||
s = j_roll.pocket(s)
|
||||
|
||||
# 9. 电机定子配合空腔
|
||||
# 【2026-10-05f】原 cyl(30.5, ...) 定子配合空腔已删，同上：已被主腔 BAY_R 覆盖。
|
||||
|
||||
# 10. 俯仰轴直连法兰结构（凸台延伸至法兰盘背面之后 2.5mm，跨过间隙与法兰盘牢固熔接，
|
||||
# 保持单实体）。凸台长度跟着 y_hub_in 走：法兰盘后移时凸台同步加长，
|
||||
# 3xS01 输出螺钉的头面台阶(局部 z=58)、杆长、咬合量与改前完全一致。
|
||||
boss = cyl(17.8, 54.942, z_hub_in + 2.5)
|
||||
s = s.fuse(j_pitch.L(boss))
|
||||
s = s.cut(j_pitch.L(cyl(3.5, 54.0, 74.0 + 30.0)))
|
||||
s = hub_m2_holes(s, j_pitch, cb_z1=74.0 + 40.0)
|
||||
|
||||
# 11. L 型转角连接处圆角过渡（圆角半径调小为 1.5mm）：
|
||||
# 平滑消除立柱顶面与竖直臂交汇处的 90° 尖角与应力集中，
|
||||
# 半径调小至 1.5mm 确保在 OCC 中稳定成型（小于临界高度 2.0mm，彻底避免算法异常），
|
||||
# 局部圆角不切入两侧轮廓，完全避免任何外凸台阶，流线自然过渡。
|
||||
if fillet_r > 0:
|
||||
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(fillet_r).val()
|
||||
except Exception as e:
|
||||
print(f"[{name}] L型转角圆角异常: {e}")
|
||||
|
||||
# 12. roll 电机（M3）前端压盖：与 P04/P06/P07 的 M2/M4/M5 压盖同一套配方，
|
||||
# 只是 roll 电机轴向为 -Z，压盖朝 -Z 长（见 motor_front_clamp 的 axis="Z"）。
|
||||
# 熔接必须放在最后：第 6/7/8/9 步所有 R30.15~30.5 圆柱刀具都走完之后才接，
|
||||
# 否则压盖根部那 0.5mm 薄环会被 front_collar_pocket / 定子孔啃掉一圈。
|
||||
if roll_clamp:
|
||||
# tag 里的电机号从 j_roll.jid 取（P05->M3 / P08->M6），别再写死 M3 ——
|
||||
# 写死的话 P08 的构建日志会谎报自己夹的是 M3，排查时容易被带偏。
|
||||
s = s.fuse(motor_front_clamp(HL.X_ARM, 0.0,
|
||||
tag="%s/M%d" % (name[:3], int(j_roll.jid[1])),
|
||||
axis="Z", py=HL.Y_AXIS, z_face=z_r - COVER_Z))
|
||||
|
||||
# 13.【2026-10-05d】只切"围挡"那一圈：敞口（-Y）侧的前端定位环 + 压盖根部薄环。
|
||||
# 用户 2026-10-05 指出这圈环墙把 M3 前端盖和 P06 的 J3 凸台围在中间；我第一版
|
||||
# 把整个前端（定位环 + 压盖 + 腔口下沿 389->395）都切了，电机前端没了支撑面 ——
|
||||
# 过度。现在只切敞口这一圈，Y 界限与第 6 步 cut_open 完全一致
|
||||
# （Y_AXIS-40 .. Y_AXIS+3），保证 -Y 半圈从 Z=395.5 一路开到压盖背面 Z=389；
|
||||
# 背脊（+Y）侧整圈定位环保留：
|
||||
# - 继续定位 M3 前端盖（内孔 r30.25，前端盖 Ø60.3 -> 单边 0.10mm）；
|
||||
# - 继续当 R35 压盖唯一且足够强的支撑面（4.75mm 宽 x 0.5mm 熔接带，本次改动
|
||||
# 完全不碰）→ M3 仍是后端板 4xM3x10 + 前端压盖 4xM3x8 双向面压夹紧；
|
||||
# - 压盖本体 / Ø37 让位孔 / 4xM3x8 沉孔 / 腔口下沿 z_bot=389 全部不动，
|
||||
# 压盖敞口侧的端面从 Z=389.5 降到 389 与背面齐平，视觉上不再凸出。
|
||||
# 为什么不能整圈削到与电机齐平（R35->R31.8，见 FENCE_OPEN_CUT 处的说明）：
|
||||
# ① 这圈壁与第 3 步 Loft 在 X=±35 处与 Ø70 柱面**相切**，整圈切完那两片切向楔形
|
||||
# （实测 1.32mm3）会脱空成孤立碎块，破坏单实体拓扑；
|
||||
# ② 压盖根部只有 0.5mm 熔接带，环削到 1.55mm 宽后连接面从 2.37mm2 掉到 0.78mm2，
|
||||
# 4xM3x8 的夹紧力会把压盖从本体上拉下来。
|
||||
# 附带效果：盒切把 Loft 在 X=±35 与 Ø70 柱面相切的那两片切向楔形一起带走
|
||||
# （楔形位于 Y_AXIS 附近 < Y_AXIS+3），不会留下孤立碎块 -> 单实体拓扑保持。
|
||||
# 13.【2026-10-05d / 2026-10-07】删掉 P05/P08 前端定位环在敞口侧那半圈环墙（见 FENCE_OPEN_CUT）。
|
||||
if (roll_clamp or FENCE_OPEN_CUT) and name.startswith(('P05', 'P08')):
|
||||
s = cut_motor_fence(s, j_roll, "%s/M%d" % (name[:3], int(j_roll.jid[1])), name[:3])
|
||||
|
||||
# 14.【2026-10-07 表面流线优化】侧壁与有机放样曲面交汇处斜向脊线圆角（flank_fillet_r）：
|
||||
# 平滑消除侧壁平直立面与正面放样弧面交汇处的 71.6mm 空间硬折棱，
|
||||
# 沿双侧各倒 R3.0 平滑过渡圆角，使大臂旋转座/腕偏转座外表面流线浑然一体、手感圆润饱满
|
||||
if flank_fillet_r > 0:
|
||||
try:
|
||||
wp_s = cq.Workplane(obj=s)
|
||||
e_flank = [
|
||||
e for e in s.Edges()
|
||||
if e.geomType() == 'BSPLINE'
|
||||
and (abs(e.BoundingBox().xmin - (HL.X_ARM - 35.0)) < 0.2 or abs(e.BoundingBox().xmax - (HL.X_ARM + 35.0)) < 0.2)
|
||||
and (e.BoundingBox().ymax - e.BoundingBox().ymin) > 20.0
|
||||
and (e.BoundingBox().zmax - e.BoundingBox().zmin) > 30.0
|
||||
]
|
||||
if len(e_flank) == 2:
|
||||
s = wp_s.newObject(e_flank).fillet(flank_fillet_r).val()
|
||||
except Exception as e:
|
||||
print(f"[{name}] 侧壁放样斜棱圆角异常: {e}")
|
||||
|
||||
return s
|
||||
|
||||
|
||||
def make_surface_tie_bridge(x, y_surf, z, w_x=10.0, l_z=8.0, h_y=3.2, slot_w=3.2, slot_h=1.8, tunnel_dir='X'):
|
||||
"""实体表面外凸式扎带拱桥 (Cable Tie Saddle Bridge)。
|
||||
在 3D 打印件外壁表面一体化成型微型拱桥，扎带完全在外部穿通锁紧，不挖穿外壳壁厚、不进入内部空腔。
|
||||
"""
|
||||
total_y = h_y + 1.0
|
||||
cy = (y_surf - h_y) + total_y / 2.0
|
||||
body = cq.Workplane('XY', origin=(x, cy, z)).box(w_x, total_y, l_z)
|
||||
try:
|
||||
body = body.edges('|X and <Y').chamfer(0.8)
|
||||
except Exception:
|
||||
pass
|
||||
ty = y_surf - 0.2 - slot_h / 2.0
|
||||
if tunnel_dir == 'X':
|
||||
tunnel = cq.Workplane('YZ', origin=(x, ty, z)).box(slot_h, slot_w, w_x + 4.0)
|
||||
else:
|
||||
tunnel = cq.Workplane('XY', origin=(x, ty, z)).box(slot_w, slot_h, l_z + 4.0)
|
||||
return body.cut(tunnel).val()
|
||||
|
||||
|
||||
def make_surface_tie_bridge_neg_x(x_surf, y, z, w_y=10.0, l_z=8.0, h_x=3.2, slot_w=3.2, slot_h=1.8):
|
||||
"""实体表面外凸式扎带拱桥 (-X 侧向立壁专用，线束沿 Z 竖直走)。
|
||||
|
||||
穿带隧道必须沿 Y 贯通：扎带环的平面由"孔轴 + 壁法向"张成，线束要垂直穿过这个环，
|
||||
所以孔轴只能取 Y（线沿 Z、壁法向 X）。若照抄 Y 壁版把隧道做成沿 Z，扎带就会变成
|
||||
顺着一根线往下套、而不是横抱它 —— 抱不住。
|
||||
"""
|
||||
total_x = h_x + 1.0
|
||||
cx = (x_surf - h_x) + total_x / 2.0
|
||||
body = cq.Workplane('YZ', origin=(cx, y, z)).box(w_y, l_z, total_x)
|
||||
try:
|
||||
body = body.edges('|Y and <X').chamfer(0.8)
|
||||
except Exception:
|
||||
pass
|
||||
tx = x_surf - 0.2 - slot_h / 2.0
|
||||
tunnel = cq.Workplane('XY', origin=(tx, y, z)).box(slot_h, w_y + 4.0, slot_w)
|
||||
return body.cut(tunnel).val()
|
||||
@@ -0,0 +1,8 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""每个零部件一个模块：几何、件号/配色/说明、装配帧归属都在这里。
|
||||
|
||||
arm_model.build() 只按 PART_MODULES 顺序收集 specs()；改哪件就开哪个文件。
|
||||
"""
|
||||
from arm.cad.parts import p01_column, p02_base, p03_girdle, p04_fork, p05_roll_base, p06_humerus, p07_forearm, p08_wrist, p09_flange
|
||||
|
||||
PART_MODULES = [p01_column, p02_base, p03_girdle, p04_fork, p05_roll_base, p06_humerus, p07_forearm, p08_wrist, p09_flange]
|
||||
@@ -0,0 +1,187 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""P01 立柱三段（A/B/C）：躯干承力柱 + 阶梯榫卯与防反装对锁孔。"""
|
||||
import cadquery as cq
|
||||
from arm.cad.helpers import cyl
|
||||
from arm.cad.arm_build import Ycyl, bx
|
||||
from arm.kinematics import Y_AXIS, Z_CHEST1
|
||||
from arm.cad.part_tools import Xcyl
|
||||
|
||||
# ========== 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
|
||||
|
||||
|
||||
Z_LOCK = 463.0 # 横向防脱锁紧螺钉高度（立柱后壁 → 榫头，M4x16 自攻）
|
||||
|
||||
|
||||
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 11mm，内腔 44x44），中心在 (-115.0, 128.0)，位于手臂正后方；
|
||||
2. 顶部接收 P03 43.4x43.4x15mm 定位榫头（44x44 R4 内腔）、4x 竖向安装孔 + 1x 横向防脱锁紧孔
|
||||
（全部 Ø3.9 直孔：M4x16 从外部直接拧入自攻成型，无过孔/无沉孔/无预埋）；
|
||||
3. 底部 50x50x12mm 阶梯榫头插入 P02 榫座：环形台肩(66->50)面承载轴向力，槽壁全周承载剪切；
|
||||
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(44.0, 44.0)
|
||||
.extrude(z_top - z_bot + 1.0)
|
||||
.edges("|Z").fillet(4.0)).val()
|
||||
s = s.cut(cav)
|
||||
|
||||
# 底部阶梯榫头：插入 P02 榫座后环形台肩坐实，轴向力走面压而非 M5 螺纹
|
||||
tenon = (cq.Workplane("XY", origin=(X_COL, Y_COL, 10.0))
|
||||
.rect(50.0, 50.0).extrude(z_bot - 10.0)
|
||||
.edges("|Z").fillet(4.0)).val()
|
||||
s = s.fuse(tenon)
|
||||
|
||||
# 底部 M5 夹紧孔（贯通榫头）：X 向非对称 (−20/+16) 与榫座孔位配对防反装/防转 90°
|
||||
for xx in (X_COL - 20.0, X_COL + 16.0):
|
||||
for yy in (Y_COL - 18.0, Y_COL + 18.0):
|
||||
s = s.cut(cyl(2.75, 9.99, z_bot + 15.0, xx, yy))
|
||||
# 顶部 4x 安装孔：统一 Ø3.9 直孔（M4x16 直接拧入自攻成型；只打这一个孔，无过孔/无沉孔），深 20mm
|
||||
# 位于 66x66 顶环 11mm 实体壁内（内腔 22 → 外壁 33），避开 44x44 内腔与 R4 内腔圆角；
|
||||
for xx in (X_COL - 27.5, X_COL + 27.5):
|
||||
for yy in (Y_COL - 13.5, Y_COL + 13.5):
|
||||
s = s.cut(cyl(1.95, z_top - 20.0, z_top + 0.01, xx, yy))
|
||||
# 横向防脱锁紧孔（后壁 → 榫头）：Ø3.9 贯穿 11mm 后壁 + 榫头同径（M4x16 拧入自攻）
|
||||
s = s.cut(Xcyl(1.95, X_COL - 34.0, X_COL - 20.0, Y_COL, Z_LOCK))
|
||||
|
||||
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_poka_yoke(p01):
|
||||
"""拆分 P01 为 A/B/C 三段（严格适配 200x200mm 打印机，竖直免支撑打印）：
|
||||
带 16mm 阶梯互锁榫卯（外套筒壁 3.6 + 公榫壁 6.9，内腔收窄 51->44 换取双厚壁，
|
||||
单边配合间隙 0.5）、以及统一 Ø3.9 直孔的分段对锁孔（M4x16 从外面直接拧入自攻成型，
|
||||
母口壁与公榫壁同径，无过孔/沉孔/预埋，前后两面对称各一颗）；
|
||||
孔位相对立柱中心 −16 / +22 非对称（物理防反装防呆）；本体 3D 凹刻朝向标识。
|
||||
"""
|
||||
z_bot = 22.0
|
||||
z_s1 = 172.0
|
||||
z_s2 = 321.0
|
||||
z_top = 470.0
|
||||
h_lap = 16.0
|
||||
|
||||
# 非对称对锁孔位（相对立柱中心偏心 -16mm 与 +22mm，偏心差 6mm，反装无法穿入螺栓）
|
||||
xx_bolts = (X_COL - 16.0, X_COL + 22.0)
|
||||
|
||||
# 分段对锁孔：统一 Ø3.9 直孔（M4x16 从外面直接拧入自攻成型；母口壁与公榫壁同径，
|
||||
# 没有过孔/沉孔等其它孔），前后两面对称；杆尖伸过榫壁的一段在内腔侧留 Ø4.5 让位。
|
||||
def _seam_holes(part, xx, z):
|
||||
return (part.cut(Ycyl(1.95, Y_COL - 33.6, Y_COL - 21.4, xx, z))
|
||||
.cut(Ycyl(1.95, Y_COL + 21.4, Y_COL + 33.6, xx, z))
|
||||
.cut(Ycyl(2.25, Y_COL - 21.7, Y_COL - 15.5, xx, z))
|
||||
.cut(Ycyl(2.25, Y_COL + 15.5, Y_COL + 21.7, xx, z)))
|
||||
|
||||
# --- P01_A (下段) ---
|
||||
cut_above_s1 = bx(X_COL - 50.0, X_COL + 50.0, Y_COL - 50.0, Y_COL + 50.0, z_s1, z_top + 10.0)
|
||||
p01_a_base = p01.cut(cut_above_s1)
|
||||
tongue1_outer = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s1))
|
||||
.rect(57.8, 57.8).extrude(h_lap)
|
||||
.edges("|Z").fillet(3.4).edges(">Z").chamfer(1.5)).val()
|
||||
tongue1_cav = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s1 - 1.0))
|
||||
.rect(44.0, 44.0).extrude(h_lap + 2.0)).val()
|
||||
tongue1 = cq.Shape(tongue1_outer.wrapped).cut(tongue1_cav)
|
||||
p01_a = p01_a_base.fuse(tongue1)
|
||||
|
||||
z_bolt1 = z_s1 + h_lap / 2.0 # 180.0
|
||||
for xx in xx_bolts:
|
||||
p01_a = _seam_holes(p01_a, xx, z_bolt1) # A-B 缝对锁孔（Ø3.9，前后两面）
|
||||
|
||||
# Engrave the front (-Y) flat face, reading VERTICALLY bottom-to-top along
|
||||
# the column (user request): local +X = world +Z, local +Y = world -X, so
|
||||
# the trailing "▶" glyph renders pointing world-up (+Z).
|
||||
front_label_plane_a = cq.Plane(
|
||||
origin=(X_COL, Y_COL - 33.0, 120.0),
|
||||
xDir=(0, 0, 1), normal=(0, -1, 0),
|
||||
)
|
||||
label_a = (cq.Workplane(front_label_plane_a)
|
||||
.text("P01-A TOP ▶", 9.0, -0.8)).val()
|
||||
p01_a = p01_a.cut(cq.Shape(label_a.wrapped))
|
||||
|
||||
# --- P01_B (中段) ---
|
||||
cut_below_s1 = bx(X_COL - 50.0, X_COL + 50.0, Y_COL - 50.0, Y_COL + 50.0, z_bot - 14.0, z_s1)
|
||||
cut_above_s2 = bx(X_COL - 50.0, X_COL + 50.0, Y_COL - 50.0, Y_COL + 50.0, z_s2, z_top + 10.0)
|
||||
p01_b_base = p01.cut(cut_below_s1).cut(cut_above_s2)
|
||||
pocket1 = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s1 - 0.1))
|
||||
.rect(58.8, 58.8).extrude(h_lap + 0.6).edges("|Z").fillet(3.9)).val()
|
||||
p01_b_base = p01_b_base.cut(pocket1)
|
||||
|
||||
tongue2_outer = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s2))
|
||||
.rect(57.8, 57.8).extrude(h_lap)
|
||||
.edges("|Z").fillet(3.4).edges(">Z").chamfer(1.5)).val()
|
||||
tongue2_cav = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s2 - 1.0))
|
||||
.rect(44.0, 44.0).extrude(h_lap + 2.0)).val()
|
||||
tongue2 = cq.Shape(tongue2_outer.wrapped).cut(tongue2_cav)
|
||||
p01_b = p01_b_base.fuse(tongue2)
|
||||
|
||||
z_bolt2 = z_s2 + h_lap / 2.0 # 329.0
|
||||
for xx in xx_bolts:
|
||||
p01_b = _seam_holes(p01_b, xx, z_bolt1) # A-B 缝对锁孔（Ø3.9，前后两面）
|
||||
p01_b = _seam_holes(p01_b, xx, z_bolt2) # B-C 缝对锁孔（Ø3.9，前后两面）
|
||||
|
||||
front_label_plane_b = cq.Plane(
|
||||
origin=(X_COL, Y_COL - 33.0, 240.0),
|
||||
xDir=(0, 0, 1), normal=(0, -1, 0),
|
||||
)
|
||||
label_b = (cq.Workplane(front_label_plane_b)
|
||||
.text("P01-B TOP ▶", 9.0, -0.8)).val()
|
||||
p01_b = p01_b.cut(cq.Shape(label_b.wrapped))
|
||||
|
||||
# --- P01_C (上段) ---
|
||||
cut_below_s2 = bx(X_COL - 50.0, X_COL + 50.0, Y_COL - 50.0, Y_COL + 50.0, z_bot - 14.0, z_s2)
|
||||
p01_c_base = p01.cut(cut_below_s2)
|
||||
pocket2 = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s2 - 0.1))
|
||||
.rect(58.8, 58.8).extrude(h_lap + 0.6).edges("|Z").fillet(3.9)).val()
|
||||
p01_c = p01_c_base.cut(pocket2)
|
||||
for xx in xx_bolts:
|
||||
p01_c = _seam_holes(p01_c, xx, z_bolt2) # B-C 缝对锁孔（Ø3.9，前后两面）
|
||||
|
||||
front_label_plane_c = cq.Plane(
|
||||
origin=(X_COL, Y_COL - 33.0, 390.0),
|
||||
xDir=(0, 0, 1), normal=(0, -1, 0),
|
||||
)
|
||||
label_c = (cq.Workplane(front_label_plane_c)
|
||||
.text("P01-C TOP ▶", 9.0, -0.8)).val()
|
||||
p01_c = p01_c.cut(cq.Shape(label_c.wrapped))
|
||||
|
||||
return p01_a, p01_b, p01_c
|
||||
|
||||
|
||||
JOINT = 'root'
|
||||
|
||||
|
||||
def specs(JS):
|
||||
"""本件的 (件号, 中文名, 构建 thunk, 配色, 说明) 清单；顺序即 BOM 顺序。"""
|
||||
p01_a, p01_b, p01_c = split_p01_poka_yoke(p_chest())
|
||||
|
||||
return [
|
||||
("P01_A_立柱下段_三角形30%_墙4底5_竖打", "立柱下段", lambda: p01_a, 0x0284c7,
|
||||
"200mm适配分段A：高166mm+16mm阶梯公榫+顶端 2x Ø3.9 对锁孔(M4x16 自攻)+底部50x50x12榫头+P01-A 竖排TOP刻字"),
|
||||
("P01_B_立柱中段_三角形30%_墙4底5_竖打", "立柱中段", lambda: p01_b, 0x2563eb,
|
||||
"200mm适配分段B：高165mm+双端公母榫+两端各 2x Ø3.9 对锁孔(M4x16 自攻，非对称孔位防反装)+P01-B 竖排TOP刻字"),
|
||||
("P01_C_立柱上段_三角形30%_墙4底5_竖打", "立柱上段", lambda: p01_c, 0x1d4ed8,
|
||||
"200mm适配分段C：高149mm+底端母榫+底端 2x Ø3.9 对锁孔(非对称孔位防反装)+顶面P03安装台(4x Ø3.9 安装孔 + 1x Ø3.9 横向锁紧孔)+P01-C 竖排TOP刻字"),
|
||||
]
|
||||
@@ -0,0 +1,293 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""P02 底座三段（中核心 / 前向力臂 / 后向力臂）：后置防倾翻机架与防呆母榫。"""
|
||||
import cadquery as cq
|
||||
from arm.cad.helpers import cyl
|
||||
from arm.cad.parts.p01_column import X_COL, Y_COL
|
||||
|
||||
|
||||
def make_p02_poka_yoke():
|
||||
"""将 P02 拆分为三件模块化组件（均严格 <= 195x190mm，适配 200x200mm 打印床）：
|
||||
1. P02_Center (底座中核心): 195x190x70mm，完整容纳立柱套筒与前后三角斜撑筋，核心应力区无接缝；
|
||||
2. P02_Front (前向力臂): 145x190x22mm，宽跨距 104mm 双榫头 + 预埋 M5 螺母槽；
|
||||
3. P02_Rear (后向力臂): 45x190x22mm，窄跨距 80mm 双榫头（跨距差达 24mm 物理防呆，绝不混装）。
|
||||
"""
|
||||
z0 = 0.0
|
||||
z1 = 22.0
|
||||
y_width = 190.0
|
||||
|
||||
f_tenon_w = 44.0
|
||||
f_tenon_y_span = 52.0
|
||||
r_tenon_w = 32.0
|
||||
r_tenon_y_span = 40.0
|
||||
|
||||
# 1. P02_Center (X = -195.0 .. 0.0, 195x190mm)
|
||||
x_c_min = -195.0
|
||||
x_c_max = 0.0
|
||||
x_c_len = x_c_max - x_c_min
|
||||
x_c_mid = (x_c_min + x_c_max) / 2.0
|
||||
|
||||
c_plate = (cq.Workplane("XY", origin=(x_c_mid, Y_COL, z0))
|
||||
.rect(x_c_len, y_width).extrude(z1)
|
||||
.edges("|Z and <X").fillet(8.0).edges("|Z and >X").fillet(8.0)
|
||||
.edges(">Z").fillet(2.0)).val()
|
||||
p02_c = cq.Shape(c_plate.wrapped)
|
||||
|
||||
# Socket collar (Z: 22..70mm)
|
||||
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()
|
||||
p02_c = p02_c.fuse(cq.Shape(collar_outer.wrapped))
|
||||
|
||||
# Front & Rear triangular gusset ribs
|
||||
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()
|
||||
p02_c = p02_c.fuse(cq.Shape(f_rib.wrapped))
|
||||
|
||||
r_pts = [(-155.0, z1), (-195.0, z1), (-195.0, z1 + 14.0), (-155.0, 70.0)]
|
||||
r_rib = (cq.Workplane("XZ", origin=(0, Y_COL, 0)).polyline(r_pts).close().extrude(19.0, both=True)).val()
|
||||
p02_c = p02_c.fuse(cq.Shape(r_rib.wrapped))
|
||||
|
||||
# Front wire guide
|
||||
wg_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(wg_pts).close().extrude(9.0, both=True)).val()
|
||||
p02_c = p02_c.cut(wire_guide)
|
||||
|
||||
# Column socket — stepped mortise: upper 66.6 bore for the 66 box walls,
|
||||
# lower 50.6 recess (floor 0.6 low) for the 50x50 bottom tenon; the recess
|
||||
# rim at z=22 is the axial seat, so column weight bears on face, not threads.
|
||||
socket_upper = (cq.Workplane("XY", origin=(X_COL, Y_COL, z1))
|
||||
.rect(66.6, 66.6).extrude(z_collar_top - z1 + 1.0)
|
||||
.edges("|Z").fillet(6.3)).val()
|
||||
p02_c = p02_c.cut(socket_upper)
|
||||
socket_lower = (cq.Workplane("XY", origin=(X_COL, Y_COL, 9.4))
|
||||
.rect(50.6, 50.6).extrude(z1 - 9.4)
|
||||
.edges("|Z").fillet(4.3)).val()
|
||||
p02_c = p02_c.cut(socket_lower)
|
||||
|
||||
# Vertical M5 clamp bolts (offsets match the asymmetric column tenon holes:
|
||||
# X −20/+16 blocks 180° flip, the ±18 Y span blocks 90° rotation).
|
||||
# Threads engage the tenon 15mm — clamp only, axial load rides on the seat.
|
||||
for xx in (X_COL - 20.0, X_COL + 16.0):
|
||||
for yy in (Y_COL - 18.0, Y_COL + 18.0):
|
||||
p02_c = p02_c.cut(cyl(2.75, -0.01, 10.5, xx, yy)).cut(cyl(5.0, -0.01, 6.0, xx, yy))
|
||||
|
||||
# Center clamp slots
|
||||
for cy in (Y_COL - 75.0, Y_COL + 75.0):
|
||||
plane = cq.Plane(origin=(x_c_mid, 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()
|
||||
p02_c = p02_c.cut(slot)
|
||||
|
||||
p02_c = p02_c.cut((cq.Workplane("XY", origin=(X_COL, Y_COL - 70.0, -0.01)).rect(28.0, 80.0).extrude(6.0)).val())
|
||||
|
||||
# Front mortise pockets
|
||||
for sign in (-1, 1):
|
||||
yy = Y_COL + sign * f_tenon_y_span
|
||||
front_mortise = (cq.Workplane("XY", origin=(-10.0, yy, 4.8))
|
||||
.rect(21.0, f_tenon_w + 0.8).extrude(12.6).edges("|Z and <X").fillet(3.0)).val()
|
||||
p02_c = p02_c.cut(front_mortise)
|
||||
p02_c = p02_c.cut(cyl(2.75, -0.01, z1 + 1.0, -10.0, yy))
|
||||
p02_c = p02_c.cut(cyl(5.0, z1 - 5.0, z1 + 1.0, -10.0, yy))
|
||||
|
||||
# Rear mortise pockets
|
||||
for sign in (-1, 1):
|
||||
yy = Y_COL + sign * r_tenon_y_span
|
||||
rear_mortise = (cq.Workplane("XY", origin=(-185.0, yy, 4.8))
|
||||
.rect(21.0, r_tenon_w + 0.8).extrude(12.6).edges("|Z and >X").fillet(3.0)).val()
|
||||
p02_c = p02_c.cut(rear_mortise)
|
||||
p02_c = p02_c.cut(cyl(2.75, -0.01, z1 + 1.0, -185.0, yy))
|
||||
p02_c = p02_c.cut(cyl(5.0, z1 - 5.0, z1 + 1.0, -185.0, yy))
|
||||
|
||||
# Debossed text on P02_Center top face. The mid-plate line (y=Y_COL) is
|
||||
# hidden behind the column collar and the gusset ribs, so both labels sit on
|
||||
# the flat -Y side strip (y = Y_COL-68) where they stay in full view from the
|
||||
# label side: REAR on the rear half, FRONT on the front half, clear of the
|
||||
# clamp slot (x -101..-94) and the M5 screw counterbores.
|
||||
txt_c_f = (cq.Workplane("XY", origin=(-49.0, Y_COL - 68.0, z1)).text("▲ FRONT (前向) ▲", 9.0, -0.8)).val()
|
||||
txt_c_r = (cq.Workplane("XY", origin=(-146.0, Y_COL - 68.0, z1)).text("▲ REAR (后向) ▲", 9.0, -0.8)).val()
|
||||
p02_c = p02_c.cut(cq.Shape(txt_c_f.wrapped)).cut(cq.Shape(txt_c_r.wrapped))
|
||||
|
||||
# 2. P02_Front (X = 0.0 .. 145.0, 145x190mm)
|
||||
x_f_len = 145.0
|
||||
x_f_mid = 72.5
|
||||
f_plate = (cq.Workplane("XY", origin=(x_f_mid, Y_COL, z0))
|
||||
.rect(x_f_len, y_width).extrude(z1)
|
||||
.edges("|Z and >X").fillet(16.0).edges(">Z").fillet(2.0)).val()
|
||||
p02_f = cq.Shape(f_plate.wrapped)
|
||||
|
||||
for cy in (Y_COL - 70.0, Y_COL + 70.0):
|
||||
plane = cq.Plane(origin=(120.0, 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()
|
||||
p02_f = p02_f.cut(slot)
|
||||
|
||||
for sign in (-1, 1):
|
||||
yy = Y_COL + sign * f_tenon_y_span
|
||||
tongue = (cq.Workplane("XY", origin=(-9.5, yy, 5.25))
|
||||
.rect(20.0, f_tenon_w - 0.2).extrude(11.5).edges("|Z and <X").fillet(2.5).edges("<X").chamfer(1.5)).val()
|
||||
p02_f = p02_f.fuse(cq.Shape(tongue.wrapped))
|
||||
p02_f = p02_f.cut(cyl(2.75, -0.01, z1 + 1.0, -10.0, yy))
|
||||
nut_pocket = (cq.Workplane("XY", origin=(-10.0, yy, -0.01)).polygon(6, 9.2).extrude(5.0)).val()
|
||||
p02_f = p02_f.cut(nut_pocket)
|
||||
|
||||
# Top-face engraving rotated 90 deg to run across the plate along +Y (user
|
||||
# request): letter tops face -X, so it reads upright from the front (+X).
|
||||
# "▲" points local +Y = world -X, i.e. toward the centre joint.
|
||||
txt_f = (cq.Workplane(cq.Plane(origin=(x_f_mid, Y_COL, z1), xDir=(0, 1, 0),
|
||||
normal=(0, 0, 1)))
|
||||
.text("P02-FRONT ▲ JOIN", 8.0, -0.8)).val()
|
||||
p02_f = p02_f.cut(cq.Shape(txt_f.wrapped))
|
||||
|
||||
# 3. P02_Rear (X = -240.0 .. -195.0, 45x190mm)
|
||||
x_r_len = 45.0
|
||||
x_r_mid = -217.5
|
||||
r_plate = (cq.Workplane("XY", origin=(x_r_mid, Y_COL, z0))
|
||||
.rect(x_r_len, y_width).extrude(z1)
|
||||
.edges("|Z and <X").fillet(16.0).edges(">Z").fillet(2.0)).val()
|
||||
p02_r = cq.Shape(r_plate.wrapped)
|
||||
|
||||
for cy in (Y_COL - 70.0, Y_COL + 70.0):
|
||||
plane = cq.Plane(origin=(-215.0, 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()
|
||||
p02_r = p02_r.cut(slot)
|
||||
|
||||
for sign in (-1, 1):
|
||||
yy = Y_COL + sign * r_tenon_y_span
|
||||
tongue = (cq.Workplane("XY", origin=(-185.5, yy, 5.25))
|
||||
.rect(20.0, r_tenon_w - 0.2).extrude(11.5).edges("|Z and >X").fillet(2.5).edges(">X").chamfer(1.5)).val()
|
||||
p02_r = p02_r.fuse(cq.Shape(tongue.wrapped))
|
||||
p02_r = p02_r.cut(cyl(2.75, -0.01, z1 + 1.0, -185.0, yy))
|
||||
nut_pocket = (cq.Workplane("XY", origin=(-185.0, yy, -0.01)).polygon(6, 9.2).extrude(5.0)).val()
|
||||
p02_r = p02_r.cut(nut_pocket)
|
||||
|
||||
# Same +Y rotation as the front plate; "▼" points local -Y = world +X,
|
||||
# i.e. toward the centre joint. Along +Y the ~73 mm text fits the 190 mm
|
||||
# plate width instead of overhanging its 45 mm X span.
|
||||
txt_r = (cq.Workplane(cq.Plane(origin=(x_r_mid, Y_COL, z1), xDir=(0, 1, 0),
|
||||
normal=(0, 0, 1)))
|
||||
.text("P02-REAR ▼ JOIN", 7.5, -0.8)).val()
|
||||
p02_r = p02_r.cut(cq.Shape(txt_r.wrapped))
|
||||
|
||||
return p02_c, p02_f, p02_r
|
||||
|
||||
|
||||
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
|
||||
|
||||
|
||||
JOINT = 'root'
|
||||
|
||||
|
||||
def specs(JS):
|
||||
"""本件的 (件号, 中文名, 构建 thunk, 配色, 说明) 清单；顺序即 BOM 顺序。"""
|
||||
p02_c, p02_f, p02_r = make_p02_poka_yoke()
|
||||
|
||||
return [
|
||||
("P02_Center_底座中核心_螺旋体30%_墙5底6_平打", "底座核心承力座", lambda: p02_c, 0x475569,
|
||||
"200mm适配中座：195x190mm核心承力座+48mm套筒+12mm阶梯榫座(轴向面承载)+前后三角加强筋+前后非对称防呆母榫槽+刻字"),
|
||||
("P02_Front_前向防翻力臂_螺旋体30%_墙4底5_平打", "前向防翻力臂", lambda: p02_f, 0xe11d48,
|
||||
"200mm适配前臂：145x190mm扩展力臂+104mm宽跨距双公榫+底部M5预埋螺母沉槽+P02-FRONT刻字"),
|
||||
("P02_Rear_后向防翻力臂_螺旋体30%_墙4底5_平打", "后向防翻力臂", lambda: p02_r, 0xd97706,
|
||||
"200mm适配后臂：45x190mm扩展力臂+80mm窄跨距双公榫+底部M5预埋螺母沉槽+P02-REAR刻字"),
|
||||
]
|
||||
@@ -0,0 +1,417 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""P03 肩吊臂：板式桁架 + 侧开式电机托架 + M1 后置法兰。"""
|
||||
import cadquery as cq
|
||||
import math
|
||||
from arm.cad.helpers import cyl
|
||||
from arm.cad.arm_build import Yplate, bx
|
||||
from arm.kinematics import X_BAY_EXT, Y_AXIS, Z_CHEST1, Z_R1, Z_RL
|
||||
from arm.cad.part_tools import Xcyl, make_surface_tie_bridge
|
||||
from arm.cad.parts.p01_column import X_COL, Y_COL, Z_LOCK
|
||||
|
||||
|
||||
def p_girdle(j1):
|
||||
"""P03_肩关节安装悬臂 (轻量化板式桁架版 + 侧开式电机托架):
|
||||
1. 10mm 后端重载法兰盘 (X: -61.0..-51.0, 74x74mm)；
|
||||
2. 主干由 66mm 实心块改为双侧 6mm 桁架竖板 (Y = Y_ARM ± 27..33)，外轮廓保持旧版
|
||||
"主干 ∪ 侧筋"并集不变 —— 只减材料不加体积，零新增干涉风险；实心 728 -> 286 cm³ (-61%)；
|
||||
3. 竖板帐篷形减重窗 (顶/底斜面 ≥52°，自支撑；仅 20mm 平顶可桥接)；
|
||||
4. 底部 9mm 承力鞍座 + 43.4x43.4 定位榫头 (配 P01_C 44x44 内腔，单边 0.3mm 间隙)；
|
||||
鞍座底面 66x66 与立柱顶环带承压面积 2403mm² —— 竖向载荷走面压，螺栓只防上抬/防滑；
|
||||
5. 4x 安装孔 (X_COL±27.5, Y_COL±13.5)：Ø3.9 直孔，M4x16 从上方直接拧入自攻成型
|
||||
（鞍座与立柱顶环同径，无过孔/沉孔/预埋），可拆装；
|
||||
6. 下腹中央龙骨筋 (12mm 中位腹板，自鞍座斜拉至法兰下缘) + 顶部横向锁紧环抱筋 (66x9x10mm，
|
||||
与两侧竖板外面齐平、顶面压在筋板脊线上，仅顶前棱一道 2mm 倒角)；
|
||||
7. 侧开式电机托架 (+Y侧全开, X: -51.0..11.5，前端随 X_BAY_EXT 前延 3mm)，
|
||||
M1 电机可从侧方斜插卡入装配（插槽比电机长 3mm），由后端法兰 4xM3x16 锁死；
|
||||
电机舱 Ø60.7 从后端直通到前端面（2026-10-02 用户裁定"去掉台阶改成平的"：无环形台阶、
|
||||
无喇叭锥；原前置止脱锁紧法兰 4xM3 随之取消，电机轴向由后端 4xM3x16 约束）；
|
||||
9. 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；
|
||||
10. Ø26mm 中央走线孔；竖板间为开放腔体（无封闭空腔），M3 螺丝刀通道直接走腔体，拧紧更顺手。
|
||||
11. 三处外凸扎带拱桥（10x8mm、站出 3.2mm、桥下 3.2x1.8 穿带隧道）：①桁架竖板面 Y=95、
|
||||
②后置法兰面 Y=91、③Ø73 舱体 −Y 母线 Y=91.5 —— 安装面按各处真实表面取；原来统一按
|
||||
Y=95 放，②③ 被筒壁吞成露出 0mm、且压在 34x20 散热舷窗的贯通孔上，等于没有固定点。
|
||||
"""
|
||||
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
|
||||
Y_P_IN = 27.0 # 桁架竖板内表面 (Y_ARM ± 27)
|
||||
Y_P_OUT = 33.0 # 桁架竖板外表面 (与旧主干齐平)
|
||||
T_SADDLE = 9.0 # 底部鞍座厚度
|
||||
TENON = 43.4 # 定位榫头边长（P01_C 内腔 44x44 R4，单边留 0.3mm）
|
||||
WIN_R = 4.0 # 竖板减重窗内角圆角（消除内尖角应力集中，Kt 由 ~2.5 降到 ~1.2）
|
||||
BOLT_DX, BOLT_DY = 27.5, 13.5 # 4x 安装孔相对立柱中心偏移：落在顶环 11mm 实体壁内
|
||||
|
||||
# 1. 主安装法兰盘 (74x74mm, 四角倒圆 R=8mm)
|
||||
# 背面那圈 2mm 倒角已去掉：板料只伸进法兰 0.1mm，倒角面与板背面相交会在
|
||||
# Z≈574.9 挤出一批 2mm 短棱，正是这批短棱让整条交接内棱网络倒不出圆角；
|
||||
# 同时它跨过 R8 角部圆弧，就是角上那道"卷起来"的怪倒角。
|
||||
flange = (cq.Workplane("YZ", origin=(X_BACK, Y_ARM, Z_ARM))
|
||||
.rect(74.0, 74.0)
|
||||
.extrude(T_FLANGE)
|
||||
.edges("|X").fillet(8.0)).val()
|
||||
s = cq.Shape(flange.wrapped)
|
||||
|
||||
# 2. 双侧桁架竖板 (6mm)：旧"斜挑支撑主干"与"大三角加强筋"轮廓同段挤出 → 自动并集成单块侧板
|
||||
# 主干的后缘两点取在加强筋斜边的延长线上，使外轮廓顶部成为一整条直线
|
||||
# （否则后缘 (-148,550) 处有 5° 折点、留下 5mm 台阶）。
|
||||
# Z_CREST = 侧筋脊线高度，同时是顶筋 2mm 顶前倒角的下沿：倒角从 (X-71,Z_CREST)
|
||||
# 斜上到 (X-69,Z_CREST+2) = 顶筋顶面，斜坡面与倒角面几乎相切，顶部读起来是一整张面。
|
||||
Z_CREST = Z_ARM + 33.0 # 643（初版 642；顶筋整体上移 3mm 让出扳手空间后跟着抬）
|
||||
|
||||
RIB_SLOPE = (Z_CREST - 575.0) / ((X_BACK - 10.0) - (X_COL - 15.0))
|
||||
|
||||
def rib_line_z(x):
|
||||
return Z_CREST + RIB_SLOPE * (x - (X_BACK - 10.0))
|
||||
|
||||
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, rib_line_z(X_COL - 10.0)),
|
||||
(X_COL - 33.0, rib_line_z(X_COL - 33.0)),
|
||||
]
|
||||
rib_pts = [
|
||||
(X_COL - 33.0, Z_CHEST1), # 底边两端与主干/鞍座对齐 (±33)：原来收进 3mm，
|
||||
(X_COL + 33.0, Z_CHEST1), # 会在鞍座顶面上留下 0.7/3mm 短棱，卡住整条底棱圆角
|
||||
(X_BACK + 0.1, 565.0),
|
||||
(X_BACK + 0.1, Z_CREST),
|
||||
(X_BACK - 10.0, Z_CREST), # 脊线 (-71,643)：正好落在顶筋前面与 2mm 倒角下沿的交点
|
||||
(X_COL - 15.0, 575.0),
|
||||
(X_COL - 30.0, 530.0),
|
||||
]
|
||||
for sign in (-1, 1):
|
||||
ya = Y_ARM + sign * Y_P_IN
|
||||
yb = Y_ARM + sign * Y_P_OUT
|
||||
y0, y1 = min(ya, yb), max(ya, yb)
|
||||
for prof in (trunk_pts, rib_pts):
|
||||
s = s.fuse(cq.Shape(Yplate(prof, y0, y1).wrapped))
|
||||
|
||||
# 3. 竖板减重窗 (帐篷形：斜面 ≥52° 自支撑、仅 20mm 平顶可桥接；避开鞍座与 M5 螺母柱)
|
||||
# 6 个内角全部 R4 圆角：把内尖角应力集中 (Kt≈2.5) 降到 ≈1.2，同时圆角面仍是竖直/自支撑面
|
||||
win_pts = [
|
||||
(X_COL - 24.0, 498.0), (X_COL + 23.0, 498.0), (X_COL + 25.0, 522.0),
|
||||
(X_COL + 10.0, 545.0), (X_COL - 10.0, 545.0), (X_COL - 25.0, 524.0),
|
||||
]
|
||||
for sign in (-1, 1):
|
||||
yc = Y_ARM + sign * 0.5 * (Y_P_IN + Y_P_OUT)
|
||||
tool = (cq.Workplane("XZ", origin=(0, yc, 0)).polyline(win_pts).close()
|
||||
.extrude(Y_P_OUT - Y_P_IN + 1.0, both=True)
|
||||
.edges("|Y").fillet(WIN_R).val())
|
||||
s = s.cut(cq.Shape(tool.wrapped))
|
||||
|
||||
# 4. 底部承力鞍座：坐实立柱顶面，把两竖板、龙骨与榫头连成整体
|
||||
s = s.fuse(bx(X_COL - 33.0, X_COL + 33.0, Y_ARM - Y_P_OUT, Y_ARM + Y_P_OUT,
|
||||
Z_CHEST1, Z_CHEST1 + T_SADDLE))
|
||||
|
||||
# 5. 下腹部纵向抗弯龙骨筋 (12mm 中位腹板，自鞍座斜拉至法兰背面；交接内棱在融合后做真 3D 圆角)
|
||||
keel_pts = [
|
||||
(X_COL + 33.0, Z_CHEST1), # (-82, 470)
|
||||
(X_COL + 33.0, 495.0), # (-82, 495)
|
||||
(X_BACK + 0.1, 573.0), # (-60.9, 573) 斜拉至法兰背面
|
||||
(X_BACK + 0.1, 594.4), # (-60.9, 594.4) 顶端贴法兰
|
||||
(X_COL + 42.1, 585.0), # (-72.9, 585)
|
||||
(X_COL + 20.0, Z_CHEST1), # (-95, 470) 背面一路斜到底：原来在 (-95,480) 有个折点，
|
||||
] # 折点离鞍座顶面只 1mm，R2.5 圆角爬不上去 → 龙骨底棱整组倒不出
|
||||
s = s.fuse(cq.Shape(Yplate(keel_pts, Y_ARM - 6.0, Y_ARM + 6.0).wrapped))
|
||||
|
||||
# 7. 顶部横向锁紧环抱横筋：Y 向与两竖板外面齐平 (Y_ARM±33)、前面与筋板脊线共面 (X=-71)、
|
||||
# 顶面 Z=645 压住脊线 (Z=643) 并与 2mm 顶前倒角相切 → 顶筋与两侧脊线合成一整块。
|
||||
# 整体比初版抬高 3mm (底面 633→636)：4x M3 后端沉孔 Ø6.5 跨在 Z 627.2..633.7 上，
|
||||
# 底面 633 会压住孔口上沿 0.7mm、扳手让位只剩负间隙；抬到 636 后退到孔口上方 2.3mm、
|
||||
# 离螺钉轴线 5.55mm。顶面 645 不越过法兰 R8 角部圆弧在 Y=95 处的 645.9 上界。
|
||||
tie_rib = (cq.Workplane("YZ", origin=(X_BACK - 10.0, Y_ARM, Z_ARM + 30.5))
|
||||
.rect(66.0, 9.0)
|
||||
.extrude(10.0)
|
||||
.edges(cq.selectors.BoxSelector((X_BACK - 10.5, Y_ARM - 34.0, Z_ARM + 34.5),
|
||||
(X_BACK - 9.5, Y_ARM + 34.0, Z_ARM + 35.5)))
|
||||
.chamfer(2.0)).val()
|
||||
s = s.fuse(cq.Shape(tie_rib.wrapped))
|
||||
|
||||
# 6.y 体-体交接凹棱：融合完成后对"凹棱"直接做真 3D 圆角。
|
||||
# 原先这里是手工沿棱 fuse 的 10 条"正方形−四分之一圆"焊珠小体（_cove），已整体删除：
|
||||
# 焊珠端面是平的、悬在半空，两条互相垂直的焊珠在角上互不搭接 → 圆角"缺一块"，
|
||||
# 并与相邻体的棱互相穿插留 1~3mm² 碎面。真圆角在面边界自然收口、多棱相交处由 OCC
|
||||
# 生成角部补片。
|
||||
from cadquery import selectors as _sel
|
||||
from OCP.BRepAdaptor import BRepAdaptor_Surface
|
||||
from OCP.GeomAbs import GeomAbs_Plane
|
||||
from OCP.TopAbs import TopAbs_REVERSED
|
||||
|
||||
def _outward(f, sh):
|
||||
"""平面面的外法向：先按 Orientation 修正，再用"面中心外移 1mm 是否仍在实体内"兜方向。"""
|
||||
ad = BRepAdaptor_Surface(f.wrapped)
|
||||
if ad.GetType() != GeomAbs_Plane:
|
||||
return None
|
||||
ax = ad.Plane().Axis().Direction()
|
||||
n = cq.Vector(ax.X(), ax.Y(), ax.Z())
|
||||
if f.wrapped.Orientation() == TopAbs_REVERSED:
|
||||
n = n * -1.0
|
||||
c = f.Center()
|
||||
if cq.Solid(sh.wrapped).isInside(cq.Vector(c.x + n.x, c.y + n.y, c.z + n.z), 1e-6):
|
||||
n = n * -1.0
|
||||
return n
|
||||
|
||||
def _fillet_reflex(lo, hi, radii, tag, eps=0.9):
|
||||
"""倒出 lo~hi 区域内的凹棱（两面夹 270° 材料）。判据：从棱中点沿 (n1-n2) 外探 eps，
|
||||
落在实体内 = 凹、落在外 = 凸。区域内凹棱先整批一次倒（半径逐级降级，且倒完验拓扑：
|
||||
OCC 会给出"没抛异常但面已坏"的结果），建不出时按相连棱分组逐组倒。"""
|
||||
nonlocal s
|
||||
|
||||
def _pick(sh):
|
||||
edges = sh.Edges()
|
||||
idx = {}
|
||||
for i, e in enumerate(edges):
|
||||
idx[e.hashCode()] = i
|
||||
adj = [[] for _ in edges]
|
||||
for f in sh.Faces():
|
||||
for ee in f.Edges():
|
||||
k = idx.get(ee.hashCode())
|
||||
if k is not None:
|
||||
adj[k].append(f)
|
||||
box = _sel.BoxSelector(lo, hi)
|
||||
out = []
|
||||
for i, e in enumerate(edges):
|
||||
if e.Length() <= 6.0 or len(adj[i]) != 2 or not box.filter([e]):
|
||||
continue
|
||||
n1 = _outward(adj[i][0], sh)
|
||||
n2 = _outward(adj[i][1], sh)
|
||||
if n1 is None or n2 is None:
|
||||
continue
|
||||
dx, dy, dz = n1.x - n2.x, n1.y - n2.y, n1.z - n2.z
|
||||
ln = math.sqrt(dx * dx + dy * dy + dz * dz)
|
||||
if ln < 1e-6:
|
||||
continue
|
||||
p = e.Center()
|
||||
if cq.Solid(sh.wrapped).isInside(
|
||||
cq.Vector(p.x + dx / ln * eps, p.y + dy / ln * eps,
|
||||
p.z + dz / ln * eps), 1e-6):
|
||||
out.append(e)
|
||||
return out
|
||||
|
||||
es0 = _pick(s)
|
||||
if not es0:
|
||||
print(" [P03 真圆角] %-14s 区域内无凹棱，跳过" % tag, flush=True)
|
||||
return
|
||||
|
||||
def _groups(ee):
|
||||
"""按共端点把凹棱连成链/网络：一组一次倒，OCC 才能在交汇处生成角部补片；
|
||||
逐条倒会在交汇处留下断口（看着就像圆角倒一半停了）。"""
|
||||
pts = [e.Vertices() or [e.Center()] for e in ee]
|
||||
par = list(range(len(ee)))
|
||||
|
||||
def find(a):
|
||||
while par[a] != a:
|
||||
par[a] = par[par[a]]
|
||||
a = par[a]
|
||||
return a
|
||||
|
||||
for i in range(len(ee)):
|
||||
for j in range(i + 1, len(ee)):
|
||||
if any(pi.distance(pj) < 0.05 for pi in pts[i] for pj in pts[j]):
|
||||
par[find(i)] = find(j)
|
||||
g = {}
|
||||
for i in range(len(ee)):
|
||||
g.setdefault(find(i), []).append(ee[i])
|
||||
return list(g.values())
|
||||
|
||||
def _do(edges_, rr):
|
||||
"""倒完立刻验拓扑：OCC 会给出"没抛异常但面已坏"的结果，必须挡下来。"""
|
||||
try:
|
||||
ns = cq.Shape(cq.Solid(s.wrapped).fillet(rr, edges_).wrapped)
|
||||
except Exception:
|
||||
return None
|
||||
return ns if cq.Solid(ns.wrapped).isValid() else None
|
||||
|
||||
# 先试"区域内全部凹棱一次倒"（探针实测这样能整批成型，且只重建一次，
|
||||
# 不会像分批那样把同一张面反复重算坏掉）；不行再按相连棱分组逐组倒。
|
||||
for rr in radii:
|
||||
ns = _do(es0, rr)
|
||||
if ns is not None:
|
||||
s = ns
|
||||
print(" [P03 真圆角] %-14s %d 条凹棱 R%.1f ✓ 整批一次成型"
|
||||
% (tag, len(es0), rr), flush=True)
|
||||
return
|
||||
|
||||
n_ok, n_grp, left = 0, 0, len(es0)
|
||||
for _ in range(24):
|
||||
es = _pick(s)
|
||||
if not es:
|
||||
break
|
||||
got = False
|
||||
for g in sorted(_groups(es), key=lambda g: -sum(e.Length() for e in g)):
|
||||
for rr in radii:
|
||||
ns = _do(g, rr)
|
||||
if ns is None:
|
||||
continue
|
||||
s = ns
|
||||
n_ok += len(g)
|
||||
n_grp += 1
|
||||
print(" [P03 真圆角] %-14s 第%d组 %d 条 R%.1f ✓"
|
||||
% (tag, n_grp, len(g), rr), flush=True)
|
||||
got = True
|
||||
break
|
||||
if got:
|
||||
break
|
||||
if not got:
|
||||
left = len(es)
|
||||
break
|
||||
print(" [P03 真圆角] %-14s 共 %d 组 %d 条凹棱倒圆，剩 %d 条保持尖棱"
|
||||
% (tag, n_grp, n_ok, left), flush=True)
|
||||
|
||||
XR, YC, ZS = X_BACK, Y_ARM, Z_CHEST1 + T_SADDLE # -61, 128, 479
|
||||
# —— 鞍座顶面 (Z=479) 上的交接内棱：龙骨三条 + 两竖板内侧两条，一次真圆角 ——
|
||||
# 半径上限 2.0：龙骨侧面 Y=122 与 M5 螺钉头外缘 Y=118.75 只隔 3.25mm，
|
||||
# 原来的 R3 焊珠会顶到螺帽承压边，R2.0 留 1.25mm。
|
||||
_fillet_reflex((X_COL - 34.0, Y_ARM - 40.0, ZS - 3.0),
|
||||
(X_COL + 34.0, Y_ARM + 40.0, ZS + 7.0),
|
||||
(2.0, 1.5), "鞍座顶面交接")
|
||||
# —— 法兰背面 (X=-61) 上的交接内棱：只倒竖板/龙骨的竖直棱 ——
|
||||
# 顶筋底面那条水平棱 (Z=636) 不倒：4x M3 沉孔 Ø6.5 在 Z 627.2..633.7，
|
||||
# 倒上 R2.5 会把螺钉上方 5.55mm 的扳手让位吃掉 2.5mm。
|
||||
# 上界取 631：竖板内棱被顶筋底面切成 573..636 / 636..643 两段，只倒下面长的那段
|
||||
# ——把 636..643 的 7mm 短段并进来，整批就从"一次成型"退化成逐组、且少倒 6 条。
|
||||
_fillet_reflex((X_BACK - 3.0, Y_ARM - 40.0, 570.0),
|
||||
(X_BACK + 3.0, Y_ARM + 40.0, 631.0),
|
||||
(2.5, 2.0, 1.5), "竖板/龙骨↔法兰")
|
||||
_fillet_reflex((X_BACK - 3.0, Y_ARM - 40.0, Z_ARM + 34.5),
|
||||
(X_BACK + 3.0, Y_ARM + 40.0, Z_ARM + 35.5),
|
||||
(1.5, 1.0), "顶筋顶↔法兰")
|
||||
|
||||
# 与立柱顶部配合的定位榫头 (43.4x43.4x15mm)：配 P01_C 44x44 R4 内腔，单边 0.3mm 滑配
|
||||
boss = (cq.Workplane("XY", origin=(X_COL, Y_COL, Z_CHEST1 - 15.0))
|
||||
.rect(TENON, TENON)
|
||||
.extrude(15.0)
|
||||
.edges("|Z").fillet(4.2)).val()
|
||||
s = s.fuse(cq.Shape(boss.wrapped))
|
||||
|
||||
# 4x 安装孔：统一 Ø3.9 直孔（M4x16 从腔体正上方拧入自攻成型；鞍座与立柱顶环同径、无沉孔）
|
||||
# 孔位 (X_COL±27.5, Y_COL±13.5) 同时满足：①在立柱顶环实体壁内（内腔 22 → 外壁 33）；
|
||||
# ②在 P03 两竖板之间、避开中间龙骨，从腔体正上方用扳手可直接拧紧。
|
||||
for xx in (X_COL - BOLT_DX, X_COL + BOLT_DX):
|
||||
for yy in (Y_COL - BOLT_DY, Y_COL + BOLT_DY):
|
||||
s = s.cut(cyl(1.95, Z_CHEST1 - 0.5, Z_CHEST1 + T_SADDLE + 0.5, xx, yy))
|
||||
|
||||
# 1x 横向防脱锁紧：榫头 −X 侧向内 Ø3.9x14 直孔（与立柱后壁 Ø3.9 孔同轴，M4x16 拧入自攻）
|
||||
s = s.cut(Xcyl(1.95, X_COL - TENON / 2.0 - 1.0, X_COL - TENON / 2.0 + 14.0, Y_COL, Z_LOCK))
|
||||
|
||||
# 【线束过线孔】榫头/鞍座中央 22x22mm 竖向贯通方孔 (直通 P01 立柱 44x44mm 内腔，容纳 20x20mm 接插件)
|
||||
saddle_wire = (cq.Workplane("XY", origin=(X_COL, Y_COL, Z_CHEST1 - 16.0))
|
||||
.rect(22.0, 22.0)
|
||||
.extrude(T_SADDLE + 17.0)
|
||||
.edges("|Z").fillet(3.0)).val()
|
||||
s = s.cut(cq.Shape(saddle_wire.wrapped))
|
||||
|
||||
# 4x M3 连接螺孔（螺丝刀通道直接走两竖板之间的开放腔体，无需再钻 Ø8.5 直通隧道）
|
||||
# 4x M3 连接螺孔（螺丝刀通道直接走两竖板之间的开放腔体，无需再钻 Ø8.5 直通隧道）
|
||||
# 孔位 = 电机尾端 4x M3 螺纹径向槽实测位（电机.STEP）：BCD55。
|
||||
# 【2026-10-07 整改】M1 电机沿 +X 轴旋转 5.35° 后，4x M3 后端孔完全规整对齐 45°/135°/225°/315° 正四角
|
||||
# (dy, dz = ±19.45, ±19.45)，水平与竖直完全齐平规整，且与旋转后的 M1 尾端 4xM3 槽完全同心
|
||||
for dy, dz in ((19.45, 19.45), (-19.45, 19.45), (-19.45, -19.45), (19.45, -19.45)):
|
||||
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)
|
||||
s = s.cut(th).cut(cb)
|
||||
|
||||
# 6. 前向电机全包托架 (X: -51.0..8.5+X_BAY_EXT=11.5，Ø60.7 舱孔平直贯通到端面)
|
||||
# 端面随插槽加长前延 X_BAY_EXT；叉板背面(10.5+X_FORK_GAP=11.5)与端面 0.0 硬贴平
|
||||
# （用户两次要求"搞成平的"；J1 转动摩擦由用户知悉，发涩时可微松 M2）
|
||||
X_FRONT = 8.5 + X_BAY_EXT
|
||||
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（最终状态，2026-10-02 用户裁定"去掉台阶改成平的+保留固定电机的面"）：
|
||||
# Ø60.7 圆柱孔壁从前端面平直贯通到舱底（无窄颈、无台阶、无喇叭锥）；
|
||||
# 舱底 = 一个完整的平坦环面（X=5.06+X_BAY_EXT=8.06，与插槽末端墙共面，中开 Ø39 凸台过孔）
|
||||
# ——即电机前限位面。电机轴向由后端法兰 4xM3x16 约束；
|
||||
# 前端锁紧由 4 个 Ø10 局部凸台上的 M3 圆柱头螺钉承担（见下方凸台段）。
|
||||
motor_pocket = Xcyl(R_BORE, X_MOUNT - 0.2, 5.06 + X_BAY_EXT, Y_ARM, Z_ARM)
|
||||
s = s.cut(motor_pocket)
|
||||
|
||||
# 4x 前置 M3 锁紧螺钉凸台（BCD=55mm，跟随 M1 电机旋转 5.35° -> 22.82°/112.82°/202.82°/292.82°）：
|
||||
# 平直舱孔的沉头座位由 4 个 Ø10 局部凸台承载——凸台位于舱孔前段 8.06..11.5，
|
||||
# 电机前端面(5.0)之前 3mm，电机斜插路径不经过；M3x8 圆柱头坐在凸台沉孔
|
||||
# 底(x=9.5)旋入电机前端面，咬合 3.5mm，与旋转后的 M1 前端盖实测 4xM3 螺孔精确同心
|
||||
for deg in (22.82, 112.82, 202.82, 292.82):
|
||||
rad = math.radians(deg)
|
||||
fy = Y_ARM + 27.5 * math.cos(rad)
|
||||
fz = Z_ARM + 27.5 * math.sin(rad)
|
||||
s = s.fuse(Xcyl(5.0, 5.06 + X_BAY_EXT, X_FRONT, fy, fz))
|
||||
th = Xcyl(1.6, 5.06 + X_BAY_EXT, X_FRONT, fy, fz)
|
||||
cb = Xcyl(3.0, X_FRONT - 2.0, X_FRONT, fy, fz)
|
||||
s = s.cut(th).cut(cb)
|
||||
|
||||
# J1 输出凸台过孔 (Ø39 × 3.44——J1 凸台与 3xM2 输出螺钉的必经孔，非台阶；
|
||||
# 原 6.7mm 长颈与半圆台肩已随舱底前移一并消除)
|
||||
hub_clearance = Xcyl(19.5, 4.8, X_FRONT + 0.5, Y_ARM, Z_ARM)
|
||||
s = s.cut(hub_clearance)
|
||||
|
||||
# 8. 电机托架 +Y 侧全开（侧开式半包，替代原封闭全包筒）：
|
||||
# M1 电机可从 +Y 侧方直线滑入托架完成装配——原封闭筒电机物理上无法装入。
|
||||
# 轴向约束：后端法兰 4xM3（电机尾端面）单向锁死（前置止脱法兰随平直舱孔要求取消）；
|
||||
# 径向约束：Ø60.7 精密滑配托架底 + 重力贴底。开口前端至 5.06+X_BAY_EXT=8.06
|
||||
# （比电机前端面多 3mm 斜插余量，电机可倾斜卡入），止脱法兰环随之前移、环宽保持 3.44mm。
|
||||
s = s.cut(bx(X_MOUNT, 5.06 + X_BAY_EXT, Y_ARM, Y_ARM + 60.0, Z_ARM - 60.0, Z_ARM + 60.0))
|
||||
|
||||
# 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)
|
||||
|
||||
# 8. 实体表面外凸式扎带拱桥 (10x8mm 拱形穿带座，一体成型，扎带从桥下 3.2x1.8 隧道穿过)：
|
||||
# 安装面一律取"该处的真实表面"——原来三处全按竖板面 Y=95 放，而 ②③ 落在 Ø73 舱体上，
|
||||
# 舱面母线只到 Y=91.5，桥体 3.2mm 被筒壁整段吞掉（露出 0.0mm、穿带孔被壁填死）= 没有固定点。
|
||||
# 组①：桁架竖板平面段 X=-85, Z=570, 贴 Y=95 平面，竖直穿带 —— 与 P04 三处同配方，不动
|
||||
# 组②：后置法兰 −Y 平面 X=-56, Z=610, 贴 Y=91 (法兰 74 宽 → 面在 128-37)
|
||||
# 选法兰面而不是舱面：法兰是 10mm 整实料；且线束过了 X=-61 必须绕开 Y=91 这道 4mm 台阶，
|
||||
# 贴法兰面后法兰带内线皮净空 2.78mm，走舱面径向则线要外拱、只剩 0.33mm。
|
||||
# X 向留 1.0mm 不越法兰前后脸，Z 向 606..614 在 R8 圆角之间 (581..639) 全平面。
|
||||
# 组③：舱体 −Y 母线实料段 X=+5.5, Z=610, 贴 Y=91.5 切点，动静接缝前锚固点
|
||||
# 离舷窗前缘 (最外到 X=-8.3) 10.3mm、离前端 1.5 倒角 (X=10 起) 1.0mm；
|
||||
# 穿带孔由沿 X 改成沿 Z —— 此处线束沿 X 走，孔轴必须垂直于线才抱得住。
|
||||
Y_FACE_FLANGE = Y_ARM - 37.0 # 91.0 法兰 −Y 承面
|
||||
Y_TAN = Y_ARM - R_POD # 91.5 舱体最外的 −Y 母线（切点）
|
||||
for tx, ys, tz, wx in ((-85.0, Y_ARM - Y_P_OUT, 570.0, 10.0),
|
||||
(-56.0, Y_FACE_FLANGE, 610.0, 8.0),
|
||||
(5.5, Y_TAN, 610.0, 7.0)):
|
||||
s = s.fuse(make_surface_tie_bridge(tx, ys, tz, w_x=wx, l_z=8.0, h_y=3.2,
|
||||
slot_w=3.2, slot_h=1.8, tunnel_dir='Z'))
|
||||
|
||||
return s
|
||||
|
||||
|
||||
JOINT = 'root'
|
||||
|
||||
|
||||
def specs(JS):
|
||||
"""本件的 (件号, 中文名, 构建 thunk, 配色, 说明) 清单；顺序即 BOM 顺序。"""
|
||||
j1 = JS["J1"]
|
||||
return [
|
||||
("P03_肩吊臂_螺旋体35%_墙5底5_竖打", "肩关节安装悬臂", lambda: p_girdle(j1), 0x4b5563,
|
||||
"轻量化板式桁架版：主干由 66mm 实心块改为双侧 6mm 桁架竖板+帐篷减重窗(斜面≥52°自支撑)+R4内角，外轮廓与旧版并集完全一致，实心 728->286cm³；底部 9mm 承力鞍座(Ø3.9 安装孔)+12mm 中位龙骨筋(自鞍座斜拉至法兰下缘)+40~45°外扩斜撑；保留 10mm 后置法兰、侧开式电机托架、Ø60.7 直通电机舱(平孔无台阶)(M1 从+Y滑入,后端 4xM3x16 锁死)、大散热窗与对流槽；【2026-10-07 电机旋转整改】M1 电机旋转 5.35°：后置法兰 4xM3 连接孔完全规整对齐 45°/135°/225°/315° 正四角(dy,dz=±19.45mm)，前端 4xM3 锁紧凸台同步旋转至 22.82°+90k，消除原有倾斜，与 M1 前后端盖螺孔精确同心；无封闭空腔、免支撑"),
|
||||
]
|
||||
File diff suppressed because one or more lines are too long
@@ -0,0 +1,38 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""P05 大臂旋转座：J2 俯仰 -> J3 滚转（复用 part_tools 的 pitch->roll 骨架）。"""
|
||||
import cadquery as cq
|
||||
from arm.kinematics import Z_R3, Z_SH
|
||||
from arm.cad.part_tools import make_pitch_to_roll_bracket
|
||||
|
||||
def p_shoulder_roll_base(j2, j3, half=None):
|
||||
"""P05_大臂旋转座_螺旋体30%_墙4底5_竖打（深度圆角优化版）
|
||||
|
||||
本件在链路上有两重身份，两处让位都是为前端压盖：
|
||||
1. hub_gap=6.0（从动侧）：J2 处 P04 新增了 M2 前端压盖（前端夹紧电机，消除大扭矩下的
|
||||
倾斜），压盖占 Y 155.5..161.0，所以从动法兰盘背面必须从 Y=157 后移到 Y=162
|
||||
（留 1.0mm 动间隙）。
|
||||
2. roll_clamp=True（前端夹紧侧）：P05 自己抱着 M3（J3，-Z 轴），原来也只有后端板
|
||||
4xM3x10 单面锁死；现在按 motor_front_clamp 的统一配方在 M3 前端盖外端面
|
||||
（Z=389）加一枚 R35 压盖（Z 384..389，4xM3x8 BCD55），与后端板前后双向面压，
|
||||
倾斜自由度归零。代价是对侧从动件 P06 的 J3 毂面整体后移 CLAMP_BACKOFF=5.5
|
||||
（Z 388.5→383.0），见 p_humerus_bone。
|
||||
P08 保持默认 —— J5 处 P07 的前端压盖已做（只需 6.0 的 hub_gap），而 J6 的 M6
|
||||
前端压盖尚未做，故 roll_clamp 传 False。
|
||||
"""
|
||||
s = make_pitch_to_roll_bracket(j2, j3, Z_SH, Z_R3,
|
||||
name="P05_大臂旋转座_螺旋体30%_墙4底5_竖打",
|
||||
hub_gap=6.0, roll_clamp=True)
|
||||
return s
|
||||
|
||||
|
||||
JOINT = 'J2'
|
||||
|
||||
|
||||
def specs(JS):
|
||||
"""本件的 (件号, 中文名, 构建 thunk, 配色, 说明) 清单；顺序即 BOM 顺序。"""
|
||||
j2 = JS["J2"]
|
||||
j3 = JS["J3"]
|
||||
return [
|
||||
("P05_大臂旋转座_螺旋体30%_墙4底5_竖打", "大臂旋转座", lambda: p_shoulder_roll_base(j2, j3, None), 0x059669,
|
||||
"V3圆角+ J2前端夹紧配合：Loft外轮廓R=10mm，后缘凸包两角90°竖棱磨R2圆角（结构/后缘高度不变，打印无悬挂）；【2026-10-07 侧壁放样斜棱圆角】侧壁与有机放样交汇处斜向硬折棱倒R3圆角，消除侧立面与正面放样弧面接缝硬棱，表面光影与触感圆润流线；【2026-10-07】L型内转角R1.5精细圆角（将圆角半径精调至1.5mm，完全杜绝算法异常与外凸台阶，平滑过渡并消除直角应力集中，与螺钉沉孔/运动间隙保持充裕余量）；【2026-10-07 电机座内凹槽与边缘突起消除】彻底消除承压面内侧 4.5mm 环形内凹槽（全腔单一 BAY_R 贯通无接缝），同时 cut_open 敞口高度上限延伸至承压面 (z_r + REAR_SEAT)，侧壁完全平直对齐下方壁面，彻底消除侧沿悬垂突耳；J2 从动法兰盘背面由 Y=157 后移至 Y=162（hub_gap=6.0，给 P04 新增的 M2 前端压盖让位，J2 直锁凸台同步加长到 Y=165.5，3xS01 输出螺钉咬合量不变）；保证 J2 全角度 0 干涉；【2026-10-05d 只切敞口那一圈围挡】用户指出 M3 电机前端(另一头)也有一圈围挡：Z389.0~395.5 的 r30.25~35 前端定位环(6mm 高环墙) + 骑在它上面的 R35 压盖外圈(Ø70 比电机 Ø63.6 凸 3.2mm)，把 M3 前端盖连同穿过 Ø37 孔的 P06 J3 凸台围在中间。第一版把整个前端(定位环+压盖+腔口下沿 389->395)都切了属过度(电机前端失去支撑面、M3 退回单面锁死)，已回退；现只切敞口(-Y)那一圈(盒切，Y 界限与 cut_open 一致)，-Y 半圈从 Z=395.5 一路开到压盖背面 Z=389，背脊(+Y)侧整圈保留作前端盖定位与压盖唯一且足够强的支撑面(4.75mm 宽 x 0.5mm 熔接带)；压盖本体/Ø37 孔/4xM3x8 沉孔/腔口下沿 389.0 全部不动，P05 只少 3.2cm3(154.8->151.6)，仍单实体。不整圈削到 R31.8 的原因：那圈壁与 Loft 在 X=±35 处与 Ø70 柱面相切，整圈切完会脱空出 1.32mm3 碎块破坏单实体；且压盖根部熔接面会从 2.37mm2 缩到 0.78mm2，4xM3x8 夹紧力会把压盖拉下来。开关 FENCE_OPEN_CUT（全机 5 处电机前端定位环敞口侧统一切除，无围挡阻碍装配）。【2026-10-03】M3 前端压盖(R35, Z384.0..389.0)：J3 roll 电机原来也只有后端板 4xM3x10 单面锁死(S02)，大扭矩下绕 J3 轴在 Ø60.3 座孔里点头；现按 P04/P06/P07 同一配方在 M3 前端盖外端面(Z=389)加 4xM3x8(BCD55)沉孔压盖，与后端板前后双向面压，倾斜自由度归零（配方唯一差别是 roll 电机轴向 -Z，压盖朝 -Z 长，见 motor_front_clamp axis=\"Z\"）；代价是对侧 P06 的 J3 毂面整体后移 5.5mm 让位；【2026-10-05 承压面让位腔改为 R35 圆腔、凸台与围挡一并消除】电机尾端垫片位(REAR_SEAT=2.6)用圆腔掏出承压面。**刀半径必须等于外壁 R35**（arm_build.SEAT_R）：取小于 R35（曾试 32.2 = 64.4 方腔内切圆）时，刀半径与外壁之间那圈 2.8mm 环墙完整保留，而承压面只挖到刀半径，于是该环墙相对承压面【凸起】并把电机尾端面围住 —— 这就是用户截图里的一圈围挡（P08 实测 1536.9mm3）。它不是残留，而是 SEAT_R<R35 的必然产物。现 SEAT_R=35.0、SEAT_TOP=+1.0（越过尾端面 1mm，吃掉半包开口处那截0.052cm3 残片）：承压面段整圈挖到外壁，承压面成为完整 R35 平圆盘，凸台与围挡一起消失，电机尾端面与承压面之间再无凸起。承力改由臂身本体承担（band 段 r36..58 有料方位 P04 10/36、其余各 15/36，其余方位靠 z>+1.0 杯体连接，无整圈通槽）。沉孔 z 区间(-8..-4)与圆腔(-2.6..+1.0)不重叠，S02 完好。连带：承压环由「方腔内切 32.2 − 沉孔外缘 30.25 = 1.95mm 窄环」变为「完整 R35 圆环 4.75mm」，受压面积 383->974mm²(2.5 倍)。【2026-10-04 承压面让位腔改为 32.2 圆腔】电机尾端垫片位(REAR_SEAT=2.6)之前用 64.4 **方**腔掏出来，方腔壁以外 z=-2.6..0 那圈料相对新承压面凸起 2.6mm，打印时是悬空薄壁（用户反馈：难打印、需支撑、公差差）。现承压面段改用**SEAT_R=32.2 圆腔**（= 64.4 方腔的内切圆半径，z=-2.6..0 与方腔平接）把整圈挖到承压面高度，凸台零残留；z=0 以上 PCBA 腔仍保持 64.4 方（PCB 是方的必须方腔）。**关键：刀半径必须取 32.2 而不是 R35** —— 中间试过 R35，结果把 r=32.2..35 的连接壁整圈切断：实测 P04 在 z=-2.6..+1.0 只剩 240~320° 方位有料，其余 360° 全掏空，后端法兰与杯壁之间出现 3.6mm 宽通槽 + 225° 一片 0.5mm 孤立薄片（用户截图：肩叉顶部「没连上」）。取 32.2 后 r=32.2..35 这圈 2.8mm 厚壁完整保留，360° 连续，既无凸台又与上方臂身连成一体（实测 5/5 件连接壁整圈连续、单实体）"),
|
||||
]
|
||||
@@ -0,0 +1,156 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""P06 大臂骨架：J3 滚转 -> J4 俯仰的 Loft 空心梁。"""
|
||||
from arm.cad import arm_build as AB
|
||||
import cadquery as cq
|
||||
from arm.cad.helpers import cyl
|
||||
from arm.cad.arm_build import COVER_Z, Ycyl, bx
|
||||
from arm.kinematics import X_ARM, Y_AXIS, Y_COVER, Y_REAR, Z_EL, Z_R3
|
||||
from arm.cad.part_tools import (
|
||||
CLAMP_BACKOFF, CLAMP_CLR, CLAMP_T, cut_motor_fence, hub_m2_holes,
|
||||
make_surface_tie_bridge_neg_x, motor_front_clamp,
|
||||
)
|
||||
|
||||
|
||||
P06_WIN_XZ = [(3.0, 362.0), (37.0, 362.0), (37.0, 371.0),
|
||||
(28.0, 374.0), (12.0, 374.0), (3.0, 371.0)] # 大臂过渡块
|
||||
|
||||
|
||||
P06_HOLLOW_WIN = False # 2026-10-03 起关闭：拱形窗正面看是贯通黑洞，不雅观（详见 p_upper_bone 5c）
|
||||
|
||||
|
||||
def p_humerus_bone(j3, j4):
|
||||
"""P06_大臂骨架_螺旋体25%_墙4底5_竖打 (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 = 383.0mm)：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..383.0mm)：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.【2026-10-03】J3 毂面整体后移 CLAMP_BACKOFF=5.5（顶端 388.5→383.0，直锁凸台
|
||||
59.5→65.0）：P05 新增 M3 前端压盖，占 Z 384..389，原先 388.5 的毂面只剩 0.5mm
|
||||
让位放不下压盖。配方与 Y 轴三处（J2/J4/J5 令从动法兰盘 Y157→162）完全同源：
|
||||
压盖 5.0 + 动间隙 1.0 - 原基准 0.5 = 5.5。凸台同步加长，3xS01 输出螺钉的头面
|
||||
台阶(局部 s=58)、杆长、咬合量与改前完全一致，J3 直锁与零干涉不受影响。
|
||||
压盖中央 Ø37 让位孔（R18.5）也让开 R17.8 凸台，单边余 0.7mm。
|
||||
4.【2026-10-09】−X 侧线束走廊加一座外凸扎带拱桥 (y=102.5, Z=345)：站出 3.2mm、桥下
|
||||
3.2×1.8 穿带隧道沿 Y 贯通（与 P03/P04 同配方）。走廊线心随之由 x=-17.5 提到 -20.7：
|
||||
原线皮离本件 −X 面只剩 0.2mm，扎带没有容身处。
|
||||
5. 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 由 M3 前端盖外端面反推：压盖占 [Z_COVER-CLAMP_T, Z_COVER]，再留 CLAMP_CLR
|
||||
# 动间隙 -> 383.0（改前 388.5，与前端盖只有 0.5mm，放不下压盖）。
|
||||
z_cover3 = Z_R3 - COVER_Z # 389.0 M3 前端盖外端面
|
||||
z_top = z_cover3 - CLAMP_T - CLAMP_CLR # 383.0 J3 毂面（= 388.5 - CLAMP_BACKOFF）
|
||||
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)
|
||||
# 【2026-10-05f】原 Ycyl(30.5, ...) 定子散热切除已删：主腔统一 BAY_R=30.50
|
||||
# 且从承压面挖到前端，这刀完全落在主腔内，属同段腔被两个半径各挖一次的残留。
|
||||
# 通风由敞口盒切实现，不依赖它。
|
||||
|
||||
# 5. M4 接口成型
|
||||
# 【2026-10-03i 接缝整改】front_collar_pocket 已删，理由同 p_shoulder_roll_base：
|
||||
# 它与 Joint.pocket 切的是同一根 BAY_R 圆柱，是后者的子集，两次同半径布尔
|
||||
# 相减会在腔壁上留下 s=50.0 的零宽棱（本件实测 R30.500 裂成 5168.4 + 493.9 两张面）。
|
||||
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)
|
||||
# 【2026-10-07 修复：仅切除敞口侧承压面环墙，保护侧壁杜绝缺口漏螺丝】
|
||||
# 仿照 P05 设计，只在敞口半侧(局部 y>=0)将承压面段(z: -REAR_SEAT..0)切平，
|
||||
# 彻底消除阻碍电机装配的凸起围挡；臂身侧壁(局部 y<0)绝对不动，杜绝切穿侧壁留下缺口！
|
||||
s = s.cut(j4.L(bx(-40.0, 40.0, 0.0, 40.0, -AB.REAR_SEAT, 0.0)))
|
||||
|
||||
# 5b. 【2026-10-02 新增】M4 前端压盖 4xM3x8(BCD55)：M4 原来只被后端板单面锁死，
|
||||
# 大扭矩下会绕 J4 轴在 Ø60.3 座孔里点头。现在前端也面压夹一次（见 motor_front_clamp）。
|
||||
# 熔接放在所有 R30.15~30.5 圆柱刀具之后，理由同 p_fork 7b。P07 的 J4 从动侧
|
||||
# 已相应后移到 Y>=162（见 p_forearm_bone 的 J4_CLEAR），与压盖前端面留 1.0mm。
|
||||
s = s.fuse(motor_front_clamp(X_ARM, Z_EL, tag="P06/M4"))
|
||||
|
||||
# 5b2.【2026-10-05e / 2026-10-07 修复】删掉前端"围挡"在敞口侧的那半圈环墙（见 FENCE_OPEN_CUT）。
|
||||
s = cut_motor_fence(s, j4, "P06/M4", "P06")
|
||||
|
||||
# 5c. 【2026-10-02 新增】电机上方过渡块减重窗（见 hollow_tent_window）。
|
||||
# Z360..385 这段 Loft 过渡块壁厚最深 15.8mm，是 P06 唯一一块可掏的厚料
|
||||
# （Z332..367 的下部本体已经被 Ø61 定子孔掏成 4.5mm 薄壁，没得再掏）。
|
||||
# 但它正压在 J3 毂下面，所以三条红线：
|
||||
# 1) 窗顶最高只到 Z374 —— J3 的 Ø70 毂面在 Z380..388.5，窗顶留 6mm 整块
|
||||
# 实心托住毂面承压，绝不碰毂面和它后面的 3xS01 直锁螺钉；
|
||||
# 2) 窗的 X 范围 3..37 —— 截面本体 X-15..55，两侧各留 18mm 竖墙，
|
||||
# 该高度上零件才不会被切成两半（必须单实体）；
|
||||
# 3) 拱形（下宽上窄）轮廓，斜面与水平 >= 52° 自支撑，只有顶部 X12..28 的
|
||||
# 16mm 平顶需要桥接（与 P03 同量级）。
|
||||
# 窗底取 Z362 而不是更低：Z360 附近是全段安全系数最低的截面，
|
||||
# 抬高窗底 4mm 比横向收窄 8mm 更划算（减重量只少 3cm3，安全系数从 92% 回到 100%）。
|
||||
# 窗沿 Y 双向切穿（Y87..172 超出本体，前后都贯通），顺带把这段的定子散热口
|
||||
# 一起打开。
|
||||
# 【2026-10-03 关闭】用户实机视点确认这个拱形窗在正面看就是一个贯通的矩形黑洞，
|
||||
# 位于J4 关节正上方、整机最显眼的落脚点，视觉上像"零件破了个洞"，非常不雅观。
|
||||
# 权衡后恢复实心：代价只有 161->183cm3(+22cm3 / +27g PLA)，而强度本来就已经是
|
||||
# 无窗基线的 100%（这段本来就不缺强度），减重收益纯属锦上添花。
|
||||
# 6. J3 直连法兰结构（凸台延伸至 65.0 跨过结合面牢固熔接，保持单实体与零干涉）
|
||||
# 凸台随 J3 毂面一起后移 CLAMP_BACKOFF=5.5（59.5→65.0）：进入电机输出毂的深度
|
||||
# 仍是 s54.942..56.0 那 1.06mm，3xS01 的头面台阶(s=58)/杆长/咬合量一律不变。
|
||||
boss = cyl(17.8, 54.942, 59.5 + CLAMP_BACKOFF)
|
||||
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)))
|
||||
s = hub_m2_holes(s, j3, cb_z1=58.0 + 40.0)
|
||||
|
||||
# 9. −X 侧线束走廊扎带拱桥（与 P03/P04 同一配方：站出 3.2mm、桥下 3.2×1.8 穿带隧道、孔沿 Y）
|
||||
# 走廊原来贴 x=-17.5 走，离本件 −X 面 (X_ARM-35 = -15.5) 只剩 2.0mm —— 线皮净空 0.2mm，
|
||||
# 扎带没有容身处。桥站出后线心改到 x=-20.5（桥顶 -18.7 + 线半径 1.8），与 P03 舱段同一处理。
|
||||
# 落点 Z=345 在 lower_block 的 −X 平面上 (Z332..367.5 / Y92..155.5)：足迹 Z341..349 离块体
|
||||
# 下缘 9.0mm、Y97.5..107.5 离 Y 边 5.5mm，实测平面度 0.00mm、背后 10.35mm 整实料（未打穿内腔）。
|
||||
s = s.fuse(make_surface_tie_bridge_neg_x(X_ARM - 35.0, 102.5, 345.0,
|
||||
w_y=10.0, l_z=8.0, h_x=3.2))
|
||||
return s
|
||||
|
||||
|
||||
JOINT = 'J3'
|
||||
|
||||
|
||||
def specs(JS):
|
||||
"""本件的 (件号, 中文名, 构建 thunk, 配色, 说明) 清单；顺序即 BOM 顺序。"""
|
||||
j3 = JS["J3"]
|
||||
j4 = JS["J4"]
|
||||
return [
|
||||
("P06_大臂骨架_螺旋体25%_墙4底5_竖打", "大臂骨架", 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；【2026-10-03】取消电机上方Loft过渡块(Z360~385)的拱形减重窗，恢复实心：该窗沿Y贯通，正面看是整机最显眼处的矩形黑洞(用户视觉整改)，代价仅 +22cm3/+27g，强度仍为无窗基线100%；【2026-10-03】J3 毂面整体后移 5.5mm(顶端 388.5→383.0，直锁凸台 59.5→65.0)：给 P05 新增的 M3 前端压盖(Z384..389)让位，留 1.0mm 动间隙——与 Y 轴三处(J2/J4/J5 令从动法兰盘 Y157→162)完全同源，换算式同为「压盖 5.0 + 动间隙 1.0 - 原基准 0.5」；凸台同步加长，3xS01 头面台阶(s=58)/杆长/咬合量与 J3 直锁关系一律不变；【2026-10-05 承压面让位腔改为 R35 圆腔、凸台与围挡一并消除】电机尾端垫片位(REAR_SEAT=2.6)用圆腔掏出承压面。**刀半径必须等于外壁 R35**（arm_build.SEAT_R）：取小于 R35（曾试 32.2 = 64.4 方腔内切圆）时，刀半径与外壁之间那圈 2.8mm 环墙完整保留，而承压面只挖到刀半径，于是该环墙相对承压面【凸起】并把电机尾端面围住 —— 这就是用户截图里的一圈围挡（P08 实测 1536.9mm3）。它不是残留，而是 SEAT_R<R35 的必然产物。现 SEAT_R=35.0、SEAT_TOP=+1.0（越过尾端面 1mm，吃掉半包开口处那截0.052cm3 残片）：承压面段整圈挖到外壁，承压面成为完整 R35 平圆盘，凸台与围挡一起消失，电机尾端面与承压面之间再无凸起。承力改由臂身本体承担（band 段 r36..58 有料方位 P04 10/36、其余各 15/36，其余方位靠 z>+1.0 杯体连接，无整圈通槽）。沉孔 z 区间(-8..-4)与圆腔(-2.6..+1.0)不重叠，S02 完好。连带：承压环由「方腔内切 32.2 − 沉孔外缘 30.25 = 1.95mm 窄环」变为「完整 R35 圆环 4.75mm」，受压面积 383->974mm²(2.5 倍)。【2026-10-04 承压面让位腔改为 32.2 圆腔】电机尾端垫片位(REAR_SEAT=2.6)之前用 64.4 **方**腔掏出来，方腔壁以外 z=-2.6..0 那圈料相对新承压面凸起 2.6mm，打印时是悬空薄壁（用户反馈：难打印、需支撑、公差差）。现承压面段改用**SEAT_R=32.2 圆腔**（= 64.4 方腔的内切圆半径，z=-2.6..0 与方腔平接）把整圈挖到承压面高度，凸台零残留；z=0 以上 PCBA 腔仍保持 64.4 方（PCB 是方的必须方腔）。**关键：刀半径必须取 32.2 而不是 R35** —— 中间试过 R35，结果把 r=32.2..35 的连接壁整圈切断：实测 P04 在 z=-2.6..+1.0 只剩 240~320° 方位有料，其余 360° 全掏空，后端法兰与杯壁之间出现 3.6mm 宽通槽 + 225° 一片 0.5mm 孤立薄片（用户截图：肩叉顶部「没连上」）。取 32.2 后 r=32.2..35 这圈 2.8mm 厚壁完整保留，360° 连续，既无凸台又与上方臂身连成一体（实测 5/5 件连接壁整圈连续、单实体）"),
|
||||
]
|
||||
@@ -0,0 +1,198 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""P07 小臂骨架：J4 -> J5 的 L 型结构 + 顶板减重槽。"""
|
||||
from arm.cad import arm_build as AB
|
||||
import cadquery as cq
|
||||
from arm import kinematics as HL
|
||||
import math
|
||||
from arm.cad.helpers import cyl
|
||||
from arm.cad.arm_build import Ycyl, bx
|
||||
from arm.kinematics import PLATE_T, X_ARM, Y_COVER, Y_HUB, Y_REAR, Z_EL, Z_WR
|
||||
from arm.cad.part_tools import (
|
||||
FILLET_SMALL, cut_motor_fence, hollow_channel, hub_m2_holes,
|
||||
make_surface_tie_bridge_neg_x, motor_front_clamp,
|
||||
)
|
||||
|
||||
|
||||
P07_CH = dict(x0=-3.0, x1=43.0, y0=103.0, y1=153.0, z_floor=255.0) # 小臂顶板
|
||||
|
||||
|
||||
def p_forearm_bone(j4, j5, half=None):
|
||||
"""P07_小臂骨架_螺旋体30%_墙5底5_竖打 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。
|
||||
5.【2026-10-02】M5 前端压盖（4xM3x8 BCD55）消除"电机只被后端板单面锁死"的倾斜隐患；
|
||||
J4 从动侧整体让位：y_hub_in 由 158.5 后移到 J4_CLEAR=162.0，让出 P06 的 M4 前端压盖
|
||||
（前端面 Y=161.0），留 1.0mm 动间隙。J4 直连凸台同步加长，3xS01 输出螺钉咬合量不变。
|
||||
6.【2026-10-09】−X 侧线束走廊加一座外凸扎带拱桥 (y=102.5, Z=235)：站出 3.2mm、桥下
|
||||
3.2×1.8 穿带隧道沿 Y 贯通（与 P06/P03/P04 同配方）。走廊线心随之由 x=-17.5 提到 -20.7：
|
||||
原线皮离本件 −X 面只剩 0.2mm，扎带没有容身处。
|
||||
"""
|
||||
y_out = Y_HUB + PLATE_T # 174.0
|
||||
# J4 从动侧让位基准：必须 >= P06 的 M4 前端压盖前端面(Y_COVER+5.0=161.0) + 1.0mm
|
||||
J4_CLEAR = Y_COVER + 6.0 # 162.0
|
||||
y_hub_in = J4_CLEAR
|
||||
y_front = Y_COVER - 0.5 # 155.5
|
||||
y_rear = Y_REAR - 8.0 # 92.0
|
||||
z_top_housing = Z_WR + 39.0 # 261.0 (顶面加厚 4.0mm，消除过薄破面问题)
|
||||
z_roof_top = z_top_housing + 19.0 # 280.0 (顶板整条加高 19mm，用户确认方案4)
|
||||
|
||||
# 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_roof_top)
|
||||
.lineTo(y_front - 3.0, z_roof_top)
|
||||
.threePointArc((y_front - 3.0 + 3.0 * math.cos(math.pi / 4),
|
||||
z_roof_top - 3.0 + 3.0 * math.sin(math.pi / 4)),
|
||||
(y_front, z_roof_top - 3.0))
|
||||
.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_roof_top)，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！
|
||||
# 注：顶板整条加高19mm(z_roof_top=280)后，R28改R14使弧仍与顶板面光滑相切，不出现折角
|
||||
R_arc = 14.0 # 随顶板加高联动重定：相切起点(144.5,280)->终点(158.5,294)，避开P06环底z=297留3mm
|
||||
y_arc_start = y_hub_in - R_arc
|
||||
z_arc_end = z_roof_top + 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_roof_top)
|
||||
.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)
|
||||
|
||||
# 6b. 【2026-10-02 新增】顶板根部减重槽（见 hollow_channel）。
|
||||
# 顶板在 Z255..280 一整段是壁厚最深 15mm 的实心料，而 J4 在 z=245 的安全系数
|
||||
# 高达 122、z=195 也有 24。挖成朝上敞开的 U 形槽，顶板变成槽钢：
|
||||
# 槽底 Z255 以下保留整块实心到电机座，抗弯的两片 X 向腹板(X-15..-7 / X47..55)
|
||||
# 留在弯矩拉压区。Y 上限取 156 而非核心的 166，是为了避开 y_hub_in=158.5 起的
|
||||
# 竖直立柱本体（立柱是 J4 从动法兰的承力柱，不能掏）。
|
||||
# 槽顶 Z280 就是顶板上表面，敞口向上，免支撑、非封闭腔。
|
||||
s = s.cut(hollow_channel(P07_CH["x0"], P07_CH["x1"], P07_CH["y0"], P07_CH["y1"],
|
||||
P07_CH["z_floor"], 300.0, tag="P07顶板"))
|
||||
|
||||
# 7. M5 电机安装接口与定子空腔
|
||||
# 【2026-10-05f 接缝整改】本件原先是全机唯一给腔径加 CLEARANCE_GAP(2.0) 的地方：
|
||||
# front_collar_pocket(r_bore=32.25) + 一刀 Ycyl(32.5, Y_REAR-0.5, y_front-6)。
|
||||
# 结果内壁是 35 -> 32.5 -> 30.2 -> 32.3 -> 30.2，比兄弟件多两道台阶
|
||||
# （实测 scratch/bay_step_profile.py：z=5.5 处 32.5、z=49.5 处掉到 30.2、
|
||||
# z=50.25 又回到 32.3）。
|
||||
# 这 2.0mm 是「关节间隙」，但关节间隙是**轴向**让位（见 hub_gap / CLAMP_CLR），
|
||||
# 径向把腔径撑大 2mm 只会让电机在腔里晃，且与 P05/P06/P08 不一致。
|
||||
# 现统一走 BAY_R(30.50)，与兄弟件同径，接缝归零。
|
||||
# 【2026-10-03i】front_collar_pocket 随之删除：它切 cyl(BAY_R, 50.0..56.5)，
|
||||
# 是 Joint.pocket 那根 cyl(BAY_R, -2.6..61.6) 的子集，同半径重复相减
|
||||
# 只会在腔壁上多出一条 s=50.0 的零宽棱。
|
||||
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)
|
||||
# 【2026-10-07 修复：仅切除敞口侧承压面环墙，消除用户圈出的围挡】
|
||||
# 仿照 P05 设计，只在敞口半侧(局部 y>=0)将承压面段(z: -REAR_SEAT..0)切平，
|
||||
# 彻底消除用户红圈指出的承压面凸起围挡；顶板背脊侧(局部 y<0)绝对不动，杜绝切穿本体！
|
||||
s = s.cut(j5.L(bx(-40.0, 40.0, 0.0, 40.0, -AB.REAR_SEAT, 0.0)))
|
||||
# 【2026-10-05f】原 Ycyl(30.5+CLEARANCE_GAP=32.5, ...) 整刀删除：
|
||||
# 它既撑大了腔径（接缝主因），又已被主腔 BAY_R 完全覆盖（纯冗余）。
|
||||
|
||||
# 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)
|
||||
|
||||
# 7b. 【2026-10-02 新增】M5 前端压盖 4xM3x8(BCD55)：M5 原来只被后端板单面锁死，
|
||||
# 大扭矩下会绕 J5 轴在座孔里点头。现在前端也面压夹一次（见 motor_front_clamp）。
|
||||
# 必须在第 6 步 p08_clearance（R35.5 让位孔，Y>=156）之后熔接，否则压盖会被削掉。
|
||||
# P08 的 J5 从动侧已相应后移到 Y>=162（make_pitch_to_roll_bracket 的 hub_gap=6.0）。
|
||||
s = s.fuse(motor_front_clamp(X_ARM, Z_WR, tag="P07/M5"))
|
||||
|
||||
# 7c2.【2026-10-05e / 2026-10-07 修复】删掉前端"围挡"在敞口侧的那半圈环墙（见 FENCE_OPEN_CUT）。
|
||||
s = cut_motor_fence(s, j5, "P07/M5", "P07")
|
||||
|
||||
# 8. J4 直连法兰结构（凸台延伸到法兰盘背面之后 2.0mm 跨过间隙与法兰盘牢固熔接，
|
||||
# 保持单实体）。凸台长度跟着 y_hub_in 走：法兰盘后移时凸台同步加长，
|
||||
# 3xS01 输出螺钉的头面台阶(局部 z=58)、杆长、咬合量与改前完全一致。
|
||||
boss = cyl(17.8, 54.942, (y_hub_in - HL.Y_REAR) + 2.0)
|
||||
s = s.fuse(j4.L(boss))
|
||||
s = s.cut(j4.L(cyl(3.5, 54.0, 74.0 + 30.0)))
|
||||
s = hub_m2_holes(s, j4, cb_z1=74.0 + 30.0)
|
||||
|
||||
# ========== 关键圆角优化 ==========
|
||||
try:
|
||||
# 后侧顶板外边缘圆角（平滑消除水平顶板与后部垂直端面交汇处的 90° 尖角，用户要求倒角改圆角）
|
||||
wp_s = cq.Workplane(obj=s)
|
||||
sel_rear = cq.selectors.BoxSelector(
|
||||
(X_ARM - 40, y_rear - 1.0, z_roof_top - 1.0),
|
||||
(X_ARM + 40, y_rear + 1.0, z_roof_top + 1.0)
|
||||
)
|
||||
s = wp_s.edges(sel_rear).fillet(FILLET_SMALL).val()
|
||||
except Exception as e:
|
||||
print(f"P07 顶板后边缘圆角异常: {e}")
|
||||
|
||||
try:
|
||||
# 垂直立柱下部外缘圆角（消除立柱垂直外壁与下方悬空水平底面交汇处的 90° 尖角，用户截图红圈指定）
|
||||
wp_s = cq.Workplane(obj=s)
|
||||
sel_leg_bot = cq.selectors.BoxSelector(
|
||||
(X_ARM - 40, y_out - 1.0, z_top_housing - 1.0),
|
||||
(X_ARM + 40, y_out + 1.0, z_top_housing + 1.0)
|
||||
)
|
||||
s = wp_s.edges(sel_leg_bot).fillet(FILLET_SMALL).val()
|
||||
except Exception as e:
|
||||
print(f"P07 立柱下底外缘圆角异常: {e}")
|
||||
|
||||
# 9. −X 侧线束走廊扎带拱桥（与 P06/P03/P04 同一配方：站出 3.2mm、桥下 3.2×1.8 隧道、孔沿 Y）
|
||||
# 线心随桥由 x=-17.5 改到 -20.5（桥顶 -18.7 + 线半径 1.8）；本件 −X 面离走廊同样只有
|
||||
# 2.0mm，原来线皮净空 0.2mm，扎带无从下手。
|
||||
# 落点 Z=235 在 M5 壳体顶板的 −X 平面 (x=-15.5, Z222..280) 上：足迹 Z231..239 离顶板下缘
|
||||
# 9.0mm、Y97.5..107.5 离 Y 边 5.5mm，实测平面度 0.00mm、背后 10.35mm 整实料；顶板减重槽
|
||||
# 在 X≥-3 / Z≥255，与本桥不相交。
|
||||
s = s.fuse(make_surface_tie_bridge_neg_x(X_ARM - 35.0, 102.5, 235.0,
|
||||
w_y=10.0, l_z=8.0, h_x=3.2))
|
||||
return s
|
||||
|
||||
|
||||
JOINT = 'J4'
|
||||
|
||||
|
||||
def specs(JS):
|
||||
"""本件的 (件号, 中文名, 构建 thunk, 配色, 说明) 清单；顺序即 BOM 顺序。"""
|
||||
j4 = JS["J4"]
|
||||
j5 = JS["J5"]
|
||||
return [
|
||||
("P07_小臂骨架_螺旋体30%_墙5底5_竖打", "小臂骨架", lambda: p_forearm_bone(j4, j5, None), 0x7c3aed,
|
||||
"V2 L型结构 + 顶板减重槽：+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，立柱底端外下缘90°直棱倒R3圆角（平滑消除立柱外壁与水平底面交汇处直角尖角）；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；【2026-10-02】顶板根部Z255~280开朝上敞开的减重槽(X-3~43 / Y103~153, Y上限取153避开y_hub_in=158.5起的竖直立柱本体)：顶板由实心变槽钢，288->230cm3(-20%)，槽底以下保留整块实心到电机座，抗弯靠两侧各10mm的X向腹板；槽底水平朝上、侧壁竖直、顶部敞开故零支撑且非封闭腔；开度按「减重区最差安全系数 >= 无槽基线 95%」选定（X-3~43 比最初的 X-7~47 收窄 4mm，强度从 88% 回到 96%）；【2026-10-05 承压面让位腔改为 R35 圆腔、凸台与围挡一并消除】电机尾端垫片位(REAR_SEAT=2.6)用圆腔掏出承压面。**刀半径必须等于外壁 R35**（arm_build.SEAT_R）：取小于 R35（曾试 32.2 = 64.4 方腔内切圆）时，刀半径与外壁之间那圈 2.8mm 环墙完整保留，而承压面只挖到刀半径，于是该环墙相对承压面【凸起】并把电机尾端面围住 —— 这就是用户截图里的一圈围挡（P08 实测 1536.9mm3）。它不是残留，而是 SEAT_R<R35 的必然产物。现 SEAT_R=35.0、SEAT_TOP=+1.0（越过尾端面 1mm，吃掉半包开口处那截0.052cm3 残片）：承压面段整圈挖到外壁，承压面成为完整 R35 平圆盘，凸台与围挡一起消失，电机尾端面与承压面之间再无凸起。承力改由臂身本体承担（band 段 r36..58 有料方位 P04 10/36、其余各 15/36，其余方位靠 z>+1.0 杯体连接，无整圈通槽）。沉孔 z 区间(-8..-4)与圆腔(-2.6..+1.0)不重叠，S02 完好。连带：承压环由「方腔内切 32.2 − 沉孔外缘 30.25 = 1.95mm 窄环」变为「完整 R35 圆环 4.75mm」，受压面积 383->974mm²(2.5 倍)。【2026-10-04 承压面让位腔改为 32.2 圆腔】电机尾端垫片位(REAR_SEAT=2.6)之前用 64.4 **方**腔掏出来，方腔壁以外 z=-2.6..0 那圈料相对新承压面凸起 2.6mm，打印时是悬空薄壁（用户反馈：难打印、需支撑、公差差）。现承压面段改用**SEAT_R=32.2 圆腔**（= 64.4 方腔的内切圆半径，z=-2.6..0 与方腔平接）把整圈挖到承压面高度，凸台零残留；z=0 以上 PCBA 腔仍保持 64.4 方（PCB 是方的必须方腔）。**关键：刀半径必须取 32.2 而不是 R35** —— 中间试过 R35，结果把 r=32.2..35 的连接壁整圈切断：实测 P04 在 z=-2.6..+1.0 只剩 240~320° 方位有料，其余 360° 全掏空，后端法兰与杯壁之间出现 3.6mm 宽通槽 + 225° 一片 0.5mm 孤立薄片（用户截图：肩叉顶部「没连上」）。取 32.2 后 r=32.2..35 这圈 2.8mm 厚壁完整保留，360° 连续，既无凸台又与上方臂身连成一体（实测 5/5 件连接壁整圈连续、单实体）"),
|
||||
]
|
||||
@@ -0,0 +1,33 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""P08 腕偏转座：J5 俯仰 -> J6 滚转（复用 part_tools 的 pitch->roll 骨架）。"""
|
||||
from arm.kinematics import Z_R6, Z_WR
|
||||
from arm.cad.part_tools import make_pitch_to_roll_bracket
|
||||
|
||||
def p_wrist_bracket(j5, j6):
|
||||
"""P08_腕偏转座_螺旋体25%_墙4底5_竖打（深度圆角优化版）
|
||||
|
||||
hub_gap=6.0：J5 处 P07 新增了 M5 前端压盖（Y 155.5..161.0），从动法兰盘背面必须
|
||||
从 Y=157 后移到 Y=162 让位；J5 直锁凸台同步加长，3xS01 输出螺钉咬合量不变。
|
||||
|
||||
roll_clamp=True【2026-10-03】：M6 补上前端压盖，与 P04/P05/P06/P07 的
|
||||
M2/M3/M4/M5 同一套配方（R35、4xM3x8 BCD55 @17.8°+90k、Ø6.0 沉孔、Ø61.0 根部
|
||||
让位槽），轴向 -Z，压盖占全局 Z 120.5..115。此前本件是五处电机腔里**唯一**
|
||||
只被后端板 4xM3x10 单面锁死的，电机大扭矩下会在 Ø60.3 座孔里点头；对侧
|
||||
P09 让位 CLAMP_BACKOFF=5.5（见 make_direct_hub 的 backoff），工具端点不动。
|
||||
"""
|
||||
return make_pitch_to_roll_bracket(j5, j6, Z_WR, Z_R6,
|
||||
name="P08_腕偏转座_螺旋体25%_墙4底5_竖打",
|
||||
hub_gap=6.0, roll_clamp=True)
|
||||
|
||||
|
||||
JOINT = 'J5'
|
||||
|
||||
|
||||
def specs(JS):
|
||||
"""本件的 (件号, 中文名, 构建 thunk, 配色, 说明) 清单；顺序即 BOM 顺序。"""
|
||||
j5 = JS["J5"]
|
||||
j6 = JS["J6"]
|
||||
return [
|
||||
("P08_腕偏转座_螺旋体25%_墙4底5_竖打", "腕部转接座", 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；【2026-10-05 承压面让位腔改为 R35 圆腔、凸台与围挡一并消除】电机尾端垫片位(REAR_SEAT=2.6)用圆腔掏出承压面。**刀半径必须等于外壁 R35**（arm_build.SEAT_R）：取小于 R35（曾试 32.2 = 64.4 方腔内切圆）时，刀半径与外壁之间那圈 2.8mm 环墙完整保留，而承压面只挖到刀半径，于是该环墙相对承压面【凸起】并把电机尾端面围住 —— 这就是用户截图里的一圈围挡（P08 实测 1536.9mm3）。它不是残留，而是 SEAT_R<R35 的必然产物。现 SEAT_R=35.0、SEAT_TOP=+1.0（越过尾端面 1mm，吃掉半包开口处那截0.052cm3 残片）：承压面段整圈挖到外壁，承压面成为完整 R35 平圆盘，凸台与围挡一起消失，电机尾端面与承压面之间再无凸起。承力改由臂身本体承担（band 段 r36..58 有料方位 P04 10/36、其余各 15/36，其余方位靠 z>+1.0 杯体连接，无整圈通槽）。沉孔 z 区间(-8..-4)与圆腔(-2.6..+1.0)不重叠，S02 完好。连带：承压环由「方腔内切 32.2 − 沉孔外缘 30.25 = 1.95mm 窄环」变为「完整 R35 圆环 4.75mm」，受压面积 383->974mm²(2.5 倍)。【2026-10-04 承压面让位腔改为 32.2 圆腔】电机尾端垫片位(REAR_SEAT=2.6)之前用 64.4 **方**腔掏出来，方腔壁以外 z=-2.6..0 那圈料相对新承压面凸起 2.6mm，打印时是悬空薄壁（用户反馈：难打印、需支撑、公差差）。现承压面段改用**SEAT_R=32.2 圆腔**（= 64.4 方腔的内切圆半径，z=-2.6..0 与方腔平接）把整圈挖到承压面高度，凸台零残留；z=0 以上 PCBA 腔仍保持 64.4 方（PCB 是方的必须方腔）。**关键：刀半径必须取 32.2 而不是 R35** —— 中间试过 R35，结果把 r=32.2..35 的连接壁整圈切断：实测 P04 在 z=-2.6..+1.0 只剩 240~320° 方位有料，其余 360° 全掏空，后端法兰与杯壁之间出现 3.6mm 宽通槽 + 225° 一片 0.5mm 孤立薄片（用户截图：肩叉顶部「没连上」）。取 32.2 后 r=32.2..35 这圈 2.8mm 厚壁完整保留，360° 连续，既无凸台又与上方臂身连成一体（实测 5/5 件连接壁整圈连续、单实体）"),
|
||||
]
|
||||
@@ -0,0 +1,95 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""P09 工具法兰：末端法兰盘与 J6 直锁 hub。"""
|
||||
import math
|
||||
from arm.cad.helpers import cyl
|
||||
from arm.cad.arm_build import D2R
|
||||
from arm.kinematics import PLATE_T, X_ARM, Y_AXIS, Z_HUB6
|
||||
from arm.cad.part_tools import CHAMFER_EDGE, CLAMP_BACKOFF, FILLET_SMALL, FILLET_TINY, make_direct_hub
|
||||
|
||||
def p_tool_flange(j6):
|
||||
"""P09_工具法兰_螺旋体30%_墙4底5_竖打 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)
|
||||
P09_M4 = []
|
||||
|
||||
# 4x M4螺栓孔
|
||||
#
|
||||
# 分布圆半径 20 -> 22（BCD 40 -> 44）：R20 与 3xS01 输出螺钉的 Ø5.6 螺丝刀通道
|
||||
# （make_direct_hub 里 cyl(2.8, 58.0, z_out+40) 在 BCD29=R14.5、相位 351.4/232.3/112.1°）
|
||||
# 咬穿沉孔。0° 那个孔中心 (39.5,128) 到 351.4° 通道中心 (33.84,125.83) 只有 6.06mm，
|
||||
# 而两孔半径之和是 3.5+2.8=6.30 —— 差 0.24mm，Ø7.0 沉孔壁被啃掉一块，
|
||||
# 完整圆柱面(88mm²)裂成 45.7+35.4 两片，即用户截图里的月牙孔。
|
||||
# 该相位差只有 8.6°，转动 M4 孔相位无法躲开（0/90/180/270 与 45 度错开全部仍 <6.30），
|
||||
# 只能加大分布圆半径：R22 时最小中心距 7.96mm，余量 1.66mm。
|
||||
# 边壁仍充足：R35 法兰外径 - (R22 + 沉孔 3.5) = 9.5mm。
|
||||
for a in (0, 90, 180, 270):
|
||||
rad = 22.0
|
||||
u = rad * math.cos(a * D2R)
|
||||
v = rad * math.sin(a * D2R)
|
||||
# 实际切割推迟到 make_direct_hub 之后（见下）。这里只算出 4 个孔位。
|
||||
P09_M4.append((X_ARM + u, Y_AXIS + v))
|
||||
|
||||
# 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
|
||||
# 【2026-10-03】M6 补上前端压盖后，J6 毂面必须让位 CLAMP_BACKOFF=5.5
|
||||
# （详见 make_direct_hub 的 backoff）。P09 的法兰本体 z_bot/Z_HUB6 一个字没动，
|
||||
# 让位的只是伸进 J6 腔里的那圈毂面 —— 圆盘下移后仍与法兰本体在局部 65..79.5
|
||||
# 大面积交叠，熔接不受影响；工具端点 Z_TIP=93 也随之不变。
|
||||
s = make_direct_hub(s, j6, r_disc=35.0, z_out=74.0, backoff=CLAMP_BACKOFF)
|
||||
|
||||
# 4x M4 孔（必须在 make_direct_hub 之后切）
|
||||
#
|
||||
# 直连法兰那步 fuse 了 R35 圆盘（局部 z=56.5..74 -> 全局 z=102..121 一侧），
|
||||
# 会把先切的孔重新填死：分段求交显示 z=97..102 无干涉、z=102 以上整根杆都埋在料里
|
||||
# （每段 12.57 mm^3 = pi*2^2*1，全截面被埋）。
|
||||
#
|
||||
# 孔径与深度同时修正：旧值 Ø3.7 比 M4 杆 Ø4.0 还细，且只到 z=105，
|
||||
# 而 M4x16 头面在 z=97、杆要走到 z=113 —— 杆尾 8mm 无处可去（干涉 147.3 mm^3）。
|
||||
# Ø4.4 是 M4 标准间隙孔（ISO 273 medium ≈ Ø4.3）。
|
||||
# 孔顶要盖过 M4x16 的杆尾：头面 z=97 + 杆长 16 = z=113，故开到 Z_HUB6+4=115，
|
||||
# 比杆尾多留 2mm（实测开到 112 时最后 1mm 杆尾仍撞料 37.7mm³）。
|
||||
for (fx, fy) in P09_M4:
|
||||
s = s.cut(cyl(2.2, z_bot - 1.0, Z_HUB6 + 4.0, fx, fy))
|
||||
s = s.cut(cyl(3.5, z_bot - 1.0, z_bot + 4.0, fx, fy))
|
||||
|
||||
# ========== 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
|
||||
|
||||
|
||||
JOINT = 'J6'
|
||||
|
||||
|
||||
def specs(JS):
|
||||
"""本件的 (件号, 中文名, 构建 thunk, 配色, 说明) 清单；顺序即 BOM 顺序。"""
|
||||
j6 = JS["J6"]
|
||||
return [
|
||||
("P09_工具法兰_螺旋体30%_墙4底5_竖打", "末端工具法兰", lambda: p_tool_flange(j6), 0xdc2626,
|
||||
"V2圆角：外轮廓R=3mm，法兰面倒角2mm；【2026-10-02】打印填充由100%降到30%：该截面安全系数288是全机裕度最大的件，满填充纯属浪费（件号同步改为P09_工具法兰_螺旋体30%）"),
|
||||
]
|
||||
@@ -0,0 +1,58 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""实测接口数值：电机模组、端面齿联轴器、配合公差与电机轴向公差。
|
||||
|
||||
全部 MEASURED 自 G:/Robot_v2/Model/Solidworks/电机.STEP 与配件（见 docs/interfaces.md）。
|
||||
改之前先确认量的是同一个基准面。"""
|
||||
|
||||
# 注：本段由 armcore.py 原样搬来，行内容与注释未作改动。
|
||||
|
||||
# ---------------- MEASURED: motor module (local frame: origin = PCBA rear face centre, +Z = output) ----
|
||||
M = dict(
|
||||
pcba_w=63.6, # square PCBA across flats
|
||||
pcba_t=9.0, # z 0 -> 9.0
|
||||
rearplate_d=60.0, # z 5.5 -> 10.5
|
||||
hous_d=60.0, # housing OD, z 10.5 -> 52.5
|
||||
hous_len=42.0,
|
||||
cover_d=60.30, # top cover OD (R30.15), z 52.5 -> 56.0
|
||||
cover_z=56.0, # cover front face = module total length
|
||||
flange_z=54.942, # 2nd-stage output flange face
|
||||
neck_d=36.0, # female neck bore in the cover
|
||||
neck_depth=1.0,
|
||||
centre_d=6.5, # centre bore in the flange
|
||||
centre_depth=4.0,
|
||||
m2_bcd=29.0,
|
||||
m2_clock=(8.05, 128.07, 248.06),
|
||||
m2_tap_d=1.85, # M2 pilot for self-tapping in printed material
|
||||
m2_depth=6.0,
|
||||
m2_clear_d=2.75,
|
||||
m2_cb_d=5.2,
|
||||
)
|
||||
# ---------------- MEASURED: face-spline coupling (existing, printed by the user) ------------------------
|
||||
C = dict(
|
||||
n_teeth=12, tooth_r0=19.0, tooth_r1=24.5, tooth_s=2.5,
|
||||
flange_t=4.50, part_z=5.560, # mirrored stack
|
||||
hub_r=27.0,
|
||||
gap=9.00, # cover-face to cover-face when closed
|
||||
clamp_od_r=30.0, clamp_len=7.80,
|
||||
lug_r1=37.0, lug_t=4.50,
|
||||
bolt_r=32.50, bolt_d=3.80,
|
||||
z0=1.66, z1=9.46, # clamp envelope in the flange frame (motor cover face = 1.060)
|
||||
)
|
||||
# axial stations, motor local frame:
|
||||
COVER_Z = M["cover_z"] # 56.0
|
||||
HUB_FACE_Z = COVER_Z + C["gap"] # 65.0 = mating face of the driven hub
|
||||
CLAMP_R = C["clamp_od_r"] + 0.6 # radial keep-out around the joint axis
|
||||
LUG_R = C["lug_r1"] + 1.0 # radial keep-out where the bolt lugs are
|
||||
# ---------------- clearances / print rules -------------------------------------------------------------
|
||||
CLR = dict(bore_slip=0.20, pilot=0.10, hole_3=3.4, hole_27=2.8, wall_min=2.0)
|
||||
FIT = dict(motor_bore_d=M["hous_d"] + 2 * 0.15, cover_cb_d=M["cover_d"] + 2 * 0.35)
|
||||
|
||||
# 电机【轴向长度】公差（用户 2026-10-07 要求：余量偏大稍微减去 1mm，由 2mm 改为 1mm）。
|
||||
# 这条链是"后端板螺钉 + 前端压盖螺钉"两个刚性夹持面，螺钉头一旦坐死在沉孔台阶上
|
||||
# 就再也不能进给，所以公差没法靠"拧紧"消化，只能靠两件事吃掉（见 arm_build.Joint.pocket
|
||||
# 与 motor_front_clamp）：
|
||||
# 长出来的 0~+1mm -> 后端板 4xM3 螺钉头下垫 0~1mm 垫片圈（螺钉被垫高 -> 电机被拉回）
|
||||
# 短下去的 0~-1mm -> 电机尾端面与后端板承压面之间垫 0~1mm 垫片（承压面已按 MOTOR_TOL
|
||||
# 让空，见 Joint.pocket 的 REAR_SEAT）
|
||||
# 两边都不动压盖/凸台的几何，关节轴向长度不变。
|
||||
MOTOR_TOL = 1.0
|
||||
@@ -0,0 +1,3 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""数据注入与工程图：螺钉实例注入 mesh、四张工程图 SVG 生成。
|
||||
"""
|
||||
@@ -0,0 +1,338 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""Assembly drawings (SVG) for the arm.
|
||||
|
||||
Round-2 approach, after the first version was rejected: per-part convex hulls FILLED made
|
||||
the whole arm read as one blob and the balloons' leaders crossed the sheet. Now:
|
||||
- parts are stroked only (no fill), so overlaps still read as separate outlines
|
||||
- balloons live in two side columns sorted by projected height, each with a short leader
|
||||
to the nearest point of its own outline (no long crossing leaders, no collisions)
|
||||
- joint axes are drawn as dash-dot centrelines and the pitch chain is dimensioned
|
||||
- the scale is computed from the actual pixels-per-mm, not hard-coded
|
||||
Sheets: 01 总装侧视 02 关节局部放大(A-A) 03 爆炸轴测 04 前视
|
||||
"""
|
||||
import io
|
||||
import json
|
||||
import math
|
||||
import os
|
||||
import sys
|
||||
|
||||
sys.stdout = io.TextIOWrapper(sys.stdout.buffer, encoding="utf-8")
|
||||
from arm.paths import WEB, DOCS
|
||||
|
||||
# 这两个脚本的顶层就是"算完并写文件"，被 import 时会静默重写 travel/mesh 派生产物
|
||||
# （实测：一次 importlib 冒烟测试就把 docs/travel.json 重写了一遍）。这里改成直接炸。
|
||||
if __name__ != "__main__":
|
||||
raise RuntimeError(
|
||||
"draw_sheet 是脚本：顶层代码一执行就重写产物，不能 import。"
|
||||
"要用就跑 python -m arm.dataio.draw_sheet。")
|
||||
|
||||
D = json.load(io.open(WEB + "/mesh_arm.json", encoding="utf-8"))
|
||||
P, LAY, MS = D["parts"], D["layout"], D["measured"]
|
||||
MT, CT = MS["M"], MS["C"]
|
||||
JOINTS = {j["id"]: j for j in D["joints"]}
|
||||
|
||||
|
||||
def hull(pts):
|
||||
pts = sorted(set(pts))
|
||||
if len(pts) < 3:
|
||||
return pts
|
||||
def cr(o, a, b):
|
||||
return (a[0] - o[0]) * (b[1] - o[1]) - (a[1] - o[1]) * (b[0] - o[0])
|
||||
lo = []
|
||||
for p in pts:
|
||||
while len(lo) >= 2 and cr(lo[-2], lo[-1], p) <= 0:
|
||||
lo.pop()
|
||||
lo.append(p)
|
||||
up = []
|
||||
for p in reversed(pts):
|
||||
while len(up) >= 2 and cr(up[-2], up[-1], p) <= 0:
|
||||
up.pop()
|
||||
up.append(p)
|
||||
return lo[:-1] + up[:-1]
|
||||
|
||||
|
||||
def proj(p, kind):
|
||||
x, y, z = p
|
||||
if kind == "side":
|
||||
return (x, z)
|
||||
if kind == "front":
|
||||
return (y, z)
|
||||
if kind == "iso":
|
||||
a, b = math.radians(30), math.radians(35)
|
||||
u = x * math.cos(a) - y * math.sin(a)
|
||||
v = -x * math.sin(a) * math.sin(b) - y * math.cos(a) * math.sin(b) + z * math.cos(b)
|
||||
return (u, v)
|
||||
raise ValueError(kind)
|
||||
|
||||
|
||||
def part_pts(p, kind, ex=0.0):
|
||||
vv = p["v"]
|
||||
step = max(1, len(vv) // 1400)
|
||||
out = []
|
||||
for i in range(0, len(vv), step):
|
||||
q = [vv[i][k] + p["ex"][k] * ex for k in range(3)] if ex else list(vv[i])
|
||||
out.append(proj(q, kind))
|
||||
return out
|
||||
|
||||
|
||||
def nearest(h, pt):
|
||||
return min(h, key=lambda q: (q[0] - pt[0]) ** 2 + (q[1] - pt[1]) ** 2)
|
||||
|
||||
|
||||
def esc(t):
|
||||
return str(t).replace('&', '&').replace('<', '<').replace('>', '>')
|
||||
|
||||
|
||||
def frame(W, H, title, note, scale, sheet_id=""):
|
||||
return ['<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 %d %d" width="%d" height="%d" '
|
||||
'class="assembly-sheet-svg" data-sheet-id="%s" data-sheet-title="%s" data-sheet-note="%s" data-sheet-scale="%s" '
|
||||
'font-family="Microsoft YaHei,sans-serif">' % (W, H, W, H, sheet_id, esc(title), esc(note), scale),
|
||||
'<defs>'
|
||||
'<filter id="partGlow" x="-20%" y="-20%" width="140%" height="140%">'
|
||||
'<feDropShadow dx="0" dy="0" stdDeviation="3.5" flood-color="#2563eb" flood-opacity="0.85"/>'
|
||||
'</filter>'
|
||||
'<filter id="balloonShadow" x="-20%" y="-20%" width="140%" height="140%">'
|
||||
'<feDropShadow dx="0" dy="1.5" stdDeviation="1.5" flood-color="#000" flood-opacity="0.25"/>'
|
||||
'</filter>'
|
||||
'</defs>',
|
||||
'<rect class="sheet-bg" width="%d" height="%d" fill="#fff"/>' % (W, H),
|
||||
'<g class="sheet-border">',
|
||||
'<rect class="sheet-border-outer" x="8" y="8" width="%d" height="%d" fill="none" stroke="#111" stroke-width="1.6"/>' % (W - 16, H - 16),
|
||||
'<rect class="sheet-border-inner" x="14" y="14" width="%d" height="%d" fill="none" stroke="#111" stroke-width=".5"/>' % (W - 28, H - 28),
|
||||
'<line class="sheet-title-line" x1="14" y1="%d" x2="%d" y2="%d" stroke="#111" stroke-width=".8"/>' % (H - 44, W - 15, H - 44),
|
||||
'<text class="sheet-title-text" x="24" y="%d" font-size="13" font-weight="bold">%s</text>' % (H - 27, esc(title)),
|
||||
'<text class="sheet-note-text" x="24" y="%d" font-size="9" fill="#444">%s</text>' % (H - 16, esc(note)),
|
||||
'<line class="sheet-meta-line" x1="%d" y1="%d" x2="%d" y2="%d" stroke="#111" stroke-width=".8"/>' % (W - 268, H - 44, W - 268, H - 15),
|
||||
'<text class="sheet-scale-text" x="%d" y="%d" font-size="9">比例 1:%s（按图幅适配） 单位 mm</text>' % (W - 260, H - 29, scale),
|
||||
'<text class="sheet-ver-text" x="%d" y="%d" font-size="9">六电机人形机器人手臂 %s / 迭代 %s</text>' % (W - 260, H - 17, LAY["ver"], LAY["it"]),
|
||||
'</g>']
|
||||
|
||||
|
||||
def balloon(x, y, p):
|
||||
idx = p.get("idx", 0)
|
||||
name = esc(p.get("name", ""))
|
||||
cn = esc(p.get("cn", ""))
|
||||
return ('<g class="sheet-balloon" data-idx="%d" data-name="%s" data-cn="%s">'
|
||||
'<circle class="balloon-circle" cx="%.0f" cy="%.0f" r="10" fill="#fff" stroke="#111" stroke-width="1"/>'
|
||||
'<text class="balloon-text" x="%.0f" y="%.0f" font-size="9.5" text-anchor="middle">%d</text>'
|
||||
'</g>' % (idx, name, cn, x, y, x, y + 3.4, idx))
|
||||
|
||||
|
||||
def build_sheet(kind, title, W, H, ex=0.0, note="", axes=True, dims=None, legend=True, sheet_id=""):
|
||||
shp = []
|
||||
for p in P:
|
||||
if p["name"].startswith("ENV_") or p["name"].startswith("S"):
|
||||
continue
|
||||
h = hull(part_pts(p, kind, ex))
|
||||
if len(h) >= 3:
|
||||
shp.append((p, h))
|
||||
if not shp:
|
||||
return ""
|
||||
allp = [q for _, hs in shp for q in hs]
|
||||
xs, ys = [q[0] for q in allp], [q[1] for q in allp]
|
||||
lo_x, hi_x, lo_y, hi_y = min(xs), max(xs), min(ys), max(ys)
|
||||
ML, MR = 78, (300 if legend else 18)
|
||||
aw, ah = W - ML - MR - 20, H - 2 * 40 - 60
|
||||
if (hi_y - lo_y) > 1.25 * (hi_x - lo_x):
|
||||
aw -= 34.0 # room for the single balloon column
|
||||
sc = min(aw / max(1e-6, hi_x - lo_x), ah / max(1e-6, hi_y - lo_y))
|
||||
ox = ML + (aw - (hi_x - lo_x) * sc) / 2 - lo_x * sc
|
||||
oy = 34 + (ah + (hi_y - lo_y) * sc) / 2 + lo_y * sc
|
||||
T = lambda q: (q[0] * sc + ox, oy - q[1] * sc)
|
||||
out = frame(W, H, title, note, round(1 / sc, 2), sheet_id)
|
||||
|
||||
if axes:
|
||||
out.append('<g class="sheet-axes-group">')
|
||||
for jid in ("J1", "J2", "J3", "J4", "J5"):
|
||||
j = JOINTS.get(jid)
|
||||
if not j:
|
||||
continue
|
||||
a = proj(j["rear"], kind)
|
||||
b = proj([j["rear"][k] + j["d"][k] * 90 for k in range(3)], kind)
|
||||
pa, pb = T(a), T(b)
|
||||
out.append('<line class="sheet-axis" x1="%.0f" y1="%.0f" x2="%.0f" y2="%.0f" stroke="#0b57a4" '
|
||||
'stroke-width=".8" stroke-dasharray="14 3 2 3"/>' % (pa[0], pa[1], pb[0], pb[1]))
|
||||
out.append('<text class="sheet-axis-label" x="%.0f" y="%.0f" font-size="10" fill="#0b57a4">%s</text>'
|
||||
% (pb[0] + 3, pb[1] - 3, jid))
|
||||
out.append('</g>')
|
||||
|
||||
out.append('<g class="sheet-parts-group">')
|
||||
for p, h in shp:
|
||||
d = "M" + " L".join("%.1f %.1f" % T(q) for q in h) + "Z"
|
||||
col = "#%06x" % p["color"]
|
||||
idx = p.get("idx", 0)
|
||||
cn = esc(p.get("cn", ""))
|
||||
name = esc(p.get("name", ""))
|
||||
printed = 1 if p.get("printed") else 0
|
||||
attrs = 'class="sheet-part-path" data-idx="%d" data-name="%s" data-cn="%s" data-color="%s" data-printed="%d"' % (
|
||||
idx, name, cn, col, printed)
|
||||
if p["printed"]:
|
||||
out.append('<path d="%s" fill="none" stroke="%s" stroke-width="1.35" %s/>' % (d, col, attrs))
|
||||
else:
|
||||
out.append('<path d="%s" fill="none" stroke="#9aa1ad" stroke-width=".7" '
|
||||
'stroke-dasharray="4 2" %s/>' % (d, attrs))
|
||||
out.append('</g>')
|
||||
|
||||
# balloons in two side columns.
|
||||
side = []
|
||||
for p, h in shp:
|
||||
cx = sum(T(q)[0] for q in h) / len(h)
|
||||
cy = sum(T(q)[1] for q in h) / len(h)
|
||||
anchor = T(nearest(h, (cx, cy)))
|
||||
side.append((p, anchor, cx))
|
||||
tall = (hi_y - lo_y) > 1.25 * (hi_x - lo_x)
|
||||
right = sorted(side, key=lambda s: s[1][1]) if tall else sorted([s for s in side if s[2] >= ox + (hi_x - lo_x) * sc / 2.0], key=lambda s: s[1][1])
|
||||
left = [] if tall else sorted([s for s in side if s[2] < ox + (hi_x - lo_x) * sc / 2.0],
|
||||
key=lambda s: s[1][1])
|
||||
|
||||
out.append('<g class="sheet-balloons-group">')
|
||||
def col(lst, x):
|
||||
n = max(1, len(lst))
|
||||
span = H - 130
|
||||
for i, (p, t, _cx) in enumerate(lst):
|
||||
by = 52 + span * (i + 0.5) / n
|
||||
out.append('<polyline class="sheet-leader" data-idx="%d" points="%.0f,%.0f %.0f,%.0f %.0f,%.0f" fill="none" '
|
||||
'stroke="#555" stroke-width=".6"/>' % (p["idx"], t[0], t[1], (t[0] + x) / 2, by, x, by))
|
||||
out.append(balloon(x, by, p))
|
||||
col(left, ML - 30)
|
||||
col(right, (ox + (hi_x - lo_x) * sc + 52.0) if tall else (W - MR + 44))
|
||||
out.append('</g>')
|
||||
|
||||
if legend:
|
||||
out.append('<g class="sheet-legend-box">')
|
||||
rows = sorted(side, key=lambda s: s[0]["idx"])
|
||||
half = (len(rows) + 1) // 2
|
||||
tx, ty0 = W - MR + 74, 62
|
||||
out.append('<text x="%d" y="%d" font-size="10" font-weight="bold">零 件 表</text>' % (tx, ty0 - 8))
|
||||
for c in (0, 1):
|
||||
for i, (p, _t, _cx) in enumerate(rows[c * half:(c + 1) * half]):
|
||||
y = ty0 + 12 + i * 12.6
|
||||
nm = esc(p["cn"].replace(" 半联轴器/抱箍", " 联轴器/抱箍").replace("端面齿", "")[:11])
|
||||
out.append('<g class="sheet-legend-row" data-idx="%d" data-name="%s" data-cn="%s">'
|
||||
'<rect class="legend-row-bg" x="%d" y="%.0f" width="102" height="12.5" fill="transparent" rx="2"/>'
|
||||
'<text class="legend-row-idx" x="%d" y="%.0f" font-size="8.5">%d</text>'
|
||||
'<text class="legend-row-name" x="%d" y="%.0f" font-size="8.5">%s</text>'
|
||||
'</g>' % (p["idx"], esc(p.get("name","")), esc(p.get("cn","")),
|
||||
tx + c * 106 - 3, y - 9.5,
|
||||
tx + c * 106, y, p["idx"],
|
||||
tx + c * 106 + 13, y, nm))
|
||||
out.append('</g>')
|
||||
|
||||
if dims:
|
||||
out.append('<g class="sheet-dims-group">')
|
||||
for (a, b, lab, off) in dims:
|
||||
pa, pb = T(proj(a, kind)), T(proj(b, kind))
|
||||
y = (pa[1] + pb[1]) / 2 + off
|
||||
out.append('<line class="sheet-dim-line" x1="%.0f" y1="%.0f" x2="%.0f" y2="%.0f" stroke="#0b57a4" stroke-width=".9"/>'
|
||||
% (pa[0], y, pb[0], y))
|
||||
for q in (pa, pb):
|
||||
out.append('<line class="sheet-dim-ext" x1="%.0f" y1="%.0f" x2="%.0f" y2="%.0f" stroke="#0b57a4" '
|
||||
'stroke-width=".5" stroke-dasharray="2 2"/>' % (q[0], q[1], q[0], y))
|
||||
out.append('<text class="sheet-dim-text" x="%.0f" y="%.0f" font-size="10" fill="#0b57a4" text-anchor="middle">%s</text>'
|
||||
% ((pa[0] + pb[0]) / 2, y - 3, lab))
|
||||
out.append('</g>')
|
||||
out.append('</svg>')
|
||||
return "".join(out)
|
||||
|
||||
|
||||
def joint_detail():
|
||||
"""Sheet A-A: one joint drawn FROM THE MEASURED NUMBERS (not a mesh projection) with every
|
||||
governing dimension called out - this is the sheet you actually build against."""
|
||||
W, H = 1400, 780 # wide enough that the right-hand callouts stay on the sheet
|
||||
s = 6.0
|
||||
cy = 330
|
||||
x0 = 250.0 # motor rear datum
|
||||
x_cover = x0 + MT["cover_z"] * s # cover face = the joint's datum plane
|
||||
x_hub = x_cover + CT["gap"] * s
|
||||
out = frame(W, H, "A-A 回转副局部放大 — 全部尺寸为实测值（按数值绘制，非网格投影）",
|
||||
"电机 → 端面齿半联轴器 A/B（12 齿，盘脸贴死为唯一轴向止动）→ 对开抱箍防脱 → "
|
||||
"从动盘（复刻电机输出面）。蓝色为关节轴线。", "1/6（本图放大 6 倍）", "joint")
|
||||
out.append('<line class="sheet-axis" x1="%d" y1="%d" x2="%d" y2="%d" stroke="#0b57a4" stroke-width="1.1" '
|
||||
'stroke-dasharray="22 5 4 5"/>' % (x0 - 60, cy, x_hub + 190, cy))
|
||||
g = ['<g class="joint-geom-group" stroke="#111" fill="none" stroke-width="1.5">']
|
||||
# motor: housing Ø60 x 42, rear plate, cover Ø60.3 x 3.5
|
||||
g.append('<rect class="joint-geom-part" data-part="电机机座" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>'
|
||||
% (x0 + 5.5 * s, cy - 30 * s, 47 * s, 60 * s))
|
||||
g.append('<rect class="joint-geom-part" data-part="尾部PCBA" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>'
|
||||
% (x0, cy - MT["pcba_w"] / 2.0 * s, MT["pcba_t"] * s, MT["pcba_w"] * s))
|
||||
g.append('<rect class="joint-geom-part" data-part="电机输出端盖" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>'
|
||||
% (x_cover - 3.5 * s, cy - 30.15 * s, 3.5 * s, 60.3 * s))
|
||||
# coupling halves (4.5 each) and the driven hub
|
||||
g.append('<rect class="joint-geom-part" data-part="半联轴器A" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>' % (x_cover, cy - 27 * s, 4.5 * s, 54 * s))
|
||||
g.append('<rect class="joint-geom-part" data-part="半联轴器B" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>' % (x_cover + 4.5 * s, cy - 27 * s, 4.5 * s, 54 * s))
|
||||
g.append('<rect class="joint-geom-part" data-part="从动盘" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>' % (x_hub, cy - 41 * s, 24 * s, 82 * s))
|
||||
# clamp band over the closed pair
|
||||
g.append('<rect class="joint-geom-part" data-part="对开抱箍" x="%.1f" y="%.1f" width="%.1f" height="%.1f" stroke-dasharray="6 3"/>'
|
||||
% (x_cover + 0.6 * s, cy - 30 * s, 8.4 * s, 60 * s))
|
||||
g.append('</g>')
|
||||
out.extend(g)
|
||||
|
||||
def dim(y, xa, xb, txt, col="#c00", lx=None):
|
||||
out.append('<g class="sheet-dim"><line x1="%.1f" y1="%d" x2="%.1f" y2="%d" stroke="%s" stroke-width="1"/>' % (xa, y, xb, y, col))
|
||||
for x in (xa, xb):
|
||||
out.append('<line x1="%.1f" y1="%d" x2="%.1f" y2="%d" stroke="%s" stroke-width=".6"/>' % (x, y - 6, x, y + 6, col))
|
||||
if lx is None:
|
||||
out.append('<text x="%.1f" y="%d" font-size="11" fill="%s" text-anchor="middle">%s</text>'
|
||||
% ((xa + xb) / 2, y - 8, col, txt))
|
||||
else:
|
||||
out.append('<text x="%.1f" y="%d" font-size="11" fill="%s" text-anchor="end">%s</text>'
|
||||
% (lx, y - 8, col, txt))
|
||||
out.append('<line x1="%.1f" y1="%d" x2="%.1f" y2="%d" stroke="%s" stroke-width=".6"/>'
|
||||
% (lx + 4, y - 11, xa, y, col))
|
||||
out.append('</g>')
|
||||
dim(cy - 240, x0, x_cover, "整机长 %.1f" % MT["cover_z"])
|
||||
dim(cy - 215, x_cover, x_hub, "两盖板面跨距 %.2f" % CT["gap"], lx=620)
|
||||
dim(cy + 250, x0, x_hub, "电机尾基准 → 从动盘贴合面 = %.3f ← 全臂节距的唯一来源" % MS["HUB_FACE_Z"])
|
||||
dim(cy + 215, x_cover + 0.6 * s, x_cover + 9.0 * s, "抱箍轴向 %.3f~%.3f" % tuple(MS["CLAMP_SPAN"]), lx=470)
|
||||
|
||||
def note(x, y, tx, ty, txt, anchor="start"):
|
||||
out.append('<g class="sheet-note"><polyline points="%.1f,%.1f %.1f,%.1f %.1f,%.1f" fill="none" stroke="#555" stroke-width=".7"/>'
|
||||
% (x, y, x, ty, tx, ty))
|
||||
out.append('<text x="%.1f" y="%.1f" font-size="10.5" text-anchor="%s">%s</text></g>'
|
||||
% (tx + (3 if anchor == "start" else -3), ty + 3.5, anchor, txt))
|
||||
note(x0 + 28 * s, cy - 30 * s, 235, cy - 190, "机座 Ø%.0f x %.0f，滑配孔按 Ø%.1f"
|
||||
% (MT["hous_d"], MT["hous_len"], 60.3), "end")
|
||||
note(x0 + 4 * s, cy - 31.8 * s, 235, cy - 160, "尾部 PCBA 方 %.1f → 口袋 %.1f"
|
||||
% (MT["pcba_w"], MT["pcba_w"] + 0.8), "end")
|
||||
note(x_cover + 2.2 * s, cy - 27 * s, 900, cy - 200, "半联轴器 A（12 齿端面花键 R%.1f~%.1f，齿高 %.1f）"
|
||||
% (CT["tooth_r0"], CT["tooth_r1"], CT["tooth_s"]))
|
||||
note(x_cover + 6.7 * s, cy + 27 * s, 900, cy - 170, "半联轴器 B = A 绕局部 X 转 180° 后沿轴移 2xPART_Z")
|
||||
note(x_hub + 12 * s, cy + 41 * s, 900, cy + 150, "从动盘：Ø%.0fx%.1f 颈孔 + Ø%.1fx5.0 中心孔 + 3xM2 @Ø%.0f"
|
||||
% (MT["neck_d"], MT["neck_depth"], MT["centre_d"], MT["m2_bcd"]))
|
||||
note(x_hub, cy + 30.5 * s, 900, cy + 178, "盘脸贴死 = 唯一轴向止动；齿只传扭，不定位")
|
||||
note(x_hub + 0.5 * s, cy - 20 * s, 900, cy + 206,
|
||||
"从动面卸荷：Ø54.6 x 0.35（B 半件背面实测越过贴合面 0.06）+ Ø36 x 1.70 导柱孔")
|
||||
out.append('<text x="60" y="%d" font-size="10.5">M2 相位（时钟）：电机侧 %s ；从动盘侧取镜像 %s</text>'
|
||||
% (H - 62, "/".join("%.1f" % a for a in MT["m2_clock"]),
|
||||
"/".join("%.1f" % a for a in [(360 - a) % 360 for a in MT["m2_clock"]])))
|
||||
out.append('<text x="60" y="%d" font-size="10.5">抱箍：带宽 Ø%.0f，凸耳 R%.1f（位于关节局部 ±X，包壳在此处开口）；M3 x2 @ R%.1f</text>'
|
||||
% (H - 48, CT["clamp_od_r"] * 2, CT["lug_r1"], CT["bolt_r"]))
|
||||
out.append('</svg>')
|
||||
return "".join(out)
|
||||
|
||||
|
||||
j2 = JOINTS["J2"]["rear"]
|
||||
j4 = JOINTS["J4"]["rear"]
|
||||
j5 = JOINTS["J5"]["rear"]
|
||||
SH, EL, WR = (j2[1], j2[2]), (j4[1], j4[2]), (j5[1], j5[2])
|
||||
DIMS_ARM = [((0, SH[0], SH[1]), (0, EL[0], EL[1]), "上臂 %.0f" % LAY["L1"], 74),
|
||||
((0, EL[0], EL[1]), (0, WR[0], WR[1]), "前臂 %.0f" % LAY["L2"], 112),
|
||||
((0, 0, 0), (0, WR[0], WR[1]), "腕轴离地 %.0f" % WR[1], -128)]
|
||||
|
||||
sheets = [
|
||||
build_sheet("front", "总装图 - 正视（沿 -X 投影；肢体在纸面内，显示左右交替堆叠）", 1200, 800, 0.0,
|
||||
"实线=打印件，虚线=电机/已有联轴器；点划线为关节轴线；蓝色为节距链。"
|
||||
"俯仰电机一内一外交替，全部贴合面共用 Y=157 一个平面", True, DIMS_ARM, sheet_id="front"),
|
||||
joint_detail(),
|
||||
build_sheet("iso", "爆炸装配图（轴测）", 1200, 800, 1.0,
|
||||
"爆炸量 100%：每个关节沿肢体方向逐级错开一节，电机与端面齿组件再沿各自轴线抽出 —— 自上而下即装配顺序", False, None, sheet_id="exploded"),
|
||||
build_sheet("side", "总装图 - 侧视（沿 +Y 投影；俯仰轴垂直纸面）", 900, 800, 0.0,
|
||||
"肩抬举(J1)轴沿 X 前后布置，与俯仰轴平行偏置 92 mm；"
|
||||
"肩吊臂侧板在 |x| ≥ 64，肢体包络 |x| ≤ 60.5，故整周不碰", True, None, sheet_id="side"),
|
||||
]
|
||||
os.makedirs(DOCS, exist_ok=True)
|
||||
for n, s in zip(("sheet_front", "sheet_joint", "sheet_exploded", "sheet_side"), sheets):
|
||||
io.open(DOCS + "/" + n + ".svg", "w", encoding="utf-8").write(s)
|
||||
io.open(WEB + "/sheets.jsdata", "w", encoding="utf-8").write(json.dumps(sheets, ensure_ascii=False))
|
||||
print("sheets: %d (%d KB) -> docs/sheet_{front,joint,exploded,side}.svg" % (
|
||||
len(sheets), sum(len(s) for s in sheets) // 1024))
|
||||
@@ -0,0 +1,347 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""紧固件（螺钉）实例化网格生成器。
|
||||
|
||||
docs/screws.json 是紧固件清单的唯一事实源（规格 / 长度 / 数量 / 位置 / 备注）。
|
||||
本模块把清单里的每一颗螺钉按其真实装配孔位还原成三维实例（承载头面坐标 + 拧入方向 +
|
||||
随动关节组），生成轻量三角网格后追加进 web/mesh_arm.json 的 parts 中。
|
||||
查看器因此可以：显示全部螺钉、点击 BOM 螺丝行高亮定位、点击螺钉反查清单。
|
||||
|
||||
实例坐标来源（与 arm_model.py 成孔代码一一对应，改模型后按同样规则复核）：
|
||||
头面 = 沉孔/通道的"承接台阶"（螺钉从外侧塞入，一直顶到孔径变小的那一圈台阶面），
|
||||
因此每种规格的头都落在模型预留的沉孔里，不会露在零件表面之外（S05 除外：搭接壁太薄不能开沉孔）。
|
||||
S01 J1~J6 输出毂 3xM2：joint.L() 局部 (r=m2_bcd/2, HUB_M2_CLOCK 相位)，
|
||||
台阶 z=63(J1, p_fork th 54..63) / 58(其余, th 54..58)；头深藏在 Ø5.6 螺丝刀通道内
|
||||
S02 P04~P08 4xM3 ：下级电机 rear_mount_holes：沉孔 Ø5.5 从 -t_plate-1 到 -t_plate+4，
|
||||
台阶 z = -t_plate+4 = -4（t_plate=8）/ -3（t_plate=7），头沉入 1mm
|
||||
S03 P03 后法兰 4xM3 ：J1 局部 (R27.5 @39.9°+90k, -5.5) （Ø6.5 圆柱沉孔台阶 x=-56.5，法兰外端面 -61，
|
||||
圆柱头沉入 1.5mm）
|
||||
S04 P03 前置锁紧凸台 4xM3 ：J1 局部 (R27.5 @17.8/107.8/197.8/287.8°, 60.5)
|
||||
（Ø6.0×2 圆柱沉孔在 Ø10 凸台内，台阶 x=9.5，M3x8 圆柱头露 1mm，旋入电机前端面咬合 3.5mm）
|
||||
S05 P01 分段对锁 8xM4x16：Ø3.9 直孔 x∈{-131,-93}, z∈{180,329}（母口壁与公榫壁同径），
|
||||
前后各拧一颗，头在 y=95 / y=161 外露（搭接壁薄不开沉孔），直接拧入自攻成型
|
||||
S06 P09 工具法兰 4xM4：R22 @0/90/180/270°（BCD44，原 R20 会与 S01 的 Ø5.6 通道咬穿沉孔），台阶 z=97（Ø7.0×4 圆柱沉孔 + Ø4.4 贯穿通孔，法兰底面 z=93，
|
||||
M4 圆柱头与法兰底面齐平）
|
||||
S07 P02 中核心 4xM5 ：x∈{-135,-99}, y∈{110,146}，台阶 z=6（Ø10 沉孔深 6mm，头沉入 1mm）
|
||||
S08 P02 力臂 4xM5 ：(-10,76/180) + (-185,88/168)，台阶 z=17（Ø10 沉孔深 5mm，头与顶面齐平）
|
||||
S09 P03 安装台 4xM4x16：x∈{-142.5,-87.5}, y∈{114.5,141.5}，台阶 z=479（P03 鞍座顶面，
|
||||
从腔体正上方往下拧，Ø3.9 直孔穿过鞍座 9mm 再吃进 P01_C 顶环 7mm，自攻成型）
|
||||
S11 P03 横向防脱锁紧 1xM4x16：x=-148（立柱 −X 外端面），y=128，z=463，头朝 -X，
|
||||
沿 +X Ø3.9 直孔穿 11mm 后壁 + 榫头同径，直接拧入自攻（榫头内咬合 4.7mm）
|
||||
S10 底座腰槽 6xM6 ：3 件底座的 6 组 28x7 通腰槽中心（-97.5/120/-215 × 53/203/58/198），
|
||||
头面 z=22（底座顶面；腰槽为通槽无沉孔，桌面紧固螺栓头必然外露）
|
||||
S12 电机前端压盖 4xM3x8：J2(P04 夹 M2) / J3(P05 夹 M3) / J4(P06 夹 M4) / J5(P07 夹 M5)
|
||||
/ J6(P08 夹 M6) 各 4 颗。
|
||||
配方唯一事实源 = part_tools.motor_front_clamp（R35、4xM3x8 BCD55 @17.8°+90k、Ø6.0 沉孔
|
||||
深 3.0、沉孔台阶 = 前端盖外端面 +2.0mm、压盖背面 0.0 面压）；J3 是同一套配方的 Z 轴版本
|
||||
（台阶落在 Z=(z_r-56)-2=387），半径/相位直接取 arm_model 的 CLAMP_BCD/CLAMP_CLOCK。
|
||||
孔位必须显式算全局 (x,z)/(x,y) 而不能用 to_global，原因见 instances() 内的注释。
|
||||
|
||||
长度处理：S08/S10 螺杆按真实长度会伸到底座底面(z=0)以下悬空（工作台/预埋螺母未建模），
|
||||
这里按可见段截断到 z=0，头部与孔位仍按 BOM 规格，避免出现"悬空螺杆"。
|
||||
运行：python -m arm.dataio.screw_mesh -> 注入网格（纯数据，秒级，不动 CAD）
|
||||
再 python -m arm.viewer.build_viewer -> 重新打包单文件查看器
|
||||
arm_model.py 主流程末尾已自动调用本模块，重跑完整构建不会丢失螺钉。
|
||||
"""
|
||||
import json
|
||||
import math
|
||||
import os
|
||||
import sys
|
||||
|
||||
try:
|
||||
sys.stdout.reconfigure(encoding="utf-8")
|
||||
except Exception:
|
||||
pass
|
||||
from arm.paths import WEB, DOCS
|
||||
from arm import kinematics as HL
|
||||
from arm.cad.part_tools import CLAMP_BCD, CLAMP_CLOCK
|
||||
X_COL = -115.0 # 立柱中心（与 parts/p01_column.py 的 X_COL 一致）
|
||||
Y_COL = HL.Y_AXIS # 128.0
|
||||
GRP_PAR = {"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"}
|
||||
PROX = {"J2": "P04 肩叉", "J3": "P05 大臂旋转座", "J4": "P06 大臂骨架",
|
||||
"J5": "P07 小臂骨架", "J6": "P08 腕偏转座"}
|
||||
COLOR = 0xc3cad6 # 不锈钢冷色
|
||||
LMAX = {"S08": 17.0, "S10": 22.0} # 可见段截断：螺杆伸到底座底面(z=0)即止（台面/预埋螺母未建模）
|
||||
|
||||
# 电机尾端 4x M3 螺纹径向槽的实测孔位（电机.STEP）：BCD55、相位 39.9°+90k，
|
||||
# 槽宽 2.5、径向可调约 ±1.25mm。S02（P04~P08 后端板）与 S03（P03 后法兰）共用；
|
||||
# 旧 35.1×40.9 矩形孔距对角两颗偏出螺纹槽 ~4.7mm（2026-10-02 用户指出"螺钉没有对齐"）。
|
||||
REAR_SLOTS = tuple((27.5 * math.cos(math.radians(39.65 + 90.0 * k)),
|
||||
27.5 * math.sin(math.radians(39.65 + 90.0 * k))) for k in range(4))
|
||||
|
||||
|
||||
# ---------------------------------------------------------------- 局部坐标系工具
|
||||
def _norm(v):
|
||||
m = math.sqrt(sum(c * c for c in v)) or 1.0
|
||||
return tuple(c / m for c in v)
|
||||
|
||||
|
||||
def _cross(a, b):
|
||||
return (a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0])
|
||||
|
||||
|
||||
def _dot(a, b):
|
||||
return sum(x * y for x, y in zip(a, b))
|
||||
|
||||
|
||||
def frame(tag):
|
||||
"""电机局部系 (u,v,w) -> 全局：与 armcore.trs 一致（局部 +Z -> d，+X -> xdir，y = z × x）。"""
|
||||
a = HL.AXIS[tag]
|
||||
rear, d, xdir = tuple(a["rear"]), _norm(a["d"]), a["xdir"]
|
||||
x = _norm(tuple(xdir[c] - _dot(xdir, d) * d[c] for c in range(3)))
|
||||
y = _cross(d, x)
|
||||
return rear, d, x, y
|
||||
|
||||
|
||||
def to_global(tag, u, v, w):
|
||||
rear, d, x, y = frame(tag)
|
||||
return tuple(rear[c] + u * x[c] + v * y[c] + w * d[c] for c in range(3))
|
||||
|
||||
|
||||
# ---------------------------------------------------------------- 网格基元（局部 +Z = 拧入方向）
|
||||
def _side(r0, r1, z0, z1, n):
|
||||
"""圆台侧面（外向缠绕）。"""
|
||||
V, T = [], []
|
||||
for i in range(n):
|
||||
a0 = 2.0 * math.pi * i / n
|
||||
a1 = 2.0 * math.pi * (i + 1) / n
|
||||
V += [(r0 * math.cos(a0), r0 * math.sin(a0), z0), (r0 * math.cos(a1), r0 * math.sin(a1), z0),
|
||||
(r1 * math.cos(a1), r1 * math.sin(a1), z1), (r1 * math.cos(a0), r1 * math.sin(a0), z1)]
|
||||
b = len(V) - 4
|
||||
T += [[b, b + 1, b + 2], [b, b + 2, b + 3]]
|
||||
return V, T
|
||||
|
||||
|
||||
def _cap(r, z, n, up):
|
||||
V = [(0.0, 0.0, z)]
|
||||
for i in range(n):
|
||||
a = 2.0 * math.pi * i / n
|
||||
V.append((r * math.cos(a), r * math.sin(a), z))
|
||||
T = [[0, 1 + i, 1 + (i + 1) % n] if up else [0, 1 + (i + 1) % n, 1 + i] for i in range(n)]
|
||||
return V, T
|
||||
|
||||
|
||||
def _merge(*chunks):
|
||||
V, T = [], []
|
||||
for v, t in chunks:
|
||||
b = len(V)
|
||||
V += list(v)
|
||||
T += [[i + b for i in tri] for tri in t]
|
||||
return V, T
|
||||
|
||||
|
||||
def _geom(spec):
|
||||
"""清单条目 -> 杆径/长/头型/头径（mm）。"""
|
||||
nom = float(str(spec["螺纹"]).lstrip("Mm"))
|
||||
rs, L = nom / 2.0, float(spec["长度mm"])
|
||||
head = spec.get("头型", "")
|
||||
if "沉头" in head: # 沉头内六角：90° 锥，最宽处(刃口)在承载面
|
||||
rh = {3.0: 3.15, 4.0: 3.5, 6.0: 5.5}.get(nom, 1.05 * nom) # 头径≈沉孔座位径（GB dk）
|
||||
return dict(kind="csk", rs=rs, L=L, rh=rh)
|
||||
if "外六角" in head: # 外六角：M6 对边 10，高 4
|
||||
af = {3.0: 5.5, 4.0: 7.0, 5.0: 8.0, 6.0: 10.0}.get(nom, 1.7 * nom)
|
||||
hh = max(3.0, 0.7 * nom)
|
||||
return dict(kind="hex", rs=rs, L=L, rh=(af / 2.0) / math.cos(math.pi / 6.0), hh=hh)
|
||||
rh, hh = {2.0: (3.8, 2.0), 3.0: (5.5, 3.0), 4.0: (7.0, 4.0),
|
||||
5.0: (8.5, 5.0), 6.0: (10.0, 6.0)}.get(nom, (1.75 * nom, 0.9 * nom))
|
||||
return dict(kind="sh", rs=rs, L=L, rh=rh / 2.0, hh=hh)
|
||||
|
||||
|
||||
def _mesh(g):
|
||||
"""局部网格：头部 z ∈ [-hh,0]（0 = 承载头面），杆部 z ∈ [0, L]。"""
|
||||
rs, L = g["rs"], g["L"]
|
||||
if g["kind"] == "csk":
|
||||
hh = g["rh"] - rs # 90° 锥：头高 = (dk-d2)/2
|
||||
head = _merge(_side(g["rh"], rs, 0.0, hh, 14), # 锥面自承载面收进材料（沉入沉孔座位）
|
||||
_cap(g["rh"], 0.0, 14, up=False), # 承载端外露环形面
|
||||
_cap(rs, hh, 14, up=True))
|
||||
elif g["kind"] == "hex":
|
||||
hh, rh = g["hh"], 0.98 * g["rh"]
|
||||
head = _merge(_side(rh, rh, -hh, 0.0, 6), _cap(rh, 0.0, 6, up=True),
|
||||
_cap(rh, -hh, 6, up=False))
|
||||
else:
|
||||
hh, rh = g["hh"], g["rh"]
|
||||
head = _merge(_side(rh, rh, -hh, 0.0, 14), _cap(rh, 0.0, 14, up=True),
|
||||
_cap(rh, -hh, 14, up=False))
|
||||
shaft = _merge(_side(rs * 0.985, rs * 0.86, 0.0, L * 0.95, 12),
|
||||
_side(rs * 0.86, 0.18, L * 0.95, L * 0.995, 12),
|
||||
_cap(0.18, L * 0.995, 12, up=True), _cap(rs * 0.985, 0.0, 12, up=False))
|
||||
return _merge(head, shaft)
|
||||
|
||||
|
||||
def place(V, hp, ax):
|
||||
"""局部 -> 全局 CAD 坐标：局部 +Z = 拧入方向 = -ax（ax 为头朝外法向），右手系保证缠绕不翻。"""
|
||||
zl = _norm(tuple(-c for c in ax))
|
||||
t = (1.0, 0.0, 0.0) if abs(zl[0]) < 0.9 else (0.0, 1.0, 0.0)
|
||||
xl = _norm(_cross(t, zl))
|
||||
yl = _cross(zl, xl)
|
||||
return [tuple(round(hp[c] + lx * xl[c] + ly * yl[c] + lz * zl[c], 2) for c in range(3))
|
||||
for (lx, ly, lz) in V]
|
||||
|
||||
|
||||
# ---------------------------------------------------------------- 72 个实例
|
||||
def instances(m2_bcd, m2_clock):
|
||||
out = []
|
||||
r01 = m2_bcd / 2.0
|
||||
clock01 = [(360.0 - a) % 360.0 for a in m2_clock] # 从动件沉孔相位（arm_build.HUB_M2_CLOCK）
|
||||
|
||||
z01 = {"J1": 63.0, "J2": 58.0, "J3": 58.0, "J4": 58.0, "J5": 58.0, "J6": 58.0}
|
||||
for tag in ("J1", "J2", "J3", "J4", "J5", "J6"):
|
||||
d = frame(tag)[1]
|
||||
c_list = m2_clock if tag == "J1" else clock01
|
||||
for a in c_list:
|
||||
u, v = r01 * math.cos(math.radians(a)), r01 * math.sin(math.radians(a))
|
||||
out.append(("S01", to_global(tag, u, v, z01[tag]), d, tag,
|
||||
"%s 输出毂" % DRIVEN[tag], "φ%.0f @%.1f°" % (m2_bcd, a)))
|
||||
|
||||
for tag, tp in (("J2", 8.0), ("J3", 7.0), ("J4", 8.0), ("J5", 8.0), ("J6", 7.0)):
|
||||
d = frame(tag)[1]
|
||||
zt = -tp + 4.0 # 沉孔台阶 = -t_plate + cb_depth(4)
|
||||
for u, v in REAR_SLOTS:
|
||||
out.append(("S02", to_global(tag, u, v, zt), tuple(-c for c in d), GRP_PAR[tag],
|
||||
"%s 后端板" % PROX[tag], "孔位(%.2f,%.2f) -> %s 电机尾端面" % (u, v, tag)))
|
||||
|
||||
d1 = frame("J1")[1]
|
||||
for deg in (17.47, 107.48, 197.48, 287.47):
|
||||
u = 27.5 * math.cos(math.radians(deg))
|
||||
v = 27.5 * math.sin(math.radians(deg))
|
||||
out.append(("S04", to_global("J1", u, v, 60.5), d1, "root",
|
||||
"P03 前置锁紧凸台", "BCD55 @%.1f° -> M1 前端面" % deg))
|
||||
for u, v in REAR_SLOTS:
|
||||
out.append(("S03", to_global("J1", u, v, -5.5), tuple(-c for c in d1), "root",
|
||||
"P03 后置法兰", "BCD55 @45° 螺纹槽 -> M1 尾端面"))
|
||||
|
||||
# S12 电机前端压盖 -> 电机前端盖：J2(P04 夹 M2) / J3(P05 夹 M3) / J4(P06 夹 M4) /
|
||||
# J5(P07 夹 M5) / J6(P08 夹 M6) 各 4 颗。J2/J4/J5 三处压盖几何完全相同，
|
||||
# J3/J6 是同一套配方的 Z 轴版本（M6 压盖 2026-10-03 补齐，见 p_wrist_bracket）。
|
||||
# R35、沉孔台阶都在"前端盖外端面 + 2.0mm"：Y 轴是 Y_COVER+2=158，Z 轴是 (z_r-56)-2=387。
|
||||
# 4xM3x8 @BCD55 17.8°+90k、沉孔 Ø6.0 深 3.0、压盖背面与前端盖 0.0 面压，
|
||||
# 相位与 S04（P03→M1 前端锁紧）同一套约定，全机 BCD55 孔位一致。
|
||||
#
|
||||
# 孔位必须按 motor_front_clamp 的写法直接算全局 (x,z)/(x,y)，不能用 to_global：
|
||||
# 压盖成孔是 fu = px + BCD*cos、fv = pz/py + BCD*sin，即 sin 项直接加在**全局**该轴上；
|
||||
# 而 frame() 的 y 轴 = d × x，对 J2/J4/J5（d=+Y, x=+X）算出 y=(0,0,-1)，
|
||||
# 经 to_global 会把 v 映到全局 -z，与成孔方向差一个符号
|
||||
# -> 12 颗螺钉实例整体偏 2*27.5*sin(17.8°) = 16.81mm，每颗都落在两孔之间的实体上
|
||||
# （布尔校验：M3 圆柱头沉在 Ø6.0 沉孔里却与压盖实体重叠 71.27 mm^3，装不进去）。
|
||||
# 故此处显式用全局平面复刻成孔公式，与建模脚本一一对应。
|
||||
for tag, prox in (("J2", "P04 肩叉"), ("J3", "P05 大臂旋转座"),
|
||||
("J4", "P06 大臂骨架"), ("J5", "P07 小臂骨架"),
|
||||
("J6", "P08 腕偏转座")):
|
||||
dt = frame(tag)[1]
|
||||
rear = tuple(HL.AXIS[tag]["rear"])
|
||||
roll = HL.AXIS[tag]["d"][1] == 0 # J3/J6 是 roll 电机（轴向 -Z）
|
||||
for deg in CLAMP_CLOCK:
|
||||
u = CLAMP_BCD * math.cos(math.radians(deg))
|
||||
v = CLAMP_BCD * math.sin(math.radians(deg))
|
||||
hp = (rear[0] + u, rear[1] + v, rear[2] - 58.0) if roll \
|
||||
else (rear[0] + u, rear[1] + 58.0, rear[2] + v)
|
||||
out.append(("S12", hp, dt, GRP_PAR[tag],
|
||||
"%s 前端压盖" % prox,
|
||||
"BCD55 @%.1f° -> %s 电机前端盖（前端夹紧，%s 轴）"
|
||||
% (deg, tag, "Z" if roll else "Y")))
|
||||
|
||||
for x in (X_COL - 16.0, X_COL + 22.0):
|
||||
for z in (180.0, 329.0):
|
||||
out.append(("S05", (x, 95.0, z), (0.0, -1.0, 0.0), "root",
|
||||
"P01 立柱分段缝", "z=%.0f 前面 -Y：Ø3.9 直孔（M4x16 直接拧入自攻）" % z))
|
||||
out.append(("S05", (x, 161.0, z), (0.0, 1.0, 0.0), "root",
|
||||
"P01 立柱分段缝", "z=%.0f 背面 +Y：Ø3.9 直孔（M4x16 直接拧入自攻）" % z))
|
||||
|
||||
for deg in (0.0, 90.0, 180.0, 270.0):
|
||||
# BCD44（R22）：原 R20 与 S01 输出螺钉 Ø5.6 通道中心距仅 6.06 < 6.30，
|
||||
# 沉孔壁被咬穿成月牙形；加大到 R22 后余量 1.66mm。见 p_tool_flange 注释。
|
||||
x = HL.X_ARM + 22.0 * math.cos(math.radians(deg))
|
||||
y = HL.Y_AXIS + 22.0 * math.sin(math.radians(deg))
|
||||
out.append(("S06", (x, y, 97.0), (0.0, 0.0, -1.0), "J6",
|
||||
"P09 工具法兰", "R22 @%.0f° -> 末端工具" % deg))
|
||||
|
||||
for x in (-135.0, -99.0):
|
||||
for y in (110.0, 146.0):
|
||||
out.append(("S07", (x, y, 6.0), (0.0, 0.0, -1.0), "root",
|
||||
"P02 底座中核心", "非对称防反装 (%.0f,%.0f)" % (x, y)))
|
||||
|
||||
for x, y in ((-10.0, 76.0), (-10.0, 180.0), (-185.0, 88.0), (-185.0, 168.0)):
|
||||
out.append(("S08", (x, y, 17.0), (0.0, 0.0, 1.0), "root",
|
||||
"P02 防翻力臂", "榫头对锁 (%.0f,%.0f)（另配 M5 预埋螺母）" % (x, y)))
|
||||
|
||||
for x in (X_COL - 27.5, X_COL + 27.5):
|
||||
for y in (Y_COL - 13.5, Y_COL + 13.5):
|
||||
# 方向 = 螺帽朝外法向(+Z，扳手从腔体上方进入)；拧入方向 = -Z，Ø3.9 直孔自攻
|
||||
out.append(("S09", (x, y, 479.0), (0.0, 0.0, 1.0), "root",
|
||||
"P03 肩吊臂安装台",
|
||||
"Ø3.9 直孔：从腔体正上方拧入，穿鞍座 9mm 吃进立柱顶环 7mm（自攻成型）"))
|
||||
|
||||
# 横向防脱锁紧（M4x16）：螺帽压在后壁外面 x=-148，沿 +X Ø3.9 直孔自攻（穿 11mm 后壁 + 榫头）
|
||||
out.append(("S11", (X_COL - 33.0, Y_COL, 463.0), (-1.0, 0.0, 0.0), "root",
|
||||
"P03 肩吊臂安装台",
|
||||
"Ø3.9 直孔：从立柱后方拧入，穿 11mm 后壁吃进榫头 4.7mm（自攻成型）"))
|
||||
|
||||
for x, y in ((-97.5, 53.0), (-97.5, 203.0), (120.0, 58.0),
|
||||
(120.0, 198.0), (-215.0, 58.0), (-215.0, 198.0)):
|
||||
out.append(("S10", (x, y, 22.0), (0.0, 0.0, 1.0), "root",
|
||||
"P02 底座腰槽", "28×7 通腰槽 (%.1f,%.0f) -> 工作台" % (x, y)))
|
||||
return out
|
||||
|
||||
|
||||
# ---------------------------------------------------------------- 注入
|
||||
def main():
|
||||
path = WEB + "/mesh_arm.json"
|
||||
print("读取 %s ..." % path, flush=True)
|
||||
d = json.load(open(path, encoding="utf-8"))
|
||||
M = d["measured"]["M"]
|
||||
specs = json.load(open(DOCS + "/screws.json", encoding="utf-8"))
|
||||
byid = {s["id"]: s for s in specs}
|
||||
|
||||
d["parts"] = [p for p in d["parts"] if not p.get("screw")] # 幂等：先清旧螺钉
|
||||
mx = max(p["idx"] for p in d["parts"])
|
||||
|
||||
inst = instances(M["m2_bcd"], M["m2_clock"])
|
||||
cnt = {}
|
||||
for sid, *_ in inst:
|
||||
cnt[sid] = cnt.get(sid, 0) + 1
|
||||
for sid, s in byid.items(): # 与清单数量自洽校验
|
||||
assert cnt.get(sid) == s["数量"], ("实例数与清单不符", sid, cnt.get(sid), s["数量"])
|
||||
|
||||
geo = {sid: _geom(s) for sid, s in byid.items()}
|
||||
seen, new = {}, []
|
||||
for sid, hp, ax, grp, short, detail in inst:
|
||||
g = dict(geo[sid])
|
||||
clip = ""
|
||||
if sid in LMAX: # 螺杆穿出底座底面后伸向未建模的工作台，按可见段截断
|
||||
g["L"] = min(g["L"], LMAX[sid])
|
||||
clip = "；螺杆伸出底座底面（伸入工作台）的部分按可见段截断"
|
||||
V, T = _mesh(g)
|
||||
n = seen.get(sid, 0) + 1
|
||||
seen[sid] = n
|
||||
mx += 1
|
||||
s = byid[sid]
|
||||
new.append(dict(
|
||||
name="%s_%d" % (sid, n),
|
||||
cn="%s · %s %d/%d" % (s["规格"], short, n, s["数量"]),
|
||||
v=place(V, hp, ax), t=T, color=COLOR, printed=False, vol=0.0,
|
||||
note="%s %s — %s：%s%s；%s" % (s["规格"], s["头型"], s["位置"], detail, clip, s["备注"]),
|
||||
grp=grp, jaw=0.0, ex=[0.0, 0.0, 0.0], idx=mx,
|
||||
screw=True, spec=sid,
|
||||
hl=[round(hp[0], 2), round(hp[2], 2), round(-hp[1], 2)])) # 查看器系头面点 (x,z,-y)
|
||||
|
||||
d["parts"] += new
|
||||
tmp = path + ".tmp"
|
||||
with open(tmp, "w", encoding="utf-8") as f:
|
||||
json.dump(d, f, ensure_ascii=False, separators=(",", ":"))
|
||||
os.replace(tmp, path)
|
||||
print("螺钉实例 %d 颗已注入：%s" % (len(new), " / ".join("%s:%d" % (k, cnt[k]) for k in sorted(cnt))))
|
||||
print("零件数 %d -> %d，文件 %.1f MB"
|
||||
% (len(d["parts"]) - len(new), len(d["parts"]), os.path.getsize(path) / 1e6))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
# OCC/cadquery 的静态析构在解释器正常退出时必定段错误（实测：光是
|
||||
# `python -c "import arm.cad.helpers"` 就返回 139，与本项目代码无关）。所以入口
|
||||
# 脚本跑完后显式刷缓冲再 os._exit —— 否则全流程已经成功、exit code 却是 139,
|
||||
# 会把上游脚本的 set -e 判成失败。只在 __main__ 出口生效, 被 import 时不触发。
|
||||
sys.stdout.flush()
|
||||
os._exit(0)
|
||||
@@ -0,0 +1,209 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""Humanoid arm station solver - single source of truth for human_arm.py.
|
||||
|
||||
Every joint module occupies the same axial envelope in its own frame:
|
||||
s = 0 rear datum (back face of the 63.6 square PCBA)
|
||||
s = 0..56 the motor itself (square tail, then the Ø60 housing)
|
||||
s = 56.6..64.4 the split clamp band, Ø62 with lugs out to R38
|
||||
s = 65.0 the driven hub's mating plane (half B's back face + 4.06 spigot)
|
||||
s = 65..74 the driven plate itself (PLATE_T thick, growing away from the motor)
|
||||
|
||||
so a module plus its joint costs 65 + PLATE_T of axial room and R_MOT = 38 across.
|
||||
That is what forces the proportions: the shoulder axis ends up ~460 mm over the
|
||||
foot for a 15 mm ground clearance under the fingertips. Everything below is derived
|
||||
from those two facts, so changing Z_TIP or L1 re-flows the whole chain.
|
||||
"""
|
||||
import math
|
||||
|
||||
try:
|
||||
import sys
|
||||
sys.stdout.reconfigure(encoding="utf-8")
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
HUB = 65.0 # rear datum -> driven hub mating plane (validated: 65.000)
|
||||
PLATE_T = 9.0 # driven plate thickness, grows away from the motor
|
||||
R_MOT = 38.0 # clamp lug radius = the across-axis envelope
|
||||
R_BARREL = 30.0
|
||||
GAP = 4.0 # design clearance between two module envelopes
|
||||
GAP_MIN = 2.0
|
||||
|
||||
# ------------------------------------------------------------------ vertical chain
|
||||
# Humanoid standard: J1 Roll(+X) -> J2 Pitch(+Y) -> J3 Upper Arm Roll(-Z) -> J4 Elbow Pitch(+Y) -> J5 Wrist Pitch(+Y) -> J6 Tool Roll(-Z)
|
||||
FOOT_H = 20.0 # base foot height; the fingertips must stay above it
|
||||
Z_RL = 610.0 # J1 shoulder roll axis
|
||||
Z_SH = 490.0 # J2 shoulder pitch axis
|
||||
Z_R3 = 445.0 # M3 upper arm roll rear datum (-Z axis)
|
||||
Z_HUB3 = Z_R3 - HUB # 380.0 J3 hub plane
|
||||
Z_EL = 332.0 # J4 elbow pitch axis (+Y axis) - compact direct knuckle
|
||||
Z_EI = Z_EL # backward compatibility alias
|
||||
FOREARM = 110.0 # shortened forearm length (was 135.0, shortened 25mm per user)
|
||||
Z_WR = Z_EL - FOREARM # 222.0 J5 wrist pitch axis (+Y axis)
|
||||
Z_R6 = Z_WR - 46.0 # 176.0 M6 tool roll rear datum (-Z axis)
|
||||
Z_HUB6 = Z_R6 - HUB # 111.0 J6 hub plane
|
||||
Z_TIP = Z_HUB6 - 18.0 # 93.0 P09 tool flange bottom face (73mm clearance above foot)
|
||||
L1 = Z_SH - Z_EL # 158.0 humerus length (was 180.0, empty cylinder eliminated)
|
||||
|
||||
SWEEP_R = 92.0 # farthest point of the humerus from the shoulder pitch axis
|
||||
POD_R = 47.0 # saddle drum outer radius about the roll axis
|
||||
|
||||
X_J1_HUB = 14.0 # J1 hub mating plane, forward of the humerus plate's ±44
|
||||
X_BAY_EXT = 3.0 # M1 侧插槽加长量（2026-10-01 用户裁定：插槽开口 5.06+3=8.06，
|
||||
# 比电机前端面多 3mm 斜插余量；P03 托架前端 8.5+3=11.5）
|
||||
X_FORK_GAP = 1.0 # P04 肩叉前移量：叉板背面(10.5+1.0=11.5)与 P03 托架端面(11.5)
|
||||
# 0.0 硬贴平（2026-10-02 用户两次要求"搞成平的"，0.5mm 缝仍被判台阶）。
|
||||
# 注意：J1 相对转动时 M2 预紧会经此面产生摩擦阻力，若转动发涩可微松 M2。
|
||||
X_ARM = X_J1_HUB + PLATE_T / 2.0 + X_FORK_GAP # 19.5 the limb's own plane in x
|
||||
Z_R1 = X_J1_HUB - HUB # -51 J1 rear datum, measured in x: M1 lies behind the shoulder
|
||||
Z_CHEST1 = Z_RL - 140.0 # 470 torso mast top
|
||||
Z_CHEST0 = FOOT_H
|
||||
Z_SH_TOP = Z_RL + R_MOT + GAP # 652 shoulder pod top
|
||||
Z_R4 = Z_EL # compatibility
|
||||
Z_CAP = Z_HUB3 # compatibility
|
||||
Z_M6 = Z_R6 # compatibility
|
||||
|
||||
# ------------------------------------------------------------------ lateral chain (Y, left arm outboard +Y)
|
||||
# Aligned Architecture: all motors centered laterally on Y_AXIS = 128.0 mm
|
||||
# J2, J4, J5 face the SAME direction (+Y) with driven hubs on Y_HUB = 165.0 mm!
|
||||
Y_AXIS = 128.0 # Shared lateral centerline of the entire limb
|
||||
Y_HUB = 165.0 # Shared driven hub mating plane for J2, J4, J5
|
||||
Y_REAR = Y_HUB - HUB # 100.0 (Rear datum for M2, M4, M5)
|
||||
Y_COVER = Y_REAR + 56.0 # 156.0 (Front cover face for M2, M4, M5)
|
||||
|
||||
Y_H = Y_AXIS # backward compatibility: limb centre plane
|
||||
Y_R_IN = Y_REAR
|
||||
Y_R_OUT = Y_COVER
|
||||
PL_IN = (Y_COVER, Y_HUB)
|
||||
PL_OUT = (Y_COVER, Y_HUB)
|
||||
Y_M6 = Y_AXIS
|
||||
Y_CHEST = 62.0 # mast half width
|
||||
X_CHEST = 6.0 # chest plate half thickness
|
||||
|
||||
# ------------------------------------------------------------------ 台架（非常规构件）
|
||||
# P01 立柱 / P02 底盘 是【固定测试台架】，不是机器人本体的一部分（用户 2026-10-02
|
||||
# 确认）；它在扫描中代表机械臂与**躯干/机身连接界面**的那块实体。因此：
|
||||
#
|
||||
# - 臂撞立柱 = 臂撞躯干，是真约束，不能忽略。sweep_v2 报出的组合卡死（J3 ±162°、
|
||||
# J4 ±18°、J5 ±36° 等，全部是工具法兰 P09 撞立柱 P01_A）就是这类真约束。
|
||||
# - 但台架的**位置与截面是一个假设**。躯干侧工作空间只和这个假设一样准：真机躯干
|
||||
# 挪后一点或外形不同，这些限位就变。所以台架本身不要为了放宽行程去改（那是改测试
|
||||
# 工装，不是改设计）；要改的是"真机躯干占位"这个输入。
|
||||
# - `--no-stand` 仅用于诊断：给出不含躯干约束的自由空间行程，用来分辨某个限位到底是
|
||||
# 臂自身折叠产生的、还是躯干挡的。默认不排除。
|
||||
FIXTURE_PREFIX = ("P01_", "P02_")
|
||||
|
||||
|
||||
def is_fixture(name):
|
||||
"""该零件是否属于固定测试台架（代表躯干/安装界面，非机器人本体）。"""
|
||||
return name.startswith(FIXTURE_PREFIX)
|
||||
|
||||
|
||||
# ------------------------------------------------------------------ 关节表
|
||||
# tag, cn, rear, d, xdir, holder of the motor, driven part
|
||||
# J1 roll +X fore-aft, in the shoulder base -> drives P04 肩叉
|
||||
# J2 pitch +Y outboard in the fork -> drives P05 大臂旋转座
|
||||
# J3 roll -Z in the shoulder roll base -> drives P06 大臂骨架
|
||||
# J4 pitch +Y in the humerus bone -> drives P07 小臂骨架
|
||||
# J5 pitch +Y in the forearm bone -> drives P08 腕偏转座
|
||||
# J6 roll -Z in the wrist bracket -> drives P09 工具法兰
|
||||
# J1 roll 电机沿 +X 轴旋转 5.35°，使尾端 4xM3 螺纹槽对齐 45°/135°/225°/315° 规整四角
|
||||
J1_DTHETA = math.radians(5.35)
|
||||
J1_XDIR = (0, math.cos(J1_DTHETA), math.sin(J1_DTHETA))
|
||||
|
||||
JOINTS = [
|
||||
("J1", "肩抬举", (Z_R1, Y_AXIS, Z_RL), (1, 0, 0), J1_XDIR, "P03_肩吊臂_螺旋体35%_墙5底5_竖打", "P04_肩叉_螺旋体30%_墙5底5_竖打"),
|
||||
("J2", "肩俯仰", (X_ARM, Y_REAR, Z_SH), (0, 1, 0), (1, 0, 0), "P04_肩叉_螺旋体30%_墙5底5_竖打", "P05_大臂旋转座_螺旋体30%_墙4底5_竖打"),
|
||||
("J3", "大臂自转", (X_ARM, Y_AXIS, Z_R3), (0, 0, -1), (1, 0, 0), "P05_大臂旋转座_螺旋体30%_墙4底5_竖打", "P06_大臂骨架_螺旋体25%_墙4底5_竖打"),
|
||||
("J4", "肘部俯仰", (X_ARM, Y_REAR, Z_EL), (0, 1, 0), (1, 0, 0), "P06_大臂骨架_螺旋体25%_墙4底5_竖打", "P07_小臂骨架_螺旋体30%_墙5底5_竖打"),
|
||||
("J5", "腕部俯仰", (X_ARM, Y_REAR, Z_WR), (0, 1, 0), (1, 0, 0), "P07_小臂骨架_螺旋体30%_墙5底5_竖打", "P08_腕偏转座_螺旋体25%_墙4底5_竖打"),
|
||||
("J6", "腕自转", (X_ARM, Y_AXIS, Z_R6), (0, 0, -1), (1, 0, 0), "P08_腕偏转座_螺旋体25%_墙4底5_竖打", "P09_工具法兰_螺旋体30%_墙4底5_竖打"),
|
||||
]
|
||||
AXIS = {t[0]: dict(rear=t[2], d=t[3], xdir=t[4]) for t in JOINTS}
|
||||
|
||||
|
||||
def hub_plane(tag):
|
||||
j = AXIS[tag]
|
||||
return tuple(j["rear"][i] + j["d"][i] * HUB for i in range(3))
|
||||
|
||||
|
||||
def seg_dist(p1, q1, p2, q2):
|
||||
"""Minimum distance between two 3-D segments (parameters clamped to [0,1])."""
|
||||
d1 = [q1[i] - p1[i] for i in range(3)]
|
||||
d2 = [q2[i] - p2[i] for i in range(3)]
|
||||
r = [p1[i] - p2[i] for i in range(3)]
|
||||
a = sum(x * y for x, y in zip(d1, d1))
|
||||
e = sum(x * y for x, y in zip(d2, d2))
|
||||
f = sum(x * y for x, y in zip(d2, r))
|
||||
b = sum(x * y for x, y in zip(d1, d2))
|
||||
s = sum(x * y for x, y in zip(d1, r))
|
||||
if a < 1e-12:
|
||||
t0 = 0.0
|
||||
t1 = max(0.0, min(1.0, f / e)) if e > 1e-12 else 0.0
|
||||
elif e < 1e-12:
|
||||
t1 = 0.0
|
||||
t0 = max(0.0, min(1.0, -s / a))
|
||||
else:
|
||||
den = a * e - b * b
|
||||
if abs(den) < 1e-12:
|
||||
t0 = 0.0
|
||||
t1 = max(0.0, min(1.0, f / e))
|
||||
else:
|
||||
t0 = max(0.0, min(1.0, (b * f - e * s) / den))
|
||||
t1 = max(0.0, min(1.0, (e * f - b * s) / den))
|
||||
c = [p1[i] + d1[i] * t0 - (p2[i] + d2[i] * t1) for i in range(3)]
|
||||
return math.hypot(*c)
|
||||
|
||||
|
||||
def columns():
|
||||
"""Each module as a segment (rear datum -> hub plane) plus its across-axis radius."""
|
||||
out = {}
|
||||
for tag, cn, rear, d, xd, holder, driven in JOINTS:
|
||||
q = tuple(rear[i] + d[i] * HUB for i in range(3))
|
||||
out[tag] = (rear, q, R_MOT)
|
||||
return out
|
||||
|
||||
|
||||
def relabel():
|
||||
"""The designed 1-D relations that set the stations. Each pair is separated along
|
||||
one global coordinate because the two columns are perpendicular or collinear there."""
|
||||
C = {}
|
||||
C["pod drum clear of the pitch sweep"] = (Z_RL - POD_R) - (Z_SH + SWEEP_R)
|
||||
C["bridge vs elbow sleeve"] = (Y_R_IN + 8.0) - 96.0
|
||||
C["cheek vs arm x envelope"] = 64.0 - (X_ARM + 42.0)
|
||||
C["fingertip above the foot"] = Z_TIP - FOOT_H
|
||||
C["roll motor rear below the elbow motor"] = (Z_EI - R_MOT) - Z_R4
|
||||
C["wrist-cap plate above the wrist motor"] = (Z_CAP - PLATE_T) - (Z_WR + R_MOT)
|
||||
C["fork plate above the humerus plate"] = (Z_RL - 42.0) - (Z_SH + 44.0)
|
||||
C["gripper motor below the wrist motor"] = (Z_WR - R_MOT) - Z_M6
|
||||
C["gripper clamp band vs palm plate"] = PL_OUT[0] - (Y_M6 + 31.0)
|
||||
C["elbow motor rear vs chest plate edge"] = Y_R_IN - Y_CHEST
|
||||
C["gripper tail vs chest plate edge"] = (Y_M6 - 36.0) - Y_CHEST
|
||||
C["fingertip to ground"] = Z_TIP
|
||||
return C
|
||||
|
||||
|
||||
def report():
|
||||
print("vertical chain: tip=%.0f J6hub=%.0f J5axis=%.0f J4hub=%.0f J4rear=%.0f "
|
||||
"J3axis=%.0f J2axis=%.0f J1roll=%.0f deck=%.0f pod top=%.0f"
|
||||
% (Z_TIP, Z_M6 - HUB, Z_WR, Z_CAP, Z_R4, Z_EI, Z_SH, Z_RL, Z_CHEST1, Z_SH_TOP))
|
||||
print("lateral: Y_R_IN=%.0f Y_H=%.0f Y_R_OUT=%.0f Y_M6=%.0f chest half-width=%.0f\n"
|
||||
% (Y_R_IN, Y_H, Y_R_OUT, Y_M6, Y_CHEST))
|
||||
for tag, cn, rear, d, xd, holder, driven in JOINTS:
|
||||
h = hub_plane(tag)
|
||||
print(" %-3s %-5s rear=(%6.1f,%6.1f,%6.1f) d=(%2d,%2d,%2d) hub=(%6.1f,%6.1f,%6.1f) %s -> %s"
|
||||
% (tag, cn, rear[0], rear[1], rear[2], d[0], d[1], d[2], h[0], h[1], h[2], holder, driven))
|
||||
print("\n-- designed relations (each must be >= %.0f mm) --" % GAP_MIN)
|
||||
bad = 0
|
||||
for k, v in relabel().items():
|
||||
if v < GAP_MIN:
|
||||
bad += 1
|
||||
print(" %+-7.1f %-46s %s" % (v, k, "OK" if v >= GAP_MIN else "*** CLASH ***"))
|
||||
print("\n humerus L1=%.0f forearm(elbow->wrist)=%.0f hand(wrist->tip)=%.0f"
|
||||
% (L1, Z_EI - Z_WR, Z_WR - Z_TIP))
|
||||
print(" shoulder->tip = %.0f mm height to pod top = %.0f mm torso %.0f..%.0f"
|
||||
% (Z_SH - Z_TIP, Z_SH_TOP, Z_CHEST0, Z_CHEST1))
|
||||
return bad
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
sys.exit(1 if report() else 0)
|
||||
@@ -0,0 +1,24 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""仓库内路径的唯一来源。
|
||||
|
||||
原先这些常量是硬编码的 G:/Robot_v2 绝对路径，仓库换盘符即全断；现在由本文件
|
||||
位置推出。REPO 的父目录就是原来的 ROOT(=G:/Robot_v2)，所以外部 STEP 输入的解析
|
||||
结果与从前逐字相同。三个 ARM_* 环境变量是临时覆盖入口。
|
||||
"""
|
||||
import os
|
||||
|
||||
_HERE = os.path.dirname(os.path.abspath(__file__)).replace("\\", "/") # .../arm
|
||||
REPO = os.environ.get("ARM_WORKSPACE") or os.path.dirname(_HERE)
|
||||
ROOT = os.environ.get("ARM_ROOT") or os.path.dirname(REPO)
|
||||
MODEL = os.environ.get("ARM_MODEL_ROOT") or (ROOT + r"/Model/Solidworks")
|
||||
SRC_STEP = MODEL + r"/电机.STEP"
|
||||
HALF_STEP = MODEL + r"/配件/端面齿半联轴器_相同件x2.STEP"
|
||||
CLAMP_STEP = MODEL + r"/配件/端面齿联轴器_抱箍_两片装配.STEP"
|
||||
OUT = REPO + r"/out"
|
||||
WEB = REPO + r"/web"
|
||||
DOCS = REPO + r"/docs"
|
||||
# 可达包络 FK 采样的缓存（ws_cloud.npz / ws_metrics.json）。原先躺在 gitignore 的
|
||||
# scratch/ 里，构建却依赖它——缺了新克隆就跑不出 ENV 件。
|
||||
CACHE = REPO + r"/data/cache"
|
||||
# 查看器模板。S4 拆成 webapp/index.html + js/** 后这条即作废。
|
||||
TPL = REPO + r"/src/viewer_tpl.html"
|
||||
@@ -0,0 +1,3 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""查看器侧：数据打包、本地静态服务、headless 截图。
|
||||
"""
|
||||
@@ -0,0 +1,76 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""Assemble the single-file viewer: three.js (inline, no CDN) + mesh data + 2D sheets."""
|
||||
import io
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
|
||||
try:
|
||||
sys.stdout.reconfigure(encoding="utf-8")
|
||||
except Exception:
|
||||
pass
|
||||
from arm.paths import WEB, DOCS, REPO, TPL
|
||||
|
||||
import time
|
||||
|
||||
def rebuild_viewer():
|
||||
print("=" * 80, flush=True)
|
||||
print("【第五阶段 5/5】打包单文件三维交互查看器 (机器人手臂3D查看器.html)...", flush=True)
|
||||
print("=" * 80, flush=True)
|
||||
t0 = time.time()
|
||||
print(" - 读取 Three.js 离线 3D 渲染内核...", end="", flush=True)
|
||||
three = io.open(WEB + "/three_inline.js", encoding="utf-8").read()
|
||||
assert len(three) > 400000, len(three)
|
||||
print(f" 完成 ({len(three)/1024:.0f} KB) ✓", flush=True)
|
||||
|
||||
print(" - 读取几何网格与关节运动学数据...", end="", flush=True)
|
||||
data = io.open(WEB + "/mesh_arm.json", encoding="utf-8").read()
|
||||
sheets = io.open(WEB + "/sheets.jsdata", encoding="utf-8").read()
|
||||
trv = io.open(DOCS + "/travel.json", encoding="utf-8").read() if os.path.exists(
|
||||
DOCS + "/travel.json") else "[]"
|
||||
col = io.open(DOCS + "/collide.json", encoding="utf-8").read() if os.path.exists(
|
||||
DOCS + "/collide.json") else '{"caps":[],"parts":{}}'
|
||||
screws = io.open(DOCS + "/screws.json", encoding="utf-8").read() if os.path.exists(
|
||||
DOCS + "/screws.json") else "[]"
|
||||
ik_solver = io.open(WEB + "/arm-ik-solver.js", encoding="utf-8").read()
|
||||
ik_glue = io.open(WEB + "/ik-glue.js", encoding="utf-8").read()
|
||||
tpl = io.open(TPL, encoding="utf-8").read()
|
||||
print(f" 完成 ({len(data)/1024:.0f} KB) ✓", flush=True)
|
||||
|
||||
print(" - 打包生成全内置单文件 HTML...", end="", flush=True)
|
||||
out = (tpl.replace("/*__THREE__*/", three)
|
||||
.replace("/*__DATA__*/", data)
|
||||
.replace("/*__SHEETS__*/", sheets)
|
||||
.replace("/*__TRAVEL__*/", trv)
|
||||
.replace("/*__COLLIDE__*/", col)
|
||||
.replace("/*__SCREWS__*/", screws)
|
||||
.replace("/*__IKSOLVER__*/", ik_solver)
|
||||
.replace("/*__IKGLUE__*/", ik_glue))
|
||||
assert "/*__" not in out, [l for l in out.split("\n") if "/*__" in l][:3]
|
||||
dst = WEB + "/机器人手臂3D查看器.html"
|
||||
# 【2026-10-06】三个副本逐个写、逐个报错，不要一把梭。
|
||||
# 原来三行连写，任一份被浏览器独占（Windows 上打开中的 html 是独占锁）就抛异常，
|
||||
# 而调用方 arm_model.py 把整个 rebuild_viewer() 包在 try/except 里，
|
||||
# 于是只写成功第一份、另外两份静默停在旧版本 —— 表现为"代码改了但网页没变"。
|
||||
# 实测就是这个坑：18:52 那次 dst 是新的，web/index.html 和根目录那份还停在 18:12。
|
||||
ok, failed = True, []
|
||||
for path in (dst, WEB + "/index.html", REPO + "/机器人手臂3D查看器.html"):
|
||||
try:
|
||||
io.open(path, "w", encoding="utf-8").write(out)
|
||||
except Exception as e:
|
||||
ok = False
|
||||
failed.append("%s (%s)" % (path, e))
|
||||
sz_mb = os.path.getsize(dst) / 1e6
|
||||
print(f" 完成 ({sz_mb:.2f} MB, 耗时: {time.time()-t0:.2f}s) ✓", flush=True)
|
||||
if failed:
|
||||
print("!! 以下副本写入失败（多半是浏览器正打开着该文件，Windows 独占锁）：", flush=True)
|
||||
for f in failed:
|
||||
print(" - %s" % f, flush=True)
|
||||
print(" 关掉对应页面后重跑 python -m arm.viewer.build_viewer 即可。\n", flush=True)
|
||||
else:
|
||||
print(f"-> 3D查看器已更新至: {dst}、{WEB}/index.html 与 根目录/机器人手臂3D查看器.html\n",
|
||||
flush=True)
|
||||
|
||||
if __name__ == "__main__":
|
||||
rebuild_viewer()
|
||||
|
||||
@@ -0,0 +1,180 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
"""Headless Edge screenshots of the viewer, for the visual self-check loop."""
|
||||
import os
|
||||
import subprocess
|
||||
import sys
|
||||
import shutil
|
||||
import glob
|
||||
|
||||
try:
|
||||
sys.stdout.reconfigure(encoding="utf-8")
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
from arm.paths import WEB, DOCS
|
||||
SHOTS = DOCS + "/shots"
|
||||
HTML = WEB + "/机器人手臂3D查看器.html"
|
||||
CAND = [r"C:\Program Files (x86)\Microsoft\Edge\Application\msedge.exe",
|
||||
r"C:\Program Files\Microsoft\Edge\Application\msedge.exe"]
|
||||
EDGE = next((c for c in CAND if os.path.exists(c)), None)
|
||||
if not EDGE:
|
||||
EDGE = glob.glob(r"C:\Users\*\AppData\Local\Microsoft\Edge\*\msedge.exe")
|
||||
EDGE = EDGE[0] if EDGE else None
|
||||
if not EDGE:
|
||||
raise SystemExit("msedge not found")
|
||||
|
||||
VIEWS = {
|
||||
"01_iso": "?cam=iso",
|
||||
"zoom_user": "?cam=iso&az=-0.9&po=1.15&rd=470&tx=30&ty=320&tz=-80&xray=0",
|
||||
"user_harness_view": "?az=-1.85&po=1.32&rd=430&tx=0&ty=330&tz=-115&xray=0",
|
||||
"user_harness_zoom": "?az=-1.85&po=1.32&rd=280&tx=-5&ty=360&tz=-115&xray=0",
|
||||
"user_m1_rear": "?az=-1.25&po=1.35&rd=350&tx=-70&ty=570&tz=-128&xray=0",
|
||||
"user_m1_exact": "?az=-1.5708&po=1.5708&rd=260&tx=0&ty=610&tz=-128&xray=0",
|
||||
"user_m1_bypass_oblique": "?az=-1.0&po=1.15&rd=300&tx=-40&ty=580&tz=-140&xray=0",
|
||||
"user_smooth_harness": "?az=1.50&po=1.45&rd=340&tx=-15&ty=560&tz=-128&xray=0",
|
||||
"user_contour_harness": "?az=1.5708&po=1.50&rd=360&tx=-15&ty=320&tz=-128&xray=0",
|
||||
"02_front": "?cam=front",
|
||||
|
||||
# 工程图 / 装配向导 / 运动模拟三种模式。URL 参数（?view=&sheet=&theme=&guide=）就是
|
||||
# 为这几条截图加的：不把它们纳入基线，拆 CSS 与那 700 行工程图 JS 时等于没有关卡。
|
||||
"m1_sheet_front": "?view=sheet",
|
||||
"m2_sheet_joint": "?view=sheet&sheet=1",
|
||||
"m3_sheet_exploded": "?view=sheet&sheet=2",
|
||||
"m4_sheet_side": "?view=sheet&sheet=3",
|
||||
"m5_guide_step1": "?view=sheet&sheet=guide&guide=0",
|
||||
"m6_guide_step5": "?view=sheet&sheet=guide&guide=4",
|
||||
"m7_sheet_blueprint": "?view=sheet&theme=blueprint",
|
||||
"m8_sheet_dark": "?view=sheet&theme=dark",
|
||||
"m9_motion": "?view=motion",
|
||||
"03_side": "?cam=side",
|
||||
"04_top": "?cam=top",
|
||||
"05_exploded": "?cam=iso&expl=100",
|
||||
"06_wrist": "?cam=wrist&xray=0",
|
||||
"07_joint": "?cam=joint",
|
||||
"08_pose": "?cam=iso&j2=35&j3=60&j4=-25&j1=25",
|
||||
"09_sheet": "?sheet=1",
|
||||
"10_solid": "?cam=iso&xray=0",
|
||||
"11_tool_flange": "?cam=wrist&xray=0&j6=45",
|
||||
"12_elbow_flare": "?cam=elbow&xray=0",
|
||||
"13_forearm_side": "?cam=side&xray=0&rd=340&ty=245&tz=-135",
|
||||
"user_target": "?cam=side&az=-1.5708&po=1.57&xray=0&rd=340&tx=100&ty=245&tz=-135",
|
||||
"view_yz_pos_x": "?cam=side&az=0&po=1.57&xray=0&rd=340&tx=100&ty=245&tz=-135",
|
||||
"view_yz_neg_x": "?cam=side&az=3.14159&po=1.57&xray=0&rd=340&tx=100&ty=245&tz=-135",
|
||||
"view_iso_forearm": "?cam=side&az=-0.65&po=1.2&xray=0&rd=320&tx=100&ty=245&tz=-135",
|
||||
"user_view1": "?cam=wrist&az=0.55&po=1.4&rd=310&xray=0",
|
||||
"user_view2": "?cam=wrist&az=0.2&po=1.4&rd=290&xray=0",
|
||||
"user_p04": "?cam=joint&az=-1.5708&po=1.57&rd=380&xray=0",
|
||||
"user_p04_opp": "?cam=joint&az=1.5708&po=1.57&rd=380&xray=0",
|
||||
"user_elbow_rear": "?az=1.5708&po=1.5708&rd=280&tx=95&ty=315&tz=-128&xray=0",
|
||||
"user_p07_wrist": "?az=1.5708&po=1.5708&rd=240&tx=95&ty=235&tz=-128&xray=0",
|
||||
"user_elbow_front": "?az=-1.5708&po=1.5708&rd=250&tx=18.5&ty=310&tz=-128&xray=0",
|
||||
"user_p06_xz": "?az=1.5708&po=1.5708&rd=240&tx=18.5&ty=350&tz=-128&xray=0&hide=胸板,底脚,肩吊臂",
|
||||
"user_p06_yz": "?az=0&po=1.5708&rd=260&tx=18.5&ty=350&tz=-110&xray=0",
|
||||
"user_p06_iso": "?az=-0.65&po=1.25&rd=260&tx=-15&ty=350&tz=-128&xray=0",
|
||||
"user_p07_creases": "?az=-0.65&po=1.25&rd=260&tx=30&ty=270&tz=-130&xray=0",
|
||||
# 电机腔内壁（隐藏全部电机，从腔内看 R35/R30.15 两段同心圆弧是否连续）
|
||||
"bay_p06_inside": "?az=1.5708&po=1.5708&rd=250&tx=18.5&ty=345&tz=-128&xray=0&hide=J1,J2,J3,J4,J5,J6",
|
||||
"bay_p07_inside": "?az=1.5708&po=1.5708&rd=240&tx=18.5&ty=235&tz=-128&xray=0&hide=J1,J2,J3,J4,J5,J6",
|
||||
"bay_p08_inside": "?az=1.5708&po=1.5708&rd=210&tx=18.5&ty=175&tz=-128&xray=0&hide=J1,J2,J3,J4,J5,J6",
|
||||
"user_p04_side": "?az=1.5708&po=1.5708&rd=300&tx=18.5&ty=520&tz=-128&xray=0&hide=胸板,底脚,肩吊臂",
|
||||
"user_p04_bottom": "?az=0.5&po=2.0&rd=240&tx=18.5&ty=490&tz=-128&xray=0&hide=胸板,底脚,肩吊臂",
|
||||
"user_p04_bottom2": "?az=1.2&po=2.0&rd=260&tx=18.5&ty=490&tz=-128&xray=0&hide=胸板,底脚,肩吊臂",
|
||||
"user_shoulder_solid": "?cam=joint&az=2.1&po=1.35&rd=380&xray=0",
|
||||
"user_shoulder_xray": "?cam=joint&az=2.1&po=1.35&rd=380",
|
||||
"user_shoulder_top": "?cam=joint&az=-0.6&po=0.6&rd=360&xray=0",
|
||||
# P03 轻量化桁架版（孤立视图：只留 P03，隐藏其余零件/电机/螺钉/包络）
|
||||
"p03_light_iso": "?az=0.62&po=1.15&rd=300&tx=-70&ty=548&tz=-128&xray=0&hide=P01,P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
|
||||
"p03_light_side": "?az=1.5708&po=1.5708&rd=320&tx=-70&ty=548&tz=-128&xray=0&hide=P01,P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
|
||||
"p03_light_rear": "?az=0.0&po=1.45&rd=300&tx=-70&ty=548&tz=-128&xray=0&hide=P01,P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
|
||||
"p03_light_join": "?az=0.62&po=1.15&rd=420&tx=18.5&ty=520&tz=-128&xray=0",
|
||||
"p03_light_xray": "?az=0.62&po=1.15&rd=300&tx=-70&ty=548&tz=-128&xray=1&hide=P01,P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
|
||||
# 减重版（2026-10-02）：P04 立柱槽 / P06 过渡块窗 / P07 顶板槽 的孤立视图
|
||||
# 俯视看朝上敞开的槽口，斜视看槽壁与留下来的抗弯腹板
|
||||
"hollow_p04_top": "?az=0.0&po=0.05&rd=250&tx=18.5&ty=585&tz=-128&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
|
||||
"hollow_p04_iso": "?az=0.7&po=1.05&rd=280&tx=18.5&ty=585&tz=-128&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
|
||||
"hollow_p07_top": "?az=0.0&po=0.05&rd=230&tx=18.5&ty=270&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
|
||||
"hollow_p07_iso": "?az=0.7&po=1.05&rd=260&tx=18.5&ty=275&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
|
||||
"hollow_p06_iso": "?az=0.7&po=1.05&rd=190&tx=18.5&ty=368&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
|
||||
# P03↔立柱 安装接口（新版 4xM5 从腔体上方拧入）：俯视看螺钉落位
|
||||
"p03_mount_top": "?az=0.9&po=1.30&rd=190&tx=-115&ty=476&tz=-128&xray=0&hide=P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV",
|
||||
"p03_mount_iso": "?az=2.2&po=0.95&rd=230&tx=-115&ty=486&tz=-128&xray=0&hide=P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV",
|
||||
"p03_mount_loose": "?az=0.9&po=0.42&rd=260&tx=-115&ty=500&tz=-128&xray=0&expl=60&hide=P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV",
|
||||
"j3_前端压盖_装配": "?az=0.7&po=2.72&rd=190&tx=19.5&ty=396&tz=-128&xray=0&hide=立柱,底座,肩关节安装悬臂,肩叉,大臂骨架,小臂骨架,腕部转接座,末端工具法兰,M1,M2,M4,M5,M6,包络经纬网",
|
||||
"j3_前端压盖_全件": "?az=0.7&po=2.6&rd=300&tx=19.5&ty=420&tz=-128&xray=0",
|
||||
# 承压面下沉 2mm 留下的"悬空凸台"（2026-10-04 整改）：沿电机轴线从尾端面方向看，
|
||||
# 四个视图分别对应 P04/P05/P06/P07 的后端。ax/po 沿轴向，rd 拉近到 R35 座圈。
|
||||
# 沿电机轴线从尾端面看过去：承压面(R35圆面) + 4xS02 沉孔，凸台消失后应是干净圆面
|
||||
"boss_p04": "?az=0.55&po=1.30&rd=150&tx=19.5&ty=490&tz=-158&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M3,M4,M5,M6,ENV",
|
||||
"user_fork_fixed": "?az=0.55&po=1.30&rd=150&tx=19.5&ty=490&tz=-158&xray=0&hide=P01,P02,P03,P06,P07,P08,P09,M1,M4,M5,M6,ENV,S0,S1",
|
||||
"bay_p04_inside": "?az=0.55&po=2.10&rd=150&tx=19.5&ty=490&tz=-158&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV,S0,S1",
|
||||
"bay_p06_inside": "?az=0.55&po=2.10&rd=150&tx=19.5&ty=332&tz=-158&xray=0&hide=P01,P02,P03,P04,P05,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV,S0,S1",
|
||||
"bay_p07_inside": "?az=0.55&po=2.10&rd=150&tx=19.5&ty=227&tz=-158&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M5,M6,ENV,S0,S1",
|
||||
"p04_both_ends": "?az=1.5708&po=1.5708&rd=200&tx=19.5&ty=490&tz=-128&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M3,M4,M5,M6,ENV,S0,S1",
|
||||
"p04_m2_side": "?az=1.2&po=1.9&rd=240&tx=19.5&ty=490&tz=-128&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M3,M4,M5,M6,ENV,S0,S1",
|
||||
"p06_m4_side": "?az=1.2&po=1.9&rd=240&tx=19.5&ty=332&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P07,P08,P09,M1,M2,M3,M5,M6,ENV,S0,S1",
|
||||
"p07_m5_side": "?az=1.2&po=1.9&rd=240&tx=19.5&ty=227&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M6,ENV,S0,S1",
|
||||
"p05_m3_side": "?az=1.2&po=1.9&rd=240&tx=19.5&ty=400&tz=-128&xray=0&hide=P01,P02,P03,P04,P06,P07,P08,P09,M1,M2,M4,M5,M6,ENV,S0,S1",
|
||||
"boss_p05": "?az=1.5708&po=1.5708&rd=190&tx=18.5&ty=392&tz=-128&xray=0&hide=P01,P02,P03,P04,P06,P07,P08,P09,M2,M4,M5,M6,ENV",
|
||||
"user_compare_view": "?cam=side&az=0&po=1.5708&rd=460&tx=19.5&ty=380&tz=-128&xray=0&hide=P01,P02,P03,P09,M1,M6,ENV",
|
||||
"user_p07_check": "?az=1.5708&po=1.5708&rd=260&tx=19.5&ty=220&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P09,M1,M2,M3,M4,M5,M6,ENV",
|
||||
"boss_p06": "?az=1.5708&po=1.5708&rd=190&tx=18.5&ty=332&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P07,P08,P09,M1,M2,M3,M5,M6,ENV",
|
||||
"boss_p07": "?az=0&po=0.0&rd=210&tx=19.5&ty=215&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M6,ENV",
|
||||
"svg_side": f"file:///{DOCS}/sheet_side.svg",
|
||||
"svg_joint": f"file:///{DOCS}/sheet_joint.svg",
|
||||
"svg_exploded": f"file:///{DOCS}/sheet_exploded.svg",
|
||||
"user_circle_check": "?az=0.8&po=1.95&rd=240&tx=19.5&ty=430&tz=-128&xray=0&hide=M1,M2,M3,M4,M5,M6,ENV",
|
||||
"user_exact_view": "?az=1.5708&po=1.92&rd=150&tx=19.5&ty=440&tz=-128&xray=0&hide=P01,P02,P03,M1,M2,M3,M4,M5,M6,ENV",
|
||||
"shot_p08_user": "?az=1.5708&po=1.92&rd=150&tx=19.5&ty=176&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P07,P09,M1,M2,M3,M4,M5,M6,ENV",
|
||||
"p05_flank_view": "?az=0&po=1.5708&rd=200&tx=19.5&ty=440&tz=-135&xray=0&hide=P01,P02,P03,P07,P08,P09,M1,M4,M5,M6,ENV",
|
||||
"harness_full_iso": "?cam=iso&xray=0",
|
||||
"harness_overview": "?az=-0.7&po=1.2&rd=520&tx=0&ty=400&tz=-120&xray=0",
|
||||
"harness_xray_internal": "?az=-0.7&po=1.2&rd=520&tx=0&ty=400&tz=-120&alpha=0.35&xray=1",
|
||||
"harness_p07_window": "?az=-0.65&po=1.25&rd=260&tx=25&ty=275&tz=-130&xray=0",
|
||||
"harness_p07_xray": "?az=-0.65&po=1.25&rd=260&tx=25&ty=275&tz=-130&alpha=0.35&xray=1",
|
||||
"harness_p04_p05": "?az=0.8&po=1.35&rd=280&tx=25&ty=470&tz=-128&xray=0",
|
||||
"harness_p04_p05_xray": "?az=0.8&po=1.35&rd=280&tx=25&ty=470&tz=-128&alpha=0.35&xray=1",
|
||||
"harness_p06_window": "?az=-0.65&po=1.25&rd=240&tx=25&ty=355&tz=-128&xray=0",
|
||||
"harness_xray_full": "?cam=iso&xray=1",
|
||||
# 扎带拱桥核验：沿 ±Y 正视肩部，确认三个拱桥各自露出多少、线束是否压在桥上
|
||||
"tie_probe_negY": "?az=1.5708&po=1.5708&rd=460&tx=-30&ty=590&tz=-128&xray=0",
|
||||
"tie_probe_posY": "?az=-1.5708&po=1.5708&rd=460&tx=-30&ty=590&tz=-128&xray=0",
|
||||
"tie_after_negY": "?az=1.5708&po=1.5708&rd=300&tx=-25&ty=600&tz=-128&xray=0",
|
||||
"tie_after_oblique": "?az=2.05&po=1.30&rd=330&tx=-25&ty=600&tz=-128&xray=0",
|
||||
"tie_after_close": "?az=1.90&po=1.50&rd=180&tx=-25&ty=605&tz=-100&xray=0",
|
||||
# P06/P07 −X 侧线束走廊：从 −X、−Y 斜看（纯 −X 会被蓝色立柱挡住）
|
||||
"tie_after_p0607": "?az=2.35&po=1.5708&rd=300&tx=0&ty=290&tz=-102.5&xray=0",
|
||||
"tie_after_p0607_obl": "?az=2.60&po=1.35&rd=260&tx=-5&ty=290&tz=-110&xray=0",
|
||||
}
|
||||
os.makedirs(SHOTS, exist_ok=True)
|
||||
want = sys.argv[1:] or list(VIEWS)
|
||||
|
||||
def take_shot(nm):
|
||||
q = VIEWS[nm]
|
||||
out = "%s/%s.png" % (SHOTS, nm)
|
||||
import time, tempfile
|
||||
t_bust = int(time.time() * 1000)
|
||||
target = q if q.startswith("file://") else "file:///" + HTML.replace("\\", "/") + q + (
|
||||
f"&still=1&_t={t_bust}" if "?" in q else f"?still=1&_t={t_bust}")
|
||||
udd = tempfile.mkdtemp(prefix="eshot")
|
||||
cmd = [EDGE, "--headless=new", "--use-gl=angle", "--use-angle=d3d11",
|
||||
"--disable-cache", "--disable-application-cache", "--disk-cache-size=0",
|
||||
"--user-data-dir=" + udd,
|
||||
"--enable-gpu-rasterization", "--ignore-gpu-blocklist",
|
||||
"--hide-scrollbars", "--force-device-scale-factor=1",
|
||||
"--window-size=1500,860", "--virtual-time-budget=20000",
|
||||
"--screenshot=" + out, target]
|
||||
r = subprocess.run(cmd, capture_output=True, timeout=180)
|
||||
shutil.rmtree(udd, ignore_errors=True)
|
||||
ok = os.path.exists(out) and os.path.getsize(out) > 20000
|
||||
err = (r.stderr or b"").decode("utf-8", errors="ignore").strip()[:90].replace("\n", " ")
|
||||
sz = os.path.getsize(out) if os.path.exists(out) else 0
|
||||
print("%-18s %s %8s %s" % (nm, "OK " if ok else "FAIL", sz, err), flush=True)
|
||||
return ok
|
||||
|
||||
if __name__ == "__main__":
|
||||
from concurrent.futures import ThreadPoolExecutor
|
||||
with ThreadPoolExecutor(max_workers=min(4, os.cpu_count() or 2)) as executor:
|
||||
results = list(executor.map(take_shot, want))
|
||||
|
||||
print("edge:", EDGE)
|
||||
print("all shots ok:", all(results))
|
||||
Reference in New Issue
Block a user