cbb/Robot_Arm
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

feat: 增加组合折叠姿态干涉扫描、力矩实测与结构强度复核数据

Browse Source
This commit is contained in:
cbb
2026-10-02 12:06:23 +08:00
parent 6fe97fc643
commit b593e47c76
21 changed files with 1587 additions and 1030 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/strength.json
+139 -90
View File
@@ -3,145 +3,169 @@
"截面": "吊臂根座 @z=480",
"零件": "P03_肩吊臂_螺旋体35%_墙5底5_竖打",
"关节": "J1",
"A": 975.4800000000001,
"I": 391731.4096400291,
"c": 37.23299062774025,
"A": 957.2387999999999,
"I": 401134.9375110902,
"c": 37.922833863111535,
"bend": 1,
"centroid": [
-110.76700947225983,
128.00000000000003
-110.07716623688886,
128.0
],
"M": 23529.618031505226,
"F": 41.71918090692416,
"sigma": 2.2364253314442926,
"tau": 0.06415177283018231,
"SF": 5.365705633574787
"M": 14218.240146201913,
"F": 41.72937644104729,
"sigma": 1.3441760077937133,
"tau": 0.06539022933626484,
"L": 526.087122895359,
"defl": 1.6350063694519446,
"bend_axis": 1,
"SF": 8.927402312213866
},
{
"截面": "吊臂颊板 @z=560",
"零件": "P03_肩吊臂_螺旋体35%_墙5底5_竖打",
"关节": "J1",
"A": 1102.4399999999998,
"I": 605072.9254967812,
"c": 43.53697862036803,
"A": 1130.88,
"I": 667937.0157562625,
"c": 44.90221547001558,
"bend": 1,
"centroid": [
-96.71968814629368,
128.0
-98.0257258064516,
127.99999999999997
],
"M": 23529.618031505226,
"F": 41.71918090692416,
"sigma": 1.6930330775286337,
"tau": 0.05676387954027997,
"SF": 7.087870969134711
"M": 13715.34105182334,
"F": 41.72937644104729,
"sigma": 0.922016873786273,
"tau": 0.05534987325054023,
"L": 518.8210523704677,
"defl": 0.9212023341880543,
"bend_axis": 1,
"SF": 13.014946191518016
},
{
"截面": "肩叉腹板 @z=560",
"零件": "P04_肩叉_螺旋体30%_墙5底5_竖打",
"关节": "J2",
"A": 2217.3650000000002,
"I": 207369.8226041668,
"c": 16.75000010000293,
"I": 207369.82260416728,
"c": 16.750000100002925,
"bend": 1,
"centroid": [
27.25,
28.249999999999996,
124.95500000000001
],
"M": 15271.482458030512,
"F": 34.395230761329984,
"sigma": 1.2335320997379497,
"tau": 0.023267638003664246,
"SF": 9.728161920187782
"M": 7818.411904486269,
"F": 34.39607710754928,
"sigma": 0.6315210117722179,
"tau": 0.023268210538780903,
"L": 384.4650327126411,
"defl": 0.9288282882988673,
"bend_axis": 1,
"SF": 19.001743055745322
},
{
"截面": "肩叉腹板 @z=600",
"零件": "P04_肩叉_螺旋体30%_墙5底5_竖打",
"关节": "J2",
"A": 2368.7748,
"I": 276311.8560102971,
"c": 21.62027641094759,
"A": 2393.7248,
"I": 289729.609479537,
"c": 22.374104171783745,
"bend": 1,
"centroid": [
25.562276310943524,
126.94624799284419
26.31610407177968,
126.97437823679647
],
"M": 15271.482458030512,
"F": 34.395230761329984,
"sigma": 1.1949312516479667,
"tau": 0.02178039302933946,
"SF": 10.042418744551561
"M": 7884.930337951309,
"F": 34.39607710754928,
"sigma": 0.6089065355988086,
"tau": 0.02155390446776669,
"L": 391.71974764776274,
"defl": 0.6959926630802069,
"bend_axis": 1,
"SF": 19.707458039022367
},
{
"截面": "大臂旋转座横梁 @z=480",
"零件": "P05_大臂旋转座_螺旋体30%_墙4底5_竖打",
"关节": "J2",
"A": 1250.9348,
"I": 490359.7093282266,
"c": 35.000000100000086,
"I": 490359.70932822645,
"c": 35.00000010000009,
"bend": 1,
"centroid": [
18.5,
19.500000000000004,
165.03578024690017
],
"M": 15271.482458030512,
"F": 34.395230761329984,
"sigma": 1.090019994282287,
"tau": 0.04124343342434392,
"SF": 11.008972370182331
"M": 8644.341221650102,
"F": 34.39607710754928,
"sigma": 0.6170000060499929,
"tau": 0.041244448280856785,
"L": 420.96884917144854,
"defl": 0.5206738812710487,
"bend_axis": 1,
"SF": 19.448946324690457
},
{
"截面": "大臂旋转座套筒 @z=440",
"零件": "P05_大臂旋转座_螺旋体30%_墙4底5_竖打",
"关节": "J3",
"A": 923.6637500000008,
"I": 460541.5056708324,
"I": 460541.5056708321,
"c": 35.00071932511497,
"bend": 1,
"centroid": [
18.499280774885154,
19.49928077488516,
162.1529414131134
],
"M": 10944.224641918447,
"F": 28.80059116294328,
"sigma": 0.831750733009024,
"tau": 0.046771226806740965,
"SF": 14.42739936830306
"M": 7224.027167183286,
"F": 28.801398145740663,
"sigma": 0.5490192396606857,
"tau": 0.04677253732065479,
"L": 384.25524483485555,
"defl": 0.38601035205736267,
"bend_axis": 1,
"SF": 21.85715751494692
},
{
"截面": "大臂骨架中段 @z=350",
"零件": "P06_大臂骨架_螺旋体25%_墙4底5_竖打",
"关节": "J3",
"A": 1516.920000000001,
"I": 1131945.0546959997,
"I": 1131945.0546960002,
"c": 35.00000010000099,
"bend": 1,
"centroid": [
18.499999999999996,
19.499999999999993,
119.46110407931855
],
"M": 10944.224641918447,
"F": 28.80059116294328,
"sigma": 0.33839793015788383,
"tau": 0.028479344160809335,
"SF": 35.46120980823154
"M": 5824.4734611263175,
"F": 28.801398145740663,
"sigma": 0.1800940521592921,
"tau": 0.028480142142374657,
"L": 287.98631358672816,
"defl": 0.07112524430753915,
"bend_axis": 1,
"SF": 66.63185072534252
},
{
"截面": "大臂骨架抱箍 @z=325",
"零件": "P06_大臂骨架_螺旋体25%_墙4底5_竖打",
"关节": "J4",
"A": 562.2200000000005,
"I": 255126.52178866684,
"I": 255126.52178866687,
"c": 34.31311712541806,
"bend": 1,
"centroid": [
18.5,
19.499999999999996,
100.98098075486462
],
"M": 6102.354966361885,
"F": 23.11498093318896,
"sigma": 0.820733255145853,
"tau": 0.06167064743300382,
"SF": 14.621071980161778
"M": 4674.1717086407425,
"F": 23.115225549656877,
"sigma": 0.6286504444087546,
"tau": 0.06167130006845235,
"L": 259.0371452768405,
"defl": 0.20489053402473298,
"bend_axis": 1,
"SF": 19.088509531375568
},
{
"截面": "小臂骨架中段 @z=245",
@@ -152,54 +176,79 @@
"c": 35.00000010000015,
"bend": 1,
"centroid": [
18.5,
19.5,
120.60880570566229
],
"M": 6102.354966361885,
"F": 23.11498093318896,
"sigma": 0.17433637444141997,
"tau": 0.020535356793291413,
"SF": 68.83245127959344
"M": 3519.6618136307306,
"F": 23.115225549656877,
"sigma": 0.10055217751682426,
"tau": 0.020535574110643336,
"L": 199.5734012002831,
"defl": 0.019071177205131774,
"bend_axis": 1,
"SF": 119.34102568780449
},
{
"截面": "小臂骨架抱箍 @z=195",
"零件": "P07_小臂骨架_螺旋体30%_墙5底5_竖打",
"关节": "J5",
"A": 381.97200000000026,
"I": 75885.39226040001,
"I": 75885.39226040008,
"c": 22.39173964832456,
"bend": 1,
"centroid": [
18.5,
19.5,
103.25743876514508
],
"M": 2105.5758538864893,
"F": 16.322293440980538,
"sigma": 0.6212988419199141,
"tau": 0.06409747353594188,
"SF": 19.31437689939684
"M": 2244.921562213841,
"F": 16.321781071344514,
"sigma": 0.6624160151865485,
"tau": 0.06409546146580575,
"L": 159.53235542447365,
"defl": 0.1254842711067732,
"bend_axis": 1,
"SF": 18.11550404109807
},
{
"截面": "腕偏转座根部 @z=150",
"零件": "P08_腕偏转座_螺旋体25%_墙4底5_竖打",
"关节": "J5",
"A": 877.5228499999998,
"I": 452897.5474791441,
"c": 35.000019545458414,
"I": 452897.5474791437,
"c": 35.00001954545841,
"bend": 1,
"centroid": [
18.49998055454244,
19.499980554542446,
153.23437984777257
],
"M": 2105.5758538864893,
"F": 16.322293440980538,
"sigma": 0.1627193533077502,
"tau": 0.02790062978014853,
"SF": 73.74660577285154
"M": 2445.425561814797,
"F": 16.321781071344514,
"sigma": 0.18898301158149458,
"tau": 0.02789975395742319,
"L": 164.6512204903413,
"defl": 0.02439681521795845,
"bend_axis": 1,
"SF": 63.497771040786255
},
{
"截面": "工具法兰 @z=55",
"截面": "工具法兰 @z=107",
"零件": "P09_工具法兰_螺旋体100%_墙4底5_竖打",
"关节": "J6"
"关节": "J6",
"A": 3734.962150000003,
"I": 1169654.3875857776,
"c": 35.0000685148389,
"bend": 1,
"centroid": [
19.499931585161203,
127.9986725177389
],
"M": 1390.8472530369402,
"F": 10.722602788827801,
"sigma": 0.04161891723455653,
"tau": 0.004306309819830889,
"L": 130.23020962176682,
"defl": 0.0033611981177080657,
"bend_axis": 1,
"SF": 288.3304227346958
}
]