feat(arm): 电机双向夹紧与2mm厚度公差让位，立柱减重槽及文档同步更新
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<text x="490" y="34" text-anchor="middle" font-size="21" font-weight="bold" fill="#16324f">冗余维 (θ4,θ5) 平面：可行带、加密窗口与牛顿收口</text>
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<text x="585" y="215" font-size="12" fill="#1f7a4d" transform="rotate(-26 585 215)">可行带：branch 判据筛掉 73~93% 的格点</text>
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<!-- 不可行散点 -->
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<text x="200" y="140">×</text><text x="330" y="120">×</text><text x="500" y="110">×</text>
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<text x="700" y="128">×</text><text x="790" y="180">×</text><text x="170" y="300">×</text>
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<text x="300" y="260">×</text><text x="430" y="210">×</text><text x="640" y="150">×</text>
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<text x="220" y="470">×</text><text x="480" y="480">×</text><text x="700" y="460">×</text>
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<text x="820" y="430">×</text><text x="360" y="420">×</text><text x="560" y="440">×</text>
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<!-- 行可行段 -->
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<text x="238" y="486" font-size="12" fill="#2a4a6e">逐行可行段 rowSpans（探测步 hp，段端外扩 PAD=2°）：</text>
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<text x="238" y="504" font-size="12" fill="#2a4a6e">每行通常是单一连续段，段内仍按 h 精扫 —— 密度不降、成本大降</text>
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<!-- 加密窗口 -->
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<text x="580" y="368" font-size="12" fill="#b06a10">加密窗口 ±2h（步长 h/8，</text>
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<text x="580" y="386" font-size="12" fill="#b06a10">小步长档 h/4）罩住种子</text>
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<!-- 模式搜索折线 -->
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<text x="700" y="330" font-size="12" fill="#b06a10">8 邻域模式搜索：</text>
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<text x="700" y="348" font-size="12" fill="#b06a10">步长减半，停在窄谷谷壁</text>
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<!-- 牛顿收口点 -->
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<text x="648" y="296" font-size="12.5" font-weight="bold" fill="#b03030">牛顿收口点</text>
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<text x="648" y="314" font-size="12" fill="#b03030">轴残差 →1e-12（位置保持精确）</text>
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<text x="126" y="530">−111°</text><text x="238" y="530">−90°</text><text x="404" y="530">−60°</text>
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<text x="569" y="530">−30°</text><text x="734" y="530">0°</text><text x="812" y="530">+16°</text>
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<text x="66" y="504">−93°</text><text x="66" y="400">−60°</text><text x="66" y="306">−30°</text>
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<text x="76" y="211">0°</text><text x="80" y="104">+34°</text>
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<text x="840" y="552" font-size="13" font-weight="bold" fill="#16324f">θ4（J4 肘部俯仰）</text>
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<text x="66" y="70" font-size="13" font-weight="bold" fill="#16324f">θ5（J5 腕俯仰）</text>
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<text x="490" y="582" text-anchor="middle" font-size="12.5" fill="#3d5164">每个格点的位置解由闭式支精确给出 —— 扫描不是在「逼近」目标，而是在冗余维里「挑构型」；</text>
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<text x="490" y="602" text-anchor="middle" font-size="12.5" fill="#3d5164">姿态任务的达标带实测最窄 0.98°，2° 探测步会整条漏掉（误报不可达），故姿态任务探测步降到 0.5°。</text>
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