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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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cbb
2026-10-04 13:16:32 +08:00
parent b593e47c76
commit e3b25452e1
70 changed files with 14420 additions and 496 deletions
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docs/torque_balance.json
+56 -56
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@@ -12,91 +12,91 @@
"J1": {
"cn": "肩抬举",
"axis": "roll(绕X)",
"distal_mass_kg": 2.127,
"arm_mass_kg": 1.627,
"weight_N": 20.9,
"distal_mass_kg": 2.019,
"arm_mass_kg": 1.519,
"weight_N": 19.8,
"reach_tip_mm": 512.0,
"tau_gravity_Nm": 6.137,
"tau_gravity_arm_only_Nm": 3.84,
"I_distal_kgm2": 0.28468,
"tau_dynamic_Nm": 1.423,
"tau_required_static_Nm": 6.137,
"tau_required_peak_Nm": 7.561,
"duty_vs_Tcont_pct": 245.5,
"duty_vs_Tallow_pct": 306.9,
"peak_margin_x": 1.06,
"tau_gravity_Nm": 5.97,
"tau_gravity_arm_only_Nm": 3.673,
"I_distal_kgm2": 0.27885,
"tau_dynamic_Nm": 1.394,
"tau_required_static_Nm": 5.97,
"tau_required_peak_Nm": 7.364,
"duty_vs_Tcont_pct": 238.8,
"duty_vs_Tallow_pct": 298.5,
"peak_margin_x": 1.09,
"status": "OVERLOAD"
},
"J2": {
"cn": "肩俯仰",
"axis": "pitch(绕Y)",
"distal_mass_kg": 1.753,
"arm_mass_kg": 1.253,
"weight_N": 17.2,
"distal_mass_kg": 1.688,
"arm_mass_kg": 1.188,
"weight_N": 16.6,
"reach_tip_mm": 394.0,
"tau_gravity_Nm": 4.395,
"tau_gravity_arm_only_Nm": 2.478,
"I_distal_kgm2": 0.14623,
"tau_dynamic_Nm": 0.731,
"tau_required_static_Nm": 4.395,
"tau_required_peak_Nm": 5.126,
"duty_vs_Tcont_pct": 175.8,
"duty_vs_Tallow_pct": 219.8,
"peak_margin_x": 1.56,
"tau_gravity_Nm": 4.29,
"tau_gravity_arm_only_Nm": 2.372,
"I_distal_kgm2": 0.14396,
"tau_dynamic_Nm": 0.72,
"tau_required_static_Nm": 4.29,
"tau_required_peak_Nm": 5.009,
"duty_vs_Tcont_pct": 171.6,
"duty_vs_Tallow_pct": 214.5,
"peak_margin_x": 1.6,
"status": "OVERLOAD"
},
"J3": {
"cn": "大臂自转",
"axis": "roll(绕Z)",
"distal_mass_kg": 1.468,
"arm_mass_kg": 0.968,
"weight_N": 14.4,
"distal_mass_kg": 1.411,
"arm_mass_kg": 0.911,
"weight_N": 13.8,
"reach_tip_mm": 250.0,
"tau_gravity_Nm": 1.712,
"tau_gravity_arm_only_Nm": 0.742,
"I_distal_kgm2": 0.03871,
"tau_dynamic_Nm": 0.194,
"tau_required_static_Nm": 1.712,
"tau_required_peak_Nm": 1.906,
"duty_vs_Tcont_pct": 68.5,
"duty_vs_Tallow_pct": 85.6,
"peak_margin_x": 4.2,
"tau_gravity_Nm": 1.691,
"tau_gravity_arm_only_Nm": 0.721,
"I_distal_kgm2": 0.03855,
"tau_dynamic_Nm": 0.193,
"tau_required_static_Nm": 1.691,
"tau_required_peak_Nm": 1.884,
"duty_vs_Tcont_pct": 67.6,
"duty_vs_Tallow_pct": 84.5,
"peak_margin_x": 4.25,
"status": "OK"
},
"J4": {
"cn": "肘部俯仰",
"axis": "pitch(绕Y)",
"distal_mass_kg": 1.178,
"arm_mass_kg": 0.678,
"weight_N": 11.6,
"distal_mass_kg": 1.133,
"arm_mass_kg": 0.633,
"weight_N": 11.1,
"reach_tip_mm": 241.0,
"tau_gravity_Nm": 2.062,
"tau_gravity_arm_only_Nm": 0.89,
"I_distal_kgm2": 0.04258,
"tau_dynamic_Nm": 0.213,
"tau_required_static_Nm": 2.062,
"tau_required_peak_Nm": 2.275,
"duty_vs_Tcont_pct": 82.5,
"duty_vs_Tallow_pct": 103.1,
"peak_margin_x": 3.52,
"tau_gravity_Nm": 2.036,
"tau_gravity_arm_only_Nm": 0.864,
"I_distal_kgm2": 0.04239,
"tau_dynamic_Nm": 0.212,
"tau_required_static_Nm": 2.036,
"tau_required_peak_Nm": 2.248,
"duty_vs_Tcont_pct": 81.4,
"duty_vs_Tallow_pct": 101.8,
"peak_margin_x": 3.56,
"status": "OVERLOAD"
},
"J5": {
"cn": "腕部俯仰",
"axis": "pitch(绕Y)",
"distal_mass_kg": 0.832,
"arm_mass_kg": 0.332,
"weight_N": 8.2,
"distal_mass_kg": 0.823,
"arm_mass_kg": 0.323,
"weight_N": 8.1,
"reach_tip_mm": 132.0,
"tau_gravity_Nm": 0.863,
"tau_gravity_Nm": 0.862,
"tau_gravity_arm_only_Nm": 0.23,
"I_distal_kgm2": 0.01018,
"I_distal_kgm2": 0.01019,
"tau_dynamic_Nm": 0.051,
"tau_required_static_Nm": 0.863,
"tau_required_peak_Nm": 0.914,
"tau_required_static_Nm": 0.862,
"tau_required_peak_Nm": 0.913,
"duty_vs_Tcont_pct": 34.5,
"duty_vs_Tallow_pct": 43.1,
"peak_margin_x": 8.75,
"peak_margin_x": 8.76,
"status": "OK"
},
"J6": {