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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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src/human_layout.py
+1 -1
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@@ -112,7 +112,7 @@ JOINTS = [
("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100%_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}