{
  "assumptions": {
    "motor": "60mm 方形标准关节电机模组，2 级行星减速",
    "T_cont_Nm": 2.5,
    "T_peak_Nm": 8.0,
    "T_allow_Nm": 2.0,
    "alpha_rad_s2": 5.0,
    "payload_kg": 0.5,
    "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": {
    "J1": {
      "cn": "肩抬举",
      "axis": "roll(绕X)",
      "distal_mass_kg": 2.019,
      "arm_mass_kg": 1.519,
      "weight_N": 19.8,
      "reach_tip_mm": 512.0,
      "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": 1.688,
      "arm_mass_kg": 1.188,
      "weight_N": 16.6,
      "reach_tip_mm": 394.0,
      "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": 1.411,
      "arm_mass_kg": 0.911,
      "weight_N": 13.8,
      "reach_tip_mm": 250.0,
      "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": 1.133,
      "arm_mass_kg": 0.633,
      "weight_N": 11.1,
      "reach_tip_mm": 241.0,
      "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": 0.823,
      "arm_mass_kg": 0.323,
      "weight_N": 8.1,
      "reach_tip_mm": 132.0,
      "tau_gravity_Nm": 0.862,
      "tau_gravity_arm_only_Nm": 0.23,
      "I_distal_kgm2": 0.01019,
      "tau_dynamic_Nm": 0.051,
      "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": 8.76,
      "status": "OK"
    },
    "J6": {
      "cn": "腕自转",
      "axis": "roll(绕Z)",
      "distal_mass_kg": 0.547,
      "arm_mass_kg": 0.047,
      "weight_N": 5.4,
      "reach_tip_mm": 83.0,
      "tau_gravity_Nm": 0.0,
      "tau_gravity_arm_only_Nm": 0.0,
      "I_distal_kgm2": 0.0,
      "tau_dynamic_Nm": 0.0,
      "tau_required_static_Nm": 0.0,
      "tau_required_peak_Nm": 0.0,
      "duty_vs_Tcont_pct": 0.0,
      "duty_vs_Tallow_pct": 0.0,
      "peak_margin_x": null,
      "status": "OK"
    }
  }
}