{
  "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": 2.127,
      "arm_mass_kg": 1.627,
      "weight_N": 20.9,
      "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,
      "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,
      "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,
      "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,
      "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,
      "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,
      "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,
      "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,
      "reach_tip_mm": 132.0,
      "tau_gravity_Nm": 0.863,
      "tau_gravity_arm_only_Nm": 0.23,
      "I_distal_kgm2": 0.01018,
      "tau_dynamic_Nm": 0.051,
      "tau_required_static_Nm": 0.863,
      "tau_required_peak_Nm": 0.914,
      "duty_vs_Tcont_pct": 34.5,
      "duty_vs_Tallow_pct": 43.1,
      "peak_margin_x": 8.75,
      "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"
    }
  }
}