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531a293688
前端不再是"一个 16MB HTML + 一个 2955 行模板"。现在： webapp/index.html 343 行 DOM 骨架，零内联数据 webapp/styles/*.css 811 行 CSS 按段切成 8 个文件 webapp/js/app.js 原内联主脚本逐字搬出（仍是普通脚本，S5 才改 ESM） webapp/js/ik-solver.js / ik-glue.js / vendor/three.min.js（原 web/ 三个文件） webapp/workers/ik.worker.js 真 Worker 文件 webapp/generated/00_data.js 生成物（网格/工程图/行程/碰撞/螺钉） dist/机器人手臂3D查看器.html 分发用单文件，由 build_viewer 内联上面这些文件产出 入口：python -m arm.viewer.serve 后开 http://127.0.0.1:8123/ （serve 带 no-store，改完刷新即新构建，不再需要 Ctrl+F5；显式 MIME， .js 被 Windows 注册表判成 text/plain 会让模块静默不执行） 删掉 src/viewer_tpl.html 与 web/ 目录（旧产物移入 backups/pre_split_20261015/）。 工程图不再维护第二份 sheets.jsdata —— 直接读 draw_sheet 写出的 4 个真 SVG。 实测中修掉的问题： - serve 的 / 原先"内部映射"到 webapp/index.html，导致文档基址是 /、相对路径的 8 个 CSS 与 4 个 JS 全部 404（整页无样式无脚本）。改成 302 跳转。 - file:// 下 new Worker('workers/…') 构造阶段不抛错、错误以异步 onerror 到达， 所以"构造失败才试 Blob 兜底"永远不会触发；改为按协议选路。两条路径都已实测 backend=worker（http 走文件、file:// 走 Blob）。 - Worker 握手 3s 在 headless 并发下会误判"没起来"（截图里红徽标即此），放宽到 10s， 并把后端状态暴露成 window.__IK_BACKEND / __IK_BACKEND_LOG 供测试直读。 - 截图竞态：4 并发 × 每页 14MB 数据时，虚拟时间预算会在页面加载完成前到期， 拍到半初始化画面（且能"稳定地坏"，旧基线里 m9_motion 就是这么混进来的）。 并发降到 2、预算 40s、serve 加 HTTP/1.1+大缓冲+字节缓存，并用"同一构建两轮" 重新界定稳定性：99 张逐字节一致、6 张属噪声改走像素容差（mean<=0.02、单像素<=32）。 - 关卡自身两处假通过已修：node 输出被 GBK 解码炸掉时不再算 PASS； 线束干涉测试读不到通道源码时会 exit 2，而不是"零通道=零穿透=通过"。 关卡结果：python -m arm.build_model 退出码 0；10 项数据哈希与基线一致； IK exact 段逐字节一致；99 张截图逐字节一致 + 6 张在噪声阈内；线束干涉测试 1800 点 0 穿透。
338 lines
19 KiB
Python
338 lines
19 KiB
Python
# -*- coding: utf-8 -*-
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"""Assembly drawings (SVG) for the arm.
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Round-2 approach, after the first version was rejected: per-part convex hulls FILLED made
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the whole arm read as one blob and the balloons' leaders crossed the sheet. Now:
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- parts are stroked only (no fill), so overlaps still read as separate outlines
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- balloons live in two side columns sorted by projected height, each with a short leader
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to the nearest point of its own outline (no long crossing leaders, no collisions)
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- joint axes are drawn as dash-dot centrelines and the pitch chain is dimensioned
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- the scale is computed from the actual pixels-per-mm, not hard-coded
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Sheets: 01 总装侧视 02 关节局部放大(A-A) 03 爆炸轴测 04 前视
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"""
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import io
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import json
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import math
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import os
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import sys
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sys.stdout = io.TextIOWrapper(sys.stdout.buffer, encoding="utf-8")
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from arm.paths import DATA, DOCS
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# 这两个脚本的顶层就是"算完并写文件"，被 import 时会静默重写 travel/mesh 派生产物
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# （实测：一次 importlib 冒烟测试就把 docs/travel.json 重写了一遍）。这里改成直接炸。
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if __name__ != "__main__":
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raise RuntimeError(
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"draw_sheet 是脚本：顶层代码一执行就重写产物，不能 import。"
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"要用就跑 python -m arm.dataio.draw_sheet。")
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D = json.load(io.open(DATA + "/mesh_arm.json", encoding="utf-8"))
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P, LAY, MS = D["parts"], D["layout"], D["measured"]
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MT, CT = MS["M"], MS["C"]
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JOINTS = {j["id"]: j for j in D["joints"]}
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def hull(pts):
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pts = sorted(set(pts))
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if len(pts) < 3:
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return pts
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def cr(o, a, b):
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return (a[0] - o[0]) * (b[1] - o[1]) - (a[1] - o[1]) * (b[0] - o[0])
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lo = []
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for p in pts:
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while len(lo) >= 2 and cr(lo[-2], lo[-1], p) <= 0:
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lo.pop()
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lo.append(p)
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up = []
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for p in reversed(pts):
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while len(up) >= 2 and cr(up[-2], up[-1], p) <= 0:
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up.pop()
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up.append(p)
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return lo[:-1] + up[:-1]
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def proj(p, kind):
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x, y, z = p
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if kind == "side":
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return (x, z)
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if kind == "front":
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return (y, z)
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if kind == "iso":
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a, b = math.radians(30), math.radians(35)
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u = x * math.cos(a) - y * math.sin(a)
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v = -x * math.sin(a) * math.sin(b) - y * math.cos(a) * math.sin(b) + z * math.cos(b)
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return (u, v)
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raise ValueError(kind)
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def part_pts(p, kind, ex=0.0):
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vv = p["v"]
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step = max(1, len(vv) // 1400)
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out = []
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for i in range(0, len(vv), step):
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q = [vv[i][k] + p["ex"][k] * ex for k in range(3)] if ex else list(vv[i])
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out.append(proj(q, kind))
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return out
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def nearest(h, pt):
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return min(h, key=lambda q: (q[0] - pt[0]) ** 2 + (q[1] - pt[1]) ** 2)
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def esc(t):
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return str(t).replace('&', '&').replace('<', '<').replace('>', '>')
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def frame(W, H, title, note, scale, sheet_id=""):
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return ['<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 %d %d" width="%d" height="%d" '
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'class="assembly-sheet-svg" data-sheet-id="%s" data-sheet-title="%s" data-sheet-note="%s" data-sheet-scale="%s" '
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'font-family="Microsoft YaHei,sans-serif">' % (W, H, W, H, sheet_id, esc(title), esc(note), scale),
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'<defs>'
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'<filter id="partGlow" x="-20%" y="-20%" width="140%" height="140%">'
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'<feDropShadow dx="0" dy="0" stdDeviation="3.5" flood-color="#2563eb" flood-opacity="0.85"/>'
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'</filter>'
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'<filter id="balloonShadow" x="-20%" y="-20%" width="140%" height="140%">'
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'<feDropShadow dx="0" dy="1.5" stdDeviation="1.5" flood-color="#000" flood-opacity="0.25"/>'
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'</filter>'
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'</defs>',
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'<rect class="sheet-bg" width="%d" height="%d" fill="#fff"/>' % (W, H),
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'<g class="sheet-border">',
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'<rect class="sheet-border-outer" x="8" y="8" width="%d" height="%d" fill="none" stroke="#111" stroke-width="1.6"/>' % (W - 16, H - 16),
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'<rect class="sheet-border-inner" x="14" y="14" width="%d" height="%d" fill="none" stroke="#111" stroke-width=".5"/>' % (W - 28, H - 28),
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'<line class="sheet-title-line" x1="14" y1="%d" x2="%d" y2="%d" stroke="#111" stroke-width=".8"/>' % (H - 44, W - 15, H - 44),
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'<text class="sheet-title-text" x="24" y="%d" font-size="13" font-weight="bold">%s</text>' % (H - 27, esc(title)),
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'<text class="sheet-note-text" x="24" y="%d" font-size="9" fill="#444">%s</text>' % (H - 16, esc(note)),
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'<line class="sheet-meta-line" x1="%d" y1="%d" x2="%d" y2="%d" stroke="#111" stroke-width=".8"/>' % (W - 268, H - 44, W - 268, H - 15),
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'<text class="sheet-scale-text" x="%d" y="%d" font-size="9">比例 1:%s（按图幅适配） 单位 mm</text>' % (W - 260, H - 29, scale),
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'<text class="sheet-ver-text" x="%d" y="%d" font-size="9">六电机人形机器人手臂 %s / 迭代 %s</text>' % (W - 260, H - 17, LAY["ver"], LAY["it"]),
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'</g>']
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def balloon(x, y, p):
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idx = p.get("idx", 0)
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name = esc(p.get("name", ""))
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cn = esc(p.get("cn", ""))
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return ('<g class="sheet-balloon" data-idx="%d" data-name="%s" data-cn="%s">'
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'<circle class="balloon-circle" cx="%.0f" cy="%.0f" r="10" fill="#fff" stroke="#111" stroke-width="1"/>'
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'<text class="balloon-text" x="%.0f" y="%.0f" font-size="9.5" text-anchor="middle">%d</text>'
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'</g>' % (idx, name, cn, x, y, x, y + 3.4, idx))
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def build_sheet(kind, title, W, H, ex=0.0, note="", axes=True, dims=None, legend=True, sheet_id=""):
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shp = []
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for p in P:
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if p["name"].startswith("ENV_") or p["name"].startswith("S"):
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continue
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h = hull(part_pts(p, kind, ex))
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if len(h) >= 3:
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shp.append((p, h))
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if not shp:
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return ""
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allp = [q for _, hs in shp for q in hs]
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xs, ys = [q[0] for q in allp], [q[1] for q in allp]
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lo_x, hi_x, lo_y, hi_y = min(xs), max(xs), min(ys), max(ys)
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ML, MR = 78, (300 if legend else 18)
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aw, ah = W - ML - MR - 20, H - 2 * 40 - 60
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if (hi_y - lo_y) > 1.25 * (hi_x - lo_x):
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aw -= 34.0 # room for the single balloon column
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sc = min(aw / max(1e-6, hi_x - lo_x), ah / max(1e-6, hi_y - lo_y))
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ox = ML + (aw - (hi_x - lo_x) * sc) / 2 - lo_x * sc
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oy = 34 + (ah + (hi_y - lo_y) * sc) / 2 + lo_y * sc
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T = lambda q: (q[0] * sc + ox, oy - q[1] * sc)
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out = frame(W, H, title, note, round(1 / sc, 2), sheet_id)
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if axes:
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out.append('<g class="sheet-axes-group">')
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for jid in ("J1", "J2", "J3", "J4", "J5"):
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j = JOINTS.get(jid)
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if not j:
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continue
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a = proj(j["rear"], kind)
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b = proj([j["rear"][k] + j["d"][k] * 90 for k in range(3)], kind)
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pa, pb = T(a), T(b)
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out.append('<line class="sheet-axis" x1="%.0f" y1="%.0f" x2="%.0f" y2="%.0f" stroke="#0b57a4" '
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'stroke-width=".8" stroke-dasharray="14 3 2 3"/>' % (pa[0], pa[1], pb[0], pb[1]))
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out.append('<text class="sheet-axis-label" x="%.0f" y="%.0f" font-size="10" fill="#0b57a4">%s</text>'
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% (pb[0] + 3, pb[1] - 3, jid))
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out.append('</g>')
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out.append('<g class="sheet-parts-group">')
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for p, h in shp:
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d = "M" + " L".join("%.1f %.1f" % T(q) for q in h) + "Z"
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col = "#%06x" % p["color"]
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idx = p.get("idx", 0)
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cn = esc(p.get("cn", ""))
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name = esc(p.get("name", ""))
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printed = 1 if p.get("printed") else 0
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attrs = 'class="sheet-part-path" data-idx="%d" data-name="%s" data-cn="%s" data-color="%s" data-printed="%d"' % (
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idx, name, cn, col, printed)
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if p["printed"]:
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out.append('<path d="%s" fill="none" stroke="%s" stroke-width="1.35" %s/>' % (d, col, attrs))
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else:
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out.append('<path d="%s" fill="none" stroke="#9aa1ad" stroke-width=".7" '
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'stroke-dasharray="4 2" %s/>' % (d, attrs))
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out.append('</g>')
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# balloons in two side columns.
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side = []
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for p, h in shp:
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cx = sum(T(q)[0] for q in h) / len(h)
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cy = sum(T(q)[1] for q in h) / len(h)
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anchor = T(nearest(h, (cx, cy)))
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side.append((p, anchor, cx))
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tall = (hi_y - lo_y) > 1.25 * (hi_x - lo_x)
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right = sorted(side, key=lambda s: s[1][1]) if tall else sorted([s for s in side if s[2] >= ox + (hi_x - lo_x) * sc / 2.0], key=lambda s: s[1][1])
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left = [] if tall else sorted([s for s in side if s[2] < ox + (hi_x - lo_x) * sc / 2.0],
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key=lambda s: s[1][1])
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out.append('<g class="sheet-balloons-group">')
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def col(lst, x):
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n = max(1, len(lst))
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span = H - 130
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for i, (p, t, _cx) in enumerate(lst):
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by = 52 + span * (i + 0.5) / n
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out.append('<polyline class="sheet-leader" data-idx="%d" points="%.0f,%.0f %.0f,%.0f %.0f,%.0f" fill="none" '
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'stroke="#555" stroke-width=".6"/>' % (p["idx"], t[0], t[1], (t[0] + x) / 2, by, x, by))
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out.append(balloon(x, by, p))
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col(left, ML - 30)
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col(right, (ox + (hi_x - lo_x) * sc + 52.0) if tall else (W - MR + 44))
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out.append('</g>')
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if legend:
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out.append('<g class="sheet-legend-box">')
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rows = sorted(side, key=lambda s: s[0]["idx"])
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half = (len(rows) + 1) // 2
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tx, ty0 = W - MR + 74, 62
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out.append('<text x="%d" y="%d" font-size="10" font-weight="bold">零 件 表</text>' % (tx, ty0 - 8))
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for c in (0, 1):
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for i, (p, _t, _cx) in enumerate(rows[c * half:(c + 1) * half]):
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y = ty0 + 12 + i * 12.6
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nm = esc(p["cn"].replace(" 半联轴器/抱箍", " 联轴器/抱箍").replace("端面齿", "")[:11])
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out.append('<g class="sheet-legend-row" data-idx="%d" data-name="%s" data-cn="%s">'
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'<rect class="legend-row-bg" x="%d" y="%.0f" width="102" height="12.5" fill="transparent" rx="2"/>'
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'<text class="legend-row-idx" x="%d" y="%.0f" font-size="8.5">%d</text>'
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'<text class="legend-row-name" x="%d" y="%.0f" font-size="8.5">%s</text>'
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'</g>' % (p["idx"], esc(p.get("name","")), esc(p.get("cn","")),
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tx + c * 106 - 3, y - 9.5,
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tx + c * 106, y, p["idx"],
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tx + c * 106 + 13, y, nm))
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out.append('</g>')
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if dims:
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out.append('<g class="sheet-dims-group">')
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for (a, b, lab, off) in dims:
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pa, pb = T(proj(a, kind)), T(proj(b, kind))
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y = (pa[1] + pb[1]) / 2 + off
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out.append('<line class="sheet-dim-line" x1="%.0f" y1="%.0f" x2="%.0f" y2="%.0f" stroke="#0b57a4" stroke-width=".9"/>'
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% (pa[0], y, pb[0], y))
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for q in (pa, pb):
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out.append('<line class="sheet-dim-ext" x1="%.0f" y1="%.0f" x2="%.0f" y2="%.0f" stroke="#0b57a4" '
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'stroke-width=".5" stroke-dasharray="2 2"/>' % (q[0], q[1], q[0], y))
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out.append('<text class="sheet-dim-text" x="%.0f" y="%.0f" font-size="10" fill="#0b57a4" text-anchor="middle">%s</text>'
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% ((pa[0] + pb[0]) / 2, y - 3, lab))
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out.append('</g>')
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out.append('</svg>')
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return "".join(out)
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def joint_detail():
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"""Sheet A-A: one joint drawn FROM THE MEASURED NUMBERS (not a mesh projection) with every
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governing dimension called out - this is the sheet you actually build against."""
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W, H = 1400, 780 # wide enough that the right-hand callouts stay on the sheet
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s = 6.0
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cy = 330
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x0 = 250.0 # motor rear datum
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x_cover = x0 + MT["cover_z"] * s # cover face = the joint's datum plane
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x_hub = x_cover + CT["gap"] * s
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out = frame(W, H, "A-A 回转副局部放大 — 全部尺寸为实测值（按数值绘制，非网格投影）",
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"电机 → 端面齿半联轴器 A/B（12 齿，盘脸贴死为唯一轴向止动）→ 对开抱箍防脱 → "
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"从动盘（复刻电机输出面）。蓝色为关节轴线。", "1/6（本图放大 6 倍）", "joint")
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out.append('<line class="sheet-axis" x1="%d" y1="%d" x2="%d" y2="%d" stroke="#0b57a4" stroke-width="1.1" '
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'stroke-dasharray="22 5 4 5"/>' % (x0 - 60, cy, x_hub + 190, cy))
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g = ['<g class="joint-geom-group" stroke="#111" fill="none" stroke-width="1.5">']
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# motor: housing Ø60 x 42, rear plate, cover Ø60.3 x 3.5
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g.append('<rect class="joint-geom-part" data-part="电机机座" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>'
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% (x0 + 5.5 * s, cy - 30 * s, 47 * s, 60 * s))
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g.append('<rect class="joint-geom-part" data-part="尾部PCBA" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>'
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% (x0, cy - MT["pcba_w"] / 2.0 * s, MT["pcba_t"] * s, MT["pcba_w"] * s))
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g.append('<rect class="joint-geom-part" data-part="电机输出端盖" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>'
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% (x_cover - 3.5 * s, cy - 30.15 * s, 3.5 * s, 60.3 * s))
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# coupling halves (4.5 each) and the driven hub
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g.append('<rect class="joint-geom-part" data-part="半联轴器A" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>' % (x_cover, cy - 27 * s, 4.5 * s, 54 * s))
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g.append('<rect class="joint-geom-part" data-part="半联轴器B" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>' % (x_cover + 4.5 * s, cy - 27 * s, 4.5 * s, 54 * s))
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g.append('<rect class="joint-geom-part" data-part="从动盘" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>' % (x_hub, cy - 41 * s, 24 * s, 82 * s))
|
||
# clamp band over the closed pair
|
||
g.append('<rect class="joint-geom-part" data-part="对开抱箍" x="%.1f" y="%.1f" width="%.1f" height="%.1f" stroke-dasharray="6 3"/>'
|
||
% (x_cover + 0.6 * s, cy - 30 * s, 8.4 * s, 60 * s))
|
||
g.append('</g>')
|
||
out.extend(g)
|
||
|
||
def dim(y, xa, xb, txt, col="#c00", lx=None):
|
||
out.append('<g class="sheet-dim"><line x1="%.1f" y1="%d" x2="%.1f" y2="%d" stroke="%s" stroke-width="1"/>' % (xa, y, xb, y, col))
|
||
for x in (xa, xb):
|
||
out.append('<line x1="%.1f" y1="%d" x2="%.1f" y2="%d" stroke="%s" stroke-width=".6"/>' % (x, y - 6, x, y + 6, col))
|
||
if lx is None:
|
||
out.append('<text x="%.1f" y="%d" font-size="11" fill="%s" text-anchor="middle">%s</text>'
|
||
% ((xa + xb) / 2, y - 8, col, txt))
|
||
else:
|
||
out.append('<text x="%.1f" y="%d" font-size="11" fill="%s" text-anchor="end">%s</text>'
|
||
% (lx, y - 8, col, txt))
|
||
out.append('<line x1="%.1f" y1="%d" x2="%.1f" y2="%d" stroke="%s" stroke-width=".6"/>'
|
||
% (lx + 4, y - 11, xa, y, col))
|
||
out.append('</g>')
|
||
dim(cy - 240, x0, x_cover, "整机长 %.1f" % MT["cover_z"])
|
||
dim(cy - 215, x_cover, x_hub, "两盖板面跨距 %.2f" % CT["gap"], lx=620)
|
||
dim(cy + 250, x0, x_hub, "电机尾基准 → 从动盘贴合面 = %.3f ← 全臂节距的唯一来源" % MS["HUB_FACE_Z"])
|
||
dim(cy + 215, x_cover + 0.6 * s, x_cover + 9.0 * s, "抱箍轴向 %.3f~%.3f" % tuple(MS["CLAMP_SPAN"]), lx=470)
|
||
|
||
def note(x, y, tx, ty, txt, anchor="start"):
|
||
out.append('<g class="sheet-note"><polyline points="%.1f,%.1f %.1f,%.1f %.1f,%.1f" fill="none" stroke="#555" stroke-width=".7"/>'
|
||
% (x, y, x, ty, tx, ty))
|
||
out.append('<text x="%.1f" y="%.1f" font-size="10.5" text-anchor="%s">%s</text></g>'
|
||
% (tx + (3 if anchor == "start" else -3), ty + 3.5, anchor, txt))
|
||
note(x0 + 28 * s, cy - 30 * s, 235, cy - 190, "机座 Ø%.0f x %.0f，滑配孔按 Ø%.1f"
|
||
% (MT["hous_d"], MT["hous_len"], 60.3), "end")
|
||
note(x0 + 4 * s, cy - 31.8 * s, 235, cy - 160, "尾部 PCBA 方 %.1f → 口袋 %.1f"
|
||
% (MT["pcba_w"], MT["pcba_w"] + 0.8), "end")
|
||
note(x_cover + 2.2 * s, cy - 27 * s, 900, cy - 200, "半联轴器 A（12 齿端面花键 R%.1f~%.1f，齿高 %.1f）"
|
||
% (CT["tooth_r0"], CT["tooth_r1"], CT["tooth_s"]))
|
||
note(x_cover + 6.7 * s, cy + 27 * s, 900, cy - 170, "半联轴器 B = A 绕局部 X 转 180° 后沿轴移 2xPART_Z")
|
||
note(x_hub + 12 * s, cy + 41 * s, 900, cy + 150, "从动盘：Ø%.0fx%.1f 颈孔 + Ø%.1fx5.0 中心孔 + 3xM2 @Ø%.0f"
|
||
% (MT["neck_d"], MT["neck_depth"], MT["centre_d"], MT["m2_bcd"]))
|
||
note(x_hub, cy + 30.5 * s, 900, cy + 178, "盘脸贴死 = 唯一轴向止动；齿只传扭，不定位")
|
||
note(x_hub + 0.5 * s, cy - 20 * s, 900, cy + 206,
|
||
"从动面卸荷：Ø54.6 x 0.35（B 半件背面实测越过贴合面 0.06）+ Ø36 x 1.70 导柱孔")
|
||
out.append('<text x="60" y="%d" font-size="10.5">M2 相位（时钟）：电机侧 %s ；从动盘侧取镜像 %s</text>'
|
||
% (H - 62, "/".join("%.1f" % a for a in MT["m2_clock"]),
|
||
"/".join("%.1f" % a for a in [(360 - a) % 360 for a in MT["m2_clock"]])))
|
||
out.append('<text x="60" y="%d" font-size="10.5">抱箍：带宽 Ø%.0f，凸耳 R%.1f（位于关节局部 ±X，包壳在此处开口）；M3 x2 @ R%.1f</text>'
|
||
% (H - 48, CT["clamp_od_r"] * 2, CT["lug_r1"], CT["bolt_r"]))
|
||
out.append('</svg>')
|
||
return "".join(out)
|
||
|
||
|
||
j2 = JOINTS["J2"]["rear"]
|
||
j4 = JOINTS["J4"]["rear"]
|
||
j5 = JOINTS["J5"]["rear"]
|
||
SH, EL, WR = (j2[1], j2[2]), (j4[1], j4[2]), (j5[1], j5[2])
|
||
DIMS_ARM = [((0, SH[0], SH[1]), (0, EL[0], EL[1]), "上臂 %.0f" % LAY["L1"], 74),
|
||
((0, EL[0], EL[1]), (0, WR[0], WR[1]), "前臂 %.0f" % LAY["L2"], 112),
|
||
((0, 0, 0), (0, WR[0], WR[1]), "腕轴离地 %.0f" % WR[1], -128)]
|
||
|
||
sheets = [
|
||
build_sheet("front", "总装图 - 正视（沿 -X 投影；肢体在纸面内，显示左右交替堆叠）", 1200, 800, 0.0,
|
||
"实线=打印件，虚线=电机/已有联轴器；点划线为关节轴线；蓝色为节距链。"
|
||
"俯仰电机一内一外交替，全部贴合面共用 Y=157 一个平面", True, DIMS_ARM, sheet_id="front"),
|
||
joint_detail(),
|
||
build_sheet("iso", "爆炸装配图（轴测）", 1200, 800, 1.0,
|
||
"爆炸量 100%：每个关节沿肢体方向逐级错开一节，电机与端面齿组件再沿各自轴线抽出 —— 自上而下即装配顺序", False, None, sheet_id="exploded"),
|
||
build_sheet("side", "总装图 - 侧视（沿 +Y 投影；俯仰轴垂直纸面）", 900, 800, 0.0,
|
||
"肩抬举(J1)轴沿 X 前后布置，与俯仰轴平行偏置 92 mm；"
|
||
"肩吊臂侧板在 |x| ≥ 64，肢体包络 |x| ≤ 60.5，故整周不碰", True, None, sheet_id="side"),
|
||
]
|
||
os.makedirs(DOCS, exist_ok=True)
|
||
for n, s in zip(("sheet_front", "sheet_joint", "sheet_exploded", "sheet_side"), sheets):
|
||
io.open(DOCS + "/" + n + ".svg", "w", encoding="utf-8").write(s)
|
||
print("sheets: %d (%d KB) -> docs/sheet_{front,joint,exploded,side}.svg（查看器读这 4 个文件）" % (
|
||
len(sheets), sum(len(s) for s in sheets) // 1024))
|