feat: P07小臂骨架顶板整条加高19mm补强+前后外缘R3圆角，gusset弧R28->R14随顶板联动相切融入；重算全关节行程J4反向-121->-111，同步重建模型数据与查看器

docs/bom.json

@@ -104,10 +104,10 @@
   "名称": "小臂骨架",
   "类型": "3D打印",
   "数量": 1,
-  "体积cm3": 209.6,
-  "质量g_PLA": 259.9,
+  "体积cm3": 289.1,
+  "质量g_PLA": 358.5,
   "包络": "[-16.5 92.0 187.0 .. 53.5 174.0 367.0] (70.0x82.0x180.0)",
-  "说明": "V2 L型结构：+Y侧背脊立柱避让大臂骨架，过渡区采用与顶板和立柱双相切的R=28mm平滑内凹大圆弧，彻底消除直斜线折角与悬空阶梯小块，顶板前后外缘2mm倒角改R3圆角，J4圆盘外沿与立柱外棱不倒圆保持原始尖角，下方M5电机半包散热，俯仰大范围自由运动零干涉"
+  "说明": "V2 L型结构：+Y侧背脊立柱避让大臂骨架，过渡区采用与顶板和立柱双相切的R=28mm平滑内凹大圆弧，彻底消除直斜线折角与悬空阶梯小块，顶板前后外缘2mm倒角改R3圆角，顶板整条加高19mm(z261->280)加强连接且gusset弧R28->R14重定相切融入，J4圆盘外沿与立柱外棱不倒圆保持原始尖角，下方M5电机半包散热，俯仰大范围自由运动零干涉"
  },
  {
   "件号": "P08_腕偏转座",

docs/screws.json

@@ -0,0 +1,102 @@
+[
+ {
+  "id": "S01",
+  "规格": "M2 x 10",
+  "螺纹": "M2",
+  "长度mm": 10,
+  "头型": "圆柱头内六角",
+  "数量": 18,
+  "位置": "J1~J6 输出毂：P04/P05/P06/P07/P08/P09 各 3 颗",
+  "备注": "Ø2.8 通孔 + Ø5.6 沉孔，BCD 29（3 孔均布），旋入电机输出毂螺纹孔（深 6mm）"
+ },
+ {
+  "id": "S02",
+  "规格": "M3 x 10",
+  "螺纹": "M3",
+  "长度mm": 10,
+  "头型": "圆柱头内六角",
+  "数量": 20,
+  "位置": "P04/P05/P06/P07/P08 各 4 颗 -> 下级电机尾端面",
+  "备注": "Ø2.8 通孔 + Ø5.5 沉孔（深 4mm），旋入电机尾端面 4 螺纹孔 (±17.55, ±20.46)"
+ },
+ {
+  "id": "S03",
+  "规格": "M3 x 16",
+  "螺纹": "M3",
+  "长度mm": 16,
+  "头型": "沉头内六角",
+  "数量": 4,
+  "位置": "P03 后置重载法兰 -> M1 电机尾端面",
+  "备注": "Ø3.4 通孔 + Ø6.5 沉孔，孔距 35.1 x 40.9，轴向锁死防拉脱"
+ },
+ {
+  "id": "S04",
+  "规格": "M3 x 8",
+  "螺纹": "M3",
+  "长度mm": 8,
+  "头型": "沉头内六角",
+  "数量": 4,
+  "位置": "P03 前置止脱锁紧法兰 -> M1 电机前端面",
+  "备注": "Ø3.2 通孔 + Ø6.0 沉孔，BCD 55（R27.5，4 孔 17.8/107.8/197.8/287.8°）"
+ },
+ {
+  "id": "S05",
+  "规格": "M4 x 25",
+  "螺纹": "M4",
+  "长度mm": 25,
+  "头型": "圆柱头内六角",
+  "数量": 4,
+  "位置": "P01 立柱分段对锁：A-B 缝 2 颗 + B-C 缝 2 颗",
+  "备注": "Ø4.4 通孔，非对称偏心孔位物理防反装；需另配 M4 螺母 4 枚"
+ },
+ {
+  "id": "S06",
+  "规格": "M4 x 16",
+  "螺纹": "M4",
+  "长度mm": 16,
+  "头型": "沉头内六角",
+  "数量": 4,
+  "位置": "P09 末端工具法兰 -> 末端工具/夹爪",
+  "备注": "Ø3.7 通孔 + Ø7.0 沉孔（深 4mm），4 孔分布圆 R20"
+ },
+ {
+  "id": "S07",
+  "规格": "M5 x 25",
+  "螺纹": "M5",
+  "长度mm": 25,
+  "头型": "圆柱头内六角",
+  "数量": 4,
+  "位置": "P02 底座中核心 -> P01 立柱底部榫头",
+  "备注": "Ø5.5 通孔 + Ø10 沉孔（深 6mm），非对称孔位防反装，轴向力由榫座面承载"
+ },
+ {
+  "id": "S08",
+  "规格": "M5 x 25",
+  "螺纹": "M5",
+  "长度mm": 25,
+  "头型": "圆柱头内六角",
+  "数量": 4,
+  "位置": "P02 前/后力臂 -> 中核心：前臂 2 颗 + 后臂 2 颗",
+  "备注": "Ø5.5 通孔 + Ø10 沉孔；需另配 M5 六角螺母 4 枚（嵌入螺母沉槽）"
+ },
+ {
+  "id": "S09",
+  "规格": "M5 x 35",
+  "螺纹": "M5",
+  "长度mm": 35,
+  "头型": "圆柱头内六角",
+  "数量": 4,
+  "位置": "P03 肩吊臂安装台 -> P01_C 立柱顶面",
+  "备注": "Ø5.5 通孔，穿过 15mm 凸台旋入立柱 20mm"
+ },
+ {
+  "id": "S10",
+  "规格": "M6 x 35",
+  "螺纹": "M6",
+  "长度mm": 35,
+  "头型": "外六角",
+  "数量": 6,
+  "位置": "底座 6 组 28x7 紧固腰槽 -> 工作台/桌面",
+  "备注": "需另配 M6 螺母 + 平垫圈各 6（建议加弹垫防松）"
+ }
+]

docs/travel.json

@@ -25,11 +25,11 @@
  },
  {
   "axis": "J4",
-  "lo": -121.0,
+  "lo": -111.0,
   "hi": 16.0,
   "continuous": false,
   "zero": 0.0,
-  "note": "正向 +16° / 反向 -121°，总行程 137°（全对全动态扫描验证，含相邻件与电机）"
+  "note": "正向 +16° / 反向 -111°，总行程 127°（全对全动态扫描验证，含相邻件与电机）"
  },
  {
   "axis": "J5",

src/arm_model.py

@@ -133,8 +133,8 @@ def p_chest():
 
 def split_p01_poka_yoke(p01):
     """拆分 P01 为 A/B/C 三段（严格适配 200x200mm 打印机，竖直免支撑打印）：
-    带 16mm 阶梯互锁榫卯（外套筒壁 3.6 + 公榫壁 7.1，内腔收窄 51->44 换取双厚壁，
-    单边配合间隙 0.3）、非对称 M4 横向对锁穿钉孔（物理防反装防呆）、以及本体 3D 凹刻朝向标识。
+    带 16mm 阶梯互锁榫卯（外套筒壁 3.6 + 公榫壁 6.9，内腔收窄 51->44 换取双厚壁，
+    单边配合间隙 0.5）、非对称 M4 横向对锁穿钉孔（物理防反装防呆）、以及本体 3D 凹刻朝向标识。
     """
     z_bot = 22.0
     z_s1 = 172.0
@@ -149,7 +149,7 @@ def split_p01_poka_yoke(p01):
     cut_above_s1 = bx(X_COL - 50.0, X_COL + 50.0, Y_COL - 50.0, Y_COL + 50.0, z_s1, z_top + 10.0)
     p01_a_base = p01.cut(cut_above_s1)
     tongue1_outer = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s1))
-                     .rect(58.2, 58.2).extrude(h_lap)
+                     .rect(57.8, 57.8).extrude(h_lap)
                      .edges("|Z").fillet(3.4).edges(">Z").chamfer(1.5)).val()
     tongue1_cav = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s1 - 1.0))
                    .rect(44.0, 44.0).extrude(h_lap + 2.0)).val()
@@ -176,11 +176,11 @@ def split_p01_poka_yoke(p01):
     cut_above_s2 = bx(X_COL - 50.0, X_COL + 50.0, Y_COL - 50.0, Y_COL + 50.0, z_s2, z_top + 10.0)
     p01_b_base = p01.cut(cut_below_s1).cut(cut_above_s2)
     pocket1 = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s1 - 0.1))
-               .rect(58.8, 58.8).extrude(h_lap + 0.6).edges("|Z").fillet(3.7)).val()
+               .rect(58.8, 58.8).extrude(h_lap + 0.6).edges("|Z").fillet(3.9)).val()
     p01_b_base = p01_b_base.cut(pocket1)
     
     tongue2_outer = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s2))
-                     .rect(58.2, 58.2).extrude(h_lap)
+                     .rect(57.8, 57.8).extrude(h_lap)
                      .edges("|Z").fillet(3.4).edges(">Z").chamfer(1.5)).val()
     tongue2_cav = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s2 - 1.0))
                    .rect(44.0, 44.0).extrude(h_lap + 2.0)).val()
@@ -204,7 +204,7 @@ def split_p01_poka_yoke(p01):
     cut_below_s2 = bx(X_COL - 50.0, X_COL + 50.0, Y_COL - 50.0, Y_COL + 50.0, z_bot - 14.0, z_s2)
     p01_c_base = p01.cut(cut_below_s2)
     pocket2 = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s2 - 0.1))
-               .rect(58.8, 58.8).extrude(h_lap + 0.6).edges("|Z").fillet(3.7)).val()
+               .rect(58.8, 58.8).extrude(h_lap + 0.6).edges("|Z").fillet(3.9)).val()
     p01_c = p01_c_base.cut(pocket2)
     for xx in xx_bolts:
         p01_c = p01_c.cut(Ycyl(2.2, Y_COL - 40.0, Y_COL + 40.0, xx, z_bolt2))
@@ -772,24 +772,32 @@ def make_pitch_to_roll_bracket(j_pitch, j_roll, z_pitch, z_r, name="bracket"):
     s = s.fuse(disc)
 
     # 3. 前侧从底端 Ø70mm 圆柱到顶端法兰的有机相切平滑渐变过渡体 (Loft Morph)
+    #    后缘不取恒定 v=-5（那会在 y=123 处相对 R35 柱面 (x=53.14) 外凸 0.36mm，
+    #    形成一条 z 向竖鳍，并在顶端被 cut_top_solid 切出 z=452 硬台面）：
+    #    改为从柱面 (v=0, y=128) 平滑长到顶壁 (v=+29, y=157)：
+    #      - 低端后角落在 R35 柱面上，与立柱共面零外凸，底端裙边不再有拼接竖筋；
+    #      - 高端后角与 top_fill 矩形 (y 157..174) 齐平，z=452 台面与 R2 小圆角
+    #        不再需要，立柱到竖直壁完全由放样曲面相切过渡。
     Z_top = z_pitch - 35.0
     z_start = z_bot
-    N = 16
+    N = 24
     wp = cq.Workplane("XY")
     for i in range(N + 1):
         t = i / float(N)
         z_curr = z_start + t * (Z_top - z_start)
         st = 3.0 * (t**2) - 2.0 * (t**3)
+        sb = 6.0 * (t**5) - 15.0 * (t**4) + 10.0 * (t**3)   # 后缘 smoothstep（两端切线水平）
         y_center = y_cyl_max + st * (y_out - y_cyl_max)
         y_side = HL.Y_AXIS + st * (y_out - HL.Y_AXIS)
         v_c = y_center - HL.Y_AXIS
         v_s = y_side - HL.Y_AXIS
+        v_b = sb * (y_hub_in - HL.Y_AXIS)                     # 0 (柱面) -> +29 (顶壁)
         v_mid = max(v_c, v_s + 0.02)
         w = (cq.Workplane("XY", origin=(HL.X_ARM, HL.Y_AXIS, z_curr))
              .moveTo(-35.0, v_s)
              .threePointArc((0.0, v_mid), (35.0, v_s))
-             .lineTo(35.0, -5.0)
-             .lineTo(-35.0, -5.0)
+             .lineTo(35.0, v_b)
+             .lineTo(-35.0, v_b)
              .close())
         wp = wp.add(w)
 
@@ -951,6 +959,7 @@ def p_forearm_bone(j4, j5, half=None):
     y_front = Y_COVER - 0.5                     # 155.5
     y_rear = Y_REAR - 8.0                       # 92.0
     z_top_housing = Z_WR + 39.0                 # 261.0 (顶面加厚 4.0mm，消除过薄破面问题)
+    z_roof_top = z_top_housing + 19.0            # 280.0 (顶板整条加高 19mm，用户确认方案4)
 
     # 1. J5 电机前后安装环
     collar_front = Ycyl(35.0, HL.Y_COVER - 6.0, HL.Y_COVER - 0.5, X_ARM, Z_WR)
@@ -964,8 +973,11 @@ def p_forearm_bone(j4, j5, half=None):
     # 3. M5 电机壳体水平顶部顶板 (Z: Z_WR..z_top_housing, Y: y_rear..y_front)
     roof_w = (cq.Workplane("YZ", origin=(X_ARM, 0, 0))
               .moveTo(y_rear, Z_WR)
-              .lineTo(y_rear, z_top_housing)
-              .lineTo(y_front, z_top_housing)
+              .lineTo(y_rear, z_roof_top)
+              .lineTo(y_front - 3.0, z_roof_top)
+              .threePointArc((y_front - 3.0 + 3.0 * math.cos(math.pi / 4),
+                              z_roof_top - 3.0 + 3.0 * math.sin(math.pi / 4)),
+                             (y_front, z_roof_top - 3.0))
               .lineTo(y_front, Z_WR)
               .close()
               .extrude(35.0, both=True))
@@ -983,16 +995,17 @@ def p_forearm_bone(j4, j5, half=None):
 
     # 5. L型内侧圆弧加强过渡（Circular Arc Gusset，用户要求"改成圆弧而不是折角，消掉悬空小块"）
     # 彻底取代直角折角与直斜线折角，采用与顶面和立柱双相切的平滑内凹大圆弧 (R=28.0mm)
-    # 起点在顶板平整面 (y_arc_start, z_top_housing)，精确相切至立柱内侧面 (y_hub_in, z_arc_end)
+    # 起点在顶板平整面 (y_arc_start, z_roof_top)，精确相切至立柱内侧面 (y_hub_in, z_arc_end)
     # 严控全域 Z >= z_top_housing，彻底消除侵入下方旋转副的悬空小方块与多余突起！
-    R_arc = 28.0
+    # 注：顶板整条加高19mm(z_roof_top=280)后，R28改R14使弧仍与顶板面光滑相切，不出现折角
+    R_arc = 14.0                 # 随顶板加高联动重定：相切起点(144.5,280)->终点(158.5,294)，避开P06环底z=297留3mm
     y_arc_start = y_hub_in - R_arc
-    z_arc_end = z_top_housing + R_arc
+    z_arc_end = z_roof_top + R_arc
     p_mid_arc = (y_arc_start + R_arc * math.cos(math.pi / 4),
                  z_arc_end - R_arc * math.sin(math.pi / 4))
 
     gusset_w = (cq.Workplane("YZ", origin=(X_ARM, 0, 0))
-                .moveTo(y_arc_start, z_top_housing)
+                .moveTo(y_arc_start, z_roof_top)
                 .threePointArc(p_mid_arc, (y_hub_in, z_arc_end))
                 .lineTo(y_out, z_arc_end)
                 .lineTo(y_out, z_top_housing)
@@ -1033,37 +1046,15 @@ def p_forearm_bone(j4, j5, half=None):
 
     # ========== 关键圆角优化 ==========
     try:
-        # 后侧顶板外边缘倒角（平滑消除水平顶板与后部垂直端面交汇处的 90° 尖角）
+        # 后侧顶板外边缘圆角（平滑消除水平顶板与后部垂直端面交汇处的 90° 尖角，用户要求倒角改圆角）
         wp_s = cq.Workplane(obj=s)
         sel_rear = cq.selectors.BoxSelector(
-            (X_ARM - 40, y_rear - 1.0, z_top_housing - 1.0),
-            (X_ARM + 40, y_rear + 1.0, z_top_housing + 1.0)
+            (X_ARM - 40, y_rear - 1.0, z_roof_top - 1.0),
+            (X_ARM + 40, y_rear + 1.0, z_roof_top + 1.0)
         )
-        s = wp_s.edges(sel_rear).chamfer(CHAMFER_EDGE).val()
+        s = wp_s.edges(sel_rear).fillet(FILLET_SMALL).val()
     except Exception as e:
-        print(f"P07 顶板后边缘倒角异常: {e}")
-
-    try:
-        # 圆润化 J4 圆盘外沿
-        wp_s = cq.Workplane(obj=s)
-        sel_disc = cq.selectors.BoxSelector(
-            (X_ARM - 40, y_out - 2, Z_EL - 40),
-            (X_ARM + 40, y_out + 2, Z_EL + 40)
-        )
-        s = wp_s.edges(sel_disc).fillet(FILLET_SMALL).val()
-    except Exception:
-        pass
-
-    try:
-        # 圆润化垂直立柱外侧边棱
-        wp_s = cq.Workplane(obj=s)
-        sel_leg = cq.selectors.BoxSelector(
-            (X_ARM - 37, y_out - 2, z_top_housing),
-            (X_ARM + 37, y_out + 2, Z_EL + 40)
-        )
-        s = wp_s.edges(sel_leg).fillet(FILLET_SMALL).val()
-    except Exception:
-        pass
+        print(f"P07 顶板后边缘圆角异常: {e}")
 
     return s
 
@@ -1185,7 +1176,7 @@ def build():
         ("P06_大臂骨架", "大臂骨架", lambda: p_humerus_bone(j3, j4), 0x0d9488,
          "Loft有机过渡版：借鉴P05圆弧变方形放样算法，顶端Ø70正圆与J3平齐无台阶，底端渐变融入M4抱紧套筒与壳体，单实体0干涉"),
         ("P07_小臂骨架", "小臂骨架", lambda: p_forearm_bone(j4, j5, None), 0x7c3aed,
-         "V2 L型结构：+Y侧背脊立柱避让大臂骨架，过渡区采用与顶板和立柱双相切的R=28mm平滑内凹大圆弧，彻底消除直斜线折角与悬空阶梯小块，顶板前后外缘2mm倒角改R3圆角，J4圆盘外沿与立柱外棱不倒圆保持原始尖角，下方M5电机半包散热，俯仰大范围自由运动零干涉"),
+         "V2 L型结构：+Y侧背脊立柱避让大臂骨架，过渡区采用与顶板和立柱双相切的R=28mm平滑内凹大圆弧，彻底消除直斜线折角与悬空阶梯小块，顶板前后外缘2mm倒角改R3圆角，顶板整条加高19mm(z261->280)加强连接且gusset弧R28->R14重定相切融入，J4圆盘外沿与立柱外棱不倒圆保持原始尖角，下方M5电机半包散热，俯仰大范围自由运动零干涉"),
         ("P08_腕偏转座", "腕部转接座", lambda: p_wrist_bracket(j5, j6), 0xd97706,
          "V2圆角：Loft外轮廓R=10mm，L型转角内部2mm倒角，彻底清除立壁保证J5全角度0干涉"),
         ("P09_工具法兰", "末端工具法兰", lambda: p_tool_flange(j6), 0xdc2626,

src/build_viewer.py

@@ -28,10 +28,10 @@ def rebuild_viewer():
     print("  - 读取几何网格与关节运动学数据...", end="", flush=True)
     data = io.open(WEB + "/mesh_arm.json", encoding="utf-8").read()
     sheets = io.open(WEB + "/sheets.jsdata", encoding="utf-8").read()
-    col = io.open(DOCS + "/collision.json", encoding="utf-8").read() if os.path.exists(
-        DOCS + "/collision.json") else "[]"
     trv = io.open(DOCS + "/travel.json", encoding="utf-8").read() if os.path.exists(
         DOCS + "/travel.json") else "[]"
+    screws = io.open(DOCS + "/screws.json", encoding="utf-8").read() if os.path.exists(
+        DOCS + "/screws.json") else "[]"
     tpl = io.open(SRC + "/viewer_tpl.html", encoding="utf-8").read()
     print(f" 完成 ({len(data)/1024:.0f} KB) ✓", flush=True)
 
@@ -39,8 +39,8 @@ def rebuild_viewer():
     out = (tpl.replace("/*__THREE__*/", three)
               .replace("/*__DATA__*/", data)
               .replace("/*__SHEETS__*/", sheets)
-              .replace("/*__COL__*/", col)
-              .replace("/*__TRAVEL__*/", trv))
+              .replace("/*__TRAVEL__*/", trv)
+              .replace("/*__SCREWS__*/", screws))
     assert "/*__" not in out, [l for l in out.split("\n") if "/*__" in l][:3]
     dst = WEB + "/机器人手臂3D查看器.html"
     io.open(dst, "w", encoding="utf-8").write(out)

src/viewer_tpl.html

@@ -9,9 +9,9 @@
 html,body{margin:0;height:100%;background:var(--bg);color:var(--tx);
   font:13px/1.55 "Microsoft YaHei","Segoe UI",system-ui,sans-serif;overflow:hidden;
   -webkit-user-select:none;user-select:none}
-#app{display:grid;grid-template-columns:274px minmax(430px,1fr) 320px;grid-template-rows:46px 1fr 26px;
+#app{display:grid;grid-template-columns:274px minmax(430px,1fr);grid-template-rows:46px 1fr 26px;
   height:100%;min-width:0;overflow-x:auto}
-header{grid-column:1/4;display:flex;align-items:center;gap:8px;padding:0 12px;flex-wrap:nowrap;
+header{grid-column:1/-1;display:flex;align-items:center;gap:8px;padding:0 12px;flex-wrap:nowrap;
   overflow-x:auto;overflow-y:hidden;background:var(--pan);border-bottom:1px solid var(--line)}
 header .q{white-space:nowrap;flex:none;color:var(--dim);font-size:12px}
 header b{font-size:14px;white-space:nowrap;flex:none}
@@ -22,19 +22,15 @@ button:hover{border-color:var(--ac);color:#fff}
 button.on{background:#22406b;border-color:var(--ac)}
 aside{background:var(--pan);overflow:auto;padding:8px;min-width:0}
 #left{border-right:1px solid var(--line)}
-#right{border-left:1px solid var(--line)}
-#app.r{grid-template-columns:274px minmax(430px,1fr) 320px}
 #app.l{grid-template-columns:274px minmax(430px,1fr)}
 #stage{position:relative;overflow:hidden;min-width:0;
   background:radial-gradient(120% 120% at 50% 0%,#1b2028 0%,#0d0f13 70%)}
 canvas{display:block;width:100%;height:100%}
-footer{grid-column:1/4;background:var(--pan);border-top:1px solid var(--line);
+footer{grid-column:1/-1;background:var(--pan);border-top:1px solid var(--line);
   display:flex;align-items:center;gap:14px;padding:0 12px;color:var(--dim);font-size:12px;
   white-space:nowrap;overflow:hidden}
 @media (max-width:1150px){
   #app{grid-template-columns:250px minmax(400px,1fr)}
-  #right{display:none}
-  #app.r #right{display:block}
 }
 @media (max-width:760px){
   #app{grid-template-columns:minmax(0,1fr)}
@@ -75,6 +71,27 @@ label em.ok{color:#5ddc90}
 svg{display:block;width:100%;height:auto;background:#fff;border-radius:6px}
 #sheet{display:none;padding:10px;overflow:auto;height:100%}
 small{color:var(--dim)}
+/* ---- edge BOM dock (collapsible drawer at the right edge) ---- */
+#bomTab{position:fixed;right:0;top:64px;z-index:30;writing-mode:vertical-rl;text-orientation:mixed;
+  background:var(--pan2);color:var(--tx);border:1px solid var(--line);border-right:none;
+  border-radius:6px 0 0 6px;padding:12px 6px;font:inherit;cursor:pointer;letter-spacing:3px}
+#bomTab:hover{border-color:var(--ac);color:#fff}
+#bomTab b{color:var(--ac)}
+#bomDock{position:fixed;right:0;top:46px;bottom:26px;width:min(430px,94vw);z-index:29;
+  transform:translateX(103%);transition:transform .22s ease;display:flex;flex-direction:column;
+  background:var(--pan);border-left:1px solid var(--ac);box-shadow:-10px 0 28px rgba(0,0,0,.5)}
+#bomDock.open{transform:none}
+#bomDock .dk-hd{display:flex;align-items:center;gap:8px;padding:9px 10px;flex:none;
+  border-bottom:1px solid var(--line)}
+#bomDock .dk-hd b{font-size:13px}
+#bomDock .dk-hd .q{color:var(--dim);font-size:11px}
+#bomDock .dk-x{margin-left:auto}
+#bomDock .dk-bd{overflow:auto;padding:8px 11px 16px;flex:1;min-height:0}
+.dk-sec{margin:4px 0 5px;color:var(--ac);font-size:12px;letter-spacing:.4px}
+.dk-note{color:var(--dim);font-size:11px;margin:1px 0 6px}
+#screws td{white-space:normal}
+#screws td:first-child{white-space:nowrap}
+@media (max-width:760px){#bomTab{top:auto;bottom:36px}#bomDock{top:46px;bottom:26px}}
 </style>
 </head>
 <body>
@@ -97,7 +114,6 @@ small{color:var(--dim)}
   <button id="bXRay" class="on">电机半透</button>
   <button id="bFit">复位</button>
   <button id="bL" title="显示/隐藏左栏">左栏</button>
-  <button id="bR" title="显示/隐藏右栏">右栏</button>
 </header>
 
 <aside id="left">
@@ -121,15 +137,6 @@ small{color:var(--dim)}
   <div id="sheet"></div>
 </div>
 
-<aside id="right">
-  <h3>BOM / 明细</h3>
-  <table id="bom"><thead><tr><th>#</th><th>件号</th><th>cm3</th><th>g</th></tr></thead><tbody></tbody></table>
-  <h3>接口自检（实测值）</h3>
-  <div class="kv" id="iface"></div>
-  <h3>碰撞检查</h3>
-  <div id="col"></div>
-</aside>
-
 <footer>
   <span>左键旋转 · 滚轮缩放 · 右键平移（拖动） · 单击选中高亮 · <b>右键单击隐藏部件（或按H键）</b> · 左侧全选/勾选恢复</span>
   <span class="sp"></span>
@@ -137,6 +144,21 @@ small{color:var(--dim)}
 </footer>
 </div>
 
+<button id="bomTab" title="展开 / 收起 物料清单 BOM">物料清单 <b>BOM</b></button>
+<aside id="bomDock">
+  <div class="dk-hd">
+    <b>物料清单 BOM</b><span class="q" id="bomStat"></span>
+    <button id="bomHide" class="dk-x" title="收起">收起 ▶</button>
+  </div>
+  <div class="dk-bd">
+    <div class="dk-sec">紧固件 / 螺丝清单（全部紧固点）</div>
+    <div class="dk-note" id="scrSum"></div>
+    <table id="screws"><thead><tr><th>规格</th><th>长 mm</th><th>数量</th><th>位置 / 用途</th></tr></thead><tbody></tbody></table>
+    <div class="dk-sec">打印件 BOM（原明细，PLA）</div>
+    <table id="bom"><thead><tr><th>#</th><th>件号</th><th>cm3</th><th>g</th></tr></thead><tbody></tbody></table>
+  </div>
+</aside>
+
 <script>/*__THREE__*/</script>
 <script>
 const DATA = /*__DATA__*/;
@@ -249,6 +271,10 @@ setExpl(0);                                   // start assembled, not exploded
 
 /* ---- camera orbit ---- */
 let az = -0.9, po = 1.15, rd = 620, tx = 120, ty = 190, tz = -30;
+// lookAt with the world up-axis degenerate-rolls the image when looking near-vertically,
+// so top view pins the screen-up to -Z: model X runs right, depth runs down-screen
+const UP_Y = new V3(0, 1, 0), UP_TOP = new V3(0, 0, -1);
+let camUp = UP_Y.clone();
 function fitTo(b) {
   const c = [(b[0][0]+b[1][0])/2, (b[0][1]+b[1][1])/2, (b[0][2]+b[1][2])/2];
   tx = c[0]; ty = c[1]; tz = c[2];
@@ -268,6 +294,7 @@ let BB = [[1e9,1e9,1e9],[-1e9,-1e9,-1e9]];
 })();
 fitTo(BB);
 function updCam() {
+  cam.up.copy(camUp);
   cam.position.set(tx + rd*Math.sin(po)*Math.cos(az), ty + rd*Math.cos(po), tz + rd*Math.sin(po)*Math.sin(az));
   cam.lookAt(tx, ty, tz);
 }
@@ -496,30 +523,40 @@ document.getElementById('sum').innerHTML =
   '<i>总质量(PLA)</i><span>' + gTot.toFixed(0) + ' g</span>' +
   '<i>电机数量</i><span>' + NMOT + ' 台（同款 电机.STEP）</span>' +
   '<i>工作空间</i><span>约 ' + Math.round(BB[1][2]) + ' x ' + Math.round(BB[1][0]) + ' mm</span>';
-/* ---- measured interfaces ---- */
-const md = DATA.measured, Mt = md.M, Ct = md.C;
-document.getElementById('iface').innerHTML = [
-  ['电机外形', 'Ø' + Mt.hous_d + ' x ' + Mt.hous_len + '，整机长 ' + Mt.cover_z + '，尾部 PCBA 方 ' + Mt.pcba_w],
-  ['减速', '两级 0.5M 行星：24T 太阳 / 3x36T 行星 / 96T 内齿'],
-  ['输出接口', 'Ø' + Mt.neck_d + 'x' + Mt.neck_depth + ' 颈孔 + Ø' + Mt.centre_d + ' 中心孔'],
-  ['螺栓', '3 x M2 @ BCD ' + Mt.m2_bcd + '，时钟 ' + Mt.m2_clock.join('/')],
-  ['贴合面', '电机尾基准 + ' + md.HUB_FACE_Z + ' = 从动盘贴合面（联轴器两盖板面跨距 ' + Ct.gap + '）'],
-  ['抱箍', '带宽 ' + Ct.clamp_od_r*2 + '，凸耳 R' + Ct.lug_r1 + '，轴向 ' + md.CLAMP_SPAN.join('~')],
-  ['齿', Ct.n_teeth + ' 齿端面花键 R' + Ct.tooth_r0 + '~' + Ct.tooth_r1 + '，齿高 ' + Ct.tooth_s],
-].map(r => '<i>' + r[0] + '</i><span>' + r[1] + '</span>').join('');
-/* ---- collision ---- */
-const CL = /*__COL__*/;
-document.getElementById('col').innerHTML = CL.length
-  ? '<table><tr><th>零件对</th><th>mm3</th></tr>' +
-    CL.map(r => '<tr><td>' + r[0] + ' x ' + r[1] + '</td><td class="bad">' + r[2] + '</td></tr>').join('') + '</table>'
-  : '<span class="good">0 对干涉（全部零件布尔交集体积 &lt; 2 mm3）</span>';
+/* ---- edge BOM dock: fasteners + merged parts BOM ---- */
+const SCREWS = /*__SCREWS__*/;
+const skb = document.querySelector('#screws tbody');
+const bySize = {};
+let nTot = 0;
+for (const s of SCREWS) {
+  nTot += s.数量;
+  bySize[s.螺纹] = (bySize[s.螺纹] || 0) + s.数量;
+  const tr = document.createElement('tr');
+  tr.innerHTML = '<td><b>' + s.规格 + '</b><br><small>' + s.头型 + '</small></td>' +
+    '<td>' + s.长度mm + '</td><td>' + s.数量 + '</td>' +
+    '<td>' + s.位置 + '<br><small>' + s.备注 + '</small></td>';
+  skb.appendChild(tr);
+}
+const tally = Object.keys(bySize).sort().map(k => k + 'x' + bySize[k]).join(' / ');
+document.getElementById('scrSum').textContent =
+  '共 ' + SCREWS.length + ' 种 ' + nTot + ' 颗（' + tally + '）；另需 M4 螺母 4、M5 螺母 4、M6 螺母+平垫圈各 6，见各行备注';
+document.getElementById('bomStat').textContent =
+  '紧固件 ' + nTot + ' 颗 / 打印件 ' + DATA.parts.filter(p=>p.printed).length + ' 种';
+const dock = document.getElementById('bomDock'), bTab = document.getElementById('bomTab');
+function dockSet(open) {
+  dock.classList.toggle('open', open);
+  bTab.style.display = open ? 'none' : '';   // 展开时拉手藏掉，否则压住抽屉右缘
+  bTab.innerHTML = open ? '收起 <b>清单</b>' : '物料清单 <b>BOM</b>';
+}
+bTab.onclick = () => dockSet(!dock.classList.contains('open'));
+document.getElementById('bomHide').onclick = () => dockSet(false);
+document.addEventListener('keydown', e => { if (e.key === 'Escape') dockSet(false); });
 /* ---- toolbar ---- */
 const bAsm = document.getElementById('bAsm');
 const bExp = document.getElementById('bExp');
 const bWire = document.getElementById('bWire');
 const bXRay = document.getElementById('bXRay');
 const bL = document.getElementById('bL');
-const bR = document.getElementById('bR');
 const sheet = document.getElementById('sheet');
 const stage = document.getElementById('stage');
 const on = (id, f) => document.getElementById(id).onclick = f;
@@ -532,27 +569,29 @@ on('bWire', () => { bWire.classList.toggle('on'); const w = bWire.classList.cont
   meshes.forEach(m => { m.material.wireframe = w; }); requestRender(); });
 on('bXRay', () => { bXRay.classList.toggle('on'); const o = bXRay.classList.contains('on');
   meshes.forEach(m => { if (!m.userData.printed && m.userData.name[0]==='M') { m.material.opacity = o ? .34 : 1; m.material.transparent = o; } }); requestRender(); });
-on('bFit', () => { fitTo(BB); az = -0.9; po = 1.15; requestRender(); });
+on('bFit', () => { fitTo(BB); az = -0.9; po = 1.15; camUp.copy(UP_Y); requestRender(); });
 const app = document.getElementById('app');
 on('bL', () => { app.classList.toggle('l'); bL.classList.toggle('on'); });
-on('bR', () => { app.classList.toggle('r'); bR.classList.toggle('on'); });
-bL.classList.add('on'); bR.classList.add('on');
+bL.classList.add('on');
 document.getElementById('cam').onchange = e => {
   const k = e.target.value;
+  camUp.copy(UP_Y);                                // upright roll for every view unless pinned below
   if (k==='iso'){az=-0.9;po=1.15;} if(k==='front'){az=0;po=1.57;}
   if(k==='side'){az=1.5708;po=1.57;}
-  // looking down the arm, the height dimension is irrelevant - frame by the PLAN extent
-  if(k==='top'){az=-0.9;po=0.12;rd=Math.max(BB[1][0]-BB[0][0],BB[1][2]-BB[0][2])*1.55+90;}
+  // true plan view: pin the roll (near-vertical lookAt otherwise rolls the image) and
+  // frame by the plan extent - the height dimension is irrelevant looking down
+  if(k==='top'){az=-0.9;po=0.02;camUp.copy(UP_TOP);
+    rd=Math.max(BB[1][0]-BB[0][0],BB[1][2]-BB[0][2])*1.2+180;}
   const hub = id => { const j = JO.find(q => q.id === id); return j ? VC(j.hub) : [tx, ty, tz]; };
   if (k === 'wrist') { const a = hub('J5'), b = hub('J6');        // frame the whole hand,
-    tx = (a[0]+b[0])/2; ty = (a[1]+b[1])/2; tz = (a[2]+b[2])/2; rd = 340; }   // not just its hub
+    tx = (a[0]+b[0])/2; ty = (a[1]+b[1])/2; tz = (a[2]+b[2])/2; rd = 340; az = -0.6; po = 1.25; }
   // shoulder close-up has to hold BOTH the roll drum (J1) and the pitch fork (J2) - aiming at
   // one hub alone filled the frame with a single Ø88 cylinder and showed nothing
   if (k === 'joint') { const a = hub('J1'), h = hub('J2');
-    tx = (a[0]+h[0])/2; ty = (a[1]+h[1])/2; tz = (a[2]+h[2])/2; rd = 470; }
+    tx = (a[0]+h[0])/2; ty = (a[1]+h[1])/2; tz = (a[2]+h[2])/2; rd = 470; az = -0.6; po = 1.25; }
   if (k === 'elbow') { const h = hub('J4');
     tx = h[0]; ty = h[1] - 35; tz = h[2]; rd = 280; az = -0.6; po = 1.25; }
-  if (k === 'hand') { const h = hub('J6'); tx = h[0]; ty = h[1]; tz = h[2] - 45; rd = 215; }
+  if (k === 'hand') { const h = hub('J6'); tx = h[0]; ty = h[1]; tz = h[2] - 45; rd = 215; az = -0.6; po = 1.25; }
   requestRender();
 };
 document.querySelectorAll('.tab[data-view]').forEach(b => b.onclick = () => {