cbb/Robot_Arm
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

refactor(model): 重构P03为轻量化板式桁架并统一M4×16自攻螺钉连接方案

Browse Source
This commit is contained in:
cbb
2026-10-02 04:39:12 +08:00
parent 208b37048b
commit 6fe97fc643
29 changed files with 139069 additions and 1296 deletions
Download Patch File Download Diff File Expand all files Collapse all files
README.md
+1 -1
View File
@@ -71,7 +71,7 @@ python src/sweep_v2.py
| :--- | :--- | :---: | :--- |
| **P01** | 胸板 / 安装板 | 根基固定 | 12mm 基础基座，预留 4x M4 紧固位与躯干走线窗 |
| **P02** | 底脚 / 支撑座 | 根基固定 | 200×320mm 重型防倾覆底盘，提供稳固调试基座 |
| **P03** | 肩吊臂 / 肩机舱 | J1 驱动抱紧 | 仿生规整风道机舱，带 7 组轴向散热格栅，抱紧 M1 电机 |
| **P03** | 肩吊臂 / 肩关节安装悬臂 | J1 驱动抱紧 | 轻量化板式桁架：双侧 6mm 竖板 + 帐篷减重窗（≥52°自支撑）+ 9mm 承力鞍座 + Ø15 螺母柱，抱紧 M1 电机（实心 728→286cm³，-61%，外轮廓不变） |
| **P04** | 肩叉 | J1 ➔ J2 | 90° 一体化高刚度正交转向肘，直锁 M1，抱紧 M2 |
| **P05** | 大臂旋转座 | J2 ➔ J3 | 16 层 Loft 曲面平滑过渡，直锁 M2，后侧刚性抱紧 M3 |
| **P06** | 大臂骨架 | J3 ➔ J4 | 流线型工字背脊骨架，直锁 M3，下端抱紧 M4 肘电机 |