121 lines
3.3 KiB
JSON
121 lines
3.3 KiB
JSON
{
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"assumptions": {
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"motor": "60mm 方形标准关节电机模组，2 级行星减速",
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"T_cont_Nm": 2.5,
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"T_peak_Nm": 8.0,
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"T_allow_Nm": 2.0,
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"alpha_rad_s2": 5.0,
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"payload_kg": 0.5,
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"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"
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},
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"joints": {
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"J1": {
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"cn": "肩抬举",
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"axis": "roll(绕X)",
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"distal_mass_kg": 2.019,
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"arm_mass_kg": 1.519,
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"weight_N": 19.8,
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"reach_tip_mm": 512.0,
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"tau_gravity_Nm": 5.97,
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"tau_gravity_arm_only_Nm": 3.673,
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"I_distal_kgm2": 0.27885,
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"tau_dynamic_Nm": 1.394,
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"tau_required_static_Nm": 5.97,
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"tau_required_peak_Nm": 7.364,
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"duty_vs_Tcont_pct": 238.8,
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"duty_vs_Tallow_pct": 298.5,
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"peak_margin_x": 1.09,
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"status": "OVERLOAD"
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},
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"J2": {
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"cn": "肩俯仰",
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"axis": "pitch(绕Y)",
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"distal_mass_kg": 1.688,
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"arm_mass_kg": 1.188,
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"weight_N": 16.6,
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"reach_tip_mm": 394.0,
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"tau_gravity_Nm": 4.29,
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"tau_gravity_arm_only_Nm": 2.372,
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"I_distal_kgm2": 0.14396,
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"tau_dynamic_Nm": 0.72,
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"tau_required_static_Nm": 4.29,
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"tau_required_peak_Nm": 5.009,
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"duty_vs_Tcont_pct": 171.6,
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"duty_vs_Tallow_pct": 214.5,
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"peak_margin_x": 1.6,
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"status": "OVERLOAD"
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},
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"J3": {
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"cn": "大臂自转",
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"axis": "roll(绕Z)",
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"distal_mass_kg": 1.411,
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"arm_mass_kg": 0.911,
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"weight_N": 13.8,
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"reach_tip_mm": 250.0,
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"tau_gravity_Nm": 1.691,
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"tau_gravity_arm_only_Nm": 0.721,
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"I_distal_kgm2": 0.03855,
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"tau_dynamic_Nm": 0.193,
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"tau_required_static_Nm": 1.691,
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"tau_required_peak_Nm": 1.884,
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"duty_vs_Tcont_pct": 67.6,
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"duty_vs_Tallow_pct": 84.5,
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"peak_margin_x": 4.25,
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"status": "OK"
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},
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"J4": {
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"cn": "肘部俯仰",
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"axis": "pitch(绕Y)",
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"distal_mass_kg": 1.133,
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"arm_mass_kg": 0.633,
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"weight_N": 11.1,
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"reach_tip_mm": 241.0,
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"tau_gravity_Nm": 2.036,
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"tau_gravity_arm_only_Nm": 0.864,
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"I_distal_kgm2": 0.04239,
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"tau_dynamic_Nm": 0.212,
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"tau_required_static_Nm": 2.036,
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"tau_required_peak_Nm": 2.248,
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"duty_vs_Tcont_pct": 81.4,
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"duty_vs_Tallow_pct": 101.8,
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"peak_margin_x": 3.56,
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"status": "OVERLOAD"
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},
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"J5": {
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"cn": "腕部俯仰",
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"axis": "pitch(绕Y)",
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"distal_mass_kg": 0.823,
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"arm_mass_kg": 0.323,
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"weight_N": 8.1,
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"reach_tip_mm": 132.0,
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"tau_gravity_Nm": 0.862,
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"tau_gravity_arm_only_Nm": 0.23,
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"I_distal_kgm2": 0.01019,
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"tau_dynamic_Nm": 0.051,
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"tau_required_static_Nm": 0.862,
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"tau_required_peak_Nm": 0.913,
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"duty_vs_Tcont_pct": 34.5,
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"duty_vs_Tallow_pct": 43.1,
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"peak_margin_x": 8.76,
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"status": "OK"
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},
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"J6": {
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"cn": "腕自转",
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"axis": "roll(绕Z)",
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"distal_mass_kg": 0.547,
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"arm_mass_kg": 0.047,
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"weight_N": 5.4,
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"reach_tip_mm": 83.0,
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"tau_gravity_Nm": 0.0,
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"tau_gravity_arm_only_Nm": 0.0,
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"I_distal_kgm2": 0.0,
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"tau_dynamic_Nm": 0.0,
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"tau_required_static_Nm": 0.0,
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"tau_required_peak_Nm": 0.0,
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"duty_vs_Tcont_pct": 0.0,
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"duty_vs_Tallow_pct": 0.0,
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"peak_margin_x": null,
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"status": "OK"
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}
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}
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} |