From ae525d6b93d2530921a82aa3c45fa86d38272c0f Mon Sep 17 00:00:00 2001
From: wangdequan <wangdequan@meswork.com>
Date: Tue, 22 Sep 2026 08:02:55 +0800
Subject: [PATCH] Cover remaining five-axis case variants

---
 docs/linuxcnc-five-axis-case-catalog.md      |  3 ++
 web/workspace/five-axis-machine-catalog.json | 55 ++++++++++++++++++++
 2 files changed, 58 insertions(+)

diff --git a/docs/linuxcnc-five-axis-case-catalog.md b/docs/linuxcnc-five-axis-case-catalog.md
index 963de0f..1347fa8 100644
--- a/docs/linuxcnc-five-axis-case-catalog.md
+++ b/docs/linuxcnc-five-axis-case-catalog.md
@@ -16,6 +16,9 @@
 | PUMA | `pumakins` | XYZABC / 6 | `configs/sim/axis/vismach/puma/puma.ini` | 需要串联机器人适配器 |
 | PUMA 560 | `genserkins` | XYZABC / 6 | `configs/sim/axis/vismach/puma/puma560.ini` | 需要 DH/串联机器人适配器 |
 | 直角坐标基线 | `trivkins` | XYZAB / 5 | qtdragon、woodpecker、MAX5 trivkins | 仅用于轴映射验证，不提供非线性 RTCP |
+| C/W 直角坐标基线 | `trivkins` | XYZCW / 5 | `configs/sim/gmoccapy/gmoccapy_XYZCW.ini` | 仅用于轴映射验证，不提供非线性 RTCP |
+| 双 Y/旋转 A 基线 | `trivkins` | XYZYA / 5 | qtdragon multi-joint、woodpecker | 仅用于轴映射验证，不提供非线性 RTCP |
+| SCORBOT | `scorbot-kins` | XYZAB / 5 | `configs/sim/axis/vismach/scorbot/scorbot.ini` | 需要机器人运动学适配器 |
 
 PUMA 和 Hexapod 是六自由度案例，仍然纳入目录是因为 LinuxCNC 的五轴加工/RTCP 工作流可能使用其中的五轴姿态子集；在配置器中会显示“六自由度”标签。SCARA、MELFA、SCORBOT 等同样是 LinuxCNC 的机器人运动学案例，但不属于本目录的五轴机床案例，因此不会伪装成五轴铣床类型。
 
diff --git a/web/workspace/five-axis-machine-catalog.json b/web/workspace/five-axis-machine-catalog.json
index 03eae67..f021fd4 100644
--- a/web/workspace/five-axis-machine-catalog.json
+++ b/web/workspace/five-axis-machine-catalog.json
@@ -217,6 +217,61 @@
       ],
       "kinematicsSource": "linuxcnc/src/emc/kinematics/trivkins.c",
       "designParameters": ["coordinateOrder", "duplicateAxisMap", "physicalZero"]
+    },
+    {
+      "id": "trivkins-xyzcw",
+      "label": "XYZCW · trivkins（C/W 直角坐标基线）",
+      "family": "identity-baseline",
+      "machineClass": "five-axis-linear-or-rotary",
+      "coordinates": "XYZCW",
+      "joints": 5,
+      "kinematics": "trivkins",
+      "rtcp": "none",
+      "webWasm": "identity-only",
+      "description": "以 C 回转和 W 刀具方向坐标组成的五坐标基线，用于验证非标准字母顺序和显示映射。",
+      "localCases": [
+        "linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZCW.ini",
+        "linuxcnc/src/emc/kinematics/trivkins.c"
+      ],
+      "kinematicsSource": "linuxcnc/src/emc/kinematics/trivkins.c",
+      "designParameters": ["coordinateOrder", "toolDirectionAxis", "physicalZero"]
+    },
+    {
+      "id": "trivkins-xyzya",
+      "label": "XYZYA · trivkins（双 Y/旋转 A 基线）",
+      "family": "identity-gantry-rotary",
+      "machineClass": "five-axis-linear-or-rotary",
+      "coordinates": "XYZYA",
+      "joints": 5,
+      "kinematics": "trivkins",
+      "rtcp": "none",
+      "webWasm": "identity-only",
+      "description": "XYZYA 五坐标示例，包含 Y 轴与旋转 A 轴的自定义轴序，用于验证重复/非标准轴映射。",
+      "localCases": [
+        "linuxcnc/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyzya.ini",
+        "linuxcnc/configs/sim/woodpecker/woodpecker_xyzya.ini",
+        "linuxcnc/src/emc/kinematics/trivkins.c"
+      ],
+      "kinematicsSource": "linuxcnc/src/emc/kinematics/trivkins.c",
+      "designParameters": ["coordinateOrder", "duplicateAxisMap", "physicalZero"]
+    },
+    {
+      "id": "scorbot-kins",
+      "label": "SCORBOT · scorbot-kins（五关节串联）",
+      "family": "serial-robot",
+      "machineClass": "five-joint-robot",
+      "coordinates": "XYZAB",
+      "joints": 5,
+      "kinematics": "scorbot-kins",
+      "rtcp": "robot-tool-center-point",
+      "webWasm": "adapter-required",
+      "description": "LinuxCNC 源码附带的五关节 SCORBOT 配置候选，属于机器人运动学，不应按五轴铣床 TRT 处理。",
+      "localCases": [
+        "linuxcnc/configs/sim/axis/vismach/scorbot/scorbot.ini",
+        "linuxcnc/src/emc/kinematics/scorbot-kins.c"
+      ],
+      "kinematicsSource": "linuxcnc/src/emc/kinematics/scorbot-kins.c",
+      "designParameters": ["robotLinkParameters", "jointLimits", "toolOffset", "physicalZero"]
     }
   ]
 }