按关节槽位驱动 13 个五轴案例的三维模型

关节契约扩为槽位制：以 LinuxCNC 联合号标识关节，轴字母降为槽位属性，重复轴（bridge-mill 的两个 Y）、并联杆长（hexapod/pentapod）和被动槽位（max5 第 6 关节）都能表达。v1 规则保持不变并合成 jointOrder，已保存 GLB 与既有测试不受影响。 13 个结构 GLB 由 scripts/generate_physical_case_glbs.mjs 统一重建，可动关节均为按槽位命名的 Group 并写 userData.linuxcncJoint，共 71 个关节，槽位数与运行目录的 joint_count 逐条一致。新增 machine-visual-bindings.json 与纯函数模块，以 machine id 为键：坐标字母不能作键，因为三个案例共用 XYZAB、三个共用 XYZABC。主界面切换案例时自动装载对应模型，失败时保留内置模型并显式提示。消除前端五关节截断：visual 适配器的 joints 改为数组并新增 jointsAuthoritative；allHomed 按 joint_count 判断；面板按 worker 断言的 machine id 查找机型。管理器解锁：坐标与案例下拉以"存在完整视觉绑定"为启用条件，13 案例全部可选；machine-urdf.ts 新增 generic-wasm/1 profile，AC/BC 严格校验路径不变；新增 machine-kinematics-specs.json 保存逐关节限位，INI 未声明的限位保持 null 而不编造。修复三个真实缺陷：构建漏发 woodpecker/gmoccapy/qtdragon 配置目录（ DEFECT-02 根因）；案例切换沿用"装载需要已上电"的门控，导致关机状态下第二次切换被静默拒绝；重复轴机型上 React 列表键冲突。验收：13 案例逐个切换装载成功、槽位键与绑定定义逐一一致、浏览器错误 0； typecheck 与生产构建通过；视觉绑定、GLB 命名、关节契约、投影、store、双画布、运动学规格漂移、11 案例 Worker 闭环、管理器浏览器回归全部通过。证据在 coverage/glb-machine-manager/physical-drive/。 Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
2026-10-30 06:09:12 +08:00
parent af65b69b2c
commit db29ae625f
157 changed files with 11936 additions and 885 deletions
--- a/web/workspace/five-axis-physical-structures.json
+++ b/web/workspace/five-axis-physical-structures.json
@@ -0,0 +1,526 @@
+{
+  "schema": "linuxcnc.five-axis-physical-structures/1",
+  "units": {
+    "length": "mm",
+    "angle": "deg",
+    "gltf_length": "m",
+    "gltf_angle": "rad"
+  },
+  "sourcePolicy": "real-reference values are not calibration values; design-reference models require explicit design_reference status",
+  "cases": [
+    {
+      "id": "xyzac-trt",
+      "family": "table-rotary-tilting",
+      "reference": "HERMLE C 42 U 类摆动转台",
+      "status": "design-plus-real-reference",
+      "parts": [
+        "base",
+        "x",
+        "y",
+        "z",
+        "tool",
+        "a-tilt-frame",
+        "c-table",
+        "workholding",
+        "guard"
+      ],
+      "jointTree": "base→x→y→z→tool; base→a→c→work",
+      "parameters": [
+        "rotaryPoint",
+        "tiltToRotaryOffset",
+        "toolOffset",
+        "physicalZero"
+      ],
+      "source": "https://www.hermle.de/en/machining-centres-automation/models/machining-centre-c-42-gen2/",
+      "assetPlan": {
+        "zeroPoseRequired": true,
+        "separateJointNodes": true,
+        "includeOriginHelpers": true,
+        "metadata": [
+          "source",
+          "license",
+          "kinematics",
+          "coordinates",
+          "zero_pose",
+          "joint_limits",
+          "calibration_status"
+        ]
+      }
+    },
+    {
+      "id": "xyzbc-trt",
+      "family": "table-rotary-tilting",
+      "reference": "Haas UMC-500/750 B/C 摆台",
+      "status": "real-reference",
+      "parts": [
+        "base",
+        "x",
+        "y",
+        "z",
+        "tool",
+        "b-trunnion",
+        "c-table",
+        "workholding",
+        "guard"
+      ],
+      "jointTree": "base→x→y→z→tool; base→b→c→work",
+      "parameters": [
+        "MRZP",
+        "bCIntersection",
+        "toolOffset",
+        "physicalZero"
+      ],
+      "source": "https://www.haascnc.com/service/online-manuals/umc-series/umc---geometry.html",
+      "assetPlan": {
+        "zeroPoseRequired": true,
+        "separateJointNodes": true,
+        "includeOriginHelpers": true,
+        "metadata": [
+          "source",
+          "license",
+          "kinematics",
+          "coordinates",
+          "zero_pose",
+          "joint_limits",
+          "calibration_status"
+        ]
+      }
+    },
+    {
+      "id": "xyzab-tdr",
+      "family": "table-dual-rotary",
+      "reference": "LinuxCNC xyzab_tdr 双转台；双转台五轴通用设计",
+      "status": "linuxcnc-reference-plus-design",
+      "parts": [
+        "base",
+        "x",
+        "y",
+        "z",
+        "tool",
+        "a-outer-table",
+        "b-inner-table",
+        "workholding"
+      ],
+      "jointTree": "base→x→y→z→tool; base→a→b→work",
+      "parameters": [
+        "xRotPoint",
+        "yRotPoint",
+        "zRotPoint",
+        "xOffset",
+        "zOffset",
+        "toolOffset",
+        "physicalZero"
+      ],
+      "source": "https://linuxcnc.org/docs/html/man/man9/xyzab_tdr_kins.9.html",
+      "assetPlan": {
+        "zeroPoseRequired": true,
+        "separateJointNodes": true,
+        "includeOriginHelpers": true,
+        "metadata": [
+          "source",
+          "license",
+          "kinematics",
+          "coordinates",
+          "zero_pose",
+          "joint_limits",
+          "calibration_status"
+        ]
+      }
+    },
+    {
+      "id": "bridge-mill-5axiskins",
+      "family": "bridge-mill",
+      "reference": "FIDIA BRIDGE / AWEA Mega 5P 固定龙门双摆头",
+      "status": "real-reference-plus-design",
+      "parts": [
+        "foundation",
+        "left-column",
+        "right-column",
+        "bridge",
+        "x-table",
+        "y-carriage",
+        "z-ram",
+        "b-head",
+        "c-head",
+        "y-left-drive",
+        "y-right-drive"
+      ],
+      "jointTree": "base→x→y→z→b→c→tool; y-left/y-right duplicate gantry joints; w is a tool-direction coordinate",
+      "parameters": [
+        "jointCoordinateMap",
+        "duplicateAxisMap",
+        "toolDirectionAxis",
+        "toolOffset",
+        "physicalZero"
+      ],
+      "source": "https://www.fidia.it/en/products/bridge/",
+      "assetPlan": {
+        "zeroPoseRequired": true,
+        "separateJointNodes": true,
+        "includeOriginHelpers": true,
+        "metadata": [
+          "source",
+          "license",
+          "kinematics",
+          "coordinates",
+          "zero_pose",
+          "joint_limits",
+          "calibration_status"
+        ]
+      }
+    },
+    {
+      "id": "max5-maxkins",
+      "family": "table-and-head-rotary",
+      "reference": "LinuxCNC MAX5 桌面五轴：B 倾转头+C 水平转台",
+      "status": "linuxcnc-reference-plus-design",
+      "parts": [
+        "base",
+        "x",
+        "y",
+        "z",
+        "b-head",
+        "tool",
+        "c-horizontal-table",
+        "workholding"
+      ],
+      "jointTree": "base→x→y→z→b→tool; base→c→work",
+      "parameters": [
+        "pivotLength",
+        "rotaryCenters",
+        "uvwTransform",
+        "toolOffset",
+        "physicalZero"
+      ],
+      "source": "https://linuxcnc.org/docs/master/html/man/man9/kins.9.html",
+      "assetPlan": {
+        "zeroPoseRequired": true,
+        "separateJointNodes": true,
+        "includeOriginHelpers": true,
+        "metadata": [
+          "source",
+          "license",
+          "kinematics",
+          "coordinates",
+          "zero_pose",
+          "joint_limits",
+          "calibration_status"
+        ]
+      }
+    },
+    {
+      "id": "hexapod-genhexkins",
+      "family": "parallel-platform",
+      "reference": "Giddings & Lewis Variax 六支链平台",
+      "status": "real-reference-plus-design",
+      "parts": [
+        "base-platform",
+        "strut-1",
+        "strut-2",
+        "strut-3",
+        "strut-4",
+        "strut-5",
+        "strut-6",
+        "moving-platform",
+        "spindle",
+        "tool"
+      ],
+      "jointTree": "base→six independent struts→moving-platform→tool",
+      "parameters": [
+        "baseJointPoints",
+        "platformJointPoints",
+        "spindleOffset",
+        "screwLead",
+        "iterationLimits",
+        "physicalZero"
+      ],
+      "source": "https://collection.sciencemuseumgroup.org.uk/objects/co8003352/pair-of-hexapod-legs-used-with-the-variax-machine-tool-made-by-giddings-lewis-of-wisconsin-in-1993",
+      "assetPlan": {
+        "zeroPoseRequired": true,
+        "separateJointNodes": true,
+        "includeOriginHelpers": true,
+        "metadata": [
+          "source",
+          "license",
+          "kinematics",
+          "coordinates",
+          "zero_pose",
+          "joint_limits",
+          "calibration_status"
+        ]
+      }
+    },
+    {
+      "id": "pentapod-pentakins",
+      "family": "parallel-platform",
+      "reference": "METROM Pentapod P-Series",
+      "status": "real-reference-plus-design",
+      "parts": [
+        "base-frame",
+        "strut-1",
+        "strut-2",
+        "strut-3",
+        "strut-4",
+        "strut-5",
+        "moving-platform",
+        "spindle",
+        "tool"
+      ],
+      "jointTree": "base→five independent struts→platform→tool",
+      "parameters": [
+        "baseJointPoints",
+        "effectorGeometry",
+        "toolOffset",
+        "convergenceCriterion",
+        "physicalZero"
+      ],
+      "source": "https://metrom.com/5-axis-machining-center/",
+      "assetPlan": {
+        "zeroPoseRequired": true,
+        "separateJointNodes": true,
+        "includeOriginHelpers": true,
+        "metadata": [
+          "source",
+          "license",
+          "kinematics",
+          "coordinates",
+          "zero_pose",
+          "joint_limits",
+          "calibration_status"
+        ]
+      }
+    },
+    {
+      "id": "puma-pumakins",
+      "family": "serial-robot",
+      "reference": "Unimation PUMA 560 类六轴机器人",
+      "status": "real-reference",
+      "parts": [
+        "base",
+        "j1-turntable",
+        "j2-shoulder",
+        "j3-elbow",
+        "j4-wrist-roll",
+        "j5-wrist-pitch",
+        "j6-wrist-yaw",
+        "flange",
+        "tool"
+      ],
+      "jointTree": "base→j1→j2→j3→j4→j5→j6→tool",
+      "parameters": [
+        "A2",
+        "A3",
+        "D3",
+        "D4",
+        "D6",
+        "jointLimits",
+        "toolOffset",
+        "physicalZero"
+      ],
+      "source": "https://www.linuxcnc.org/docs/html/motion/switchkins.html",
+      "assetPlan": {
+        "zeroPoseRequired": true,
+        "separateJointNodes": true,
+        "includeOriginHelpers": true,
+        "metadata": [
+          "source",
+          "license",
+          "kinematics",
+          "coordinates",
+          "zero_pose",
+          "joint_limits",
+          "calibration_status"
+        ]
+      }
+    },
+    {
+      "id": "puma-genserkins",
+      "family": "serial-robot",
+      "reference": "PUMA 560 Modified-DH 六轴机器人",
+      "status": "real-reference-plus-design",
+      "parts": [
+        "base",
+        "j1",
+        "j2",
+        "j3",
+        "j4",
+        "j5",
+        "j6",
+        "flange",
+        "tool"
+      ],
+      "jointTree": "base→j1→j2→j3→j4→j5→j6→tool",
+      "parameters": [
+        "DHParameters",
+        "jointLimits",
+        "toolOffset",
+        "physicalZero"
+      ],
+      "source": "https://www.linuxcnc.org/docs/master/html/fr/man/man9/kins.9.html",
+      "assetPlan": {
+        "zeroPoseRequired": true,
+        "separateJointNodes": true,
+        "includeOriginHelpers": true,
+        "metadata": [
+          "source",
+          "license",
+          "kinematics",
+          "coordinates",
+          "zero_pose",
+          "joint_limits",
+          "calibration_status"
+        ]
+      }
+    },
+    {
+      "id": "trivkins-xyzab",
+      "family": "identity-baseline",
+      "reference": "通用立式五轴双转台验证机",
+      "status": "design-reference",
+      "parts": [
+        "base",
+        "x",
+        "y",
+        "z",
+        "tool",
+        "a-frame",
+        "b-table",
+        "workholding"
+      ],
+      "jointTree": "base→x→y→z→tool; base→a→b→work",
+      "parameters": [
+        "coordinateOrder",
+        "duplicateAxisMap",
+        "physicalZero"
+      ],
+      "source": null,
+      "assetPlan": {
+        "zeroPoseRequired": true,
+        "separateJointNodes": true,
+        "includeOriginHelpers": true,
+        "metadata": [
+          "source",
+          "license",
+          "kinematics",
+          "coordinates",
+          "zero_pose",
+          "joint_limits",
+          "calibration_status"
+        ]
+      }
+    },
+    {
+      "id": "trivkins-xyzcw",
+      "family": "identity-baseline",
+      "reference": "通用桥式 C/W 刀向补偿验证机",
+      "status": "design-reference",
+      "parts": [
+        "base",
+        "x",
+        "y",
+        "z",
+        "tool",
+        "c-table",
+        "w-tool-sleeve",
+        "workholding"
+      ],
+      "jointTree": "base→x→y→z→tool; base→c→work; tool→w→tip",
+      "parameters": [
+        "coordinateOrder",
+        "toolDirectionAxis",
+        "physicalZero"
+      ],
+      "source": null,
+      "assetPlan": {
+        "zeroPoseRequired": true,
+        "separateJointNodes": true,
+        "includeOriginHelpers": true,
+        "metadata": [
+          "source",
+          "license",
+          "kinematics",
+          "coordinates",
+          "zero_pose",
+          "joint_limits",
+          "calibration_status"
+        ]
+      }
+    },
+    {
+      "id": "trivkins-xyzya",
+      "family": "identity-gantry-rotary",
+      "reference": "双 Y 龙门+A 转台验证机",
+      "status": "design-reference",
+      "parts": [
+        "base",
+        "x",
+        "y-left",
+        "y-right",
+        "z",
+        "tool",
+        "a-table",
+        "workholding"
+      ],
+      "jointTree": "five joints: x,y-left,z,y-right,a; y-left/y-right drive one gantry axis",
+      "parameters": [
+        "coordinateOrder",
+        "duplicateAxisMap",
+        "gantrySynchronization",
+        "physicalZero"
+      ],
+      "source": null,
+      "assetPlan": {
+        "zeroPoseRequired": true,
+        "separateJointNodes": true,
+        "includeOriginHelpers": true,
+        "metadata": [
+          "source",
+          "license",
+          "kinematics",
+          "coordinates",
+          "zero_pose",
+          "joint_limits",
+          "calibration_status"
+        ]
+      }
+    },
+    {
+      "id": "scorbot-kins",
+      "family": "serial-robot",
+      "reference": "SCORBOT-ER 4U/ER 4PC 五关节机器人",
+      "status": "real-reference-plus-design",
+      "parts": [
+        "base",
+        "j1-base-turn",
+        "j2-shoulder",
+        "j3-elbow",
+        "j4-pitch",
+        "j5-wrist-roll",
+        "flange",
+        "tool"
+      ],
+      "jointTree": "base→j1→j2→j3→j4→j5→tool",
+      "parameters": [
+        "robotLinkParameters",
+        "jointLimits",
+        "toolOffset",
+        "physicalZero"
+      ],
+      "source": "https://www.theoldrobots.com/book45/USBC-document.pdf",
+      "assetPlan": {
+        "zeroPoseRequired": true,
+        "separateJointNodes": true,
+        "includeOriginHelpers": true,
+        "metadata": [
+          "source",
+          "license",
+          "kinematics",
+          "coordinates",
+          "zero_pose",
+          "joint_limits",
+          "calibration_status"
+        ]
+      }
+    }
+  ]
+}