{
  "schema": "linuxcnc.five-axis-machine-catalog/1",
  "sourceRoot": "linuxcnc",
  "officialSources": [
    {
      "title": "LinuxCNC 5-Axis Kinematics",
      "url": "https://linuxcnc.org/docs/html/motion/5-axis-kinematics.html"
    },
    {
      "title": "LinuxCNC kins(9)",
      "url": "https://linuxcnc.org/docs/html/man/man9/kins.9.html"
    },
    {
      "title": "LinuxCNC switchable kinematics",
      "url": "https://linuxcnc.org/docs/html/motion/switchkins.html"
    }
  ],
  "cases": [
    {
      "id": "xyzac-trt",
      "label": "XYZAC · 转台倾转（A/C）",
      "family": "table-rotary-tilting",
      "machineClass": "five-axis-mill",
      "coordinates": "XYZAC",
      "joints": 5,
      "kinematics": "xyzac-trt-kins",
      "rtcp": "native",
      "webWasm": "supported",
      "description": "A 轴绕 X 倾转，C 轴绕 Z 回转，工件安装在复合转台上。",
      "localCases": [
        "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
        "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc",
        "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc",
        "linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini",
        "linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzac.ngc",
        "linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngc",
        "linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzac.ngc"
      ],
      "kinematicsSource": "linuxcnc/src/emc/kinematics/xyzac-trt-kins.c",
      "designParameters": ["rotaryPoint", "tiltToRotaryOffset", "toolOffset", "physicalZero"]
    },
    {
      "id": "xyzbc-trt",
      "label": "XYZBC · 转台倾转（B/C）",
      "family": "table-rotary-tilting",
      "machineClass": "five-axis-mill",
      "coordinates": "XYZBC",
      "joints": 5,
      "kinematics": "xyzbc-trt-kins",
      "rtcp": "native",
      "webWasm": "supported",
      "description": "B 轴绕 Y 倾转，C 轴绕 Z 回转，适合 BC 类转台或相应摆头结构。",
      "localCases": [
        "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
        "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc",
        "linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzbc.ngc",
        "linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzbc.ngc"
      ],
      "kinematicsSource": "linuxcnc/src/emc/kinematics/xyzbc-trt-kins.c",
      "designParameters": ["rotaryPoint", "tiltToRotaryOffset", "toolOffset", "physicalZero"]
    },
    {
      "id": "xyzab-tdr",
      "label": "XYZAB · 双转台（A/B）",
      "family": "table-dual-rotary",
      "machineClass": "five-axis-mill",
      "coordinates": "XYZAB",
      "joints": 5,
      "kinematics": "xyzab_tdr_kins",
      "rtcp": "native-linuxcnc",
      "webWasm": "adapter-required",
      "description": "A/B 两个转轴组成双转台，源码案例包含旋转点、X/Z 偏置和 TCP 演示。",
      "localCases": [
        "linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini",
        "linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/demos/xyzab-tdr-demo.ngc",
        "linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini",
        "linuxcnc/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyzab.ini"
      ],
      "kinematicsSource": "linuxcnc/src/hal/components/xyzab_tdr_kins.comp",
      "designParameters": ["xRotPoint", "yRotPoint", "zRotPoint", "xOffset", "zOffset", "toolOffset", "physicalZero"]
    },
    {
      "id": "bridge-mill-5axiskins",
      "label": "Bridge Mill · 5axiskins（XYZBCW/Y）",
      "family": "bridge-mill",
      "machineClass": "five-axis-mill-with-extra-coordinate",
      "coordinates": "XYZBCWY",
      "joints": 7,
      "kinematics": "5axiskins",
      "rtcp": "native-linuxcnc",
      "webWasm": "adapter-required",
      "description": "桥式五轴机床，B/C 为姿态轴，W 为刀具方向运动；示例还演示 Y 轴双关节。",
      "localCases": [
        "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini",
        "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.ngc",
        "linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZCW.ini"
      ],
      "kinematicsSource": "linuxcnc/src/emc/kinematics/5axiskins.c",
      "designParameters": ["jointCoordinateMap", "duplicateAxisMap", "toolDirectionAxis", "toolOffset", "physicalZero"]
    },
    {
      "id": "max5-maxkins",
      "label": "MAX5 · maxkins（XYZBC）",
      "family": "table-and-head-rotary",
      "machineClass": "five-axis-mill",
      "coordinates": "XYZBC",
      "joints": 6,
      "kinematics": "maxkins",
      "rtcp": "native-linuxcnc",
      "webWasm": "adapter-required",
      "description": "LinuxCNC 的 MAX5 非恒等五轴案例；同时提供 trivkins 对照配置，适合验证坐标映射。",
      "localCases": [
        "linuxcnc/configs/sim/axis/vismach/5axis/max5/max5kins.ini",
        "linuxcnc/configs/sim/axis/vismach/5axis/max5/max5triv.ini",
        "linuxcnc/configs/sim/axis/vismach/5axis/max5/README",
        "linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini"
      ],
      "kinematicsSource": "linuxcnc/src/emc/kinematics/maxkins.c",
      "designParameters": ["rotaryAxisOrder", "rotaryCenters", "uvwTransform", "toolOffset", "physicalZero"]
    },
    {
      "id": "hexapod-genhexkins",
      "label": "Hexapod · genhexkins（Stewart 平台）",
      "family": "parallel-platform",
      "machineClass": "six-dof-rtcp-capable",
      "coordinates": "XYZABC",
      "joints": 6,
      "kinematics": "genhexkins",
      "rtcp": "native-linuxcnc",
      "webWasm": "adapter-required",
      "description": "六支链并联平台，具有 XYZABC 六自由度；它是五轴 CAM/RTCP 可覆盖的六自由度机型。",
      "localCases": [
        "linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini",
        "linuxcnc/configs/sim/axis/vismach/hexapod-sim/kinematics.hal",
        "linuxcnc/configs/sim/axis/vismach/hexapod-sim/README",
        "linuxcnc/src/emc/kinematics/genhexkins.c"
      ],
      "kinematicsSource": "linuxcnc/src/emc/kinematics/genhexkins.c",
      "designParameters": ["baseJointPoints", "platformJointPoints", "spindleOffset", "screwLead", "iterationLimits", "physicalZero"]
    },
    {
      "id": "pentapod-pentakins",
      "label": "Pentapod · pentakins（五支链平台）",
      "family": "parallel-platform",
      "machineClass": "five-axis-parallel",
      "coordinates": "XYZAB",
      "joints": 5,
      "kinematics": "pentakins",
      "rtcp": "native-linuxcnc",
      "webWasm": "adapter-required",
      "description": "五支链并联平台，LinuxCNC 源码提供 base/effector 几何参数和迭代求解案例。",
      "localCases": [
        "linuxcnc/configs/sim/axis/pentapod/pentapod.ini",
        "linuxcnc/configs/sim/axis/pentapod/kinematics.hal",
        "linuxcnc/configs/sim/axis/pentapod/README",
        "linuxcnc/src/emc/kinematics/pentakins.c"
      ],
      "kinematicsSource": "linuxcnc/src/emc/kinematics/pentakins.c",
      "designParameters": ["baseJointPoints", "effectorGeometry", "toolOffset", "convergenceCriterion", "physicalZero"]
    },
    {
      "id": "puma-pumakins",
      "label": "PUMA · pumakins（串联机器人）",
      "family": "serial-robot",
      "machineClass": "six-axis-robot",
      "coordinates": "XYZABC",
      "joints": 6,
      "kinematics": "pumakins",
      "rtcp": "robot-tool-center-point",
      "webWasm": "adapter-required",
      "description": "PUMA 型六关节串联机器人；可承载五轴刀具姿态任务，但不是五关节铣床拓扑。",
      "localCases": [
        "linuxcnc/configs/sim/axis/vismach/puma/puma.ini",
        "linuxcnc/configs/sim/axis/vismach/puma/puma_cube.ini",
        "linuxcnc/configs/sim/axis/vismach/puma/puma_cube.ngc",
        "linuxcnc/src/emc/kinematics/pumakins.c"
      ],
      "kinematicsSource": "linuxcnc/src/emc/kinematics/pumakins.c",
      "designParameters": ["A2", "A3", "D3", "D4", "toolOffset", "physicalZero"]
    },
    {
      "id": "puma-genserkins",
      "label": "PUMA 560 · genserkins（DH 串联）",
      "family": "serial-robot",
      "machineClass": "six-axis-robot",
      "coordinates": "XYZABC",
      "joints": 6,
      "kinematics": "genserkins",
      "rtcp": "robot-tool-center-point",
      "webWasm": "adapter-required",
      "description": "PUMA 560 的通用串联运动学案例，用 DH 参数描述各关节。",
      "localCases": [
        "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini",
        "linuxcnc/configs/sim/axis/vismach/puma/puma560_uvw.ini",
        "linuxcnc/configs/sim/axis/vismach/puma/puma560_dh.hal",
        "linuxcnc/src/emc/kinematics/genserkins.c"
      ],
      "kinematicsSource": "linuxcnc/src/emc/kinematics/genserkins.c",
      "designParameters": ["DHParameters", "jointLimits", "toolOffset", "physicalZero"]
    },
    {
      "id": "trivkins-xyzab",
      "label": "XYZAB · trivkins（直角坐标映射基线）",
      "family": "identity-baseline",
      "machineClass": "five-axis-linear-or-rotary",
      "coordinates": "XYZAB",
      "joints": 5,
      "kinematics": "trivkins",
      "rtcp": "none",
      "webWasm": "identity-only",
      "description": "五轴一一对应的基线案例，用于校验 GLB 关节树和坐标映射；本身不提供非线性 RTCP。",
      "localCases": [
        "linuxcnc/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyzab.ini",
        "linuxcnc/configs/sim/woodpecker/woodpecker_xyzab.ini",
        "linuxcnc/configs/sim/axis/vismach/5axis/max5/max5triv.ini",
        "linuxcnc/src/emc/kinematics/trivkins.c"
      ],
      "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"]
    }
  ]
}