{
  "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"
        ]
      }
    }
  ]
}