223 lines
9.9 KiB
JSON
223 lines
9.9 KiB
JSON
{
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"schema": "linuxcnc.five-axis-machine-catalog/1",
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"sourceRoot": "linuxcnc",
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"officialSources": [
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{
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"title": "LinuxCNC 5-Axis Kinematics",
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"url": "https://linuxcnc.org/docs/html/motion/5-axis-kinematics.html"
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},
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{
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"title": "LinuxCNC kins(9)",
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"url": "https://linuxcnc.org/docs/html/man/man9/kins.9.html"
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},
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{
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"title": "LinuxCNC switchable kinematics",
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"url": "https://linuxcnc.org/docs/html/motion/switchkins.html"
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}
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],
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"cases": [
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{
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"id": "xyzac-trt",
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"label": "XYZAC · 转台倾转（A/C）",
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"family": "table-rotary-tilting",
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"machineClass": "five-axis-mill",
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"coordinates": "XYZAC",
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"joints": 5,
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"kinematics": "xyzac-trt-kins",
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"rtcp": "native",
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"webWasm": "supported",
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"description": "A 轴绕 X 倾转，C 轴绕 Z 回转，工件安装在复合转台上。",
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"localCases": [
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"linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
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"linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc",
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"linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc",
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"linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini",
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"linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzac.ngc",
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"linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngc",
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"linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzac.ngc"
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],
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"kinematicsSource": "linuxcnc/src/emc/kinematics/xyzac-trt-kins.c",
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"designParameters": ["rotaryPoint", "tiltToRotaryOffset", "toolOffset", "physicalZero"]
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},
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{
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"id": "xyzbc-trt",
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"label": "XYZBC · 转台倾转（B/C）",
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"family": "table-rotary-tilting",
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"machineClass": "five-axis-mill",
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"coordinates": "XYZBC",
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"joints": 5,
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"kinematics": "xyzbc-trt-kins",
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"rtcp": "native",
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"webWasm": "supported",
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"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。",
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"localCases": [
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"linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
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"linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc",
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"linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzbc.ngc",
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"linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzbc.ngc"
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],
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"kinematicsSource": "linuxcnc/src/emc/kinematics/xyzbc-trt-kins.c",
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"designParameters": ["rotaryPoint", "tiltToRotaryOffset", "toolOffset", "physicalZero"]
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},
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{
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"id": "xyzab-tdr",
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"label": "XYZAB · 双转台（A/B）",
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"family": "table-dual-rotary",
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"machineClass": "five-axis-mill",
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"coordinates": "XYZAB",
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"joints": 5,
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"kinematics": "xyzab_tdr_kins",
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"rtcp": "native-linuxcnc",
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"webWasm": "adapter-required",
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"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。",
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"localCases": [
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"linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini",
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"linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/demos/xyzab-tdr-demo.ngc",
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"linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini",
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"linuxcnc/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyzab.ini"
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],
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"kinematicsSource": "linuxcnc/src/hal/components/xyzab_tdr_kins.comp",
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"designParameters": ["xRotPoint", "yRotPoint", "zRotPoint", "xOffset", "zOffset", "toolOffset", "physicalZero"]
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},
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{
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"id": "bridge-mill-5axiskins",
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"label": "Bridge Mill · 5axiskins（XYZBCW/Y）",
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"family": "bridge-mill",
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"machineClass": "five-axis-mill-with-extra-coordinate",
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"coordinates": "XYZBCWY",
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"joints": 7,
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"kinematics": "5axiskins",
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"rtcp": "native-linuxcnc",
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"webWasm": "adapter-required",
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"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。",
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"localCases": [
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"linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini",
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"linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.ngc",
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"linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZCW.ini"
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],
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"kinematicsSource": "linuxcnc/src/emc/kinematics/5axiskins.c",
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"designParameters": ["jointCoordinateMap", "duplicateAxisMap", "toolDirectionAxis", "toolOffset", "physicalZero"]
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},
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{
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"id": "max5-maxkins",
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"label": "MAX5 · maxkins（XYZBC）",
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"family": "table-and-head-rotary",
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"machineClass": "five-axis-mill",
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"coordinates": "XYZBC",
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"joints": 6,
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"kinematics": "maxkins",
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"rtcp": "native-linuxcnc",
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"webWasm": "adapter-required",
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"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。",
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"localCases": [
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"linuxcnc/configs/sim/axis/vismach/5axis/max5/max5kins.ini",
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"linuxcnc/configs/sim/axis/vismach/5axis/max5/max5triv.ini",
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"linuxcnc/configs/sim/axis/vismach/5axis/max5/README",
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"linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini"
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],
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"kinematicsSource": "linuxcnc/src/emc/kinematics/maxkins.c",
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"designParameters": ["rotaryAxisOrder", "rotaryCenters", "uvwTransform", "toolOffset", "physicalZero"]
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},
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{
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"id": "hexapod-genhexkins",
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"label": "Hexapod · genhexkins（Stewart 平台）",
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"family": "parallel-platform",
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"machineClass": "six-dof-rtcp-capable",
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"coordinates": "XYZABC",
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"joints": 6,
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"kinematics": "genhexkins",
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"rtcp": "native-linuxcnc",
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"webWasm": "adapter-required",
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"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。",
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"localCases": [
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"linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini",
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"linuxcnc/configs/sim/axis/vismach/hexapod-sim/kinematics.hal",
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"linuxcnc/configs/sim/axis/vismach/hexapod-sim/README",
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"linuxcnc/src/emc/kinematics/genhexkins.c"
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],
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"kinematicsSource": "linuxcnc/src/emc/kinematics/genhexkins.c",
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"designParameters": ["baseJointPoints", "platformJointPoints", "spindleOffset", "screwLead", "iterationLimits", "physicalZero"]
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},
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{
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"id": "pentapod-pentakins",
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"label": "Pentapod · pentakins（五支链平台）",
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"family": "parallel-platform",
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"machineClass": "five-axis-parallel",
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"coordinates": "XYZAB",
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"joints": 5,
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"kinematics": "pentakins",
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"rtcp": "native-linuxcnc",
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"webWasm": "adapter-required",
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"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。",
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"localCases": [
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"linuxcnc/configs/sim/axis/pentapod/pentapod.ini",
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"linuxcnc/configs/sim/axis/pentapod/kinematics.hal",
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"linuxcnc/configs/sim/axis/pentapod/README",
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"linuxcnc/src/emc/kinematics/pentakins.c"
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],
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"kinematicsSource": "linuxcnc/src/emc/kinematics/pentakins.c",
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"designParameters": ["baseJointPoints", "effectorGeometry", "toolOffset", "convergenceCriterion", "physicalZero"]
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},
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{
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"id": "puma-pumakins",
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"label": "PUMA · pumakins（串联机器人）",
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"family": "serial-robot",
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"machineClass": "six-axis-robot",
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"coordinates": "XYZABC",
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"joints": 6,
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"kinematics": "pumakins",
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"rtcp": "robot-tool-center-point",
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"webWasm": "adapter-required",
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"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。",
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"localCases": [
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"linuxcnc/configs/sim/axis/vismach/puma/puma.ini",
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"linuxcnc/configs/sim/axis/vismach/puma/puma_cube.ini",
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"linuxcnc/configs/sim/axis/vismach/puma/puma_cube.ngc",
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"linuxcnc/src/emc/kinematics/pumakins.c"
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],
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"kinematicsSource": "linuxcnc/src/emc/kinematics/pumakins.c",
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"designParameters": ["A2", "A3", "D3", "D4", "toolOffset", "physicalZero"]
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},
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{
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"id": "puma-genserkins",
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"label": "PUMA 560 · genserkins（DH 串联）",
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"family": "serial-robot",
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"machineClass": "six-axis-robot",
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"coordinates": "XYZABC",
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"joints": 6,
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"kinematics": "genserkins",
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"rtcp": "robot-tool-center-point",
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"webWasm": "adapter-required",
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"description": "PUMA 560 的通用串联运动学案例，用 DH 参数描述各关节。",
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"localCases": [
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"linuxcnc/configs/sim/axis/vismach/puma/puma560.ini",
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"linuxcnc/configs/sim/axis/vismach/puma/puma560_uvw.ini",
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"linuxcnc/configs/sim/axis/vismach/puma/puma560_dh.hal",
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"linuxcnc/src/emc/kinematics/genserkins.c"
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],
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"kinematicsSource": "linuxcnc/src/emc/kinematics/genserkins.c",
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"designParameters": ["DHParameters", "jointLimits", "toolOffset", "physicalZero"]
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},
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{
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"id": "trivkins-xyzab",
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"label": "XYZAB · trivkins（直角坐标映射基线）",
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"family": "identity-baseline",
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"machineClass": "five-axis-linear-or-rotary",
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"coordinates": "XYZAB",
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"joints": 5,
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"kinematics": "trivkins",
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"rtcp": "none",
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"webWasm": "identity-only",
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"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。",
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"localCases": [
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"linuxcnc/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyzab.ini",
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"linuxcnc/configs/sim/woodpecker/woodpecker_xyzab.ini",
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"linuxcnc/configs/sim/axis/vismach/5axis/max5/max5triv.ini",
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"linuxcnc/src/emc/kinematics/trivkins.c"
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],
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"kinematicsSource": "linuxcnc/src/emc/kinematics/trivkins.c",
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"designParameters": ["coordinateOrder", "duplicateAxisMap", "physicalZero"]
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}
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]
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}
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