wangdequan
db29ae625f
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>
363 lines
14 KiB
JSON
363 lines
14 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": [
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"rotaryPoint",
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"tiltToRotaryOffset",
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"toolOffset",
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"physicalZero"
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],
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"physicalStructureRef": "five-axis-physical-structures.json#xyzac-trt"
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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": [
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"rotaryPoint",
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"tiltToRotaryOffset",
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"toolOffset",
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"physicalZero"
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],
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"physicalStructureRef": "five-axis-physical-structures.json#xyzbc-trt"
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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": [
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"xRotPoint",
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"yRotPoint",
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"zRotPoint",
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"xOffset",
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"zOffset",
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"toolOffset",
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"physicalZero"
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],
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"physicalStructureRef": "five-axis-physical-structures.json#xyzab-tdr"
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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": [
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"jointCoordinateMap",
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"duplicateAxisMap",
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"toolDirectionAxis",
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"toolOffset",
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"physicalZero"
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],
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"physicalStructureRef": "five-axis-physical-structures.json#bridge-mill-5axiskins"
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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": [
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"rotaryAxisOrder",
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"rotaryCenters",
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"uvwTransform",
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"toolOffset",
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"physicalZero"
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],
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"physicalStructureRef": "five-axis-physical-structures.json#max5-maxkins"
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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": [
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"baseJointPoints",
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"platformJointPoints",
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"spindleOffset",
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"screwLead",
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"iterationLimits",
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"physicalZero"
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],
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"physicalStructureRef": "five-axis-physical-structures.json#hexapod-genhexkins"
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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": [
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"baseJointPoints",
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"effectorGeometry",
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"toolOffset",
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"convergenceCriterion",
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"physicalZero"
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],
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"physicalStructureRef": "five-axis-physical-structures.json#pentapod-pentakins"
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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": [
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"A2",
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"A3",
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"D3",
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"D4",
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"toolOffset",
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"physicalZero"
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],
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"physicalStructureRef": "five-axis-physical-structures.json#puma-pumakins"
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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": [
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"DHParameters",
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"jointLimits",
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"toolOffset",
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"physicalZero"
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],
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"physicalStructureRef": "five-axis-physical-structures.json#puma-genserkins"
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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": [
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"coordinateOrder",
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"duplicateAxisMap",
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"physicalZero"
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],
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"physicalStructureRef": "five-axis-physical-structures.json#trivkins-xyzab"
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},
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{
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"id": "trivkins-xyzcw",
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"label": "XYZCW · trivkins（C/W 直角坐标基线）",
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"family": "identity-baseline",
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"machineClass": "five-axis-linear-or-rotary",
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"coordinates": "XYZCW",
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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": "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。",
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"localCases": [
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"linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZCW.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": [
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"coordinateOrder",
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"toolDirectionAxis",
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"physicalZero"
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],
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"physicalStructureRef": "five-axis-physical-structures.json#trivkins-xyzcw"
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},
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{
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"id": "trivkins-xyzya",
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"label": "XYZYA · trivkins（双 Y/旋转 A 基线）",
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"family": "identity-gantry-rotary",
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"machineClass": "five-axis-linear-or-rotary",
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"coordinates": "XYZYA",
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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": "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。",
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"localCases": [
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"linuxcnc/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyzya.ini",
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"linuxcnc/configs/sim/woodpecker/woodpecker_xyzya.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": [
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"coordinateOrder",
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"duplicateAxisMap",
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"physicalZero"
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],
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"physicalStructureRef": "five-axis-physical-structures.json#trivkins-xyzya"
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},
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{
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"id": "scorbot-kins",
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"label": "SCORBOT · scorbot-kins（五关节串联）",
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"family": "serial-robot",
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"machineClass": "five-joint-robot",
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"coordinates": "XYZAB",
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"joints": 5,
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"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"
|
||
],
|
||
"physicalStructureRef": "five-axis-physical-structures.json#scorbot-kins"
|
||
}
|
||
]
|
||
}
|