初始提交：关节模组仿真平台
- 三接口契约：自包含 MJCF / 配置 schema / 报告计算规范 - Python 流水线：urdf_to_mjcf → generate_schema → simulate_report（validate_module 一键编排） - 输入案例 urdf + 生成产物 output（自包含 MJCF/schema/报告/网格副本） - 详细架构说明 docs/architecture.md
This commit is contained in:
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,34 @@
|
||||
{
|
||||
"module_id": "planetary_joint_split_motor_demo",
|
||||
"name": "planetary_joint_split_motor_demo",
|
||||
"model": "planetary_joint_split_motor_demo.xml",
|
||||
"input_joint": "sun_input_joint",
|
||||
"output_joint": "carrier_output_joint",
|
||||
"gear_ratio": 5.9999999999999885,
|
||||
"gear_ratio_source": "mimic",
|
||||
"limits": {
|
||||
"position": [
|
||||
-37.6991118431,
|
||||
37.6991118431
|
||||
],
|
||||
"torque": [
|
||||
-10.0,
|
||||
10.0
|
||||
],
|
||||
"velocity": [
|
||||
-6.28318530718,
|
||||
6.28318530718
|
||||
]
|
||||
},
|
||||
"simulation": {
|
||||
"timestep": 0.001,
|
||||
"duration": 4.0,
|
||||
"kp": 20.0,
|
||||
"kd": 0.3,
|
||||
"amplitude": 6.283185307179586,
|
||||
"frequency": 0.25,
|
||||
"load_torque": -3.0,
|
||||
"damping": 0.01,
|
||||
"mode": "normal"
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,68 @@
|
||||
<mujoco model="planetary_joint_split_motor_demo">
|
||||
<!-- 由 urdf_to_mjcf.py 自动生成：只补质量/惯量/作动器，不改变运动学/动力学/传动关系 -->
|
||||
<compiler angle="radian" meshdir="meshes"/>
|
||||
|
||||
<option timestep="0.001" gravity="0 0 -9.81"/>
|
||||
|
||||
<default>
|
||||
<joint damping="0.01" armature="0.0005"/>
|
||||
<geom contype="0" conaffinity="0"/>
|
||||
</default>
|
||||
|
||||
<asset>
|
||||
<mesh name="carrier_link" file="carrier_link.stl" scale="0.001 0.001 0.001"/>
|
||||
<mesh name="fixed_structure" file="fixed_structure.stl" scale="0.001 0.001 0.001"/>
|
||||
<mesh name="motor_rotor" file="motor_rotor.stl" scale="0.001 0.001 0.001"/>
|
||||
<mesh name="motor_stator" file="motor_stator_decimated.stl" scale="0.001 0.001 0.001"/>
|
||||
<mesh name="planet_0_link" file="planet_0_link.stl" scale="0.001 0.001 0.001"/>
|
||||
<mesh name="planet_1_link" file="planet_1_link.stl" scale="0.001 0.001 0.001"/>
|
||||
<mesh name="planet_2_link" file="planet_2_link.stl" scale="0.001 0.001 0.001"/>
|
||||
<mesh name="sun_drive" file="sun_drive.stl" scale="0.001 0.001 0.001"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<body name="base_link">
|
||||
<inertial pos="0.0257167 7.22096e-05 -0.000297192" mass="0.551159" fullinertia="0.000656887 0.00056339 0.000561847 7.94201e-07 -3.24687e-06 -4.98415e-07"/>
|
||||
<geom type="mesh" mesh="fixed_structure" rgba="0.62 0.68 0.72 1"/>
|
||||
<geom type="mesh" mesh="motor_stator" rgba="0.3 0.34 0.38 1"/>
|
||||
<body name="sun_link">
|
||||
<inertial pos="0.0313876 -2.35229e-07 1.25343e-06" mass="0.277539" fullinertia="0.000266278 0.000167853 0.000167874 -1.18454e-09 1.34599e-10 -3.3208e-09"/>
|
||||
<joint name="sun_input_joint" type="hinge" axis="1 0 0" range="-37.6991118431 37.6991118431"/>
|
||||
<geom type="mesh" mesh="sun_drive" rgba="0.95 0.62 0.16 1"/>
|
||||
<geom type="mesh" mesh="motor_rotor" rgba="0.8 0.33 0.16 1"/>
|
||||
</body>
|
||||
<body name="carrier_link">
|
||||
<inertial pos="0.060147 -8.40334e-08 -3.49296e-08" mass="0.163946" fullinertia="8.63028e-05 4.65499e-05 4.65516e-05 -9.27503e-11 -4.76284e-12 3.77741e-10"/>
|
||||
<joint name="carrier_output_joint" type="hinge" axis="1 0 0" range="-37.6991118431 37.6991118431"/>
|
||||
<geom type="mesh" mesh="carrier_link" rgba="0.28 0.56 0.82 1"/>
|
||||
<body name="planet_0_link" pos="0.0535 -0.0239016371622 -0.00217065450165">
|
||||
<inertial pos="-0.00192323 -3.97574e-13 -1.58818e-10" mass="0.0159851" fullinertia="2.47374e-06 1.2559e-06 1.2559e-06 -2.46924e-15 1.66624e-17 1.84976e-14"/>
|
||||
<joint name="planet_0_spin_joint" type="hinge" axis="1 0 0" range="-37.6991118431 37.6991118431"/>
|
||||
<geom type="mesh" mesh="planet_0_link" rgba="0.76 0.78 0.8 1" pos="-0.0535 0.0239016371622 0.00217065450165"/>
|
||||
</body>
|
||||
<body name="planet_1_link" pos="0.0535 0.0138306605224 -0.0196140977237">
|
||||
<inertial pos="-0.00192323 -1.31616e-10 3.93298e-10" mass="0.0159851" fullinertia="2.47374e-06 1.2559e-06 1.2559e-06 2.59167e-16 2.08757e-15 3.78659e-14"/>
|
||||
<joint name="planet_1_spin_joint" type="hinge" axis="1 0 0" range="-37.6991118431 37.6991118431"/>
|
||||
<geom type="mesh" mesh="planet_1_link" rgba="0.76 0.78 0.8 1" pos="-0.0535 -0.0138306605224 0.0196140977237"/>
|
||||
</body>
|
||||
<body name="planet_2_link" pos="0.0535 0.0100709766398 0.0217847522253">
|
||||
<inertial pos="-0.00192323 -9.59476e-10 1.01754e-10" mass="0.0159851" fullinertia="2.47374e-06 1.2559e-06 1.2559e-06 2.46116e-15 -3.08763e-15 4.97491e-15"/>
|
||||
<joint name="planet_2_spin_joint" type="hinge" axis="1 0 0" range="-37.6991118431 37.6991118431"/>
|
||||
<geom type="mesh" mesh="planet_2_link" rgba="0.76 0.78 0.8 1" pos="-0.0535 -0.0100709766398 -0.0217847522253"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<equality>
|
||||
<joint joint1="carrier_output_joint" joint2="sun_input_joint" polycoef="0 0.166666666666667 0 0 0" solref="0.002 1" solimp="0.9 0.95 0.0001"/>
|
||||
<joint joint1="planet_0_spin_joint" joint2="sun_input_joint" polycoef="0 -0.416666666666667 0 0 0" solref="0.002 1" solimp="0.9 0.95 0.0001"/>
|
||||
<joint joint1="planet_1_spin_joint" joint2="sun_input_joint" polycoef="0 -0.416666666666667 0 0 0" solref="0.002 1" solimp="0.9 0.95 0.0001"/>
|
||||
<joint joint1="planet_2_spin_joint" joint2="sun_input_joint" polycoef="0 -0.416666666666667 0 0 0" solref="0.002 1" solimp="0.9 0.95 0.0001"/>
|
||||
</equality>
|
||||
|
||||
<actuator>
|
||||
<motor name="input_motor" joint="sun_input_joint" gear="1" ctrlrange="-10 10"/>
|
||||
<motor name="load_motor" joint="carrier_output_joint" gear="1" ctrlrange="-1e+06 1e+06"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,33 @@
|
||||
================================================================
|
||||
关节模组仿真报告
|
||||
================================================================
|
||||
模型 : planetary_joint_split_motor_demo.xml
|
||||
输入端 : sun_input_joint 输出端: carrier_output_joint
|
||||
标称减速比 1 : 6.0000（输出 = 输入/6.0000）
|
||||
仿真模式 : normal
|
||||
负载力矩 : -3.0000 N·m 阻尼: 0.01
|
||||
|
||||
[1] 运动学（跟踪精度）
|
||||
输入位置峰值 : 6.3087 rad (参考 6.2832)
|
||||
位置跟踪误差 (RMS) : 0.0251 rad
|
||||
速度跟踪误差 (RMS) : 0.0727 rad/s
|
||||
输出位置峰值 : 1.0532 rad (应为 1.0472)
|
||||
传动比实测 : 0.166667 (期望 0.166667)
|
||||
|
||||
[2] 动力学（力矩与功率）
|
||||
输入力矩 (稳态均值) : 0.5102 N·m
|
||||
输出力矩 (稳态均值) : 3.0010 N·m
|
||||
理想输出 = 输入×6.0000 : 3.0611 N·m
|
||||
力矩损失 : 0.0601 N·m
|
||||
效率 η = 输出/(输入×6.0000) : 98.04 %
|
||||
输入力矩峰值 (瞬态) : 0.7543 N·m
|
||||
输出功率峰值 : 7.5876 W
|
||||
|
||||
[3] 安全性（安全余量）
|
||||
位置余量 (限位 ±37.6991 rad) : 83.27 %
|
||||
力矩余量 (限位 ±10.0000 N·m) : 92.46 %
|
||||
过载判定 : ✓ 余量充足
|
||||
|
||||
================================================================
|
||||
已写出 /home/csj/planetary_joint_split_motor_demo_urdf/output/timeseries.csv
|
||||
================================================================
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 85 KiB |
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user