hjh
994 lines
22 KiB
JSON
994 lines
22 KiB
JSON
{
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"schema": "simplecad.std.planetary_joint.sop.v2",
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"design_id": "PJ_NW_S1_160_Txx_001",
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"units": "millimetre_degree",
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"axis_convention": {
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"main_axis": "x",
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"radial_plane": "yz",
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"right_handed": true
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},
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"assembly_layout": {
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"method": "semantic_axial_orbit",
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"calibration_role": "offline_dimensions_only",
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"rules": [
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{
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"selector": "instance:main_case",
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"mode": "root"
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},
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{
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"selector": "instance:motor_stator",
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"mode": "coaxial",
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"axial_mm": -70.0,
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"local_axis": "x",
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"axis_direction": 1,
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"clock_degrees": 0.0
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},
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{
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"selector": "instance:motor_rotor",
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"mode": "coaxial",
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"axial_mm": -65.0,
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"local_axis": "x",
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"axis_direction": 1,
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"clock_degrees": 0.0
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},
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{
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"selector": "instance:back_plate",
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"mode": "coaxial",
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"axial_mm": -80.0,
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"local_axis": "x",
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"axis_direction": 1,
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"clock_degrees": 0.0
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},
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{
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"selector": "instance:bearing_retainer",
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"mode": "coaxial",
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"axial_mm": 75.0,
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"local_axis": "x",
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"axis_direction": 1,
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"clock_degrees": 0.0
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},
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{
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"selector": "instance:output_bearing",
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"mode": "coaxial",
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"axial_mm": 65.0,
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"local_axis": "x",
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"axis_direction": 1,
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"clock_degrees": 0.0
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},
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{
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"selector": "instance:carrier",
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"mode": "coaxial",
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"axial_mm": 40.0,
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"local_axis": "x",
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"axis_direction": 1,
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"clock_degrees": 0.0
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},
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{
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"selector": "instance:output_shaft",
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"mode": "coaxial",
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"axial_mm": 80.0,
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"local_axis": "x",
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"axis_direction": 1,
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"clock_degrees": 0.0
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},
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{
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"selector": "instance:motor_coupling",
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"mode": "coaxial",
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"axial_mm": -30.0,
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"local_axis": "x",
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"axis_direction": 1,
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"clock_degrees": 0.0
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},
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{
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"selector": "instance:ring_gear",
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"mode": "coaxial",
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"axial_mm": 10.0,
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"local_axis": "x",
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"axis_direction": 1,
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"clock_degrees": 0.0
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},
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{
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"selector": "instance:sun_gear",
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"mode": "coaxial",
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"axial_mm": -20.0,
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"local_axis": "x",
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"axis_direction": 1,
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"clock_degrees": 0.0
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},
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{
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"selector": "definition:planet_gear_large",
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"mode": "orbit",
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"axial_mm": 0.0,
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"orbit_phase_degrees": 0.0,
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"local_axis": "x",
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"axis_direction": 1,
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"clock_degrees": 0.0,
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"clock_step_degrees": 120.0
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},
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{
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"selector": "definition:planet_gear_small",
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"mode": "orbit",
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"axial_mm": 20.0,
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"orbit_phase_degrees": 0.0,
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"local_axis": "x",
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"axis_direction": 1,
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"clock_degrees": 0.0,
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"clock_step_degrees": 120.0
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},
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{
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"selector": "definition:planet_bearing",
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"mode": "orbit",
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"axial_mm": 10.0,
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"orbit_phase_degrees": 0.0,
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"local_axis": "x",
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"axis_direction": 1,
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"clock_degrees": 0.0,
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"clock_step_degrees": 120.0
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}
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]
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},
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"definitions": [
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{
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"id": "motor_stator",
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"family": "disc_motor_stator",
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"generator": "simplecadapi.std.planetary_joint.make_motor_stator_rpart",
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"source_mode": "cots_step",
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"maturity": "cots_step_verified",
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"cots_asset": {
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"path": "simplecadapi/std/assets/disc_motor_58kg_stator.cots.step",
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"sha256": "38ad6ed4f4f562987899c996cd7bac4d62e4310f9b208f7bd641c74d5a6825b5",
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"solid_count": 1,
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"geometry_editability": "immutable"
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},
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"connectors": [
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{
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"id": "axis",
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"kind": "frame"
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},
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{
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"id": "mount",
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"kind": "mount"
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}
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]
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},
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{
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"id": "motor_rotor",
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"family": "disc_motor_rotor",
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"generator": "simplecadapi.std.planetary_joint.make_motor_rotor_rpart",
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"source_mode": "cots_step",
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"maturity": "cots_step_verified",
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"cots_asset": {
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"path": "simplecadapi/std/assets/disc_motor_58kg_rotor.cots.step",
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"sha256": "8323c3f74464b7d097a6726d7364f7cfcba922531c80dae20288541b0a421792",
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"solid_count": 1,
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"geometry_editability": "immutable"
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},
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"connectors": [
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{
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"id": "axis",
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"kind": "revolute_axis"
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},
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{
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"id": "output",
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"kind": "shaft_hub"
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}
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]
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},
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{
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"id": "main_case",
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"family": "windowed_cylindrical_cage",
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"generator": "simplecadapi.std.planetary_joint.make_main_case_rpart",
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"source_mode": "formula_std",
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"maturity": "formula_verified",
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"connectors": [
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{
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"id": "axis",
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"kind": "frame"
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},
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{
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"id": "bottom",
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"kind": "mount"
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},
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{
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"id": "top",
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"kind": "mount"
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},
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{
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"id": "stage_axis",
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"kind": "gear_axis"
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},
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{
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"id": "sun_axis",
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"kind": "gear_axis"
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},
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{
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"id": "carrier_mount",
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"kind": "revolute_axis"
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},
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{
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"id": "motor_mount",
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"kind": "mount"
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},
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{
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"id": "bearing_mount",
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"kind": "bearing_seat"
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},
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{
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"id": "retainer_mount",
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"kind": "mount"
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},
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{
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"id": "back_plate_mount",
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"kind": "mount"
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}
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]
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},
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{
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"id": "back_plate",
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"family": "windowed_annular_plate",
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"generator": "simplecadapi.std.planetary_joint.make_back_plate_rpart",
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"source_mode": "formula_std",
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"maturity": "formula_verified",
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"connectors": [
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{
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"id": "axis",
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"kind": "frame"
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},
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{
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"id": "bottom",
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"kind": "mount"
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},
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{
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"id": "top",
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"kind": "mount"
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}
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]
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},
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{
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"id": "bearing_retainer",
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"family": "counterbored_retainer_ring",
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"generator": "simplecadapi.std.planetary_joint.make_bearing_retainer_rpart",
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"source_mode": "formula_std",
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"maturity": "formula_verified",
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"connectors": [
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{
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"id": "axis",
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"kind": "frame"
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},
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{
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"id": "bottom",
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"kind": "mount"
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},
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{
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"id": "top",
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"kind": "mount"
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}
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]
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},
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{
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"id": "ring_gear",
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"family": "involute_internal_ring_gear",
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"generator": "simplecadapi.std.planetary_joint.make_ring_gear_rpart",
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"source_mode": "formula_std",
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"maturity": "formula_verified",
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"connectors": [
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{
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"id": "axis",
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"kind": "gear_axis"
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},
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{
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"id": "bottom",
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"kind": "mount"
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},
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{
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"id": "top",
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"kind": "mount"
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}
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]
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},
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{
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"id": "sun_gear",
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"family": "involute_spur_gear",
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"generator": "simplecadapi.std.planetary_joint.make_sun_gear_rpart",
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"source_mode": "formula_std",
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"maturity": "formula_verified",
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"connectors": [
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{
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"id": "axis",
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"kind": "gear_axis"
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},
|
|
{
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"id": "bottom",
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"kind": "mount"
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},
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{
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"id": "top",
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"kind": "mount"
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}
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]
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},
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{
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"id": "planet_gear_large",
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"family": "involute_spur_gear",
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"generator": "simplecadapi.std.planetary_joint.make_planet_gear_large_rpart",
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"source_mode": "formula_std",
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"maturity": "formula_verified",
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"connectors": [
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{
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"id": "axis",
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"kind": "gear_axis"
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},
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{
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"id": "bottom",
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"kind": "mount"
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},
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{
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"id": "top",
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"kind": "mount"
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}
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]
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},
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{
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"id": "planet_gear_small",
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"family": "involute_spur_gear",
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"generator": "simplecadapi.std.planetary_joint.make_planet_gear_small_rpart",
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"source_mode": "formula_std",
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"maturity": "formula_verified",
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"connectors": [
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{
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"id": "axis",
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"kind": "gear_axis"
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},
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{
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"id": "bottom",
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"kind": "mount"
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},
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{
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"id": "top",
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"kind": "mount"
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}
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]
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},
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{
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"id": "carrier",
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"family": "planet_carrier",
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"generator": "simplecadapi.std.planetary_joint.make_carrier_rpart",
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"source_mode": "formula_std",
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"maturity": "formula_verified",
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"connectors": [
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{
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"id": "axis",
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"kind": "revolute_axis"
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},
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{
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"id": "bottom",
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"kind": "mount"
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},
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{
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"id": "top",
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"kind": "mount"
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},
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{
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"id": "output_mount",
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"kind": "shaft_hub"
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},
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{
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"id": "planet_axis_0",
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"kind": "revolute_axis"
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},
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{
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"id": "planet_axis_1",
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"kind": "revolute_axis"
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},
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{
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"id": "planet_axis_2",
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"kind": "revolute_axis"
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}
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]
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},
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{
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"id": "output_shaft",
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"family": "output_flange_shaft",
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"generator": "simplecadapi.std.planetary_joint.make_output_shaft_rpart",
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"source_mode": "formula_std",
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"maturity": "formula_verified",
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"connectors": [
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{
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"id": "axis",
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"kind": "revolute_axis"
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},
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{
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"id": "bottom",
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"kind": "mount"
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},
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{
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"id": "top",
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"kind": "mount"
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},
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{
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"id": "output",
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"kind": "mount"
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}
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]
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},
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{
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"id": "output_bearing",
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"family": "radial_bearing",
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"generator": "simplecadapi.std.bearing.make_bearing_rpart",
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"source_mode": "formula_std",
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"maturity": "formula_verified",
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"connectors": [
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{
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"id": "axis",
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"kind": "bearing_seat"
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},
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{
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"id": "bottom",
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"kind": "mount"
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},
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{
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"id": "top",
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"kind": "mount"
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}
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]
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},
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{
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"id": "planet_bearing",
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"family": "flanged_radial_bearing",
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"generator": "simplecadapi.std.planetary_joint.make_planet_bearing_rpart",
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"source_mode": "formula_std",
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"maturity": "formula_verified",
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"connectors": [
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{
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"id": "axis",
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"kind": "bearing_seat"
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},
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{
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"id": "bottom",
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"kind": "mount"
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},
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{
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"id": "top",
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"kind": "mount"
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},
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{
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"id": "gear_seat",
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"kind": "bearing_seat"
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}
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]
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},
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{
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"id": "motor_coupling",
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"family": "shaft_hub_coupling",
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"generator": "simplecadapi.std.planetary_joint.make_motor_coupling_rpart",
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"source_mode": "formula_std",
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"maturity": "formula_verified",
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"connectors": [
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{
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"id": "axis",
|
|
"kind": "shaft_hub"
|
|
},
|
|
{
|
|
"id": "bottom",
|
|
"kind": "mount"
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|
},
|
|
{
|
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"id": "top",
|
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"kind": "mount"
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},
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{
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"id": "sun_seat",
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"kind": "shaft_hub"
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}
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]
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}
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],
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"instances": [
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{
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"id": "main_case",
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"definition_id": "main_case"
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},
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{
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"id": "motor_stator",
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"definition_id": "motor_stator"
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},
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{
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"id": "motor_rotor",
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"definition_id": "motor_rotor"
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|
},
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{
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"id": "back_plate",
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"definition_id": "back_plate"
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},
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{
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"id": "bearing_retainer",
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"definition_id": "bearing_retainer"
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},
|
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{
|
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"id": "output_bearing",
|
|
"definition_id": "output_bearing"
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|
},
|
|
{
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"id": "carrier",
|
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"definition_id": "carrier"
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|
},
|
|
{
|
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"id": "output_shaft",
|
|
"definition_id": "output_shaft"
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|
},
|
|
{
|
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"id": "motor_coupling",
|
|
"definition_id": "motor_coupling"
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|
},
|
|
{
|
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"id": "ring_gear",
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|
"definition_id": "ring_gear"
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|
},
|
|
{
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"id": "sun_gear",
|
|
"definition_id": "sun_gear"
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|
},
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|
{
|
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"id": "planet_0_large",
|
|
"definition_id": "planet_gear_large",
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|
"pattern_index": 0
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|
},
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|
{
|
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"id": "planet_1_large",
|
|
"definition_id": "planet_gear_large",
|
|
"pattern_index": 1
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},
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|
{
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"id": "planet_2_large",
|
|
"definition_id": "planet_gear_large",
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|
"pattern_index": 2
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},
|
|
{
|
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"id": "planet_0_small",
|
|
"definition_id": "planet_gear_small",
|
|
"pattern_index": 0
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},
|
|
{
|
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"id": "planet_1_small",
|
|
"definition_id": "planet_gear_small",
|
|
"pattern_index": 1
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},
|
|
{
|
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"id": "planet_2_small",
|
|
"definition_id": "planet_gear_small",
|
|
"pattern_index": 2
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},
|
|
{
|
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"id": "planet_bearing_0",
|
|
"definition_id": "planet_bearing",
|
|
"pattern_index": 0
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},
|
|
{
|
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"id": "planet_bearing_1",
|
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"definition_id": "planet_bearing",
|
|
"pattern_index": 1
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},
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|
{
|
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"id": "planet_bearing_2",
|
|
"definition_id": "planet_bearing",
|
|
"pattern_index": 2
|
|
}
|
|
],
|
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"expected_definition_counts": [
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{
|
|
"definition_id": "motor_stator",
|
|
"count": 1
|
|
},
|
|
{
|
|
"definition_id": "motor_rotor",
|
|
"count": 1
|
|
},
|
|
{
|
|
"definition_id": "main_case",
|
|
"count": 1
|
|
},
|
|
{
|
|
"definition_id": "back_plate",
|
|
"count": 1
|
|
},
|
|
{
|
|
"definition_id": "bearing_retainer",
|
|
"count": 1
|
|
},
|
|
{
|
|
"definition_id": "output_bearing",
|
|
"count": 1
|
|
},
|
|
{
|
|
"definition_id": "carrier",
|
|
"count": 1
|
|
},
|
|
{
|
|
"definition_id": "output_shaft",
|
|
"count": 1
|
|
},
|
|
{
|
|
"definition_id": "motor_coupling",
|
|
"count": 1
|
|
},
|
|
{
|
|
"definition_id": "ring_gear",
|
|
"count": 1
|
|
},
|
|
{
|
|
"definition_id": "sun_gear",
|
|
"count": 1
|
|
},
|
|
{
|
|
"definition_id": "planet_gear_large",
|
|
"count": 3
|
|
},
|
|
{
|
|
"definition_id": "planet_gear_small",
|
|
"count": 3
|
|
},
|
|
{
|
|
"definition_id": "planet_bearing",
|
|
"count": 3
|
|
}
|
|
],
|
|
"assembly_root_instance_id": "main_case",
|
|
"assembly_relations": [
|
|
{
|
|
"id": "case_ring",
|
|
"type": "fixed",
|
|
"a": {
|
|
"instance_id": "main_case",
|
|
"connector_id": "stage_axis"
|
|
},
|
|
"b": {
|
|
"instance_id": "ring_gear",
|
|
"connector_id": "axis"
|
|
}
|
|
},
|
|
{
|
|
"id": "case_sun",
|
|
"type": "revolute",
|
|
"motion_role": "input",
|
|
"a": {
|
|
"instance_id": "main_case",
|
|
"connector_id": "sun_axis"
|
|
},
|
|
"b": {
|
|
"instance_id": "sun_gear",
|
|
"connector_id": "axis"
|
|
}
|
|
},
|
|
{
|
|
"id": "case_carrier",
|
|
"type": "revolute",
|
|
"motion_role": "output",
|
|
"a": {
|
|
"instance_id": "main_case",
|
|
"connector_id": "carrier_mount"
|
|
},
|
|
"b": {
|
|
"instance_id": "carrier",
|
|
"connector_id": "axis"
|
|
}
|
|
},
|
|
{
|
|
"id": "case_stator",
|
|
"type": "fixed",
|
|
"a": {
|
|
"instance_id": "main_case",
|
|
"connector_id": "motor_mount"
|
|
},
|
|
"b": {
|
|
"instance_id": "motor_stator",
|
|
"connector_id": "mount"
|
|
}
|
|
},
|
|
{
|
|
"id": "rotor_coupling",
|
|
"type": "shaft_hub",
|
|
"a": {
|
|
"instance_id": "motor_rotor",
|
|
"connector_id": "output"
|
|
},
|
|
"b": {
|
|
"instance_id": "motor_coupling",
|
|
"connector_id": "axis"
|
|
}
|
|
},
|
|
{
|
|
"id": "coupling_sun",
|
|
"type": "shaft_hub",
|
|
"a": {
|
|
"instance_id": "motor_coupling",
|
|
"connector_id": "sun_seat"
|
|
},
|
|
"b": {
|
|
"instance_id": "sun_gear",
|
|
"connector_id": "bottom"
|
|
}
|
|
},
|
|
{
|
|
"id": "case_back_plate",
|
|
"type": "fixed",
|
|
"a": {
|
|
"instance_id": "main_case",
|
|
"connector_id": "back_plate_mount"
|
|
},
|
|
"b": {
|
|
"instance_id": "back_plate",
|
|
"connector_id": "top"
|
|
}
|
|
},
|
|
{
|
|
"id": "case_retainer",
|
|
"type": "fixed",
|
|
"a": {
|
|
"instance_id": "main_case",
|
|
"connector_id": "retainer_mount"
|
|
},
|
|
"b": {
|
|
"instance_id": "bearing_retainer",
|
|
"connector_id": "bottom"
|
|
}
|
|
},
|
|
{
|
|
"id": "retainer_bearing",
|
|
"type": "bearing_support",
|
|
"a": {
|
|
"instance_id": "main_case",
|
|
"connector_id": "bearing_mount"
|
|
},
|
|
"b": {
|
|
"instance_id": "output_bearing",
|
|
"connector_id": "bottom"
|
|
}
|
|
},
|
|
{
|
|
"id": "carrier_output",
|
|
"type": "fixed",
|
|
"a": {
|
|
"instance_id": "carrier",
|
|
"connector_id": "output_mount"
|
|
},
|
|
"b": {
|
|
"instance_id": "output_shaft",
|
|
"connector_id": "bottom"
|
|
}
|
|
},
|
|
{
|
|
"id": "p0_carrier",
|
|
"type": "revolute",
|
|
"motion_role": "planet_spin",
|
|
"phase_offset_degrees": 0.0,
|
|
"a": {
|
|
"instance_id": "carrier",
|
|
"connector_id": "planet_axis_0"
|
|
},
|
|
"b": {
|
|
"instance_id": "planet_0_large",
|
|
"connector_id": "axis"
|
|
}
|
|
},
|
|
{
|
|
"id": "p1_carrier",
|
|
"type": "revolute",
|
|
"motion_role": "planet_spin",
|
|
"phase_offset_degrees": 0.0,
|
|
"a": {
|
|
"instance_id": "carrier",
|
|
"connector_id": "planet_axis_1"
|
|
},
|
|
"b": {
|
|
"instance_id": "planet_1_large",
|
|
"connector_id": "axis"
|
|
}
|
|
},
|
|
{
|
|
"id": "p2_carrier",
|
|
"type": "revolute",
|
|
"motion_role": "planet_spin",
|
|
"phase_offset_degrees": 0.0,
|
|
"a": {
|
|
"instance_id": "carrier",
|
|
"connector_id": "planet_axis_2"
|
|
},
|
|
"b": {
|
|
"instance_id": "planet_2_large",
|
|
"connector_id": "axis"
|
|
}
|
|
},
|
|
{
|
|
"id": "p0_large_small",
|
|
"type": "fixed",
|
|
"a": {
|
|
"instance_id": "planet_0_large",
|
|
"connector_id": "top"
|
|
},
|
|
"b": {
|
|
"instance_id": "planet_0_small",
|
|
"connector_id": "bottom"
|
|
}
|
|
},
|
|
{
|
|
"id": "p1_large_small",
|
|
"type": "fixed",
|
|
"a": {
|
|
"instance_id": "planet_1_large",
|
|
"connector_id": "top"
|
|
},
|
|
"b": {
|
|
"instance_id": "planet_1_small",
|
|
"connector_id": "bottom"
|
|
}
|
|
},
|
|
{
|
|
"id": "p2_large_small",
|
|
"type": "fixed",
|
|
"a": {
|
|
"instance_id": "planet_2_large",
|
|
"connector_id": "top"
|
|
},
|
|
"b": {
|
|
"instance_id": "planet_2_small",
|
|
"connector_id": "bottom"
|
|
}
|
|
},
|
|
{
|
|
"id": "p0_bearing",
|
|
"type": "bearing_support",
|
|
"a": {
|
|
"instance_id": "planet_0_large",
|
|
"connector_id": "bottom"
|
|
},
|
|
"b": {
|
|
"instance_id": "planet_bearing_0",
|
|
"connector_id": "gear_seat"
|
|
}
|
|
},
|
|
{
|
|
"id": "p1_bearing",
|
|
"type": "bearing_support",
|
|
"a": {
|
|
"instance_id": "planet_1_large",
|
|
"connector_id": "bottom"
|
|
},
|
|
"b": {
|
|
"instance_id": "planet_bearing_1",
|
|
"connector_id": "gear_seat"
|
|
}
|
|
},
|
|
{
|
|
"id": "p2_bearing",
|
|
"type": "bearing_support",
|
|
"a": {
|
|
"instance_id": "planet_2_large",
|
|
"connector_id": "bottom"
|
|
},
|
|
"b": {
|
|
"instance_id": "planet_bearing_2",
|
|
"connector_id": "gear_seat"
|
|
}
|
|
}
|
|
],
|
|
"transmission": {
|
|
"type": "nw_planetary",
|
|
"module_mm": 2.0,
|
|
"pressure_angle_deg": 20.0,
|
|
"teeth": {
|
|
"sun": 16,
|
|
"planet": 24,
|
|
"planet_inner": 16,
|
|
"ring": 56
|
|
},
|
|
"planet_count": 3,
|
|
"center_radius_mm": 40.0,
|
|
"center_tolerance_mm": 0.01,
|
|
"fixed_member": "ring_gear",
|
|
"input_member": "sun_gear",
|
|
"output_member": "carrier",
|
|
"fixed_ring_ratio": 6.25,
|
|
"ratio_tolerance": 1e-06,
|
|
"meshes": [
|
|
{
|
|
"id": "sun_p0_large",
|
|
"type": "external",
|
|
"a": "sun_gear",
|
|
"b": "planet_0_large",
|
|
"backlash_mm": 0.02
|
|
},
|
|
{
|
|
"id": "sun_p1_large",
|
|
"type": "external",
|
|
"a": "sun_gear",
|
|
"b": "planet_1_large",
|
|
"backlash_mm": 0.02
|
|
},
|
|
{
|
|
"id": "sun_p2_large",
|
|
"type": "external",
|
|
"a": "sun_gear",
|
|
"b": "planet_2_large",
|
|
"backlash_mm": 0.02
|
|
},
|
|
{
|
|
"id": "ring_p0_small",
|
|
"type": "internal",
|
|
"a": "ring_gear",
|
|
"b": "planet_0_small",
|
|
"backlash_mm": 0.02
|
|
},
|
|
{
|
|
"id": "ring_p1_small",
|
|
"type": "internal",
|
|
"a": "ring_gear",
|
|
"b": "planet_1_small",
|
|
"backlash_mm": 0.02
|
|
},
|
|
{
|
|
"id": "ring_p2_small",
|
|
"type": "internal",
|
|
"a": "ring_gear",
|
|
"b": "planet_2_small",
|
|
"backlash_mm": 0.02
|
|
}
|
|
]
|
|
},
|
|
"public_connectors": [
|
|
{
|
|
"id": "housing_mount",
|
|
"source": {
|
|
"instance_id": "main_case",
|
|
"connector_id": "bottom"
|
|
}
|
|
},
|
|
{
|
|
"id": "input_axis",
|
|
"source": {
|
|
"instance_id": "motor_rotor",
|
|
"connector_id": "axis"
|
|
}
|
|
},
|
|
{
|
|
"id": "output_axis",
|
|
"source": {
|
|
"instance_id": "output_shaft",
|
|
"connector_id": "axis"
|
|
}
|
|
}
|
|
],
|
|
"interference_contract": {
|
|
"policy": "no_unlisted_positive_volume",
|
|
"volume_tolerance_mm3": 1e-09,
|
|
"motion_samples_degrees": [
|
|
0.0,
|
|
18.0,
|
|
36.0,
|
|
54.0,
|
|
72.0
|
|
],
|
|
"designed_interference_fits": [
|
|
{
|
|
"id": "case_ring_press_fit",
|
|
"a": "main_case",
|
|
"b": "ring_gear",
|
|
"type": "source_matched_press_fit",
|
|
"target_volume_mm3": 1.5,
|
|
"volume_tolerance_mm3": 1e-06,
|
|
"evidence": "source STEP assembly at nominal pose"
|
|
}
|
|
]
|
|
},
|
|
"verification": {
|
|
"default_geometry": "strict_brep",
|
|
"assembly": "connector_residuals_and_collision",
|
|
"motion": "willis_residual_and_interference_sweep",
|
|
"parameter_sweeps": 5
|
|
},
|
|
"runtime_policy": {
|
|
"teacher_geometry_allowed": false,
|
|
"absolute_matrix_replay_allowed": false,
|
|
"source_cad_required": false,
|
|
"checksum_locked_cots_step_allowed": true
|
|
}
|
|
} |