feat: add knowledge-driven joint design studio

2026-08-14 13:53:51 +08:00
parent 7d12459a32
commit 281afdfd9e
57 changed files with 269659 additions and 1152 deletions
@@ -0,0 +1,18 @@
+{
+  "schema_version": "1.0",
+  "id": "relation.joint.fixed",
+  "version": "1.0.0",
+  "relation_type": "fixed",
+  "endpoint_rules": {
+    "source_port": "port.rotation.coaxial",
+    "target_port": "port.mount.stationary",
+    "axis_relation": "mechanism_defined"
+  },
+  "constraint_rules": ["one_endpoint_is_grounded", "fixed_speed_is_zero"],
+  "kinematic_effect": {"equation": "omega_source = omega_target = 0"},
+  "capability_refs": [
+    "capability.kinematics.graph",
+    "capability.validation.fixed"
+  ],
+  "maturity": "production"
+}
@@ -0,0 +1,15 @@
+{
+  "schema_version": "1.0",
+  "id": "relation.joint.revolute",
+  "version": "1.0.0",
+  "relation_type": "revolute_joint",
+  "endpoint_rules": {
+    "source_port": "port.joint.revolute",
+    "target_port": "port.joint.revolute",
+    "axis_relation": "coaxial_local"
+  },
+  "constraint_rules": ["joint_axis_defined", "carrier_pin_orbit_matches_layout"],
+  "kinematic_effect": null,
+  "capability_refs": ["capability.validation.revolute_joint"],
+  "maturity": "production"
+}
@@ -0,0 +1,18 @@
+{
+  "schema_version": "1.0",
+  "id": "relation.joint.rigid",
+  "version": "1.0.0",
+  "relation_type": "rigid",
+  "endpoint_rules": {
+    "source_port": "port.rotation.coaxial",
+    "target_port": "port.rotation.coaxial",
+    "axis_relation": "coaxial"
+  },
+  "constraint_rules": ["axes_coaxial", "angular_speeds_equal", "torque_capacity_compatible"],
+  "kinematic_effect": {"equation": "omega_source = omega_target"},
+  "capability_refs": [
+    "capability.kinematics.graph",
+    "capability.validation.rigid"
+  ],
+  "maturity": "production"
+}