Planetary Reducer System Demo

简介

这是一个面向行星减速器和关节模组的公式化设计、生成与验证 demo。系统从 input/ 中的需求 JSON 出发，先建立构型图，再枚举并求解齿轮参数，随后用图驱动运动学方程验证传动比和转向，最后调用 SimpleCADAPI 真实生成 STEP/model/session，并用读回的装配数据、统一 PlacementSolver 位姿计划和 OCP/PythonOCC 几何检测生成验证报告。

当前主要支持单级 simple_2k_h、两级串联 simple_2k_h_cascade、ferguson_wolfrom 独立减速器，以及基于电机 STEP 和外壳资产的关节模组装配。关节模组当前只支持同轴输入/输出接口的 simple_2k_h 和 simple_2k_h_cascade；ferguson_wolfrom 的输入位于偏心行星销轴区域，暂不适配当前同轴电机和外壳接口。项目刻意区分输入、输出和过程文档：所有源需求和外部资产放在 input/，所有生成结果只进入 output/，说明文档和阶段报告放在 progress/。如果 CAD 或 OCP 环境不可用，生成和验证会真实失败并输出错误，不生成假 STEP 或假验证报告。

This project formalizes, solves, generates, and validates planetary reducers and joint modules with real parameter solving, real kinematics, real CAD generation, and real geometry checks.

Project Layout

input/      user requirements and source assets
output/     generated run outputs only
progress/   documents, reports, and working notes
src/        implementation
tests/      regression tests

Reducer configurations live under:

src/planetary_reducer/configurations/

Reducer-internal component poses are solved by:

src/planetary_reducer/placement/

src/models.py：定义系统中所有核心数据模型。
src/cli.py：命令行入口，负责 run、joint-run、auto-joint-run 等流程。
src/configurations/：集中管理减速器构型，比如单级和两级串联。
src/placement/：统一计算各零件的三维位置和姿态。
src/parameter_solver.py：根据需求枚举并求解齿数、模数、行星数量等参数。
src/kinematics.py：根据构型图建立运动方程，验证传动比和转向。
src/cad/：调用 SimpleCADAPI 生成真实 STEP、model.json 和装配 manifest。
src/validators.py：总验证入口，统一执行公式、运动学、装配、位姿和几何检查。
src/relation_validators/：验证构型图中的啮合、转动副、固定、刚性和同轴关系。
src/physical_validators/：验证工业装配中的轴承、销轴、螺栓、配合和间隙关系。
src/joint_module/：生成并验证由电机、外壳和行星减速器组成的完整关节模组。

CLI

Run a reducer:

PYTHONPATH=src \
/Users/lk/miniconda3/bin/python -m planetary_reducer.cli run \
  --input input/requirements/reducers/simple_2k_h/simple_2kh_industrial_ratio_7p5_spur.json \
  --output output/runs/industrial_ratio_7p5_spur

Run a joint module:

PYTHONPATH=src \
/Users/lk/miniconda3/bin/python -m planetary_reducer.cli joint-run \
  --input input/requirements/joint_modules/3500_motor_housing.json \
  --output output/runs/joint_3500_motor_housing

Auto-design a joint module from motor STEP and housing Python:

PYTHONPATH=src \
/Users/lk/miniconda3/bin/python -m planetary_reducer.cli auto-joint-run \
  --motor-step input/assets/motors/3500_motor_part2.step \
  --housing-python input/assets/housings/gear_housing.py \
  --output output/runs/auto_joint_3500

The CLI intentionally accepts --input only under input/ and --output only under output/.

List all formula-driven CAD part generators copied from SimpleCADAPI:

PYTHONPATH=src \
/Users/lk/miniconda3/bin/python -m planetary_reducer.cli list-parts

Generate one standalone parametric part:

PYTHONPATH=src \
/Users/lk/miniconda3/bin/python -m planetary_reducer.cli generate-part \
  --part roller_chain_sprocket \
  --parameters '{"n_teeth": 12, "chain_pitch": 6.35, "roller_diameter": 3.3, "sprocket_thickness": 3.0, "bore_radius": 1.2}' \
  --output output/runs/parts/roller_chain_sprocket

Run Output

Reducer runs use:

output/runs/<run>/
  input_snapshot/
  formula/
  kinematics/
  placement/
  cad/
  validation/
  exports/

Important files include:

formula/formula_instance.json
kinematics/kinematic_solution.json
placement/placement_plan.json
cad/reducer.step
cad/assembly_manifest.json
validation/validation_report.json

placement/placement_plan.json is the reducer-internal pose source of truth. assembly_manifest.json must match it.

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Planetary Reducer System Demo

简介

Project Layout

CLI

Run Output

4.6 KiB

Raw Permalink Blame History