125 lines
4.6 KiB
Markdown
125 lines
4.6 KiB
Markdown
# Planetary Reducer System Demo
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## 简介
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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。
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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。
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This project formalizes, solves, generates, and validates planetary reducers and
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joint modules with real parameter solving, real kinematics, real CAD generation,
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and real geometry checks.
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## Project Layout
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```text
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input/ user requirements and source assets
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output/ generated run outputs only
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progress/ documents, reports, and working notes
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src/ implementation
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tests/ regression tests
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```
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Reducer configurations live under:
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```text
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src/planetary_reducer/configurations/
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```
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Reducer-internal component poses are solved by:
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```text
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src/planetary_reducer/placement/
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```
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- `src/models.py`：定义系统中所有核心数据模型。
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- `src/cli.py`：命令行入口，负责 `run`、`joint-run`、`auto-joint-run` 等流程。
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- `src/configurations/`：集中管理减速器构型，比如单级和两级串联。
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- `src/placement/`：统一计算各零件的三维位置和姿态。
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- `src/parameter_solver.py`：根据需求枚举并求解齿数、模数、行星数量等参数。
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- `src/kinematics.py`：根据构型图建立运动方程，验证传动比和转向。
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- `src/cad/`：调用 SimpleCADAPI 生成真实 STEP、model.json 和装配 manifest。
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- `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。
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- `src/relation_validators/`：验证构型图中的啮合、转动副、固定、刚性和同轴关系。
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- `src/physical_validators/`：验证工业装配中的轴承、销轴、螺栓、配合和间隙关系。
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- `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。
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## CLI
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Run a reducer:
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```bash
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PYTHONPATH=src \
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/Users/lk/miniconda3/bin/python -m planetary_reducer.cli run \
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--input input/requirements/reducers/simple_2k_h/simple_2kh_industrial_ratio_7p5_spur.json \
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--output output/runs/industrial_ratio_7p5_spur
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```
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Run a joint module:
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```bash
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PYTHONPATH=src \
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/Users/lk/miniconda3/bin/python -m planetary_reducer.cli joint-run \
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--input input/requirements/joint_modules/3500_motor_housing.json \
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--output output/runs/joint_3500_motor_housing
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```
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Auto-design a joint module from motor STEP and housing Python:
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```bash
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PYTHONPATH=src \
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/Users/lk/miniconda3/bin/python -m planetary_reducer.cli auto-joint-run \
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--motor-step input/assets/motors/3500_motor_part2.step \
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--housing-python input/assets/housings/gear_housing.py \
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--output output/runs/auto_joint_3500
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```
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The CLI intentionally accepts `--input` only under `input/` and `--output` only
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under `output/`.
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List all formula-driven CAD part generators copied from SimpleCADAPI:
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```bash
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PYTHONPATH=src \
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/Users/lk/miniconda3/bin/python -m planetary_reducer.cli list-parts
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```
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Generate one standalone parametric part:
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```bash
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PYTHONPATH=src \
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/Users/lk/miniconda3/bin/python -m planetary_reducer.cli generate-part \
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--part roller_chain_sprocket \
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--parameters '{"n_teeth": 12, "chain_pitch": 6.35, "roller_diameter": 3.3, "sprocket_thickness": 3.0, "bore_radius": 1.2}' \
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--output output/runs/parts/roller_chain_sprocket
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```
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## Run Output
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Reducer runs use:
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```text
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output/runs/<run>/
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input_snapshot/
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formula/
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kinematics/
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placement/
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cad/
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validation/
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exports/
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```
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Important files include:
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```text
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formula/formula_instance.json
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kinematics/kinematic_solution.json
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placement/placement_plan.json
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cad/reducer.step
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cad/assembly_manifest.json
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validation/validation_report.json
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```
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`placement/placement_plan.json` is the reducer-internal pose source of truth.
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`assembly_manifest.json` must match it.
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