典型应用 02 · 设计院 → 工厂 · 12 步Case 02 · design office → factory · 12 steps
以 600 mm 臂展的 SCARA 为对象（Epson LS6-B 一类）：先按快、慢两种节拍算大臂和小臂的力矩，再到零件库里选型。快节拍找不到能满足的组合，平台如实报告缺什么，改按慢节拍选型，接着做拓扑优化、有限元和数控编程，发布到工厂做出来。Take a 600 mm SCARA (Epson LS6-B class). Compute arm torques for a fast and a slow cycle, then search the parts library. For the fast cycle no combination in the library works; the platform says exactly what is missing, sizes for the slow cycle instead, then optimizes, checks and machines the arm and releases it to the factory.
点任意一步，看这一步做了什么、得出什么数、产出了什么。绿色是通过，黄色是“待确认”：零件库缺数据，平台如实停下，没有估值。Click any step to see what was done, what numbers came out and what was produced. Green passed; amber is “to be confirmed”: the library lacked data, so the platform stopped instead of guessing.
↓ 发布为方案 Released as SCARA-600 第 1 版，带自制件 SC-ARM1、SC-ARM2SCARA-600 rev 1, with made parts SC-ARM1 and SC-ARM2
演练里卡住的地方都照实记下。每一条都是学生在课上可以接着做的题目。Everything that stalled in the run is recorded as it is. Each item is a problem students can pick up in class.
32 号以上、减速比 50:1 的谐波减速器，或者换一种减速方式。零件库里目前没有。A size-32 or larger 50:1 harmonic reducer, or a different reduction. The library has neither today.
分度圆直径、减速比与效率、过载数据、减速器输入侧惯量都缺，C3–C6、C8 判为“待确认”。Bolt circle, ratio and efficiency, overload data and reducer input inertia are missing, so C3–C6 and C8 are “to be confirmed”.
179 Hz 没算小臂和负载的附加质量，装上之后会更低。It leaves out the outer arm and payload mass; the assembled arm will be lower.
产品页只给总臂展 600 mm，大臂 325、小臂 275 mm 是分配假设；两臂质量 3.0、3.5 kg 是估计；快节拍 0.3 s 是按标准循环 0.40 s 粗估的。The datasheet gives only the 600 mm reach; the 325/275 mm split, arm masses of 3.0 and 3.5 kg, and the 0.3 s fast move estimated from the 0.40 s standard cycle are assumptions.
数据不够就停下来，说清缺什么，不估一个数凑结论。真实的工程就是这样做的。When data run out, stop and say what is missing; never guess a number to reach a verdict. That is how real engineering works.
每一步背后都是一门课里的一章。Every step is a chapter in one of our courses.
学校或企业预约演示工厂：Schools and companies, book a factory demo: info@wenquestrobotics.com
本案例的成果文件：Files produced in this case: SC-ARM1.step、O5001.nc、bom.csv、candidate-1.urdf