{ "parameters": [ 11.816197190452613, 20.57371985692415, 24.77533813002786, -1.1742272158332396, 0.20910086852814305, 12.341103362423812, 1.082778310318743, 21.069630838455993, 2.349847416417362, 114.46756177417743 ], "branchA": 1, "branchE": -1, "design": "direct", "parameter_names": [ "a1", "b1", "c1", "kappa", "phase_A", "a2", "phase_B", "horn", "eta", "rod" ], "units": "length mm; angles radians", "provenance": "Fresh joint synthesis for small body. User prioritized transmission >=40 degrees over exact shoulder/fold targets.", "method": "Joint constrained synthesis using bounded least squares and SLSQP with explicit small ground, 100/150 mm wing segments, user-proposed motion targets, and minimum 40 degree transmission acceptance. Warm start from staged shoulder/rod fitting; independent physical-envelope validation follows.", "input_digest": "3f51973efce48a7d0b344d4b8a4498b29c863830bb1159af56d672cdb10e9d59", "inputs": { "common": { "layout": { "inner_length_mm": 110.0, "outer_length_mm": 140.0, "motor_offset_mm": [ -30.0, -40.0 ], "crank1_phase_deg": 0.0, "layer_x_mm": { "wing": 0.0, "linkage1": 8.0, "linkage1_rod": 2.0, "linkage2": -12.0, "linkage2_rod": -20.0 }, "chord_inner_mm": 70.0, "chord_outer_mm": 55.0, "provenance": "Shared canonical kinematic/panel inputs only. The motor offset fixes the 50 mm reference ground length, not either assembled body width. Actual package pivots are derived from compact_drive.json or direct_drive.json. Panel and motion values are editable engineering assumptions.", "membrane_front_x_mm": 5.0, "membrane_direction": 1.0, "membrane_root_relief_mm": 40.0, "membrane_hinge_relief_mm": 14, "drive_ratio": 1.0, "drive_sign": -1, "panel_style": "tapered", "panel_pitch_deg": 15.0, "inner_panel_root_chord_mm": 32.0, "outer_panel_tip_chord_mm": 12.0, "outer_panel_sweep_mm": 10.0, "membrane_thickness_mm": 0.3 }, "targets": { "provenance": "Stylized guessed bat-like motion: \u00b125 degree shoulder, 50 degree return fold. Not measured animal data.", "samples": [ [ 0, 25, 14 ], [ 0.125, 17.7, 3.5 ], [ 0.25, 0, 0 ], [ 0.375, -17.7, 3.5 ], [ 0.5, -25, 14 ], [ 0.625, -17.7, 38.5 ], [ 0.75, 0, 50 ], [ 0.875, 17.7, 38.5 ], [ 1, 25, 14 ] ], "freudenstein_sample_indices": { "linkage1": [ 0, 2, 4 ], "linkage2": [ 0, 4, 6 ] } }, "requirements": { "mu_min_deg": 40.0, "downstroke_fold_tol_deg": 20.0, "hyperextension_tol_deg": 0.0, "shoulder_rms_max_deg": 5.0, "upstroke_fold_rms_max_deg": 5.0, "screen_samples": 1440, "fold_peak_min_deg": 45.0, "fold_peak_max_deg": 58.0, "core_downstroke_phase_deg": [ 45.0, 135.0 ], "core_downstroke_fold_max_deg": 5.0 }, "solver": { "provenance": "Numerical search settings and guessed packaging bounds; not biological data.", "parameter_keys": [ "a1", "b1", "c1", "kappa1", "a2", "b2", "c2", "eta", "delta" ], "lower_bounds": [ 8, 15, 15, -3.141592653589793, 12.0, 65, 18, -3.141592653589793, -3.141592653589793 ], "upper_bounds": [ 25, 80, 60, 3.141592653589793, 22, 135, 38, 3.141592653589793, 3.141592653589793 ], "optimization_samples": 144, "max_nfev": 1200, "safety_margin_deg": 0.3 }, "build": { "provenance": "Shared stock/hardware envelope and estimated mass assumptions for the two compact options. Design-specific motor positions, shafts and frames live in each package config.", "animation_cycle_seconds": 4.0, "motor_count": 1, "gear": { "module_mm": 1.0, "teeth": 50, "pressure_angle_deg": 20.0, "face_width_mm": 6.0, "tooth_thinning_mm": 0.1, "hub_radius_mm": 9.0, "hub_width_mm": 4.0 }, "shaft_diameter_mm": 5.0, "bearing": { "name": "625-2Z", "bore_mm": 5.0, "od_mm": 16.0, "width_mm": 5.0 }, "bearing_fit_diameter_mm": 16.15, "link_thickness_mm": 3.0, "link_width_mm": 8.0, "pivot_hole_mm": 3.2, "mass_estimates_g": { "inner_wing_with_hub": 28.0, "outer_wing_with_hub": 20.0, "link_density_g_per_mm3": 0.00127, "gear_each": 16.0 }, "friction_allowance_Nm": 0.025, "torque_service_factor": 3.0, "root_hub": { "radius_mm": 12.0, "x_min_mm": -3.0, "x_max_mm": 10.0, "bearing_centers_x_mm": [ 0.0, 6.0 ] }, "elbow_hub": { "radius_mm": 12.0, "x_min_mm": -3.0, "x_max_mm": 10.0 }, "elbow_shaft_x_mm": [ -14.0, 10.0 ], "outer_spar_x_mm": -6.0, "fastener_head_radius_mm": 3.0, "crank_clamp_hubs": { "crank1_x_mm": [ 6.5, 16.5 ], "crank2_x_mm": [ -15.0, -5.0 ], "outer_horn_x_mm": [ -15.0, -4.0 ], "radius_mm": 10.0, "crank2_radius_mm": 6.0 }, "assumed_mesh_efficiency": 0.95, "estimated_steel_E_GPa": 200, "estimated_steel_yield_MPa": 150, "stress_safety_factor": 3, "max_shaft_deflection_mm": 0.25, "fastener_head_height_mm": 2.0, "fastener_stock": "M3 button head plus thin jam nut/washer, each side <=2 mm beyond the flat part. Verify purchased hardware; use smooth 3 mm bearing surfaces." } }, "layout": { "name": "Small-body direct six-bar", "provenance": "Editable small-body requirements: 28 mm O-S ground, 50 mm shoulder spacing, 34 mm input shaft spacing. Remote actuator in stand; belt drives right O and 34T gears reverse left O. Fits and loads unverified.", "shoulder_spacing_mm": 50, "left_axial_offset_mm": 0, "gear": { "module_mm": 1, "teeth": 34, "pressure_angle_deg": 20, "face_width_mm": 3, "tooth_thinning_mm": 0.1 }, "gear_plane_x_mm": -4, "required_clearance_mm": 1, "audit_samples": 1440, "front_crank_plane_x_mm": -16, "front_rod_plane_x_mm": -28.5, "rear_crank_plane_x_mm": 16, "rear_rod_plane_x_mm": 27, "wing_plane_x_mm": 16, "motor": { "candidate": "Unselected single-output continuous servo or geared motor in pedestal", "status": "40 x 20 x 40 mm envelope reserved only; no torque/spline/driver selection verified", "front_face_x_mm": 14, "body_length_mm": 40, "face_mm": 20, "front_shaft_mm": 11, "rear_shaft_mm": 0, "shaft_diameter_mm": 3 }, "base_center_mm": [ 15, 0, -156 ], "base_size_mm": [ 100, 90, 8 ], "parameter_names": [ "a1", "b1", "c1", "kappa", "phase_A", "a2", "phase_B", "horn", "eta", "rod" ], "lower_bounds": [ 8.5, 10, 12, -3.141592653589793, -3.141592653589793, 8.5, -3.141592653589793, 8.5, -3.141592653589793, 75 ], "upper_bounds": [ 12.4, 40, 36, 3.141592653589793, 3.141592653589793, 13.7, 3.141592653589793, 36, 3.141592653589793, 145 ], "fit_samples": 120, "polish_samples": 180, "random_starts": 2, "random_seed": 122, "transmission_fit_deg": 41, "transmission_polish_deg": 40.5, "minimum_fold_polish_deg": 14, "core_fold_polish_max_deg": 42.5, "downstroke_fold_polish_max_deg": 50, "reference_shoulder_weight": 1, "reference_fold_weight": 0.35, "synthesis_method": "Joint constrained synthesis using bounded least squares and SLSQP with explicit small ground, 100/150 mm wing segments, user-proposed motion targets, and minimum 40 degree transmission acceptance. Warm start from staged shoulder/rod fitting; independent physical-envelope validation follows.", "front_rocker_plane_x_mm": -22, "panel_direction": -1, "materials": { "link_stock": "3 mm plywood; editable trial stock, not strength-qualified", "link_density_g_per_mm3": 0.00065, "rod_E_GPa_assumed": 2.0, "wing_covering": "Light fabric, separate inner/outer pieces; 0.3 mm nominal thickness envelope", "wing_mass_assumptions": "Existing 28 g inner / 20 g outer estimates retained until actual wood, fabric and hardware are weighed", "gear_stock": "3 mm fine-pitch gear blank with 3 mm metal hub; accuracy/strength unverified. Prefer bought gears if laser-cut wood teeth are poor." }, "body_cover": { "enabled": true, "plane_x_mm": -38, "thickness_mm": 3, "provenance": "Chosen compact bat face: 74 x 80 mm. Editable outline included in nominal clearance checks.", "quads_yz_mm": [ [ [ -13.875, 10 ], [ 13.875, 10 ], [ 26.59375, -16 ], [ -26.59375, -16 ] ], [ [ -26.59375, -16 ], [ 26.59375, -16 ], [ 37.0, -36 ], [ -37.0, -36 ] ], [ [ -37.0, -36 ], [ 37.0, -36 ], [ 20.8125, -53 ], [ -20.8125, -53 ] ], [ [ -20.8125, -53 ], [ 20.8125, -53 ], [ 0.0, -58 ], [ 0.0, -58 ] ], [ [ -13.875, 10 ], [ -5.78125, 10 ], [ -13.875, 22 ], [ -13.875, 22 ] ], [ [ 5.78125, 10 ], [ 13.875, 10 ], [ 13.875, 22 ], [ 13.875, 22 ] ] ], "outline_yz_mm": [ [ -13.875, 22 ], [ -5.78125, 10 ], [ 5.78125, 10 ], [ 13.875, 22 ], [ 13.875, 10 ], [ 26.59375, -16 ], [ 37.0, -36 ], [ 20.8125, -53 ], [ 0.0, -58 ], [ -20.8125, -53 ], [ -37.0, -36 ], [ -26.59375, -16 ], [ -13.875, 10 ] ] }, "packaging_findings": { "retained": "Short supported input shafts with front/rear crank arms; left rear links staggered 6 mm for clearance. Actuator removed from body; both loops re-synthesized.", "servo_status": "Single-output continuous actuator reserved in stand. Standard limited-angle servo cannot run the current full-rotation input." }, "ground_mm": 28, "body_requirement": { "max_width_mm": 76, "max_height_mm": 80, "max_depth_mm": 80, "wing_length_each_mm": 250, "actuator_location": "stationary pedestal, outside the bat body", "provenance": "Chosen visual/packaging requirements, not measurements of a bat." }, "left_layer_spread_mm": 6, "body_package": "small_plywood_remote_drive", "shaft_diameter_mm": 3, "belt": { "teeth": 20, "pitch_mm": 2, "width_mm": 6, "plane_x_mm": 3, "center_distance_mm": 100, "pitch_length_mm": 240, "status": "Chosen timing-belt geometry; confirm available pulley/hub dimensions and tension adjustment" }, "peak_fold_polish_min_deg": 65, "peak_fold_polish_max_deg": 73, "wing_lengths_mm": { "inner": 100, "outer": 150 }, "motion_targets": { "shoulder_min_deg": -30, "shoulder_max_deg": 35, "fold_min_deg": 15, "fold_max_deg": 70, "peak_fold_cycle_fraction": 0.75, "provenance": "User-proposed aesthetic targets, not measured biology. Replaces the earlier straight downstroke requirement." }, "motion_acceptance": { "minimum_fold_deg": 12, "maximum_fold_deg": 75, "peak_fold_min_deg": 65, "core_downstroke_max_deg": 45, "downstroke_max_deg": 52, "shoulder_rms_max_deg": 6, "fold_upstroke_rms_max_deg": 7, "shoulder_max_range_deg": [ 30, 40 ], "shoulder_min_range_deg": [ -35, -18 ], "provenance": "User prioritizes transmission >=40 degrees and small body over exact proposed angles. Shoulder downstroke may reduce to -18 degrees; actual achieved extrema and target errors are reported." }, "panel_root_relief_mm": 20, "panel_hinge_relief_mm": 10, "minimum_transmission_deg": 40 }, "seed": { "parameters": [ 11.816197190452613, 20.57371985692415, 24.77533813002786, -1.1742272158332396, 0.20910086852814305, 12.341103362423812, 1.082778310318743, 21.069630838455993, 2.349847416417362, 114.46756177417743 ], "branchA": 1, "branchE": -1, "provenance": "Dense 1440-pose small-body synthesis with >=40 degree transmission priority." }, "reference": { "linkage1_crank_a1_mm": 16.412926542268618, "linkage1_coupler_b1_mm": 38.64647266329335, "linkage1_rocker_c1_mm": 40.39148176719604, "linkage1_ground_d1_mm": 50.0, "rocker1_offset_kappa1_deg": -79.89630993758892, "linkage2_crank_a2_mm": 13.923786596023236, "linkage2_coupler_b2_mm": 96.91215274083373, "linkage2_rocker_c2_mm": 34.36749985292235, "linkage2_ground_d2_mm": 110.0, "elbow_offset_eta_deg": -97.2736563066567, "drive_phase_delta_deg": 73.83445465614699 }, "branches": { "linkage1": 1, "linkage2": 1 }, "algorithm": "284331e90e6518e08b52a7bbcd38e998adf6ac60a990f0edd6f8ea0498fb787e", "package_algorithm": "a61528433a23b4bdfb84390b7bdfeb6a0defd3b418078b3842201c90c0eefb80", "target_algorithm": "6c057a8ee6f16482fd21a7808a42b8b88fd4a740b13db34abae1ce1bf5fb1bef" } }