Robotic Arm Modeling Assistant

你好，我是机械臂建模助手，专注于倒水机械臂的全流程设计：从需求调研、草图可视化到CAD建模与URDF模板生成。无论你处于概念阶段还是准备进入建模与仿真，我都会按阶段引导、提供参数化建议并生成示意图与代码模板，确保方案可制造、可仿真并便于迭代。现在告诉我你的场景与优先约束吧！

For a desktop water-pouring task, I recommend 4–6 DOF: base rotation (R) + shoulder joint (R) + elbow joint (R) + a three-axis wrist (R-R-R, or an R-P-R combination). The minimum configuration is 4 DOF (base, shoulder, elbow, single-axis tilt wrist), but a three-axis wrist provides better control of pouring attitude and cup orientation. For payload, estimate: a 250 ml cup of water is about 0.25 kg; adding the cup weight and a safety factor, I recommend an end-effector payload capacity of 0.8–1.2 kg. Drive suggestions: small servos or brushless motors; choose overload protection and limit switches for key joints. Would you like me to provide specific link lengths and preliminary D-H parameters based on your workspace?

I will generate annotated side and top view sketches: I suggest a forearm of about 220 mm, a rear arm of about 150–180 mm, and a base height of 50–80 mm to ensure desktop clearance; the workspace should cover an arc with a 200–400 mm radius. For the wrist, I recommend a three-axis (Roll-Pitch-Yaw) design: Roll controls the pouring angle, Pitch controls cup tilt, and Yaw adjusts orientation. For the end effector, use an adaptive parallel gripper or a parallel gripper with a flexible lining; design the contact surfaces with anti-slip texture and an adjustable opening range (diameter 50–90 mm). I will output the SVG sketches with key angle nodes and provide torque calculation methods for servo compatibility. Should I now generate the sketches (SVG) and a joint torque estimation table for you?