{
  "version": "1.0",
  "last_updated": "2026-07-22",
  "dimensions": [
    "electrical",
    "mechanical",
    "protocol",
    "software"
  ],
  "rules": [
    {
      "dimension": "electrical",
      "rule": "voltage_match",
      "description": "工作电压范围必须重叠",
      "severity": "critical"
    },
    {
      "dimension": "electrical",
      "rule": "current_capacity",
      "description": "供电电流必须大于等于负载峰值电流",
      "severity": "critical"
    },
    {
      "dimension": "electrical",
      "rule": "signal_level",
      "description": "数字信号电平必须匹配（3.3V/5V/24V）",
      "severity": "critical"
    },
    {
      "dimension": "protocol",
      "rule": "bus_protocol",
      "description": "通信协议必须相同或可桥接",
      "severity": "critical"
    },
    {
      "dimension": "protocol",
      "rule": "data_format",
      "description": "数据帧格式必须兼容",
      "severity": "high"
    },
    {
      "dimension": "protocol",
      "rule": "realtime_requirement",
      "description": "实时性要求必须满足（cycle time/jitter）",
      "severity": "high"
    },
    {
      "dimension": "mechanical",
      "rule": "mounting_pattern",
      "description": "安装孔位和法兰尺寸必须匹配",
      "severity": "high"
    },
    {
      "dimension": "mechanical",
      "rule": "shaft_diameter",
      "description": "轴径必须匹配",
      "severity": "high"
    },
    {
      "dimension": "mechanical",
      "rule": "reduction_ratio",
      "description": "减速比必须满足负载要求",
      "severity": "medium"
    },
    {
      "dimension": "software",
      "rule": "ros2_driver",
      "description": "必须有ROS2驱动包",
      "severity": "medium"
    },
    {
      "dimension": "software",
      "rule": "gazebo_model",
      "description": "必须有Gazebo仿真模型",
      "severity": "low"
    },
    {
      "dimension": "software",
      "rule": "isaac_sim_support",
      "description": "支持NVIDIA Isaac Sim",
      "severity": "low"
    }
  ],
  "compatibility_pairs": [
    {
      "from": "actuator-dynamixel-xm430",
      "to": "controller-uhh2-004",
      "dimension": "protocol",
      "compatible": true,
      "notes": "DYNAMIXEL Protocol 2.0"
    },
    {
      "from": "actuator-dynamixel-xm430",
      "to": "controller-uhh2-004",
      "dimension": "electrical",
      "compatible": true,
      "notes": "12V供电匹配"
    },
    {
      "from": "actuator-maxon-ec-i-40",
      "to": "controller-epos4",
      "dimension": "protocol",
      "compatible": true,
      "notes": "CANopen/EtherCAT"
    },
    {
      "from": "actuator-maxon-ec-i-40",
      "to": "controller-epos4",
      "dimension": "electrical",
      "compatible": true,
      "notes": "24-48V匹配"
    },
    {
      "from": "actuator-sea-001",
      "to": "sensor-ft-001",
      "dimension": "mechanical",
      "compatible": true,
      "notes": "标准法兰接口"
    },
    {
      "from": "actuator-hand-003",
      "to": "sensor-tactile-001",
      "dimension": "mechanical",
      "compatible": true,
      "notes": "指尖安装接口"
    },
    {
      "from": "controller-nvidia-jetson",
      "to": "protocol-ros2",
      "dimension": "software",
      "compatible": true,
      "notes": "原生ROS2支持"
    },
    {
      "from": "controller-nvidia-jetson",
      "to": "protocol-ethercat",
      "dimension": "software",
      "compatible": true,
      "notes": "通过IgH EtherCAT Master"
    },
    {
      "from": "chip-jetson-agx",
      "to": "platform-unitree-h1",
      "dimension": "electrical",
      "compatible": true,
      "notes": "功耗匹配"
    }
  ]
}