{
  "schema_version": 1,
  "checked_date": "2026-10-28",
  "scope": "RS06 r03 lower-frame stock brackets and associated HFS5/HNTT geometry; research inputs, not a completed manufacturing drawing or fit qualification",
  "selected": {
    "manufacturer": "MISUMI",
    "order_sku": "HBLFSN5-SET",
    "quantity_installed_kits": 8,
    "quantity_basis": "two brackets at each of four T junctions; quantities are installed kits, not bulk packs",
    "domestic_purchase_url": "https://kr.misumi-ec.com/vona2/detail/110300437260/?HissuCode=HBLFSN5-SET",
    "kit_contents": [
      {
        "sku": "HBLFSN5",
        "quantity_per_kit": 1,
        "installed_total": 8
      },
      {
        "sku": "CBM5-10",
        "quantity_per_kit": 2,
        "installed_total": 16
      },
      {
        "sku": "HNTT5-5",
        "quantity_per_kit": 2,
        "installed_total": 16
      }
    ],
    "material": "ADC12 aluminum die casting",
    "finish": "standard HBLFSN5: no additional finish specified in official table",
    "catalog_mass_each_bracket_g": 15,
    "bracket_mass_total_g": 120,
    "price_krw": null,
    "stock": null,
    "lead_time": null,
    "order_placed": false,
    "country_of_manufacture": null,
    "supplier_cad_imported": false,
    "native_representation_requirement": "dimension-based reference reconstruction; do not label supplier STEP",
    "source_urls": [
      "https://jp.misumi-ec.com/vona2/detail/110300437260/",
      "https://kr.misumi-ec.com/pdf/fa/2013/p1937.pdf"
    ]
  },
  "change_from_r02": {
    "remove_custom_flat_gussets": 4,
    "remove_old_M5x8_bolts": 12,
    "remove_old_tnuts": 12,
    "add_brackets": 8,
    "add_CBM5_10": 16,
    "add_HNTT5_5": 16,
    "frame_tnuts_before": 20,
    "frame_tnuts_after": 24,
    "other_tnuts_remaining": 8,
    "note": "Kit hardware must not be double counted as separately purchased parts."
  },
  "bracket_dimensions_mm": {
    "outer_leg_u": 30,
    "outer_leg_v": 30,
    "width_w": 20,
    "wall_thickness": 4.5,
    "locating_projection_height": 1,
    "through_hole_diameter": 5.3,
    "through_hole_count": 3,
    "mounting_holes_selected": [
      {
        "through_face": "v=0",
        "center_local_uvw": [
          18,
          0,
          0
        ],
        "bore_axis": [
          0,
          1,
          0
        ]
      },
      {
        "through_face": "u=0",
        "center_local_uvw": [
          0,
          18,
          0
        ],
        "bore_axis": [
          1,
          0,
          0
        ]
      }
    ],
    "reverse_mount_unused_hole": {
      "through_face": "v=0",
      "center_local_uvw": [
        10,
        0,
        0
      ],
      "basis": "10 mm offset in side-view drawing; not used in proposed normal-corner assembly"
    },
    "optional_side_tap": {
      "option": "-C",
      "selected": false,
      "thread": "M5",
      "center_uv": [
        12,
        12
      ]
    },
    "unknown_not_dimensioned": [
      "side rib thickness",
      "fillet radii except any explicitly shown in supplier CAD",
      "locating projection footprint/width and precise outline",
      "casting draft and tolerances",
      "full tool entry clearance under real rib shape"
    ],
    "reference_drawings": [
      "catalog/HBLFSN5_current_official_dimensions.png",
      "catalog/HBLFSN5_vector_detail.png"
    ],
    "image_note": "Current GIF contains HBLFSNF5 above and selected HBLFSN5 below; do not confuse the 20 mm deep variant."
  },
  "bolt": {
    "sku": "CBM5-10",
    "domestic_purchase_url": "https://kr.misumi-ec.com/vona2/detail/110300239430/?HissuCode=CBM5-10",
    "thread": "M5x0.8",
    "under_head_length_mm": 10,
    "head_diameter_mm": 8.5,
    "head_height_mm": 5,
    "hex_key_mm": 4,
    "material": "SCM435 equivalent",
    "strength_class": "10.9",
    "finish": "bright chromate; exact current finish/lot specification to confirm at order",
    "included_in_bracket_kit": true,
    "drawing_source_url": "https://de.misumi-ec.com/files/images/products/docs/hexsocketheadcapscrews.pdf",
    "current_spec_source_url": "https://vn.misumi-ec.com/vona2/detail/110300239430/?HissuCode=CBM5-10"
  },
  "nut": {
    "sku": "HNTT5-5",
    "domestic_purchase_url": "https://kr.misumi-ec.com/vona2/detail/110302607960/?HissuCode=HNTT5-5",
    "thread": "M5",
    "material": "S10C equivalent",
    "finish": "trivalent chromate",
    "installation": "pre-insertion from profile end before end plates close the rail",
    "plan_width_mm": 10,
    "plan_length_mm": 10,
    "T_total_thickness_mm": 4.1,
    "E_back_to_shoulder_mm": 3.3,
    "neck_width_mm": 5.8,
    "neck_projection_mm": 0.8,
    "reference_drawings": [
      "catalog/HNTT5_current_official_dimensions.png",
      "catalog/HNTT5_dimensions_enlarged.png"
    ],
    "supplier_cad_imported": false,
    "section_reference": {
      "coordinates": "[width_across_groove, depth_from_thread_entry_front] mm; extrude along rail by 10 mm centered on screw",
      "polygon_mm": [
        [
          -2.9,
          0
        ],
        [
          2.9,
          0
        ],
        [
          2.9,
          0.8
        ],
        [
          5,
          0.8
        ],
        [
          2.9,
          4.1
        ],
        [
          -2.9,
          4.1
        ],
        [
          -5,
          0.8
        ],
        [
          -2.9,
          0.8
        ]
      ],
      "status": "nominal drawing-derived reconstruction; rear flat width 5.8 and sharp chamfer transitions inferred from image, not independently dimensioned; fillets and tolerances omitted"
    },
    "nominal_seated_depths_from_profile_surface_mm": {
      "front_thread_entry": 1.2,
      "wide_shoulder": 2,
      "back": 5.3
    },
    "source_url": "https://jp.misumi-ec.com/vona2/detail/110302607960/"
  },
  "profile": {
    "sku": "HFS5-2020",
    "domestic_purchase_url": "https://kr.misumi-ec.com/vona2/detail/110302683830/",
    "outer_width_mm": 20,
    "outer_width_tolerance_mm": 0.41,
    "cut_length_tolerance_mm": 0.5,
    "groove_mouth_width_mm": 6,
    "groove_lip_thickness_mm": 2,
    "groove_undercut_max_width_mm": 12,
    "groove_undercut_depth_below_lip_mm": 4,
    "groove_depth_mm": 6,
    "center_bore_diameter_mm": 4.2,
    "outside_corner_radius_mm": 1,
    "center_core_width_mm": 8,
    "catalog_cross_section_area_mm2": 183,
    "catalog_mass_kg_m": 0.5,
    "catalog_Ix_Iy_mm4": 7420,
    "material_current_jp_page": "A6005CSS-T5",
    "material_legacy_korean_catalog": "A6N01SS-T5",
    "material_note": "Current Japanese web specification differs from legacy Korean catalog; confirm exact Korean supplied grade at order, do not silently equate grades.",
    "finish": "white anodized",
    "end_tap_option": {
      "code": "TPW",
      "thread": "M5",
      "depth_mm": 15
    },
    "slot_floor_detail": {
      "HFS_V_groove_angle_deg": 120,
      "depth_mm": 0.3,
      "not_needed_for_simplified_fit_model": true
    },
    "slot_reconstruction": {
      "coordinates": "[width across groove, depth inward from profile outer surface] mm",
      "polygon_mm": [
        [
          -3,
          0
        ],
        [
          3,
          0
        ],
        [
          3,
          2
        ],
        [
          6,
          2
        ],
        [
          6,
          3
        ],
        [
          3,
          6
        ],
        [
          -3,
          6
        ],
        [
          -6,
          3
        ],
        [
          -6,
          2
        ],
        [
          -3,
          2
        ]
      ],
      "status": "nominal sharp profile reconstructed from dimensioned drawing; 1 mm vertical ledge before the diagonal is visually inferred and not separately dimensioned. Small fillets and 0.3 mm floor groove omitted. Supplier shape/tolerance qualification still required.",
      "do_not_replace_with": "rectangular 8x8 nut pocket or straight rectangular T slot"
    },
    "reference_drawings": [
      "catalog/HFS5_2020_current_official_section_enlarged.png",
      "catalog/HFS5_2020_current_official_groove_detail_enlarged.png"
    ],
    "source_url": "https://jp.misumi-ec.com/vona2/detail/110302683830/",
    "supplier_cad_imported": false
  },
  "nominal_bolt_stack": {
    "bracket_wall_mm": 4.5,
    "bolt_under_head_length_mm": 10,
    "bolt_penetration_beyond_profile_surface_mm": 5.5,
    "nut_front_depth_mm": 1.2,
    "nut_back_depth_mm": 5.3,
    "nominal_thread_length_in_nut_mm": 4.1,
    "bolt_tip_depth_mm": 5.5,
    "slot_floor_depth_mm": 6,
    "bolt_to_slot_floor_clearance_mm": 0.5,
    "bolt_beyond_nut_back_mm": 0.2,
    "status": "arithmetic based on nominal drawing dimensions only; excludes threads, chamfers, coatings, machining/extrusion tolerance and seating distortion; not torque or load qualification"
  },
  "recommended_placement": {
    "coordinate_system": "world millimetres; listed z value is offset to existing HAA-axis height haa_z",
    "local_origin": "intersection of outer mating planes of the bracket, width centered at w=0",
    "local_shape": "u>=0,v>=0; u=0 mates to crossmember side, v=0 mates to longitudinal inner face",
    "lower_longitudinal_rail_centers_y_mm": [
      -125,
      125
    ],
    "lower_crossmember_centers_x_mm": [
      -70,
      70
    ],
    "lower_crossmember_y_bounds_mm": [
      -115,
      115
    ],
    "lower_frame_center_z_minus_haa_z_mm": -55,
    "bracket_z_bounds_relative_haa_z_mm": [
      -65,
      -45
    ],
    "rail_length_change_required_by_nominal_envelopes": false,
    "nominal_outer_abs_x_max_mm": 110,
    "nominal_gap_to_HAA_motor_rear_envelope_mm": 5,
    "nominal_gap_to_rear_connector_reservation_mm": 3,
    "clearance_status": "envelope inference only; native assembly interference and physical tool approach remain to be checked",
    "transforms": [
      {
        "id": "cross_-70_rail_-1_side_-1",
        "origin_mm_relative_haa_z": [
          -80,
          -115,
          -55
        ],
        "local_u_world": [
          -1,
          0,
          0
        ],
        "local_v_world": [
          0,
          1,
          0
        ],
        "local_w_world": [
          0,
          0,
          -1
        ],
        "rotation_columns_uvw": [
          [
            -1,
            0,
            0
          ],
          [
            0,
            1,
            0
          ],
          [
            0,
            0,
            -1
          ]
        ],
        "local_bounds_mm": {
          "u": [
            0,
            30
          ],
          "v": [
            0,
            30
          ],
          "w": [
            -10,
            10
          ]
        },
        "long_rail_hole_surface_center_mm_relative_haa_z": [
          -98,
          -115,
          -55
        ],
        "long_rail_bolt_head_seat_mm_relative_haa_z": [
          -98.0,
          -110.5,
          -55
        ],
        "long_rail_bolt_direction_world": [
          0,
          -1,
          0
        ],
        "crossmember_hole_surface_center_mm_relative_haa_z": [
          -80,
          -97,
          -55
        ],
        "crossmember_bolt_head_seat_mm_relative_haa_z": [
          -84.5,
          -97.0,
          -55
        ],
        "crossmember_bolt_direction_world": [
          1,
          0,
          0
        ]
      },
      {
        "id": "cross_-70_rail_-1_side_+1",
        "origin_mm_relative_haa_z": [
          -60,
          -115,
          -55
        ],
        "local_u_world": [
          1,
          0,
          0
        ],
        "local_v_world": [
          0,
          1,
          0
        ],
        "local_w_world": [
          0,
          0,
          1
        ],
        "rotation_columns_uvw": [
          [
            1,
            0,
            0
          ],
          [
            0,
            1,
            0
          ],
          [
            0,
            0,
            1
          ]
        ],
        "local_bounds_mm": {
          "u": [
            0,
            30
          ],
          "v": [
            0,
            30
          ],
          "w": [
            -10,
            10
          ]
        },
        "long_rail_hole_surface_center_mm_relative_haa_z": [
          -42,
          -115,
          -55
        ],
        "long_rail_bolt_head_seat_mm_relative_haa_z": [
          -42.0,
          -110.5,
          -55
        ],
        "long_rail_bolt_direction_world": [
          0,
          -1,
          0
        ],
        "crossmember_hole_surface_center_mm_relative_haa_z": [
          -60,
          -97,
          -55
        ],
        "crossmember_bolt_head_seat_mm_relative_haa_z": [
          -55.5,
          -97.0,
          -55
        ],
        "crossmember_bolt_direction_world": [
          -1,
          0,
          0
        ]
      },
      {
        "id": "cross_-70_rail_+1_side_-1",
        "origin_mm_relative_haa_z": [
          -80,
          115,
          -55
        ],
        "local_u_world": [
          -1,
          0,
          0
        ],
        "local_v_world": [
          0,
          -1,
          0
        ],
        "local_w_world": [
          0,
          0,
          1
        ],
        "rotation_columns_uvw": [
          [
            -1,
            0,
            0
          ],
          [
            0,
            -1,
            0
          ],
          [
            0,
            0,
            1
          ]
        ],
        "local_bounds_mm": {
          "u": [
            0,
            30
          ],
          "v": [
            0,
            30
          ],
          "w": [
            -10,
            10
          ]
        },
        "long_rail_hole_surface_center_mm_relative_haa_z": [
          -98,
          115,
          -55
        ],
        "long_rail_bolt_head_seat_mm_relative_haa_z": [
          -98.0,
          110.5,
          -55
        ],
        "long_rail_bolt_direction_world": [
          0,
          1,
          0
        ],
        "crossmember_hole_surface_center_mm_relative_haa_z": [
          -80,
          97,
          -55
        ],
        "crossmember_bolt_head_seat_mm_relative_haa_z": [
          -84.5,
          97.0,
          -55
        ],
        "crossmember_bolt_direction_world": [
          1,
          0,
          0
        ]
      },
      {
        "id": "cross_-70_rail_+1_side_+1",
        "origin_mm_relative_haa_z": [
          -60,
          115,
          -55
        ],
        "local_u_world": [
          1,
          0,
          0
        ],
        "local_v_world": [
          0,
          -1,
          0
        ],
        "local_w_world": [
          0,
          0,
          -1
        ],
        "rotation_columns_uvw": [
          [
            1,
            0,
            0
          ],
          [
            0,
            -1,
            0
          ],
          [
            0,
            0,
            -1
          ]
        ],
        "local_bounds_mm": {
          "u": [
            0,
            30
          ],
          "v": [
            0,
            30
          ],
          "w": [
            -10,
            10
          ]
        },
        "long_rail_hole_surface_center_mm_relative_haa_z": [
          -42,
          115,
          -55
        ],
        "long_rail_bolt_head_seat_mm_relative_haa_z": [
          -42.0,
          110.5,
          -55
        ],
        "long_rail_bolt_direction_world": [
          0,
          1,
          0
        ],
        "crossmember_hole_surface_center_mm_relative_haa_z": [
          -60,
          97,
          -55
        ],
        "crossmember_bolt_head_seat_mm_relative_haa_z": [
          -55.5,
          97.0,
          -55
        ],
        "crossmember_bolt_direction_world": [
          -1,
          0,
          0
        ]
      },
      {
        "id": "cross_+70_rail_-1_side_-1",
        "origin_mm_relative_haa_z": [
          60,
          -115,
          -55
        ],
        "local_u_world": [
          -1,
          0,
          0
        ],
        "local_v_world": [
          0,
          1,
          0
        ],
        "local_w_world": [
          0,
          0,
          -1
        ],
        "rotation_columns_uvw": [
          [
            -1,
            0,
            0
          ],
          [
            0,
            1,
            0
          ],
          [
            0,
            0,
            -1
          ]
        ],
        "local_bounds_mm": {
          "u": [
            0,
            30
          ],
          "v": [
            0,
            30
          ],
          "w": [
            -10,
            10
          ]
        },
        "long_rail_hole_surface_center_mm_relative_haa_z": [
          42,
          -115,
          -55
        ],
        "long_rail_bolt_head_seat_mm_relative_haa_z": [
          42.0,
          -110.5,
          -55
        ],
        "long_rail_bolt_direction_world": [
          0,
          -1,
          0
        ],
        "crossmember_hole_surface_center_mm_relative_haa_z": [
          60,
          -97,
          -55
        ],
        "crossmember_bolt_head_seat_mm_relative_haa_z": [
          55.5,
          -97.0,
          -55
        ],
        "crossmember_bolt_direction_world": [
          1,
          0,
          0
        ]
      },
      {
        "id": "cross_+70_rail_-1_side_+1",
        "origin_mm_relative_haa_z": [
          80,
          -115,
          -55
        ],
        "local_u_world": [
          1,
          0,
          0
        ],
        "local_v_world": [
          0,
          1,
          0
        ],
        "local_w_world": [
          0,
          0,
          1
        ],
        "rotation_columns_uvw": [
          [
            1,
            0,
            0
          ],
          [
            0,
            1,
            0
          ],
          [
            0,
            0,
            1
          ]
        ],
        "local_bounds_mm": {
          "u": [
            0,
            30
          ],
          "v": [
            0,
            30
          ],
          "w": [
            -10,
            10
          ]
        },
        "long_rail_hole_surface_center_mm_relative_haa_z": [
          98,
          -115,
          -55
        ],
        "long_rail_bolt_head_seat_mm_relative_haa_z": [
          98.0,
          -110.5,
          -55
        ],
        "long_rail_bolt_direction_world": [
          0,
          -1,
          0
        ],
        "crossmember_hole_surface_center_mm_relative_haa_z": [
          80,
          -97,
          -55
        ],
        "crossmember_bolt_head_seat_mm_relative_haa_z": [
          84.5,
          -97.0,
          -55
        ],
        "crossmember_bolt_direction_world": [
          -1,
          0,
          0
        ]
      },
      {
        "id": "cross_+70_rail_+1_side_-1",
        "origin_mm_relative_haa_z": [
          60,
          115,
          -55
        ],
        "local_u_world": [
          -1,
          0,
          0
        ],
        "local_v_world": [
          0,
          -1,
          0
        ],
        "local_w_world": [
          0,
          0,
          1
        ],
        "rotation_columns_uvw": [
          [
            -1,
            0,
            0
          ],
          [
            0,
            -1,
            0
          ],
          [
            0,
            0,
            1
          ]
        ],
        "local_bounds_mm": {
          "u": [
            0,
            30
          ],
          "v": [
            0,
            30
          ],
          "w": [
            -10,
            10
          ]
        },
        "long_rail_hole_surface_center_mm_relative_haa_z": [
          42,
          115,
          -55
        ],
        "long_rail_bolt_head_seat_mm_relative_haa_z": [
          42.0,
          110.5,
          -55
        ],
        "long_rail_bolt_direction_world": [
          0,
          1,
          0
        ],
        "crossmember_hole_surface_center_mm_relative_haa_z": [
          60,
          97,
          -55
        ],
        "crossmember_bolt_head_seat_mm_relative_haa_z": [
          55.5,
          97.0,
          -55
        ],
        "crossmember_bolt_direction_world": [
          1,
          0,
          0
        ]
      },
      {
        "id": "cross_+70_rail_+1_side_+1",
        "origin_mm_relative_haa_z": [
          80,
          115,
          -55
        ],
        "local_u_world": [
          1,
          0,
          0
        ],
        "local_v_world": [
          0,
          -1,
          0
        ],
        "local_w_world": [
          0,
          0,
          -1
        ],
        "rotation_columns_uvw": [
          [
            1,
            0,
            0
          ],
          [
            0,
            -1,
            0
          ],
          [
            0,
            0,
            -1
          ]
        ],
        "local_bounds_mm": {
          "u": [
            0,
            30
          ],
          "v": [
            0,
            30
          ],
          "w": [
            -10,
            10
          ]
        },
        "long_rail_hole_surface_center_mm_relative_haa_z": [
          98,
          115,
          -55
        ],
        "long_rail_bolt_head_seat_mm_relative_haa_z": [
          98.0,
          110.5,
          -55
        ],
        "long_rail_bolt_direction_world": [
          0,
          1,
          0
        ],
        "crossmember_hole_surface_center_mm_relative_haa_z": [
          80,
          97,
          -55
        ],
        "crossmember_bolt_head_seat_mm_relative_haa_z": [
          84.5,
          97.0,
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        "crossmember_bolt_direction_world": [
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        ]
      }
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  "assembly_notes": [
    "Insert all required HNTT5-5 nuts from profile ends before installing end plates; this SKU is not a drop-in nut.",
    "Attach brackets with supplied CBM5-10; do not add washers without recalculating bolt length/engagement.",
    "Install two opposing corner brackets at each crossmember T junction, with the open cavity available for a straight 4 mm hex bit.",
    "Keep alignment slots and cable access free; validate full motor travel separately from the neutral pose.",
    "Supplier catalog allowable bracket load is not a validation of robot impact, fatigue or joint moment."
  ],
  "alternatives": [
    {
      "name": "HPTTS5 flat T plate",
      "status": "not selected",
      "source_url": "https://kr.misumi-ec.com/pdf/fa/2012/p2_0531.pdf",
      "reason": "Flat T plate exists but is heavier and needs four fixing points; complete fit and current exact availability were not established. HPTT5 shorthand was not verified as an order SKU."
    },
    {
      "name": "HBLFS5",
      "status": "not selected",
      "reason": "Legacy catalog reference; current exact orderable domestic SKU was not confirmed."
    }
  ],
  "RS06_stock_carrier": {
    "compatible_stock_sku_found": false,
    "result": "No verified stock RS06 carrier matching the Shappy interfaces. Retain custom carrier/end-plate design status; a generic frame bracket is not an RS06 shaft or stator interface.",
    "sources": [
      {
        "url": "https://github.com/RobStride/Product_Information/tree/384cc561e1ff079c22f68b19908526094430febd/Product%20Literature/CAN2.0/RS06",
        "finding": "Manufacturer STEP/manual directory; no stock bracket SKU identified."
      },
      {
        "url": "https://www.devicemart.co.kr/goods/brand?code=2815",
        "finding": "Domestic RobStride motors and CAN products; no RS06 bracket in retrieved list."
      },
      {
        "url": "https://github.com/Seeed-Projects/reBot-DevArm/blob/main/hardware/reBot_B601_RS/README.md",
        "finding": "RS stator carriers are AL5052 CNC parts, not a verified stock bracket for this robot."
      }
    ],
    "search_limit": "Limited official/manufacturer/domestic seller survey; absence of a found SKU is not proof that none exists."
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  "CAD_download": {
    "actual_supplier_STEP_downloaded": false,
    "reason": "Official product pages expose CAD download via an interactive registration/download workflow; no public STEP was retrieved. No login or access-control bypass was attempted.",
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