Tech-dat/acturator-dat/motor-dat/motor-dat.md
... ...
@@ -28,7 +28,7 @@ brushed
28 28
29 29
- [[motor-brushed-dat]] == Permanent Magnet Brushed DC Motor
30 30
31
-- [[Motor-reduction-Gear-dat]] - [[motor-TT-dat]] - [[MG540-dat]] - [[MG513-dat]] - [[reduction-Gear-Motor]]
31
+- [[Motor-reduction-Gear-dat]] - [[motor-TT-dat]] - [[MG540-dat]] - [[MG513-dat]] - [[motor-reduction-gear]]
32 32
33 33
- [[motor-coreless-dat]]
34 34
... ...
@@ -144,7 +144,7 @@ more comprehansive Brushed vs. Brushless DC Motors
144 144
145 145
## mechanical parts
146 146
147
-- [[shaft-coupler-dat]]
147
+- [[shaft-coupling-dat]]
148 148
149 149
150 150
engineering-dat/power-transmission-dat/power-transmission-dat.md
... ...
@@ -1,18 +1,18 @@
1
-
2
-# power-transmission-dat
3
-
4
-
5
-- [[belt-dat]] - [[chain-dat]]
6
-
7
-
8
-- [[bearing-dat]]
9
-
10
-- [[belt-dat]] - [[belt-sys-dat]]
11
-
12
-- [[shaft-dat]] - [[shaft-coupler-dat]]
13
-
14
-- [[timing-pulley-dat]] - [[idler-dat]]
15
-
16
-## ref
17
-
1
+
2
+# power-transmission-dat
3
+
4
+
5
+- [[belt-dat]] - [[chain-dat]]
6
+
7
+
8
+- [[bearing-dat]]
9
+
10
+- [[belt-dat]] - [[belt-sys-dat]]
11
+
12
+- [[shaft-dat]] - [[shaft-coupling-dat]]
13
+
14
+- [[timing-pulley-dat]] - [[idler-dat]]
15
+
16
+## ref
17
+
18 18
- [[engineering-dat]]
... ...
\ No newline at end of file
fab-mechanics-dat/mechanical-structure-dat/Shaft-dat/Shaft-dat.md
... ...
@@ -1,7 +1,7 @@
1 1
# Shaft-dat
2 2
3 3
4
-- [[shaft-dat]] - [[shaft-motor-dat]] - [[motor-dat]] - [[shaft-driven-dat]] - [[shaft-coupler-dat]]
4
+- [[shaft-dat]] - [[shaft-motor-dat]] - [[motor-dat]] - [[shaft-driven-dat]] - [[shaft-coupling-dat]]
5 5
6 6
- [[shaft-dat]] - [[tube-dat]] - [[rod-dat]]
7 7
... ...
@@ -29,7 +29,7 @@
29 29
30 30
- [[shaft-dat]] - [[shaft-locking-dat]]
31 31
32
-- [[shaft-coupler-dat]] - [[Shaft-Cross-Connector-dat]]
32
+- [[shaft-coupling-dat]] - [[Shaft-Cross-Connector-dat]]
33 33
34 34
![](2025-12-10-01-54-55.png)
35 35
fab-mechanics-dat/mechanical-structure-dat/Shaft-dat/rod-dat/rod-dat.md
... ...
@@ -19,7 +19,7 @@
19 19
20 20
- [[hinge-dat]] - [[rod-tie-dat]] - [[crank-dat]] - [[rod-dat]]
21 21
22
-- [[shaft-coupler-dat]]
22
+- [[shaft-coupling-dat]]
23 23
24 24
- [[stainless-steel-dat]] - [[stainless-steel-solid-rod-dat]] - [[metal-dat]]
25 25
... ...
@@ -46,7 +46,7 @@ rod hinge
46 46
47 47
## common parts
48 48
49
-- [[shaft-limit-ring-dat]] - [[shaft-coupler-dat]]
49
+- [[shaft-limit-ring-dat]] - [[shaft-coupling-dat]]
50 50
51 51
- [[flange-dat]]
52 52
fab-mechanics-dat/mechanical-structure-dat/Shaft-dat/shaft-connection-dat/shaft-connection-dat.md
... ...
@@ -1,7 +1,7 @@
1 1
2 2
# shaft-connection-dat
3 3
4
-- [[Shaft-Cross-Connector-dat]] - [[shaft-coupler-dat]]
4
+- [[Shaft-Cross-Connector-dat]] - [[shaft-coupling-dat]]
5 5
6 6
- [[shaft-dat]]
7 7
fab-mechanics-dat/mechanical-structure-dat/Shaft-dat/shaft-connection-dat/shaft-coupler-dat/2025-12-10-02-15-17.png
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fab-mechanics-dat/mechanical-structure-dat/Shaft-dat/shaft-connection-dat/shaft-coupler-dat/2025-12-10-02-15-32.png
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fab-mechanics-dat/mechanical-structure-dat/Shaft-dat/shaft-connection-dat/shaft-coupler-dat/shaft-coupler-dat.md
... ...
@@ -1,85 +0,0 @@
1
-
2
-# shaft-coupler-dat
3
-
4
-
5
-
6
-
7
-## L type coupler
8
-
9
-![](2025-12-10-02-15-17.png)
10
-
11
-![](2025-12-10-02-15-32.png)
12
-
13
-
14
-## Shaft Coupler
15
-
16
-A **shaft coupler** is a mechanical component used to **connect two rotating shafts**. It primarily functions to transmit torque while allowing for slight axial, radial, or angular misalignments.
17
-
18
----
19
-
20
-### Types of Shaft Couplers
21
-
22
-#### 1. Rigid Coupler
23
-- **Features**: No elasticity, provides a solid connection, requires precise shaft alignment.
24
-- **Applications**: High-precision CNC machines, industrial machinery.
25
-
26
-#### 2. Flexible Coupler
27
-- **Features**: Can absorb slight misalignment, reduce vibration, and minimize impact.
28
-- **Common Types**:
29
- - **Jaw Coupling** – Uses an elastomer insert to absorb vibrations; suitable for stepper and servo motors.
30
- - **Bellows Coupling** – High torque transmission capability, ideal for precision applications.
31
- - **Disc Coupling** – Used in high-speed and high-precision applications, such as robotics and aerospace.
32
-
33
-#### 3. Universal Joint (U-Joint)
34
-- **Features**: Allows for larger angular misalignment, commonly used for shafts that are not in perfect alignment.
35
-- **Applications**: Automotive drivetrains, heavy machinery.
36
-
37
-#### 4. Oldham Coupling
38
-- **Features**: Compensates for significant radial misalignment, commonly used in automation and 3D printing.
39
-
40
----
41
-
42
-### Key Functions of Shaft Couplers
43
-✅ **Torque Transmission** – Connects the motor to the driven shaft for power transfer.
44
-✅ **Misalignment Compensation** – Allows slight shaft misalignment, reducing stress.
45
-✅ **Vibration & Shock Absorption** – Helps dampen vibrations and protect mechanical components.
46
-✅ **Equipment Protection** – Some couplers act as safety devices in case of overload.
47
-
48
-
49
-
50
-
51
-
52
-## Why Diaphragm Couplers (Disk Couplers) Are Superior
53
-
54
-Yes, a **Diaphragm Coupler** (also known as a **Disk Coupler**) offers significantly better gripping power than a standard set-screw coupler. For a high-torque project like your **Rover V2**, this is a professional-grade upgrade.
55
-
56
----
57
-
58
-### 1. Clamping vs. Poking (The Grip Factor)
59
-The primary reason it works better is the **fixing method**:
60
-* **Your Current Coupler:** Uses a "Set Screw" that pokes a single point. On an aluminum tube, this just dents the metal and slips.
61
-* **Diaphragm Coupler:** Most use a **Clamping Design**. When you tighten the side bolt, the entire inner circumference of the coupler shrinks to "hug" the shaft 360°.
62
-* **Result:** The friction is distributed over the entire surface area of the shaft, making slippage nearly impossible.
63
-
64
-
65
-
66
-### 2. Eliminating Backlash (Precision)
67
-In robotics, you often have frequent "Start-Stop-Reverse" movements.
68
-* **The Problem:** Set screws eventually wiggle and create "play" (backlash). Every time the motor reverses, the screw slams against the side of its hole, widening it.
69
-* **The Solution:** Diaphragm couplers are **Zero-Backlash**. The torque is transmitted through thin stainless steel springs (the disks). There are no moving parts to "clatter," which keeps the connection tight forever.
70
-
71
-### 3. Comparison Table: Why Upgrade?
72
-
73
-| Feature | Entry-Level (Set Screw) | **Diaphragm (Clamping)** |
74
-| :--- | :--- | :--- |
75
-| **Grip Strength** | Low (Point contact) | **High (Surface contact)** |
76
-| **Shaft Damage** | Heavy (Scratches/Dents) | **Zero (Safe for Alu tubes)** |
77
-| **Misalignment** | Rigid (Causes vibration) | **Flexible (Absorbs offset)** |
78
-| **Longevity** | Low (Screws loosen) | **High (All-metal durability)** |
79
-
80
-
81
-
82
-
83
-## ref
84
-
85
-- [[shaft-dat]] - [[shaft-coupler]] - [[shaft]]
... ...
\ No newline at end of file
fab-mechanics-dat/mechanical-structure-dat/Shaft-dat/shaft-connection-dat/shaft-coupling-dat/2025-12-10-02-15-17.png
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fab-mechanics-dat/mechanical-structure-dat/Shaft-dat/shaft-connection-dat/shaft-coupling-dat/2025-12-10-02-15-32.png
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fab-mechanics-dat/mechanical-structure-dat/Shaft-dat/shaft-connection-dat/shaft-coupling-dat/shaft-coupling-dat.md
... ...
@@ -0,0 +1,190 @@
1
+
2
+# shaft-coupling-dat
3
+
4
+
5
+
6
+## coupling combination
7
+
8
+### 🛠️ 稳固机器人传动选型与三重锁紧方案说明
9
+
10
+针对你的双出轴减速电机（**M6外螺纹 + D型铣平面 + 轴心M3内螺纹**）连接 **6mm负载端传动轴** 的高性能机器人结构，以下是整合了锁紧形式对比、选型建议及终极安装流程的技术文档，方便直接复制保存。
11
+
12
+---
13
+
14
+### 一、 核心锁紧形式深度对比
15
+
16
+在机器人高频正反转和急停的动态运动中，不同固定形式的受力模型和表现有着本质区别：
17
+
18
+| 固定形式 | 受力模型 | 零背隙（传动精度） | 核心优缺点分析 | 针对你项目的建议 |
19
+| :--- | :--- | :--- | :--- | :--- |
20
+| **纯顶丝式**<br>(Set Screw) | **点接触**<br>依靠螺钉尖端死顶轴面 | ❌ **有微小旷量**<br>交变受力下易松动 | **优点**：成本极低。<br>**缺点**：极易产生微动磨损，正反转易打滑并咬伤轴面。 | **不推荐单独使用**，仅可作为D面的辅助死锁。 |
21
+| **纯夹紧式**<br>(Clamping) | **面接触**<br>360°圆周全包围抱紧 | **纯零背隙**<br>受力均匀抗扭高 | **优点**：锁紧力矩大，不伤轴，无机械晃动间隙。<br>**缺点**：极端死卡冲击下有微量滑移风险。 | **强烈推荐作为基础结构**，提供高刚性。 |
22
+| **夹紧+顶丝并用型**<br>(Combination) | **点面结合**<br>全包围摩擦 + 物理销钉 | **纯零背隙**<br>消除任何机械公差 | **优点**：完美结合两者的优点，兼顾刚性、无间隙与绝对抗滑。<br>**缺点**：需要特定标准件。 | 🌟 **终极首选**<br>完美利用你电机轴的D型平面。 |
23
+
24
+---
25
+
26
+### 二、 为什么已经有“夹紧式”还需要“顶丝”？
27
+
28
+如果轴是纯圆柱光轴，纯夹紧式确实不需要顶丝（顶丝在光轴上极易松动且起反作用）。**但因为你的电机轴自带D型铣平面，选择“夹紧+顶丝并用型”可以达成“1+1>2”的效果：**
29
+
30
+1. **顶丝作为“安全销”**：顶丝垂直拧紧在D面上，形成了**物理刚性阻挡（机械死锁）**。只要螺丝不断，轴在圆周方向绝对不可能发生大幅度打滑。
31
+2. **夹紧作为“消隙器”**：侧面切缝的夹紧螺丝收紧后，360°抱死轴身，**彻底消除了顶丝与D面由于加工公差带来的微小晃动旷量（Backlash）**，同时承担了大部分扭矩，防止顶丝咬坏D面。
32
+
33
+---
34
+
35
+### 三、 终极修复：三位一体锁死法（安装顺序指南）
36
+
37
+为了保证机器人两端负载受力不均时**绝对同步、永不打滑、轴向不窜动**，请采购 **“带内部台阶孔（Center Stop / Counterbore）的变径（6mm转Xmm）夹紧并用型刚性联轴器”**，并严格按照以下步骤组装：
38
+
39
+#### 1. 第一道防线：顶丝死锁圆周（D面定位）
40
+* **动作**：将联轴器套上电机的M6轴。
41
+* **要点**：必须确保联轴器上的**顶丝孔百分之百正对轴的D型平面中心**，将其用力拧紧。
42
+* **效果**：确立几何对称初始位置，提供第一重圆周刚性阻挡。
43
+
44
+#### 2. 第二道防线：M3轴心螺栓拉紧（轴向压紧）
45
+* **动作**：使用一把加长杆内六角扳手，从联轴器前端（负载端空孔）一路伸到最深处。
46
+* **要点**：插入 **M3内六角杯头螺栓（下方加弹簧垫圈）**，穿过联轴器内部的**中心台阶缩口**，拧入电机轴心的M3内螺纹孔中。
47
+* **效果**：产生巨大的轴向拉力，将联轴器死死向后拉，牢牢压紧在电机的轴肩上，彻底杜绝轴向前后窜动。
48
+
49
+#### 3. 第三道防线：侧面螺丝抱死（消除背隙）
50
+* **动作**：使用扳手用力拧紧联轴器侧面的**切缝夹紧螺丝**。
51
+* **效果**：360°全包围抱紧M6外圆周，消除所有微小机械间隙，平摊扭矩应力。
52
+
53
+#### 4. 负载轴连接
54
+* **动作**：将你的 **6mm负载端传动轴** 插入联轴器剩下的另一端空孔内。
55
+* **要点**：拧紧负载端侧面的夹紧螺丝（如果负载轴也能磨出一个D面并配合顶丝锁紧，效果达到工业级极限稳固）。
56
+
57
+> **💡 固化提示**：在进行上述所有螺丝（M3轴心螺丝、顶丝、夹紧螺丝）的最后总拧紧时，务必在螺纹处涂抹一滴**中强度液体螺纹锁固胶（如乐泰 Loctite 242 蓝胶）**，静置24小时完全固化后方可开机运动，以防高频振动导致螺丝微量松动。
58
+
59
+
60
+
61
+## type of coupling
62
+
63
+单劈裂刚性联轴器
64
+
65
+带顶丝 夹紧 双重锁紧 联轴器
66
+
67
+一、 受力模型对比（为什么夹紧式更稳固）
68
+
69
+1. 夹紧式（Clamping Style）—— 面接触
70
+
71
+原理：利用侧面切缝和螺栓收紧，使联轴器的内孔整体缩小。
72
+
73
+受力状态：对轴形成 $360^\circ$ 的全圆周面接触。它依靠极大的均匀摩擦力来传递扭矩。
74
+
75
+优势：
76
+- 零背隙（Zero Backlash）：因为是全包围抱死，轴和联轴器之间没有任何微小间隙，极其适合频繁正反转、急停高动态运动的机器人关节。
77
+- 不伤轴：力量均匀分散，不会在硬化光轴上留下凹坑或划痕。
78
+
79
+2. 多顶丝式（Set Screw Style）—— 点接触
80
+
81
+原理：联轴器本身是一个死孔，靠 2 个或多个螺钉硬生生“顶”在轴的表面。
82
+
83
+受力状态：属于极极端的点接触。
84
+
85
+劣势：
86
+
87
+- 正反转极易松动：机器人高频正反转时，顶丝尖端在轴面会受到交变切向力的剧烈揉搓，时间一长螺丝必然松动、打滑。
88
+- 伤轴且产生旷量：顶丝会在轴上咬出小坑。如果多次拆装，轴表面变形后，同心度会变差，且频繁反转时会在小坑里产生微小的微动磨损（产生机械晃动间隙）。
89
+
90
+
91
+## rigid clamping coupling with Counterbore
92
+
93
+
94
+在工业级和高精度的微型机器人设计中，用 M3 螺栓（作为轴心拉杆螺丝）配合 Rigid Clamping Coupling（刚性夹紧式联轴器） 是一种非常经典且极度稳固的组合。
95
+
96
+不过，标准的刚性夹紧联轴器本身只是一个通孔套筒，要让它完美支持你的 M3 轴心螺栓，联轴器需要满足一个关键的结构特征：内部必须带有一个中心台阶孔（Counterbore / Center Stop）。
97
+
98
+具体是如何实现的，以及安装时需要注意什么，为你详细拆解：
99
+
100
+1. 它是如何支持 M3 螺栓锁死的？
101
+当标准的刚性夹紧联轴器（Rigid Clamping Coupling）套在你的 M6 电机轴上时：
102
+
103
+轴心锁死（轴向防脱）：M3 螺栓从联轴器的负载端（另一头）伸进去。联轴器内部中间有一个变小的台阶，M3 螺栓的螺帽（通常是杯头内六角螺丝）会卡在联轴器内部的台阶面上，而螺纹部分穿过去，直接拧进你电机轴心的 M3 孔里。
104
+
105
+当你拧紧这颗 M3 螺栓时，它会产生巨大的轴向拉力，像拉杆一样把联轴器死死往后拉，牢牢压紧在电机的轴肩上。
106
+
107
+侧面夹紧（圆周防打滑）：与此同时，联轴器本身的侧面夹紧螺丝（Clamping Screws）拧紧，360度抱死电机的 M6 外圆周和 D 型面。
108
+
109
+这两种力组合起来，就形成了我们前面提到的高强度锁死。
110
+
111
+
112
+## L type coupler
113
+
114
+![](2025-12-10-02-15-17.png)
115
+
116
+![](2025-12-10-02-15-32.png)
117
+
118
+
119
+## Shaft Coupler
120
+
121
+A **shaft coupler** is a mechanical component used to **connect two rotating shafts**. It primarily functions to transmit torque while allowing for slight axial, radial, or angular misalignments.
122
+
123
+---
124
+
125
+### Types of Shaft Couplers
126
+
127
+#### 1. Rigid Coupler
128
+- **Features**: No elasticity, provides a solid connection, requires precise shaft alignment.
129
+- **Applications**: High-precision CNC machines, industrial machinery.
130
+
131
+#### 2. Flexible Coupler
132
+- **Features**: Can absorb slight misalignment, reduce vibration, and minimize impact.
133
+- **Common Types**:
134
+ - **Jaw Coupling** – Uses an elastomer insert to absorb vibrations; suitable for stepper and servo motors.
135
+ - **Bellows Coupling** – High torque transmission capability, ideal for precision applications.
136
+ - **Disc Coupling** – Used in high-speed and high-precision applications, such as robotics and aerospace.
137
+
138
+#### 3. Universal Joint (U-Joint)
139
+- **Features**: Allows for larger angular misalignment, commonly used for shafts that are not in perfect alignment.
140
+- **Applications**: Automotive drivetrains, heavy machinery.
141
+
142
+#### 4. Oldham Coupling
143
+- **Features**: Compensates for significant radial misalignment, commonly used in automation and 3D printing.
144
+
145
+---
146
+
147
+### Key Functions of Shaft Couplers
148
+✅ **Torque Transmission** – Connects the motor to the driven shaft for power transfer.
149
+✅ **Misalignment Compensation** – Allows slight shaft misalignment, reducing stress.
150
+✅ **Vibration & Shock Absorption** – Helps dampen vibrations and protect mechanical components.
151
+✅ **Equipment Protection** – Some couplers act as safety devices in case of overload.
152
+
153
+
154
+
155
+
156
+
157
+## Why Diaphragm Couplers (Disk Couplers) Are Superior
158
+
159
+Yes, a **Diaphragm Coupler** (also known as a **Disk Coupler**) offers significantly better gripping power than a standard set-screw coupler. For a high-torque project like your **Rover V2**, this is a professional-grade upgrade.
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+
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+---
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+
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+### 1. Clamping vs. Poking (The Grip Factor)
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+The primary reason it works better is the **fixing method**:
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+* **Your Current Coupler:** Uses a "Set Screw" that pokes a single point. On an aluminum tube, this just dents the metal and slips.
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+* **Diaphragm Coupler:** Most use a **Clamping Design**. When you tighten the side bolt, the entire inner circumference of the coupler shrinks to "hug" the shaft 360°.
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+* **Result:** The friction is distributed over the entire surface area of the shaft, making slippage nearly impossible.
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+
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+
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+
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+### 2. Eliminating Backlash (Precision)
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+In robotics, you often have frequent "Start-Stop-Reverse" movements.
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+* **The Problem:** Set screws eventually wiggle and create "play" (backlash). Every time the motor reverses, the screw slams against the side of its hole, widening it.
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+* **The Solution:** Diaphragm couplers are **Zero-Backlash**. The torque is transmitted through thin stainless steel springs (the disks). There are no moving parts to "clatter," which keeps the connection tight forever.
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+
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+### 3. Comparison Table: Why Upgrade?
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+
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+| Feature | Entry-Level (Set Screw) | **Diaphragm (Clamping)** |
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+| :--- | :--- | :--- |
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+| **Grip Strength** | Low (Point contact) | **High (Surface contact)** |
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+| **Shaft Damage** | Heavy (Scratches/Dents) | **Zero (Safe for Alu tubes)** |
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+| **Misalignment** | Rigid (Causes vibration) | **Flexible (Absorbs offset)** |
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+| **Longevity** | Low (Screws loosen) | **High (All-metal durability)** |
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+
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+
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+
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+
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+## ref
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+
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+- [[shaft-dat]] - [[shaft-coupler]] - [[shaft]]
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