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Table of Contents
stylenone

Safety envelope generation

Safety envelopes can be generated based on robot joint geometry.

  • Open the safety envelope creation tool by right clicking on a robot joint and selecting “create interference shape”.

    image-20240717-170733.png

  • The safety envelope creation tool has 2 settings to adjust.

    image-20240717-170837.png

Shape extension (mm)

The distance from the underlying joint CAD that the interference shape will be extended.

Extension types

  • Blow-up
    Creates an interference shape that matches the shape each underlying CAD body of the joint.

    image-20240508-182119.png

  • Box
    Creates an interference in the shape of a box.

    image-20240508-182204.png

  • Cylinder
    Creates an interference in the shape of a cylinder.

    image-20240508-182242.png

  • Sphere
    Creates an interference in the shape of a sphere.

    image-20240508-182326.png

  • Wrap
    Creates an interference shape that wraps around the shape of the underlying group of CAD bodies.

    image-20240508-182439.png

Safety envelope CAD import

If the built in Robotmaster safety envelope generation is not sufficient for user needs, imported CAD can be made a child of a robot joint, and then changed into a safety envelope object type.

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