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Safety envelopes are geometry that can either be generated or imported onto joints to provide additional options for collision checking.

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”.

Note

INSERT PICTURE OF SAFEY ENVELOPE RIGHT CLICK HERE

...

  • The interference shape image-20240717-170733.pngImage Added

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

Note

INSERT PICTURE OF SAFEY ENVELOPE MENU OPTIONS HERE

  • image-20240717-170837.pngImage Added

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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