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”
INSERT PICTURE OF SAFEY ENVELOPE RIGHT CLICK HERE
The interference shape creation tool has 2 settings to adjust
INSERT PICTURE OF SAFEY ENVELOPE MENU OPTIONS HERE
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.
Box - Creates an interference in the shape of a box.
Cylinder - Creates an interference in the shape of a cylinder.
Sphere - Creates an interference in the shape of a sphere.
Wrap - Creates an interference shape that wraps around the shape of the underlying group of CAD bodies.
