🤖 Robot Reach Study

Kinematic-Free Accessibility Analysis
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Design Philosophy

💡 NOT Full Kinematic Simulation

This is a simplified "can the torch tip physically reach this point?" check based on maximum arm extension. Real robots have joint limits, singularities, and collision constraints we're ignoring. This is a quick feasibility filter, not a motion planning tool.

Robot Arm Model

Input Parameters

ROBOT ARM SEGMENT MODEL (Generic 6-Axis) ┌─────────────────────────────────────────────────────┐ │ ROBOT BASE (mounted position) │ │ - X, Y, Z position relative to fixture origin │ │ - Rotation about Z (base orientation) │ └───────────────────────┬─────────────────────────────┘ │ ▼ ┌─────────────────────────────────────────────────────┐ │ SEGMENT LENGTHS (from robot datasheet) │ │ - L1: Base to J2 axis (vertical reach) │ │ - L2: J2 to J3 (upper arm) │ │ - L3: J3 to J5 (forearm/wrist center) │ │ - L4: J5 to torch tip (tool length) │ └─────────────────────────────────────────────────────┘ TOTAL MAX REACH = L1 + L2 + L3 + L4 (fully extended) INNER DEAD ZONE = typically ~300-500mm (can't reach too close)

Reach Envelope

Calculation

REACH ENVELOPE (Top View) Max Reach Sphere ╱ ╲ ╱ REACHABLE ╲ ╱ ZONE ╲ │ ┌───────────┐ │ │ │ INNER │ │ │ │ DEAD ZONE │ │ │ │ (can't │ │ │ │ reach) │ │ │ └───────────┘ │ ╲ ╱ ╲ ╱ ╲ ╱ ───────────── ⊕ Robot Base For each weld point P: distance = sqrt((Px-Rx)² + (Py-Ry)² + (Pz-Rz)²) IF distance > MAX_REACH: UNREACHABLE (too far) IF distance < MIN_REACH: UNREACHABLE (too close) ELSE: POTENTIALLY REACHABLE

Weld Accessibility Analysis

For each weld bead, check if the torch can reach start, end, and intermediate points.

Output Format

ACCESSIBILITY OUTPUT (CSV/JSON) Weld_ID | Start_X | Start_Y | Start_Z | Reachable | Distance | Notes --------|---------|---------|---------|-----------|----------|------- W001 | 100.0 | 50.0 | 200.0 | YES | 450mm | W002 | 500.0 | 300.0 | 100.0 | NO | 850mm | Too far W003 | 50.0 | 50.0 | 50.0 | NO | 120mm | Dead zone
  • ○ Robot base position input (X, Y, Z, Rz)
  • ○ Segment length inputs (L1, L2, L3, L4)
  • ○ Inner dead zone radius (min reach)
  • ○ Multiple robot positions for cell layout
  • ○ Generate reach study report (CSV/JSON/HTML)
  • ○ 3D visualization of reach envelope

Implementation Status

📦 Deliverables

fxRobotReachStudy.ovm - main reach calculation

fxReachEnvelopeVisualize.ovm - 3D sphere/shell display

fxWeldAccessibilityReport.ovm - CSV/JSON export