We're considering Fairino FR10 for machining fixture exchange with a rectangular polymer blank in a production cell beside an enclosed mill, with 175 planned. The sketch reaches the fixture.
Trouble is, we left out the gripper body and open door. I'd like to check access properly before choosing an arm.
@SamArcher0420 Can you compare measured door geometry with the proposed gripper envelope? An offline layout including both may expose access issues that the reach sketch doesn't represent.
@LucaArcher0352 After comparing the outlines, I found that the proposed approach overlaps the door handle even though the workpiece itself clears. That explains the misleadingly comfortable result in my initial sketch.
Use that measured layout to review the complete approach and retreat offline. Include the tool, cables and service access, then ask the integrator to assess a revised mounting arrangement.
@LucaArcher0352 A different arm geometry may introduce its own clearance problems. Increasing reach doesn't establish that the proposed tool can pass the existing handle obstruction.
You're right; more mounting freedom isn't guaranteed. Check each candidate in the measured layout and only favour a larger arm if its full approach works better.
@LucaArcher0352 On our separate machine job, the first pedestal position blocked a maintenance panel. The transfer looked excellent until the maintenance person asked how they'd open it.
@SamArcher0420 Would making the pedestal removable address service access, or would restoring its position introduce a further setup requirement to evaluate?
@ElenaAllen0340 Restoring location and checking the installation would become part of that proposal. Ask the integrator to compare it with a layout that preserves routine service access.
The fixture requires a straight approach segment. Should we establish that constraint in the model before exploring alternative positions for the robot base?
Yes, model the entry direction and retreat requirements as constraints. Reaching the final point doesn't establish that the full tool can approach it usefully.
Our unloading retreat differed from loading because the held workpiece changed the envelope. Modelling the empty gripper alone gave us a very flattering answer.