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RS fit result & required layout changes
What changes
- Bring the work closer650 → 380 mm from the base center: move targets 270 mm inward.
- Raise and aim the robotMounting face 690 → 750 mm; turn the base 55°.
- Lower the rolling stationWork point 980 → 880 mm; leave brush and kick at 980 mm.
- Change pickup and travelReverse pickup/brush approach; turn with the output transfer; lift above the fixtures before returning around the front.
- Use a custom tool and supports100 mm flange-to-grip assumption, slim fingers, raised pickup nest, 60 mm tray-rim opening and narrow fixture pedestals.
What this establishes
In the proposed layout, the modeled size-04 clamp can follow the path within the RS model’s joint limits. Aluminum versus steel does not change this geometric check.
Exact fingers, hoses, all clamp sizes and the finished fixtures still need a fit check. Force support can be added as Eli proposed.
Evidence and limits
Manufacturer RS URDF and visual meshes, using the existing Cell 1 WDG04 stamped-part mesh and fixed-hook forming path. This is a numerical fit study, not a live robot test.
Sampled inverse kinematics checks position and orientation. The clearance screen tests robot mesh vertices and custom-tool boxes against fixture envelopes; it is not a full swept-volume or self-collision test.
The 100 mm tool is a design assumption, not a verified bolt-on adapter. Use a fixed, correct-face pickup nest. The old upside-down pickup/flip fails at 24 of 40 tested poses; reshuffle or separately orient those blanks. Arbitrary tray pickups and sizes 01–16 are not qualified.
Manufacturer model