AX10 Palletizing Solution
3.4.6. Physical Clearance and Reachable Area of the Robot
The computed trajectories allow the boxes or the robot to overrun the edges of the pallet when the robot moves the boxes to
their final position. Mitigation measures can be put in place to prevent a transient or quasi-static impact between a box, or the
robot itself, and an operator. Below are some examples:
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Physical assets such as guardrails and bollards, which prevent the operator from accessing the area.
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Sensors such as light curtains or area scanners which can detect the presence of a person, and stop the system before that
person reaches the danger zone.
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The Add virtual planes around pallet(s) option available in the Settings tab of the Palletizer node of the Robotiq URCap to
contain the overrun within a certain distance of the pallet. Please refer to the Palletizer Node section to learn more about this
option.
Potential overrun can be determined by the following formulae:
Front overrun
The potential front overrun is the highest value obtained using the following formula:
Potential front overrun (mm) = max (0.1 x box height, 1280 - pallet depth, 180 + extra bracket reach + (0.1 x box height) - (minimum
horizontal box dimension /2))
Side overrun
Potential side overrun (mm) = (box diagonal/2) + robot reach + extra bracket reach - pallet width - 295
Trajectories are not limited to hovering over the picking position, the base of the Solution, and the pallets. It is thus important to
implement physical safeguarding devices next to the picking area, depending on the layout of the palletizing cell. The robot's
reachable area should be clearly identified and marked on the ground.
NOTICE
When the robot is palletizing on one side, and no pallet is present on the opposite side, the Palletizing
Solution computes trajectories based on the assumption that there are no obstacles on the opposite
side. The robot’s elbow (joint #2) can therefore extend to the side where no pallet is present. For a
UR10e, the potential overrun is represented by a cylinder with a radius of 705 mm, with its axis aligned
with the Z-axis of the robot base.
Floor marking
Floor marking to delineate the working zone should be added.
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