INDRBT / Reading room
Cad motion clearance
Digital engineering model. Payload and repeatability are design targets. All ordinary guide reading, figures and PDFs work here. Links marked Source file lead to the public engineering repository.
Retained digital evidence · results/validation/cad_motion_clearance.json · SHA-256 5c52076a1d313f541decebb334e56c14187ccb3efc906d5f78f2ec378225354d
This readable record comes from the engineering project. Its assumptions, sampling and rule scope remain part of the result.
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"moving_geometry_min_z_mm": 110.0,
"component_pairs_classified": 1431,
"exact_brep_pair_checks": 89,
"max_selected_pair_overlap_mm3": 0.0
},
{
"sample": 975,
"time_s": 8.766827507759938,
"gripper_opening_mm": 90.0,
"moving_geometry_min_z_mm": 110.0,
"component_pairs_classified": 1431,
"exact_brep_pair_checks": 73,
"max_selected_pair_overlap_mm3": 0.0
},
{
"sample": 991,
"time_s": 8.884280322352453,
"gripper_opening_mm": 90.0,
"moving_geometry_min_z_mm": 110.0,
"component_pairs_classified": 1431,
"exact_brep_pair_checks": 62,
"max_selected_pair_overlap_mm3": 0.0
},
{
"sample": 1008,
"time_s": 9.009073937856998,
"gripper_opening_mm": 90.0,
"moving_geometry_min_z_mm": 110.0,
"component_pairs_classified": 1431,
"exact_brep_pair_checks": 45,
"max_selected_pair_overlap_mm3": 0.0
},
{
"sample": 1024,
"time_s": 9.126526752449513,
"gripper_opening_mm": 90.0,
"moving_geometry_min_z_mm": 110.0,
"component_pairs_classified": 1431,
"exact_brep_pair_checks": 43,
"max_selected_pair_overlap_mm3": 0.0
},
{
"sample": 1040,
"time_s": 9.243979567042027,
"gripper_opening_mm": 90.0,
"moving_geometry_min_z_mm": 110.0,
"component_pairs_classified": 1431,
"exact_brep_pair_checks": 39,
"max_selected_pair_overlap_mm3": 0.0
}
],
"scope": "65 uniform samples plus every phase boundary and gripper event; every component pair is classified. Adjacent joints are included, and each moving jaw is distinct from the gripper body. Disjoint AABBs reject impossible intersections; all remaining pairs use exact BRep common volume. Ground height uses transformed BRep bounding boxes. Gripper event openings are checked, with additional closed/mid/open checks in cad_assembly_clearance.json. This finite task screening is not a continuous swept proof, validation of every joint-limit combination, or physical safety certification."
}