Tool Creation
Most applications require specific or custom tooling that might not be present in our database. That’s why we allow users to create their own tooling for Fuzzy Studio.
In order to do so you need to get to the Tool Library to click the Add new option :
You can then pick a Name, attach a 3D Model of your tool and an image to better find your tool in the library afterwards. If no image is given, a default one will be assigned from your CAD model.
You can then set a TCP (Tool Center Point) to your tool :
The TCP is the Tool Center Point : it is the interest point that we’re going to manpulate and that is the virtual object that is going to follow all of our trajectories. For a Sander it corresponds to the center of the grit paper, for a welding torch it is the tip of the welder, for a glue dispenser it is the tip of the dispenser and for an inspection camera it is most likely the focus point of the camera. It is a crucial notion to any robotic application, wether it is using Fuzzy Studio or not.
You can set multiple TCPs and switch between them during your application setup.
An attach point is also needed in order to set where the attachment of your tool to the robot is in the CAD model.
Its orientation is important to match the orientation of the robot’s terminal axis orientation and the orientation of the tool’s attachement. This orientation is Brand dependant and we chose to keep it that way for Fuzzy Studio so for example a Fanuc’s X axis orientation points to the front of the robot where a UR’s X axis would point to the right.
You can set Multiple TCPs and multiple Attach Points for every tool : simply add a new one on the list
The TCP coordinates correspond to the position and orientation of your Tool center point with relation to the center of your robot's 6th axis !
Most of the time it is easier to adapt your TCP to your application than to change all of your waypoints :
If you need to have an angle of incidence of 30° for your glue dispenser then set it on the TCP rather than orienting all your waypoints by 30° !
Also Tools don’t have to contain Contours information so any kind of mesh can work and will be faster to load : .ply or .stl file (in mm) are perfectly working and more optimized for tools.