Preparing the published article.
What the Working Envelope Really Means
Reachable is not the same as usable.
Three qualifications
| Point | Explanation |
|---|---|
| Reach is not usability | At the extremes, orientation degrades and speed drops |
| Tooling changes the envelope | An end effector changes what is practically reachable |
| Interference counts | The arm, cabling and surrounding equipment all limit motion |
Selection advice
- Validate the path with a real cell model rather than the catalogue diagram.
- Leave room for maintenance and manual teaching.
- Check orientation capability at the points where the task happens.
Catalogue envelopes are theoretical. Confirm with simulation and a site trial.