Reach is the rig's own
The ring on the map comes from the same link lengths the 3D arm solves its joints with. A point outside it is refused and the part stays in its tray — the arm is never drawn reaching somewhere it couldn't.
Assembly
Design the cell. Watch the cycle time move.
A board from one sentence, an arm on a bench, and a tray of chips. Move the trays, slide the board, lower the tool's travel height or change the order — every change is re-planned at once, and the arm shows you exactly the plan the numbers came from.
Armreaches 0.59 m across the bench
Robot controller · 180 × 120 mm · 9 parts
No lower than 25 mm: the tallest part on the board, the tallest one it could be carrying over it, and a margin.
Shortest is proved, not guessed: every ordering of these parts is accounted for. Here it saves 0.10 s (0.3%) over the listed order — an order only changes the empty-handed trips, so where the trays stand usually matters far more.
- Placed
- 9 / 9
- Cycle time
- 39.5 s
- Per part
- 4.38 s
- Tool travel
- 9.96 m
The plan, from above
The ring is how far this arm really reaches across the bench. Solid trips carry a part; dashed ones are empty-handed — the only ones an ordering can shorten.
Placement list
- U1Processor BGA-35at 4.3 sWaiting
- U2Microcontroller LQFP-144at 8.7 sWaiting
- U3Memory FBGA-200 · turned 90°at 13.2 sWaiting
- U4Memory FBGA-200at 17.6 sWaiting
- U5Power manager QFN-64at 22.0 sWaiting
- U6Flash SOIC-16 · turned 90°at 26.6 sWaiting
- U7Ethernet PHY QFN-48at 30.8 sWaiting
- J1Header HDR-2x10at 35.0 sWaiting
- J2Header HDR-2x10at 39.2 sWaiting
What is computed, and what isn't
Time is per axis
An arm on a fixed base swivels and reaches at once, so the tool flies arcs, not lines. Each axis accelerates, cruises and brakes; a move takes as long as its slowest axis. The limits below are this model's assumptions, not any arm's datasheet.
Not here
No vision alignment, no solder paste, no suction and no force: a kinematic preview. The parts are the size a gripper's tip can plausibly carry; a production line fires far smaller ones from a nozzle on a gantry.
swivel 120°/s · reach 0.4 m/s · lift 0.25 m/s · wrist 180°/s · grip 0.35 s · release 0.5 s