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Robot Tool (Define Tool Shape)

In one sentence: Attach a Part shape or VRML model as the robot's end-effector, displayed at the robot's flange during simulation.

Overview

Workbench: Robot
Menu: Robot → Insert Robot → Tool
Shortcut: none

Deprecated workbench

The Robot workbench is deprecated as of FreeCAD 1.0. It is preserved for existing users but is no longer maintained. For modern robot simulation, consider external tools.

Sets the ToolShape property of a Robot::RobotObject to a selected Part::Feature or VRML shape. The shape is then displayed attached to the robot flange joint in all views and during trajectory simulation.

Intuition

A robot arm is just a chain of joints — it has no physical end-effector by default. Robot Tool lets you attach a visual representation of the actual tool (weld gun, gripper, spindle) so that trajectory simulations show what the tool looks like and where it is in space.

When to use it

  • You want the simulation to show the physical tool shape at the robot's flange for visual verification of reach and clearance.
  • You need to check TCP (Tool Centre Point) placement relative to the tool body geometry.

Step-by-step

  1. Select one Robot::RobotObject and one Part::Feature (or VRML object) in the document tree.
  2. Choose Robot → Insert Robot → Tool.
  3. The shape is set as the robot's tool. It appears at the flange in the 3-D view.

Parameters

Input Description
Robot object The Robot::RobotObject to attach the tool to
Tool shape A Part::Feature or VRML object representing the end-effector

Python API

import FreeCAD as App

doc = App.ActiveDocument
robot = doc.getObject("Robot")
tool_shape = doc.getObject("GripperBody")

robot.ToolShape = tool_shape
doc.recompute()

See also