How to make collisions for all the joint movements ?

Hi everyone,

I am trying to make a tube robot arm but I am having difficulty getting certain areas to collide. The attached Robot_Arm_Beta.rar file  has an assembly labbeled " tubearm.sldasm " which shows the arm I will like to make move.

I will like the hobby servo motor horns to rotate the brackets and stop on collision.

Note : I attached Servo_Final.sldasm to show what was the Hobby servo motor I was referring to. The horn is the white circle on the hobby servo motor.

Thanks

Iz

SolidworksAssemblies