Introduction to CAD/CAM/CIM

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of Waterloo 1/22 1 © IEEE RAS – Egypt Chapter (Institute of Electrical and Electronics Engineers (IEEE Robotics & Automation Society Egypt Chapter IEEE Robotics & Automation Society Egypt Chapter http://www.ras-egypt.org/

of Waterloo 2/22 2 © IEEE RAS – Egypt Chapter Ahmed Sobhy Vice chair IEEE RAS Egypt Chapter Co-founder & PR Qafeer Makerspace CEO GDG 6 October & Robosapien Robotics www.Sobhy.me

of Waterloo 3/22 3 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Introduction : CAD/CAM/CIM Lecture 2 How to build a real robot, University logo goes here

of Waterloo 4/22 4 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Design • What is Design ?

of Waterloo 5/22 5 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter ▪ Design is the human power to conceive, plan, and realize products that serve human beings.

of Waterloo 6/22 6 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Design Disciplines • Mechanical Design – For Machines like Lathe, Drill, – For Turbo-machines like Turbine, Propeller – For Automobile like Chassis, Transmission – For Components like Gears, Shafts, Joints, etc.

of Waterloo 7/22 7 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Computer Aided Design • Use of computer systems to assist in creation, modification, analysis and optimization of a design. • Computer assistance, while a designer converts his or her ideas and knowledge, into a mathematical and graphical model represented in a computer.

of Waterloo 8/22 8 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter

of Waterloo 9/22 9 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Manufacturing • What is Manufacturing?

of Waterloo 10/22 10 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Manufacturing • Process of production of objects from metals or non-metals, with or without application of force, with or without application of heat, with or without use of machines, joining or removing of excess material.

of Waterloo 11/22 11 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Manufacturing Processes ▪ Chemical Process ▪ Mechanical Process as Bending ▪ NC/CNC Process as Turning, Facing ▪ Casting ▪ Molding ▪ Forming ▪ Machining ▪ Joining ▪ Rapid manufacturing

of Waterloo 12/22 12 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Computer Aided Manufacturing • Use of computers systems to plan, manage and control the operations of a manufacturing plant through either direct or indirect computer interface with plant’s production resources. • Manufacturing support applications –Use of computers in process planning, scheduling, shop floor control, work study, tool design, quality control etc.

of Waterloo 13/22 13 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter

of Waterloo 14/22 14 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Computer Integrated Manufacturing • A process of integration of CAD, CAM and business aspects of a factory. It attempts complete automation with all processes functioning under computer control.

of Waterloo 15/22 15 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter CIM

of Waterloo 16/22 16 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Need for CAD/CAM/CIM • To increase productivity of the designer • To improve quality of the design • To improve communications • To create a manufacturing database • To create and test tool paths and optimize them • To help in production scheduling and MRP models • To have effective shop floor control

of Waterloo 17/22 17 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Scope of CAD/CAM/CIM

of Waterloo 18/22 18 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks

of Waterloo 19/22 19 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks • SolidWorks is a 3D solid modeling package which allows users to develop full solid models in a simulated environment for both design and analysis. • In SolidWorks, you sketch ideas and experiment with different designs to create 3D models.

of Waterloo 20/22 20 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks • SolidWorks is used by students, designers, engineers, and other professionals to produce simple and complex parts, assemblies, and drawings. • Designing in a modeling package such as SolidWorks is beneficial because it saves time, effort, and money that would otherwise be spent prototyping the design.

of Waterloo 21/22 21 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter HANDLES USA KITCHEN USA VACUUM CLEANER Italy AIR CONDITIONING Japan STAIRLIFT UK CLIPPERS Sweden FURNITURE Spain BATHROOM Spain TELEPHONE South Korea STAIRS Italy LOCK USA SHOWER UK PERFUME France SolidWorks Everywhere in Consumer Products TELEPHONE Germany COMPUTER USA FAX & COPIER Korea

of Waterloo 22/22 22 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Industry Example: Trek Bikes • Company: – Designs, manufactures, and markets bicycles and bike accessories. • Challenge: – Heightened expectation for quality (Lance Armstrong) – Integrate Design and Manufacturing – Increased market demand • SolidWorks Benefits: – Shortened design cycle by 50% – Improved product quality – Doubled throughput of new products (100% increase) By providing integrated design, analysis, manufacturing, and communication tools, SolidWorks software has enabled Trek Bicycles to double its design throughput while improving quality and increasing innovation.

of Waterloo 23/22 23 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Industry Example: Kneissl • Company: – Located in Switzerland, Kneissl manufactures skis and tennis rackets • Challenge: – Replace 2D AutoCad with 3D capabilities – transform an idea from design to production quickly – Affortability • SolidWorks Benefits: – Can quickly conceptualize – Makes production of final product much easier – Low cost "In SolidWorks, we can give free rein to our creativity." Richard Holzner, Director of R&D Ski

of Waterloo 24/22 24 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Using the Interface • Use windows to view files. • Use the mouse to select buttons, menus, and model elements. • Run programs — like SolidWorks mechanical design software. • Find, open, and work with files. • Create, save, and copy files. The interface is how you interact with the computer in the following ways:

of Waterloo 25/22 25 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Microsoft® Windows® • SolidWorks runs on the Microsoft Windows graphical user interface. • Windows let you see the work of an application program. • Panels are sub sections of windows. • Illustration shows one window with two panels.

of Waterloo 26/22 26 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Using the SolidWorks Interface • SolidWorks windows display graphic and non-graphic model data. • Toolbars display frequently used commands.

of Waterloo 27/22 27 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Left Side of SolidWorks Window • FeatureManag er design tree™ ▪ Property Manager ▪ Configuration Manager

of Waterloo 28/22 28 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Toolbars Buttons for frequently used commands. • You can select the toolbars to display. • View / Toolbars

of Waterloo 29/22 29 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Getting Help To view comprehensive online help: • Click . • Select Help, SolidWorks Help Topics. • Help displays in a separate window.

of Waterloo 30/22 30 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter The SolidWorks Model • The SolidWorks model is made up of: – Parts – Assemblies – Drawings

of Waterloo 31/22 31 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Part Part Assembly Drawing Drawing The SolidWorks Model

of Waterloo 32/22 32 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Examples of Shape Features • Chamfer feature – Similar to a fillet. – Bevels an edge rather than rounding it. – Can remove or add material.

of Waterloo 33/22 33 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SOLIDWORKS Basics and Modeling Fundamentals Introduction to Robotics

of Waterloo 34/22 34 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Components - PARTS Before we begin looking at the software, it is important to understand the different components that make up a SolidWorks model. The first, and most basic element of a SolidWorks model is a Part. Parts consist of primitive geometry and features such as extrudes, revolutions, lofts, sweeps, etc. Parts will be the building blocks for all of the models that you will create

of Waterloo 35/22 35 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Components - Assemblies • The second component is the assembly. Assemblies are collections of parts which are assembled in a particular fashion using mates (constraints). • Any complex model will usually consist of one, or many assemblies.

of Waterloo 36/22 36 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Components - DRAWINGS • The third, and final component in SolidWorks is the Drawing. • A drawing is the typical way to represent a 3D model such that any engineer (or manufacturer) can recreate your part. • Drawings are important because they provide a standard way of sharing your design.

of Waterloo 37/22 37 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks – Let’s Begin • By default, no file is opened automatically when you start the program. • To create a new file, click on File > New or click the New File icon in the main toolbar. • This will open the New SolidWorks Document wizard.

of Waterloo 38/22 38 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Tour

of Waterloo 39/22 39 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Tour • Let’s begin by creating a new part. To do this, click on Part, then OK • Once you do this, you will be brought into the modeling view which should open several toolbars and panes

of Waterloo 40/22 40 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Tour There are several important parts of the screen that needs to be identified before we continue. First, the left side of the screen consists of several tabbed panes that provide very important information regarding your model.

of Waterloo 41/22 41 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Tour • The first tab, called the Feature Manager, lists all features that have been created within your model. • This tab is extremely important as it will be from here that you select and change features once they have been created.

of Waterloo 42/22 42 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Tour • The second tab, called the Property Manager, allows you to adjust the properties of various entities either during construction, or once it has been created. • Note that generally you will not need to manually change the tab on the manager window

of Waterloo 43/22 43 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Tour • The third tab is called the Configuration Manager and is used to set up different view configurations such as exploded views or 3D section views. • Usually this will be used once the part has been created and you wish to set up specific configurations for visualization.

of Waterloo 44/22 44 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Tour • There may also be other tabs visible in the manager window. • Generally any time you load an additional SolidWorks module (such as PhotoWorks, COSMOS Motion, COSMOS Works, etc.) it will create a new tab in this window.

of Waterloo 45/22 45 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Tour • The next important feature of the interface is the dynamic Toolbar • The dynamic Toolbar provides access to the most relevant, and frequently use commands in SolidWorks

of Waterloo 46/22 46 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Tour • The last part of the interface which should be noted is the Task Pane on the right side of the screen. • Using the Task Pane you can view content specific tasks such as importing standard geometry, file explorer, view palette, as well as any plug-in specific information.

of Waterloo 47/22 47 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Tour • The last thing that needs to be shown is how to open the SolidWorks tutorials. • They can be accessed by going to Help > SolidWorks Tutorials. • The tutorials are very helpful and cover from the most basic features to more advanced analysis and assemblies

of Waterloo 48/22 48 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Now that we have explored the interface of SolidWorks, lets create a simple part step-by-step. For now, we are only going to concern ourselves with two types of features, Extruded Boss/Base and Extruded Cut.

of Waterloo 49/22 49 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise We wish to model the following part:

of Waterloo 50/22 50 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise – What is Extrude? Extrude – When you take a 2D area and push the design out into another dimension. A 2D area, for example, can be made into a 3D volume by extruding it out a specific distance, d. You can extrude to make a SOLID or you can extrude to make a CUT

of Waterloo 51/22 51 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise There are MANY ways to EXTRUDE a surface We could make this rectangle and EXTRUDE it DOWN or UP You could EXTRUDE this rectangle and pull it to the left or right A rectangle could be made here on top of the first surface, then extruded down to make the cut. This rectangle could be made from the side or bottom and extruded.

of Waterloo 52/22 52 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Let’s begin by selecting EXTRUDED Boss Base You should notice that your tab will change to property manager asking you to select a plane from the view.

of Waterloo 53/22 53 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Go ahead and select the horizontal plane shown. You should notice several things happen. 1. You switch to feature manager 2. You have “sketch” buttons on the dynamic toolbar 3. You view below is shown as TOP

of Waterloo 54/22 54 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Click on Rectangle. You should see your cursor change to a rectangle with a pencil which means you are sketching. Make a rectangle by dragging the mouse from one corner of the screen to the other. The size does not matter at this point.

of Waterloo 55/22 55 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise If you hit escape, it will get you out of the rectangle TOOL and back to a normal cursor. We need DIMENSIONS to our rectangle however. At the bottom right of your screen you will see the figure above. Obviously, we are in the middle of our sketch but it also says, “Under Defined”. This means that there are parts of the sketch that are not defined according to location.

of Waterloo 56/22 56 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Click the bottom right point on the rectangle. You should be able to move this point around as its location is NOT defined. This point has degrees of freedom and is NOT constrained.

of Waterloo 57/22 57 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Let’s save our work! Click on the small box next to the far right vertical line. Notice this box turns pink when clicked and that it has a vertical line in it. This means that this line is vertical and when you click on it you can move it left or right. The vertical lines can thus be moved up or down.

of Waterloo 58/22 58 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Press the DELETE button, then click on the top right point. Notice the line is not defined as a vertical line anymore and the degrees of freedom are extended. The horizontal line still moves up or down, but notice the vertical line can be moved in any direction as you deleted the relationship.

of Waterloo 59/22 59 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise You can add relations by clicking on a line, turns green. Line properties will appear and you can click on the VERTICAL button on the ADD RELATIONS windows to constrain the line to just the vertical direction.

of Waterloo 60/22 60 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise • To ZOOM you can use the mouse wheel or hit the Shift button and move mouse • To PAN you use the Ctrl button and move mouse • To fit a picture to a window simply press the “f” letter key on the keyboard to FIT.

of Waterloo 61/22 61 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Now we want to add specific dimensions to our drawing. Choose SMART DIMENSION on the dynamic toolbar. Click the bottom horizontal line of our rectangle and drag the dimension down. You can change the length of the line by using the slider bar or you can simply enter in 4 m in the box shown. Enter the value 4 then click the green check. Since the box is way too big, press “f” on the keyboard to fit. Then drag down the dimension so that you can see it after hitting escape.

of Waterloo 62/22 62 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Now using Smart Dimension again lets dimension the left vertical line. You may need to zoom or pan to view the line to click on. Modify the Length to be 2 units as shown in the original drawing.

of Waterloo 63/22 63 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Hit Escape, then “f” to fit. You should see a 2 x 4 rectangle. If you click the top right corner, you see you can move the entire rectangle. The “entire” drawing has yet to be defined in terms of its location relative to the plane,

of Waterloo 64/22 64 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise To make the drawing fixed in the plane we can make one point coincident with the origin. Choose the top left point. Press CTRL, then select the origin. You will notice that under selected entries you have TWO items chosen. Under ADD RELATIONS you see “Coincident”. Choose this button and you will see the origin move to that point.

of Waterloo 65/22 65 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Choose ok (green check). You should see all of the lines turn black. Click in the top right corner to EXIT the SKETCH.

of Waterloo 66/22 66 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise When you exit the sketch you should see your dimensions and sketch in the plan you choose. An arrow will be located in the middle of your sketch. Click on the arrow and move upward.

of Waterloo 67/22 67 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise As you drag it upward you should see the volume like structure shown. You can also EXTRUDE the shape down.

of Waterloo 68/22 68 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Drag the surface upward and release to select a volume. Under the properties manager we see several DIRECTIONS we can take this surface. Just choose BLIND. The “D1” you see means depth and we see from our original picture we want a depth of 1. So enter 1, then click OK.

of Waterloo 69/22 69 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise We now have our first SOLID piece. You should also notice we have a ton of new features available as well.

of Waterloo 70/22 70 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Solidworks is a PARAMETRIC design tool, meaning the edges are always driven by dimensions. So it is very important that your drawing be fully defined. Notice under features manager EXTRUDE now appears on the list. Double click on this or expand. You now see the design in terms of its dimensions.

of Waterloo 71/22 71 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Click on the width dimension and change the value from 2 to 3. Then click OK. Then click exit in the properties manager window. What happened? Notice the STOPLIGHT icon next to our sketch under features manager. What this means is that we have CHANGED the design but we have yet to REGENERATE the part.

of Waterloo 72/22 72 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Up on the dynamic toolbar you will see another “stoplight” icon, but this time it is a button. If you click this button it will REBUILD your part according to the changes you made. Notice the changes in your part. Go ahead and make changes to the other dimensions and rebuild to see the effect. THEN CHANGE THE DIMENSIONS BACK TO THE ORIGINAL DIMENSIONS of 4x2x1.

of Waterloo 73/22 73 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Lets go ahead and make this cut! To do this, we need to use what is called an EXTRUDED CUT.

of Waterloo 74/22 74 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Click extruded cut and notice what it is asking us in the properties manager tab. We want to select planar face which is the top surface as shown.

of Waterloo 75/22 75 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Click on that top surface. What happened? We are sketching on top of the plane but unfortunately we are not LOOKING at the plane itself. At the bottom left you see the VIEW selection. Trimetric is chosen now, but if you click the arrow beside it other options become available. Click the NORMAL TO view.

of Waterloo 76/22 76 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise You should see now that you are looking directly DOWN at the plane. Click the rectangle button at the top and draw a rectangle of ANY SIZE within the surface of your plane.

of Waterloo 77/22 77 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise If you hit escape, you see that the rectangle is certainly UNDER DEFINED just as our last one was. So lets go ahead an DIMENSION the rectangle using our given figure. When you are finished you basically have a rectangle than you can freely move within the planar surface.

of Waterloo 78/22 78 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Lets define the location of the rectangle. Click on the bottom left point and press the CTRL button to select MULTIPLE entries. Click on the bottom horizontal line.

of Waterloo 79/22 79 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Under properties manager notice the entries selected in pink. Choose coincident under ADD RELATIONS. Notice your point is now coincident with the bottom surface. Click OK in the properties manager window. Notice that your horizontal lines are black meaning they are fully defined. Try dragging the box

of Waterloo 80/22 80 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Clink on smart dimension and choose the right vertical line of our smaller rectangle then click on the vertical line of our planar surface edge. Then modify the distance to 1.50 Notice we see FULLY DEFINED at the bottom of our screen and that all of our lines are black meaning NO freedom of movement.

of Waterloo 81/22 81 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Click OK in properties manager then EXIT sketch in the top right. The view will not be seen from the point of view we can extrude so choose a different view from below. Choose ISOMETRIC.

of Waterloo 82/22 82 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise From the property manager window under Cut-Extrude we can choose a direction. Choose THROUGH ALL as we want our cut to go all the way through. Then click OK. You should see the complete cut. Click and hold the mouse. You should be able to ROTATE the part in 3D space.

of Waterloo 83/22 83 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise Suppose we change the ORIGINAL dimension of the planar surface length from 4m to 6m.In feature manager, click on the original extrude and then modify the length dimension to 6m. Then regenerate the part. You should see that the CUT is fixed at 1.5 m from the right edge. So the big question is ….WAS THIS DESIGN INTENT? Did we really want this 1.5 m from the right or did we want the cut to be CENTERED?

of Waterloo 84/22 84 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise EXIT your sketch then change your view to isometric. In properties manager, use BLIND for the direction and change the height(D1) to be 1.50 according to our original drawing. Choose select to see the finished part.

of Waterloo 85/22 85 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Exercise To establish DESIGN INTENT, change the original length dimension from 4 to 6m. Then rebuild the part. You should see the top part remain centered and the cut 1.5 m from the right edge.

of Waterloo 86/22 86 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SOLIDWORKS Revolutions, Fillets, & Chamfers Introduction to Robotics

of Waterloo 87/22 87 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter SolidWorks Review • Recall that in the last lesson we started building basic parts in SolidWorks using only extruded solids (boss/base) and extruded cuts. • This lesson we will be learning about three new features that are typically used for modeling basic parts.

of Waterloo 88/22 88 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Revolutions • The first feature that we are going to look at is the revolution. • Revolutions can either be used to add material (Revolved Boss/Base) or remove material (Revolved Cut), either way the mechanisms are the same.

of Waterloo 89/22 89 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Revolutions The basic idea is that a revolution takes a closed cross section and revolves about some axis of revolution to produce a solid object:

of Waterloo 90/22 90 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Revolutions Although there are certainly cases where you can only produce a particular geometry using revolutions, oftentimes geometry can be produced by using either revolutions or extrudes.

of Waterloo 91/22 91 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Revolutions • So, if there are so many different ways to build a particular geometry…how do we decide what the correct one is? • Although there is no right answer (there are definitely wrong ways to model something), it is always important to consider the one that: – Provides the proper representation of your part – Uses the least number of features

of Waterloo 92/22 92 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Revolutions For example, say you wanted to model the simple part that we have been looking at so far: As 2 extrudes we would create:

of Waterloo 93/22 93 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Revolutions • Now, what would happen if we wanted to change the diameter of the cut hole? • We would either need to change it in both of our extrudes…or we would need to have set up the proper relationships so that it would be automatically changed for both. • The problem is to change the diameter of one feature, we need to change 2 dimensions

of Waterloo 94/22 94 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Revolutions What about if we used revolutions? Here we draw one cross section, and we can easily change the primary features by controlling only one dimension.

of Waterloo 95/22 95 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Revolutions Exercise Let’s begin by opening SOLIDWORKS and making a NEW PART. Let’s choose REVOLVED BOSS/BASE from the dynamic toolbar. Under properties manager you will be asked to chose a plane.

of Waterloo 96/22 96 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Revolutions Exercise Choose the FRONT PLANE. As soon as you click on it, it will rotate the plane so that you can view looking into the plane. Begin by drawing a rectangle. Once drawn ( size doesn’t matter yet) hit escape to exit the rectangle tool.

of Waterloo 97/22 97 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Revolutions Exercise You should now see the properties manager for REVOLVE and a green rectangle. The dashed line in properties manager is called the axis of rotation of which it is looking for one. So lets click the left vertical line to see what happens.

of Waterloo 98/22 98 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Revolutions Exercise So now you should see a cylinder with the chosen line as the axis of rotation. Go ahead and hit OK to accept this cylinder. But let’s say we want to CHANGE our sketch.

of Waterloo 99/22 99 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Revolutions Exercise In the features tab, expand the REVOLVE selection and click sketch. Then RIGHT CLICK on sketch and choose EDIT SKETCH.

of Waterloo 100/2 10 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Revolutions Exercise You will see your basic sketch so then change the view to normal view. The view now allows us to look at the front face of our sketch.

of Waterloo 101/2 10 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Revolutions Exercise In our original picture, we saw a line(axis) outside of our shape. We call this a center line. The center line button is located on the dynamic toolbar. Click it and then draw a normal line starting at the origin parallel to your sketch upward. Then hit escape. Then Exit sketch.

of Waterloo 102/2 10 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Revolutions Exercise What happened? Nothing! Because we need to tell Solidworks to USE the centerline as our axis for revolve. Whereas before we right-clicked on the sketch in features manager to edit the sketch. Here we simply right click on REVOLVE and CHOOSE EDIT FEATURE.

of Waterloo 103/2 10 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Revolutions Exercise So you can see that once you edit the feature that the object still rotates around the left vertical line of the rectangle we just drew. Our centerline is visible, but the object does not rotate around it. In the properties manager, click on the axis box highlighted in pink where you see that the current axis is line 2. We want to change this to the center line. So after clicking in the box, click on the center line. Then exit the sketch.

of Waterloo 104/2 10 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Revolutions Exercise We now see the changes evident in making the object rotate around a center line. NOTE: If we had drawn the center line FIRST, Solidworks would have automatically chosen the centerline as the axis of revolution as it assumes that is what we want to do.

of Waterloo 105/2 10 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers • Fillets and Chamfers are finishing features that are used to smooth or corner sharp edges on your part. • As a rule of thumb, these types of finishing techniques should always be the last features that you apply to your model

of Waterloo 106/2 10 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Fillets and Chamfers are PART BASED features whereas EXTRUDE and REVOLVE are SKETCH BASED features.

of Waterloo 107/2 10 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise Click on fillet. You should see that it is asking you to select an EDGE. Lets click the top face. You should see a yellow wire frame and if you don’t, select FULL PREVIEW from the properties manager.

of Waterloo 108/2 10 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise As you can see, you get a preview of what it is going to do. Click on the inside hole edge. You should see the yellow wire frame there as well. Click, EXIT SKETCH. You get a nice rounded edge. Chamfers as well give you nice part features. Click Chamfer, then select the bottom edge of your part.

of Waterloo 109/2 10 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise There are 2 different ways to define a Chamfer. You can define by using an ANGLE or a specific DISTANCE. Lets do a chamfer on the inside hole too. Choose distance-distance then check the equal distance box. Then Click OK.

of Waterloo 110/2 11 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise You should now see the part with beveled outside and inside edges.

of Waterloo 111/2 11 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers • As you can see, adding fillets and chamfers to models is a very straightforward process. • Oftentimes applying these types of features will reveal problems with your modeling practice (because of poor edge mating, tolerances, etc). • This is why we try to always place these features on the model last.

of Waterloo 112/2 11 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise Lets use what we have learned to model the following part: What is the BEST way to model this part with the LEAST amount of features? Extrudes? Revolve?

of Waterloo 113/2 11 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise Let’s save our current part. Then exit out. Click NEW, choose Part, then OK. Now careful inspection of our design we see that we are possibly NOT using meters as a unit. Let’s change the units to millimeters. Start by right clicking on the “PART” name in the feature manager and choose DOCUMENT PROPERTIES. A window will open and you should see the DOCUMENT PROPERTIES tab. In the left pane, find UNITS.

of Waterloo 114/2 11 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise You should notice that after you click UNITS that we are in the MKS system of measurement using meters, kilograms, and seconds. Let’s change that to the MMGS system to that we can design our part in millimeters. Click OK at the bottom to finish. NOTE: If you design a part using meters originally and it is 1 x 1 x 1 meters, then change the units to millimeters the dimensions WILL CHANGE to 1000x1000x1000 mm.

of Waterloo 115/2 11 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise Let’s start by choosing the REVOLVE boss/base, then choose the front planar surface. Once again, the part will rotate around to give you a front view. Let’s begin by just drawing the “general shape”. Click on the LINE button at the top.

of Waterloo 116/2 11 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise Using the line drawing feature, sketch out the basic shape which appears to be a stair step design as shown. Try to sketch within the ballpark of the length you are suppose to model. Also, apply a centerline upwards from the origin.

of Waterloo 117/2 11 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise Click on the centerline, then under property manager check the box that says INFINITE LENGTH. One problem is that our sketch is not fully defined and our centerline can be moved around. We need to fix the centerline on to the origin. Click the

of Waterloo 118/2 11 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise You should notice your centerline is black meaning it is fully defined. Now let’s define the bottom part of our sketch. Click the bottom left corner, press CTRL, click on the origin, then in property manager choose “horizontal” and they will line up. We are now ready to dimension our sketch. Choose SMART DIMENSION.

of Waterloo 119/2 11 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise Dimension each of the heights as shown in our original sketch. We then start to dimension the widths. Now it may seem tedious to dimension each individual width, divide by 2 , and try to consider the distance from the centerline. The fact is that you don’t have to do all of that. Solidworks knows you are revolving around the centerline and will be using a

of Waterloo 120/2 12 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise Set the diameter to 60. You may notice some overlap with the far left vertical line and that is because we have yet to dimension it to the centerline. Dimension that line with a diameter of 20 as shown.

of Waterloo 121/2 12 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise Complete the rest of the dimensioning. Keep in mind you dimension the vertical lines to the centerline, then move past to make a diameter setting. Once finished you will see you are FULLY DEFINED at the bottom.

of Waterloo 122/2 12 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise Exit the sketch and notice that it automatically revolves the sketch for you around the centerline. Click OK in property manager and the final part will be shown.

of Waterloo 123/2 12 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise If you click on the feature, you should notice it automatically draws the diameters in for you. You can click to drag them out to see them

of Waterloo 124/2 12 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise Now we are ready to apply the fillets. Notice that all fillets are to have a radius of 6, which is a global setting unless otherwise noted, which we see is noted as 8 for the top face. Choose FILLET on the toolbar and set your radius to 8.

of Waterloo 125/2 12 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise All we need to do is click on the top edge. Then click on OK in properties manager to finish the fillet.

of Waterloo 126/2 12 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise Now for the inside fillets of radius 6. These can be done together by clicking BOTH inside surfaces. Choose OK in property manager to finish.

of Waterloo 127/2 12 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise Lastly we need to Chamfer. Click chamfer. In our original drawing they wanted 6x6 chamfers, which are distance-distance parameters. Since they are equal make sure EQUAL distance is checked then set the distance to 6.

of Waterloo 128/2 12 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Fillets and Chamfers Exercise Select the top 2 edges, then EXIT SKETCH to view the finished part.

of Waterloo 129/2 12 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Assembly Basics and Toolbox Introduction to Robotics

of Waterloo 130/2 13 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks • We have now completed the basic features of part modeling and it is now time to begin constructing more complex models in the form of assemblies. • Recall that an assembly is a collection of parts that are connected using mates or constraints. • Before we work in the program, lets first discuss the different types of mates…

of Waterloo 131/2 13 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Mates There are 5 standard mates that can be used to construct an assembly model. The first is coincident, which defines coincidence between two entities: – Point-Point : They must lie on top of each other – Point-Line : The point must lie on the line – Point-Plane : The point must lie on the plane – Plane-Plane : The planes must be the same –etc…

of Waterloo 132/2 13 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Mates • The next mate is parallel – Line-Line : the two lines must be parallel in 3D space – Plane-Plane : the two planes must be parallel (not the same as coincident) • Perpendicular mate – Line-Plane : the line must be normal to the plane – Plane-Plane : the two planes must be perpindicular to each other

of Waterloo 133/2 13 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Mates • Tangent mate – Cylindrical Surface-Plane : the plane must be tangent to the circular surface – Cylindrical Surface-Cylindrical Surface : the two cylinders must be tangent to each other • Concentric mate – This is used with two cylindrical surfaces to restrain that their respective axes of revolutions must be coincident (example: placing a bolt into a hole)

of Waterloo 134/2 13 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Assemblies • Using the basic mates we can construct most assemblies with static configurations. • For the remainder of this session we are going to create the necessary parts for a simple clamp so that we may then go step by step through the process of creating your first assembly in SolidWorks. • Along the way we are going to look at a few new modeling techniques that may come in handy as you use SolidWorks.

of Waterloo 135/2 13 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Upon inspection of the design we see we have what is called FOUR CALLS. 1. One upper saddle 2. One lower saddle 3. 2 Hex socket head screws 4. 1 standard hex nut Notice that there are no dimensions on the hex nut. This means

of Waterloo 136/2 13 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Click on NEW PART. Right click on the part in feature manager to choose DOCUMENT PROPERTIES. Change the units to MMPS so that we can model in millimeters. Lets model the front face of the upper saddle. Choose Extruded Boss/Base the choose the front plane. Switch to normal view if needed. Use LINE to start drawing the basic shape. Start to the left of the origin so that our origin appears in the center of our sketch. Once we get to the ARC choose 3 POINT ARC. When making the arc, click on the 2 level points first, then the 3rd point being the top of the arc. Use LINE to finish the sketch.

of Waterloo 137/2 13 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Lets dimension the 2 sides of the rectangle and the arc. As you dimension keep in mind that your sketch may become odd and that is because certain lines are NOT fully defined. Try to get your sketch to look like the one shown. Once finished APPLY a coincident relation by using CTRL to the center of the ARC and the ORIGIN.

of Waterloo 138/2 13 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Since our part is not fully defined we need to add more relations. We need to apply a HORIZONTAL relation to the one of the lower left points and the origin. Use CTRL to do this. Need a horizontal relation To define the sides of the rectangle, use CTRL to select the 2 lower horizontal lines and add the EQUAL relation to them.

of Waterloo 139/2 13 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Exit the sketch and switch to isometric view. But instead of doing a Blind Extrude lets make sure our origin is at the line of symmetry so choose extrude to MIDPLANE from the direction box. Enter 32 for the depth.

of Waterloo 140/2 14 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Click EXIT sketch and you see we have our base. According to our design we need a 10 mm hole all the way through and a counter bore 14 mm in diameter and 10 mm deep. If you click on the RIGHT PLANE in feature manager you can see we have a plane of symmetry since we made our origin coincident with the center of our part.

of Waterloo 141/2 14 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Click on extruded cut, choose top surface and change view to normal to. Draw a circle on the surface. Dimension the circle according to the design with its diameter being 10 mm. Exit the sketch, switch view to isometric, and choose THROUGH ALL in property manager to extrude the cut all the way down.

of Waterloo 142/2 14 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise To add the counter bore, we choose extruded cut, change view to normal to. We want to add another circle with the SAME origin as our first. At the top choose VIEW, then choose temporary axis. Dimension the second circle to 14 mm. Exit the sketch and extrude the second cut down 10 mm as shown.

of Waterloo 143/2 14 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Clicking OK in property manager will finish the counter bore. Rotate to see the effect. To begin the MIRROR process, click BOTH extruded cuts by using CTRL. Then click MIRROR. EXPAND the part showing in the design window ( NOT FEATURE MANAGER) and choose RIGHT PLANE.

of Waterloo 144/2 14 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Click, exit sketch, to see the mirror result. Save this part as UPPER SADDLE in a directory called SOLIDWORKS>>Parts in your my DOCUMENTS folder. Now lets build the lower saddle. Choose: • New part • Check to see if Units are in mm • Extruded Boss base • Front Plane • Sketch using lines and 3 point arc • Dimension

of Waterloo 145/2 14 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Exit sketch. Do the same as the upper saddle. Choose a MIDPLANE extrusion to 32 mm. Choose extruded CUT and the top right plane. Change view to normal. Draw a circle and dimension it accordingly.

of Waterloo 146/2 14 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Exit sketch and extrude once again as THROUGH ALL. To mirror, click on the cut in feature manager. Choose MIRROR then expand the part in the design field. Choose right plane then exit sketch to produce the final lower saddle.

of Waterloo 147/2 14 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Save this part as LOWER SADDLE in same location as upper saddle. Now we need to model the socket head screw. Choose NEW PART. Change units to mm. Choose extruded boss base then choose top plane and change your view to normal. Draw a CIRCLE at the origin and dimension the diameter to 8 mm. Exit sketch and extrude to 46 mm(54 – 8)[see sketch]

of Waterloo 148/2 14 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise For the top part of the screw, choose extruded boss base, then top surface. Switch view to normal and draw a circle from the same origin. Dimension the diameter to 13 mm. then Exit sketch.

of Waterloo 149/2 14 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Extrude this feature to 8 mm. Exit sketch. Now lets add an interesting feature. Choose TOOLS at the top , then sketch entities, then POLYGON. Since this is a HEXAGON we want 6 sides with a 6 mm inscribed circle diameter.

of Waterloo 150/2 15 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Click ok in property manager, then dimension the inscribed circle to 6 mm. To fully define the hexagon choose the right point and the origin and add a HORIZONTAL relation using CTRL. Exit the sketch and extrude the hexagon cut to 5 mm so that a hex key can be used to screw this bolt.

of Waterloo 151/2 15 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Now lets chamfer the edges of the bolt. Choose chamfer, then click distance-distance, equal distance, and enter 1 mm. Chamfer BOTH the top edge of the screw and the very BOTTOM of the screw. Click OK. Save part as HEX SOCKET SCREW!

of Waterloo 152/2 15 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Now lets use the toolbox to get the nut for the hex bolt. Choose DESIGN LIBRARY from the right side toolbar. If there appears to be no way that the toolbox can be expanded, that is because the ADD IN isn’t loaded. Go to TOOLS then ADD INS. Check TOOLBOX and TOOLBOX Browser

of Waterloo 153/2 15 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Once you can expand the toolbox, choose ANSI Metric. In the browser, find the folder NUTS, then HEX NUTS, then choose the HEX JAM NUT. Right click on the NUT and choose CREATE PART.

of Waterloo 154/2 15 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise The part will then load and in property manager select the size to be M8. Change file name in properties to Hex Jam Nut M8x1.25.

of Waterloo 155/2 15 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise As you can see, everything is done for you. Save this part in you’re my documents folder. At the top, choose WINDOW then load your upper saddle. At the top, click the ASSEMBLY button.

of Waterloo 156/2 15 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Once you click Assembly, you should notice the parts you recently created in property manager. Click on the upper saddle, then hit enter. It will place the upper saddle in the design field and you will notice that it is called ASSEMBLY in feature manager. Save this assembly as a SHAFT CLAMP in you’re my documents folder.

of Waterloo 157/2 15 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise You will notice an “f” next to your first part in feature manager. That means the part is “fixed”. To add another part, click INSERT COMPONENT on the toolbar. Click the part you want and you should see you can place it anywhere in the design field. Click on lower saddle and place it below the upper saddle. Then insert 2 screws and 2 nuts

of Waterloo 159/2 15 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise So the way we put them together is by using MATE. Click on MATE at the top. Choose the right TOP of the lower saddle, then rotate your view and choose the BOTTOM right of the top saddle. It will automatically give them a COINCIDENT and ALIGNED relation. So click OK.

of Waterloo 160/2 16 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Change your view to right side. If you click on the lower saddle you should discover that you can only move the it left or right. Switch back to isometric view. Click on MATE again and choose the FRONT Surface of BOTH saddles. Click OK in feature manager. Choose MATE once more and select the RIGHT SIDES of each saddle.

of Waterloo 161/2 16 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise You can tell the saddle are FULLY MATED when they DO NOT have a “minus” sign next to them in feature manager. Notice the top saddle has the “f” for fixed an the other saddle has no minus sign. The other parts have the minus as they are NOT mated and can be still moved around. Choose MATE. Above your design, choose VIEW TEMPORARY AXES. Click on the axis of one bolt as well as the axis of one bore. This will make them COINCIDENT. Click OK. Do the same for the other bolt. Make sure you click OK after each mate used.

of Waterloo 162/2 16 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Choose MATE. Click on the side underneath the bolt head. Then click on the ledge INSIDE the bore. Do the same for the other bolt as well. Finish the assembly by mating the nut to each axis, then one side of the nut to the underbelly of the lower saddle.

of Waterloo 163/2 16 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Exercise Now we should have a fully assembled shaft clamp. You should notice that the bolts and nuts STILL have a minus next to them in feature manager. This is ok as they are free to ROTATE. SAVE YOUR WORK!

of Waterloo 164/2 16 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Solidworks Assembly & Part Drawings Introduction to Robotics

of Waterloo 165/2 16 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Mechanical Drawings So far we have been dealing with creating parts and assemblies in SolidWorks, however, when you go to get a part machined, you will need to create a mechanical drawing of each of your parts (and assemblies). Mechanical drawings are important because they allow those who are technically trained to reconstruct your 3D geometry from 2D drawings.

of Waterloo 166/2 16 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Fortunately, SolidWorks makes it very easy for us to create drawings from a part or assembly file. In fact, if built properly, SolidWorks will also dimension the entire part and assembly for us…something that saves a lot of time!

of Waterloo 167/2 16 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Rather than start a new part from scratch, lets open the same assembly that we have been using for the past several lectures:

of Waterloo 168/2 16 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Once we open the assembly, we can click on the following button which will automatically create a drawing file from our assembly:

of Waterloo 169/2 16 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawing Format At first you see several different formats that are set up for you. Choose A-Landscape.

of Waterloo 170/2 17 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks However, before we can begin placing views, it is important to set our projection style to Third Angle (in order to have the projections behave as we expect) To do this, right click anywhere on the sheet and click on Properties (or you can right click on the sheet in the Feature Manager)

of Waterloo 171/2 17 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks This will open the Sheet Properties window:

of Waterloo 172/2 17 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Open up the palette on the RIGHT side menu Click and HOLD the view you want and drag it into the drawing field. Choose the ISOMETRIC view and drag it to the drawing field.

of Waterloo 173/2 17 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Once you have placed a view into the drawing field you can access any type of annotations by either clicking on the appropriate button on the dynamic toolbar or RIGHT clicking on the design.

of Waterloo 174/2 17 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Let’s add a bill of materials. Right click on design, choose TABLES, then bill of materials. Property Manager will open, click OK Now click the design, then AUTOBALLOON on the toolbar. Click OK in property manager.

of Waterloo 175/2 17 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Now add a FRONT VIEW from the palette and click OK in property manager. Then click the design and then AUTOBALLOON again. You will notice the #4 part is now being shown.

of Waterloo 176/2 17 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Using SolidWorks to create the drawing for your assemblies can save a lot of time, however, the real power is when you go to create a drawing for a specific part. So, we can do this by creating a new sheet within the drawing file and linking to one of our part files.

of Waterloo 177/2 17 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Right click on the SHEET 1 tab to add a new sheet. Unfortunately, only the assembly file is shown in the palette. Click the box with the 3 dots to browse for the upper saddle. Choose the upper saddle from the screen and click OPEN. The upper saddle views will then appear in the palette for you to choose from.

of Waterloo 178/2 17 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Choose the FRONT view, the click, then move UPWARD. Another VIEW will appear, click. Then move right, another view will appear, click, then move it another direction so that you get a 3D orthogonal view plus isometric. If you click the FRONT VIEW and drag it around, you will notice the other view move with it so that it is aligned.

of Waterloo 179/2 17 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Change the view of the FRONT to “hidden line” and the Isometric view to “shaded with edges”. Simply click on the design and select the change. It would be nice to have some dimensions too. Click on the FRONT view as that is the one we used to project all the others and on the top toolbar choose MODEL ITEMS.

of Waterloo 180/2 18 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks In property manager, choose SOURCE and select “entire model” from the menu. And also check, “import items into all views”. Click OK The dimensions will automatically appear, however, you may need to shift the dimensions around for

of Waterloo 181/2 18 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks If the UNITS are wrong, right click on Shaft Clamp in feature manger and change the units to MMPS.

of Waterloo 182/2 18 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Now you can ADD another SHEET. Import the lower saddle. And repeat the process.

of Waterloo 183/2 18 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Repeat for the HEW Screw. To get the projected view you may have to RIGHT CLICK on the part, then choose DRAWING VIEWS, then Projected view.

of Waterloo 184/2 18 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Save this drawing!

of Waterloo 185/2 18 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks As you can see, if properly built, SolidWorks can construct the necessary drawing files almost automatically. This is another reason why it is important to fully constrain your sketches when you are modeling your parts, if you dimension them properly, SolidWorks will be able to import your dimensions directly into your drawings.

of Waterloo 186/2 18 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Lets make a new part. Start by choosing extruded boss/base from the TOP PLANE. Make a rectangle and dimension it 0.10 x 0.05. Exit sketch and extrude to 0.04

of Waterloo 187/2 18 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Do an EXTRUDED CUT on the top surface. Change view to Normal and draw a rectangle on the entire right side. Dimension the lower edge to be 0.05. Exit sketch and extrude downward 0.02 then click OK. Save part as block.

of Waterloo 188/2 18 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Now choose “make drawing from part” on toolbar above. Choose A-Landscape. Right click, choose properties to change view to THIRD ANGLE. Open the palette and drag in the Front View, clicking to reveal all the other views. You may notice that the isometric view is too large. Click on the isometric design.

of Waterloo 189/2 18 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks In property manager, you can change the scale by selecting CUSTOM SCALE and choosing the scale you want from the menu. Choose 1:2

of Waterloo 190/2 19 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Change the isometric view to shaded with edges and add the MODEL ITEMS to reveal the dimensions. Let’s say we want to change the width of the cut! Before we doing anything, save the drawing.

of Waterloo 191/2 19 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Change your window back to the part and double click on the cut part to revel the dimensions. Change the width to 0.07. Click OK, then RE-BUILD

of Waterloo 192/2 19 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Change your window back to the drawing. Notice the changes are already fixed. Let’s make a change on the drawing now. Change the cut depth to 0.03 by clicking on the dimension in the drawing. Click RE-BUILD

of Waterloo 193/2 19 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Change the window back to the part. Notice the changes. Solidworks uses REFERENCES whereas other 3D CAD programs do not. Lets add a hold to the top surface. Choose Extruded CUT. Draw a circle with a diameter of 0.02 and 0.03 from each edge. Be sure o change your views.

of Waterloo 194/2 19 L1, How to build a real robot: 2011-2012 © IEEE RAS – Egypt Chapter Drawings in Solidworks Change the window back to the drawing and you will discover the hole there. If you go through the ADD MODEL ITEMS procedure again, it will add the additional missing dimensions you just added.

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