Robot Modelling and Assembling Day 2


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Robot Modelling and Assembling Day 2

  1. 1. Week 1 Day 2Workshop by
  2. 2. Highlights of Previous Lecture• Learnt what a robot is?• Robot Uses• Common Robotic Parts
  3. 3. Today’s Lecture• Working Areas in Robotics• Introduction to Computer Aided Drafting (CAD)• CAD Advantages• Different Types of CAD softwares• Introduction to Pro Engineer (Features)• Environment Familiarization• Different types of file extentions• Working Directory Setting• Making Our First Sketch
  4. 4. Working Areas in Robotics Mechanical Electrical and Computers Electronics
  5. 5. Working Areas in Robotics (Cont)Mechanical• Structure• Joint Mechanism Mechanical• Bearings• Heat Transfer Characteristics Electrical and Computers• Sensors Electronics
  6. 6. Working Areas in Robotics (Cont)Electrical and Electronics• Control Electronics• Power Amplifiers Mechanical• Signal Conditioning• Sensors Electrical and Computers Electronics
  7. 7. Working Areas in Robotics (Cont)Computers• Computing Hardware Design Mechanical Electrical and Computers Electronics
  8. 8. Lets Make Things Easy• In order to master robotics we will focus on subsystems.• Mechanical is a huge field therefore we’ll only be working on Mechanical structures only
  9. 9. History of Drawing• All the drawings were previously made on paper using special tools (Pictures of manual drafts to follow)• Tools also to be displayed• Engineering design graphics has made significant changes since the early 1980s. For the most part, these changes are a result of the evolution of computer- aided design (CAD). Before CAD, design was accomplished by traditional board drafting utilizing paper, pencil, straightedges, and various other manual drafting devices.
  10. 10. Introduction to CAD• All the products today are designed using computer (examples to follow of different products and robots)
  11. 11. Introduction to CAD• CAD stands Computer Aided Drafting (Common sense says that we use computer to product our drafts)
  12. 12. Getting Started with Pro/E• Double click the Pro/ENGINEER icon on your desktop to get started• Splash screen will appear and after a while Pro/ENGINEER window will be visible
  13. 13. Title BarMenu BarTool BarNavigation PaneBrowser WindowMessage PaneFeatures Toolbar
  14. 14. Tool BarsFile Edit View Model DatumToolbar Toolbar Toolbar Display Display Toolbar Toolbar
  15. 15. Setting up Working Directory• File > Set Working Directory Working Directory should be selected before starting work in Pro/ENGINEER Wildfire 4.0
  16. 16. Getting Started to Draw• Click the “New” button on the File Toolbar• The “New” window appears
  17. 17. • Select “Sketch”• Name it “Sketch1”• Click “OK” or Press Enter• The “Sketch Mode” will now be available
  18. 18. Some Definitions• Sketcher – A 2D drafting/drawing mode• Sketch – The entities of a section that define the basic shape of a feature• Entity – An element within the sketcher environment, such as a line, arc, or circle
  19. 19. The Sketch Mode Environment Sketcher Toolbar Drawing Area/Sheet
  20. 20. The Sketcher Toolbar Select tool Line tool Rectangle tool Circle tool Arc tool Fillet tool Spline toolPoint toolCreate Dimension tool Modify Dimension tool Add Constraints tool Add Text tool Insert for foreign data Trim tool Mirror tool
  21. 21. Drawing Basic Entities• Lines• Rectangle• Circles• Arcs
  22. 22. Exploring the “Line” tool• The “line” when expanded looks like this Draws a 2-point line Draws tangent lines w.r.t 2 curves Draws center line
  23. 23. Circle Tool & its Drop Down Arrow• We will now have a look at the different options in the Circle tool• Click the drop down arrow and you will the expanded tools Draws circle w.r.t center and a point Concentric circle – circle within a circle Draws circle w.r.t to 3 points Draws circle w.r.t to 3 tangents Draws an ellipse or an oval
  24. 24. More of the “Arc” tool• Clicking the drop down arrow at the side of the “arc” tool, displays sub-options
  25. 25. Right-Angled Triangle
  26. 26. The “Fillet” Tool• We will be rounding its edges with the “Fillet” tool, available in the Features toolbar• A “Select” pop-up window appears when click on the “Fillet” icon• Also observe the message in the “Message” box at the bottom of the screen
  27. 27. • “Select 2 entities” mean selecting two different lines• We will click the horizontal line first. It will turn blue. And then click the vertical line.
  28. 28. • The rectangle edge will become like as shown below
  29. 29. • Follow the same procedure for all other vertices until you have the sketch as shown
  30. 30. Practice