robot modelling and assembling day 2

Week 1 Day 2

Workshop by

Highlights of Previous Lecture

• Learnt what a robot is?

• Robot Uses

• Common Robotic Parts

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

Working Areas in Robotics

Mechanical

ComputersElectrical

and Electronics

Working Areas in Robotics (Cont)

Mechanical

• Structure

• Joint Mechanism

• Bearings

• Heat Transfer Characteristics

• Sensors

Mechanical

ComputersElectrical

and Electronics

Working Areas in Robotics (Cont)

Electrical and Electronics

• Control Electronics

• Power Amplifiers

• Signal Conditioning

• Sensors

Mechanical

ComputersElectrical

and Electronics

Working Areas in Robotics (Cont)

Computers

• Computing Hardware Design Mechanical

ComputersElectrical

and Electronics

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 structures only

Mechanical

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.

Introduction to CAD

• All the products today are designed using computer (examples to follow of different products and robots)

Introduction to CAD

• CAD stands Computer Aided Drafting (Common sense says that we use computer to product our drafts)

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

Title Bar

Menu Bar

Tool Bar

Navigation Pane

Browser Window

Message Pane

Features Toolbar

Tool Bars

FileToolbar

EditToolbar

ViewToolbar

Model Display Toolbar

Datum Display Toolbar

• File > Set Working Directory

Working Directory should be selected before starting work in Pro/ENGINEER Wildfire 4.0

Setting up Working Directory

Getting Started to Draw

• Click the “New” button on the File Toolbar

• The “New” window appears

• Select “Sketch”

• Name it “Sketch1”

• Click “OK” or Press Enter

• The “Sketch Mode” will now be available

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

The Sketch Mode Environment

Drawing Area/Sheet

Sketcher Toolbar

The Sketcher ToolbarSelect tool

Line tool

Rectangle tool

Circle tool

Arc tool

Fillet tool

Spline tool

Point tool

Create Dimension tool

Modify Dimension tool

Add Constraints tool

Add Text tool

Insert for foreign data

Mirror tool

Trim tool

Drawing Basic Entities

• Lines

• Rectangle

• Circles

• Arcs

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

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

More of the “Arc” tool

• Clicking the drop down arrow at the side of the “arc” tool, displays sub-options

Right-Angled Triangle

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

• “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.

• The rectangle edge will become like as shown below

• Follow the same procedure for all other vertices until you have the sketch as shown

Practice