Part 1 - Design 3d Models of Robots With SOLIDWORS 2010

DESIGN ROBOT WITH SOLIDWORS 2010
Part 3 Part 2
Part 1
Part 0
two-degree-of-freedom serial chain manipulator
1 CREATING PART 1
1.1 Creating a new file with file name Part0
1. Click File New (menubar)
2. In the New SolidWorks Document dialog box, double-click Part.
3. Click File Save
4. In the dialog box type Part0 for filename and Click Save
1.1.1 Creating Boss-Extrude1 1. Click the front face of the model to preselect the sketch plane for the next feature. 2. Click Extruded Boss/Base 3. Click Normal To (Features toolbar).
(Standard Views toolbar).
4. Click Circle
(Sketch toolbar).
5. Click the center of the face and move the pointer to sketch a circle.
6.
Release the circle tool by put ECS on keyboard
7.
Click Smart Dimension
(Dimensions/Relations toolbar).
8.
Select the circle.
9. 10. 11.
Move the pointer outside the model to see the current dimension Click to place the dimension. In the Modify dialog box: a. Set the value to 400. b. Click
12.
Click Exit Sketch
(Sketch toolbar).
The Boss-Extrude PropertyManager appears in the left pane, and a preview of the extrusion appears in the graphics area.
13.
In the PropertyManager, under Direction 1: a. Select Blind in End Condition. b. Set Depth to 80.
14.
Click
Boss-Extrude1 appears in the FeatureManager design tree. 1.1.2 Creating Boss-Extrude2 1. Click the face of Boss-Extrude1 to preselect the sketch plane for the next feature
2. Click Extruded Boss/Base 3. Click Normal To
(Features toolbar).
4. Click Center Regtangle
(Sketch toolbar).
5. Click the center of the face and move the pointer to sketch a regtangle
6.
Release the regtangle tool by put ECS on keyboard
7.
8.
Select the edges
9. Move the pointer outside the model to see the current dimension 10. Click to place the dimension. 11. In the Modify dialog box: 1. Set the value to 80 for vertical edge and 150 for horizontal edge. 2. Click to finish
12. Click Exit Sketch
(Sketch toolbar).
13. In the PropertyManager, under Direction 1: 1. Select Blind in End Condition. 2. Set Depth 14. Click to 180.
Boss-Extrude2 appears in the FeatureManager design tree. 1.1.3 Creating Cut-Extrude1 1. Click the face of Boss-Extrude2 to preselect the sketch plane for the next feature
2. Click Extruded cut 3. Click Normal To
(Features toolbar). (Standard Views toolbar).
4. Click Ccorner Regtangle
(Sketch toolbar).
5. Click the edge and move the pointer to sketch a regtangle
6.
Release the regtangle tool by put ECS on keyboard
7. 8. 9. 10.
Click Smart Dimension (Dimensions/Relations toolbar). Select the edges Move the pointer outside the model to see the current dimension. Click to place the dimension. In the Modify dialog box, Set the value as this figure
(Sketch toolbar).
The Cut-Extrude PropertyManager appears in the left pane, and a preview of the extrusion appears in the graphics area.
12. In the PropertyManager, under Direction 1: Select Through All in End Condition. 13. Click
Cut-Extrude1 appears in the Feature Manager design tree 1.1.4 Creating Boss-Extrude1 1. Click the face of Boss-Extrude2 to preselect the sketch plane for the next feature
2. Click Extruded cut 3. Click Normal To
(Features toolbar). (Standard Views toolbar).
7. Click Circle
(Sketch toolbar).
9.
9.
10. Select the circle.
15. 16. 17.
Move the pointer outside the model to see the current dimension Click to place the dimension. In the Modify dialog box: a. Set the value with dimension as above picture b. Click
(Sketch toolbar).
The Cut-Extrude PropertyManager appears in the left pane, and a preview of the extrusion appears in the graphics area.
19. In the PropertyManager, under Direction 1: Select Through All in End Condition. 20. Click
Cut-Extrude1 appears in the Feature Manager design tree
1.1.5 Close file : 1. Use hotkey Ctrl S to save file 2. Click File Close to close the file
2 CREATING PART 1
3. Click File Save
4.
In the dialog box type Part1 for filename and Click Save
4. Click Straight Slot
(Sketch toolbar).
5. Click the center of the face and move the pointer in the horizon then click another point and move mouse in the vertical to sketch a Straight Slot
6.
Release the Straight Slot tool by put ECS on keyboard
7. 8.
Click Smart Dimension Select the edge
9. Move the pointer outside the model to see the current dimension 10. Click to place the dimension. 11. In the Modify dialog box: a. Set the value to 300 b. Click 12. Select the arc
13. 14. 15.
Move the pointer outside the model to see the current dimension Click to place the dimension. In the Modify dialog box: a. Set the value to 50 b. Click
16. Click Circle
(Sketch toolbar).
17. Move mouse concentric center of Straight Slot then click move the pointer to sketch a circle.
18. Release the circle tool by put ECS on keyboard 19. Keep button Ctrl and Click two circle and chose Equal in the left panel
20. Click Smart Dimension
21. Select the circle.
22. 23. 24.
Move the pointer outside the model to see the current dimension Click to place the dimension. In the Modify dialog box: a. Set the value to 50. b. Click
(Sketch toolbar).
26. In the PropertyManager, under Direction 1: a. Select Blind in End Condition b. Set Depth 27. Click to 50
Boss-Extrude1 appears in the FeatureManager design tree. 2.1.2 Close file : 1. Use hotkey Ctrl S to save file 2. Click File Close to close the file
3 CREATING PART 2
Similar Part 1
4 CREATING PART 3
3. Click File Save
4. In the dialog box type Part3 for filename and Click Save
4. Click Circle
(Sketch toolbar).
6.
7.
8.
Select the circle.
9. Move the pointer outside the model to see the current dimension 10. Click to place the dimension. 11. In the Modify dialog box: a. Set the value to 40 b. Click
(Sketch toolbar).
13. In the PropertyManager, under Direction 1: a. Select Blind in End Condition. b. Set Depth 14. Click to 50.
Boss-Extrude1 appears in the FeatureManager design tree 4.1.2 Creating Boss-Extrude2 1. Click the face of the model to preselect the sketch plane for the next feature.
2. Click Extruded Boss/Base 3. Click Normal To
(Features toolbar).
4. Click Circle
(Sketch toolbar).
6.
7.
8.
Select the circle.
9. Move the pointer outside the model to see the current dimension 10. Click to place the dimension. 11. In the Modify dialog box: a. Set the value to 20 b. Click
(Sketch toolbar).
13. In the PropertyManager, under Direction 1: a. Select Blind in End Condition. b. Set Depth 14. Click to 80.
Boss-Extrude2 appears in the FeatureManager design tree. 4.1.3 Close file : 1. Use hotkey Ctrl S to save file 2. Click File Close to close the file
5 CREATING ASSEMBLY
5.1 Creating a new Assembly and get Part
2. In the New SolidWorks Document dialog box, double-click Assembly
5. Click
in the left panel. Choose Part 0.SLDPRT and Click Open
6. Click Mouse in work space to put Part 0 in the assembly file
3. Click button Insert Componets
7. Click
9. Click
11. Click
5.2 Make constrain between with Parts
1. Click Mate
2. In left Panel choose Concentric at Standard Mates. Click the circle on Part 0 and the circle on Part 1
3. Then Click
4. In left Panel choose Coincident at Standard Mates. Click the face on Part 0 and the face on Part 1.
5. Then Click
7. Then Click
8. In left Panel choose Coincident at Standard Mates. Click the face on Part 1 and the face on Part 2
9. Then Click
11. Then Click
12. In left Panel choose Coincident at Standard Mates. Click the face on Part 2 and the face on Part 3
13. Then Click
5.3 Save Assembly file with file name assembly robot

1. Click File Save
2. In the dialog box type assembly robot for filename and Click Save
6 IMPORT SOLIDWOKS ASSEMBLY FILE TO MATLAB

1. Install SimMechanics Link 2. Open Assembly file assembly robot in solidworks
3. Click Tools Add - ins
4. Chose SimMechanics Link in Add-ins box and Click
5. Chose menu File Save as 6. In Save as box chose file type as SimMechanics Link (*.xml)
7. Type Assembly robot.XML in File name and Click
8. Start MATLAB program
9. Chose Current Folder where you put Assembly and Part
10. Type command mech_import and tap Enter on the keyboard. We chose name Assembly robot.xml and chose Open
and find file
11. We chose
in Import Physical Modeling XML box to finish
12. Finishing Import Soldworks assembly file into MATLAB. We have Simulink of Arm Robot
13. Click
in Simulink to show modeling of Arm Robot

Part 1 - Design 3d Models of Robots With SOLIDWORS 2010

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DESIGN ROBOT WITH SOLIDWORS 2010

two-degree-of-freedom serial chain manipulator

1. Click File New (menubar)

2. In the New SolidWorks Document dialog box, double-click Part.

3. Click File Save

(Standard Views toolbar).

Release the circle tool by put ECS on keyboard

Click Smart Dimension

Select the circle.

Click Exit Sketch

2. Click Extruded Boss/Base 3. Click Normal To

(Standard Views toolbar).

4. Click Center Regtangle

Release the regtangle tool by put ECS on keyboard

Click Smart Dimension

Select the edges

12. Click Exit Sketch

2. Click Extruded cut 3. Click Normal To

(Features toolbar). (Standard Views toolbar).

4. Click Ccorner Regtangle

5. Click the edge and move the pointer to sketch a regtangle

Release the regtangle tool by put ECS on keyboard

11. Click Exit Sketch

2. Click Extruded cut 3. Click Normal To

(Features toolbar). (Standard Views toolbar).

Release the circle tool by put ECS on keyboard

Click Smart Dimension

10. Select the circle.

15. 16. 17.

18. Click Exit Sketch

Cut-Extrude1 appears in the Feature Manager design tree

1. Click File New (menubar)

2. In the New SolidWorks Document dialog box, double-click Part.

3. Click File Save

(Standard Views toolbar).

4. Click Straight Slot

Release the Straight Slot tool by put ECS on keyboard

Click Smart Dimension Select the edge

13. 14. 15.

16. Click Circle

20. Click Smart Dimension

21. Select the circle.

22. 23. 24.

25. Click Exit Sketch

1. Click File New (menubar)

2. In the New SolidWorks Document dialog box, double-click Part.

3. Click File Save

(Standard Views toolbar).

Release the circle tool by put ECS on keyboard

Click Smart Dimension

Select the circle.

12. Click Exit Sketch

2. Click Extruded Boss/Base 3. Click Normal To

(Standard Views toolbar).

Release the circle tool by put ECS on keyboard

Click Smart Dimension

Select the circle.

12. Click Exit Sketch

1. Click File New (menubar)

2. In the New SolidWorks Document dialog box, double-click Assembly

in the left panel. Choose Part 0.SLDPRT and Click Open

6. Click Mouse in work space to put Part 0 in the assembly file