Modeling Guide (Eng)

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  • Loading modeling in SolidWorks
- Match the modeling frame's origin point and base bodyframe's origin.

Modeling manual pic m001.png


  • Setting reference coordinate system in SolidWorks.
- Generally, z-axis means height-axis in 3d viewer.
- If modeling isn't located in modeling frame position that you want, user can use new coordinate system.
- If you generate coordinate system(Insert-> reference geometry -> coordinates system) to base body frame, you can position the robot by desired standard.

Modeling manual pic m002.png



  • Measuring joint axis in SolidWorks. - 1st axis
- After generating some point(Insert-> Reference geometry -> Point) that passing through 1st axis, measure(Tools-> Evaluate-> Measure).
- Measure axis direction.
- Point(m) : (0,0,21) / Direction : Z-axis
- when you measure position of point passing through axis, axis direction value is not important. this value can express to '0'. therefore (0,0,21) can be changed to (0,0,0).

Modeling manual pic m003.png



  • Measuring joint axis in SolidWorks. - 2nd axis
- After generating some point(Insert-> Reference geometry -> Point) that passing through 2nd axis, measure(Tools-> Evaluate-> Measure).
- Measure axis direction.
- Point(m) : (0, 0.0705, 0.0862) -> (0, 0, 0.0862) / Direction : Y-axis

Modeling manual pic m004.png



  • Measuring joint axis in SolidWorks. - 3rd axis
- After generating some point(Insert-> Reference geometry -> Point) that passing through 3rd axis, measure(Tools-> Evaluate-> Measure).
- Measure axis direction.
- Point(m) : (0, 0.0705, 0.5112) -> (0, 0, 0.5112) / Direction : Y-axis

Modeling manual pic m005.png



  • Measuring joint axis in SolidWorks. - 4th axis
- After generating some point(Insert-> Reference geometry -> Point) that passing through 4th axis, measure(Tools-> Evaluate-> Measure).
- Measure axis direction.
- Point(m) : (0, 0.0635, 0.9036) -> (0, 0, 0.9036) / Direction : Y-axis

Modeling manual pic m006.png



  • Measuring joint axis in SolidWorks. - 5th axis
- After generating some point(Insert-> Reference geometry -> Point) that passing through 4th axis, measure(Tools-> Evaluate-> Measure).
- Measure axis direction.
- Point(m) : (0, 0.109, 0.9511) -> (0, 0.109, 0) / Direction : Z-axis

Modeling manual pic m007.png


  • Measuring joint axis in SolidWorks. - 6th axis
- After generating some point(Insert-> Reference geometry -> Point) that passing through 4th axis, measure(Tools-> Evaluate-> Measure).
- Measure axis direction.
- Point(m) : (0, 0.1565, 0.9966) -> (0, 0, 0.9966) / Direction : Y-axis

Modeling manual pic m008.png



  • Entering modeling information
- In case of UR5, We offer DefineUR5.h / NRMKFrameworkRobot.cpp example files.
- \neuromeka\NRMKFoundation\example\NRMKFoundation\UR5\src
- Overwrite to same files of project that you generated.

Modeling manual pic m009.png



  • Setting joint axis information to DefineRobot.h.
- Enter 'point value' and 'axis direction' to 'addAxis' function of 'mdh' variable ('MDHModeling' class instance).

Modeling manual pic m010.png



  • Measuring material property
- Select body -> Select 'material property' menu -> setting unit(kg/m) in property option.
- After selecting coordinate system that you want, check the calculate value.

Modeling manual pic m011.png



  • Setting material property value to Define.h.
- Enter 'material property value ' to 'set' function of 'inertia' variable ('Inertia' class instance).
- 'Mass value' / 'COM value' x,y,z / 'Inertia value' lxx, lyy, lzz, lxy, lyz, lzx
- 'scale' variable = 'actual mass value of body' / 'mass value measured in SolidWorks'

Modeling manual pic m012.png



  • Saving to VRML file
- File -> Save as
- Select to 'VRML' in file format.
- Click the below option -> After selecting version(VRML97) & reference-coordinate-system, save.
- You can use this format in CADKit Viewer.

Modeling manual pic m013.png



  • Running VRML file in CADKit Viewer.
- Loading VRML file in CADKit Viewer.
- If it doesn't show modeling design that you intent( to losing or position problem), After saving to STEP AP203 format(*.step, *.stp) in SolidWorks, save to VRML format again.

Modeling manual pic m014.png



  • Setting modeling index in NRMKFrameworkRobot.cpp
- If you select index option in CADKit Viewer, you can know about index value of each body.
- In order from base, set the each index value.

Modeling manual pic m015.png



  • Runnig Simulator
- After entering all value, build simulator and run.
- Click the 'connect' button in top bar of CADKit Viewer -> It's connected to simulator.
If you click 'Tab' button, realtime simulation starts. You can check moving of robot using 'H' (home position) & 'I' (zero position) button.

Modeling manual pic m016.png