catia: definition of trajectories inverse and direct...
TRANSCRIPT
![Page 2: CATIA: Definition of trajectories Inverse and direct ...chablat/EMARO/CATIA_Trajectoiries_part1.pdf · CATIA: Definition of trajectories Inverse and direct kinematics D. CHABLAT](https://reader033.vdocument.in/reader033/viewer/2022051600/5aa0035a7f8b9a0d158d9682/html5/thumbnails/2.jpg)
D. Chablat / S. Caro -- Institut de Recherche en Communications et Cybernétique de Nantes 2
Show the relations and parameters in the product
Switch to YES
![Page 3: CATIA: Definition of trajectories Inverse and direct ...chablat/EMARO/CATIA_Trajectoiries_part1.pdf · CATIA: Definition of trajectories Inverse and direct kinematics D. CHABLAT](https://reader033.vdocument.in/reader033/viewer/2022051600/5aa0035a7f8b9a0d158d9682/html5/thumbnails/3.jpg)
D. Chablat / S. Caro -- Institut de Recherche en Communications et Cybernétique de Nantes 3
Create a Scara robot
• Two revolute joint and a cylindrical joint (4 dof, x, y, z, θ)
Attention, not to create the robot in a singular configuration!
![Page 4: CATIA: Definition of trajectories Inverse and direct ...chablat/EMARO/CATIA_Trajectoiries_part1.pdf · CATIA: Definition of trajectories Inverse and direct kinematics D. CHABLAT](https://reader033.vdocument.in/reader033/viewer/2022051600/5aa0035a7f8b9a0d158d9682/html5/thumbnails/4.jpg)
D. Chablat / S. Caro -- Institut de Recherche en Communications et Cybernétique de Nantes 4
Create a new product in assembly design
• Create a « New Product »• Insert the pieces
– "Insert " ⇒ "existing component" • «Robot_Link_0.CatPart»• «Robot_Link_1.CatPart»• «Robot_Link_2.CatPart»• «Robot_Link_3.CatPart»
• Separate the parts with explode or manipulation
![Page 5: CATIA: Definition of trajectories Inverse and direct ...chablat/EMARO/CATIA_Trajectoiries_part1.pdf · CATIA: Definition of trajectories Inverse and direct kinematics D. CHABLAT](https://reader033.vdocument.in/reader033/viewer/2022051600/5aa0035a7f8b9a0d158d9682/html5/thumbnails/5.jpg)
D. Chablat / S. Caro -- Institut de Recherche en Communications et Cybernétique de Nantes 5
Create a mechanism in DMU kinematics
– Insert a piece fixed "Robot_Link_0.CatPart " – Create a new mechanism called "Scara" – Create two pivots with angle driven– Create a cylindrical between «Robot_Link_2.CatPart»
and «Robot_Link_3.CatPart» with angle and length driven
![Page 6: CATIA: Definition of trajectories Inverse and direct ...chablat/EMARO/CATIA_Trajectoiries_part1.pdf · CATIA: Definition of trajectories Inverse and direct kinematics D. CHABLAT](https://reader033.vdocument.in/reader033/viewer/2022051600/5aa0035a7f8b9a0d158d9682/html5/thumbnails/6.jpg)
D. Chablat / S. Caro -- Institut de Recherche en Communications et Cybernétique de Nantes 6
Create a mechanism in DMU kinematics
• First revolute joint
![Page 7: CATIA: Definition of trajectories Inverse and direct ...chablat/EMARO/CATIA_Trajectoiries_part1.pdf · CATIA: Definition of trajectories Inverse and direct kinematics D. CHABLAT](https://reader033.vdocument.in/reader033/viewer/2022051600/5aa0035a7f8b9a0d158d9682/html5/thumbnails/7.jpg)
D. Chablat / S. Caro -- Institut de Recherche en Communications et Cybernétique de Nantes 7
Create a mechanism in DMU kinematics
• Second revolute joint
![Page 8: CATIA: Definition of trajectories Inverse and direct ...chablat/EMARO/CATIA_Trajectoiries_part1.pdf · CATIA: Definition of trajectories Inverse and direct kinematics D. CHABLAT](https://reader033.vdocument.in/reader033/viewer/2022051600/5aa0035a7f8b9a0d158d9682/html5/thumbnails/8.jpg)
D. Chablat / S. Caro -- Institut de Recherche en Communications et Cybernétique de Nantes 8
Create a mechanism in DMU kinematics
• Create the cylindrical joint
![Page 9: CATIA: Definition of trajectories Inverse and direct ...chablat/EMARO/CATIA_Trajectoiries_part1.pdf · CATIA: Definition of trajectories Inverse and direct kinematics D. CHABLAT](https://reader033.vdocument.in/reader033/viewer/2022051600/5aa0035a7f8b9a0d158d9682/html5/thumbnails/9.jpg)
D. Chablat / S. Caro -- Institut de Recherche en Communications et Cybernétique de Nantes 9
Display properties of the mechanism
• Enable the display of the joints
Note: It is possible to save the definition of the joints in Excel format
![Page 10: CATIA: Definition of trajectories Inverse and direct ...chablat/EMARO/CATIA_Trajectoiries_part1.pdf · CATIA: Definition of trajectories Inverse and direct kinematics D. CHABLAT](https://reader033.vdocument.in/reader033/viewer/2022051600/5aa0035a7f8b9a0d158d9682/html5/thumbnails/10.jpg)
D. Chablat / S. Caro -- Institut de Recherche en Communications et Cybernétique de Nantes 10
Simulation with commands
• Either « immediate » or « on request »
![Page 11: CATIA: Definition of trajectories Inverse and direct ...chablat/EMARO/CATIA_Trajectoiries_part1.pdf · CATIA: Definition of trajectories Inverse and direct kinematics D. CHABLAT](https://reader033.vdocument.in/reader033/viewer/2022051600/5aa0035a7f8b9a0d158d9682/html5/thumbnails/11.jpg)
D. Chablat / S. Caro -- Institut de Recherche en Communications et Cybernétique de Nantes 11
Simulation with laws
• Add formulas associated joints– Select the mechanism "Scara" in the specification tree
![Page 12: CATIA: Definition of trajectories Inverse and direct ...chablat/EMARO/CATIA_Trajectoiries_part1.pdf · CATIA: Definition of trajectories Inverse and direct kinematics D. CHABLAT](https://reader033.vdocument.in/reader033/viewer/2022051600/5aa0035a7f8b9a0d158d9682/html5/thumbnails/12.jpg)
D. Chablat / S. Caro -- Institut de Recherche en Communications et Cybernétique de Nantes 12
Create a formula
• Using the timer associated with the "Scara" robot (0 to 10s)• Write the formula within the units
![Page 13: CATIA: Definition of trajectories Inverse and direct ...chablat/EMARO/CATIA_Trajectoiries_part1.pdf · CATIA: Definition of trajectories Inverse and direct kinematics D. CHABLAT](https://reader033.vdocument.in/reader033/viewer/2022051600/5aa0035a7f8b9a0d158d9682/html5/thumbnails/13.jpg)
D. Chablat / S. Caro -- Institut de Recherche en Communications et Cybernétique de Nantes 13
Simulation with laws
• The timer is between 0 and 10s• The number of steps can to be changed• If we active sensor, we can plot curves on the active and
passive joints• Other laws of motion
![Page 14: CATIA: Definition of trajectories Inverse and direct ...chablat/EMARO/CATIA_Trajectoiries_part1.pdf · CATIA: Definition of trajectories Inverse and direct kinematics D. CHABLAT](https://reader033.vdocument.in/reader033/viewer/2022051600/5aa0035a7f8b9a0d158d9682/html5/thumbnails/14.jpg)
D. Chablat / S. Caro -- Institut de Recherche en Communications et Cybernétique de Nantes 14
Speed and acceleration
Point selection
Reference product
![Page 15: CATIA: Definition of trajectories Inverse and direct ...chablat/EMARO/CATIA_Trajectoiries_part1.pdf · CATIA: Definition of trajectories Inverse and direct kinematics D. CHABLAT](https://reader033.vdocument.in/reader033/viewer/2022051600/5aa0035a7f8b9a0d158d9682/html5/thumbnails/15.jpg)
D. Chablat / S. Caro -- Institut de Recherche en Communications et Cybernétique de Nantes 15
Simulation with laws
• Activate the sensors and play forward
Change step number
![Page 16: CATIA: Definition of trajectories Inverse and direct ...chablat/EMARO/CATIA_Trajectoiries_part1.pdf · CATIA: Definition of trajectories Inverse and direct kinematics D. CHABLAT](https://reader033.vdocument.in/reader033/viewer/2022051600/5aa0035a7f8b9a0d158d9682/html5/thumbnails/16.jpg)
D. Chablat / S. Caro -- Institut de Recherche en Communications et Cybernétique de Nantes 16
Simulation with laws
![Page 17: CATIA: Definition of trajectories Inverse and direct ...chablat/EMARO/CATIA_Trajectoiries_part1.pdf · CATIA: Definition of trajectories Inverse and direct kinematics D. CHABLAT](https://reader033.vdocument.in/reader033/viewer/2022051600/5aa0035a7f8b9a0d158d9682/html5/thumbnails/17.jpg)
D. Chablat / S. Caro -- Institut de Recherche en Communications et Cybernétique de Nantes 17
Create a simulation
• Simulation – Uses commands– Uses laws
• Edit simulation– Add the option « automatic
insert »
![Page 18: CATIA: Definition of trajectories Inverse and direct ...chablat/EMARO/CATIA_Trajectoiries_part1.pdf · CATIA: Definition of trajectories Inverse and direct kinematics D. CHABLAT](https://reader033.vdocument.in/reader033/viewer/2022051600/5aa0035a7f8b9a0d158d9682/html5/thumbnails/18.jpg)
D. Chablat / S. Caro -- Institut de Recherche en Communications et Cybernétique de Nantes 18
Compile simulation
• Generate a replay (internal movie) or a animation file• Please define the codec for the movie in Setup
• Change the frame rate in VirtualDub(http://www.virtualdub.org)
![Page 19: CATIA: Definition of trajectories Inverse and direct ...chablat/EMARO/CATIA_Trajectoiries_part1.pdf · CATIA: Definition of trajectories Inverse and direct kinematics D. CHABLAT](https://reader033.vdocument.in/reader033/viewer/2022051600/5aa0035a7f8b9a0d158d9682/html5/thumbnails/19.jpg)
D. Chablat / S. Caro -- Institut de Recherche en Communications et Cybernétique de Nantes 19
Simple animation (25 images/seconds)