ME Week 4 Project 1 Assemblies and Constraints
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1 1 Introduction to Assembly Design The following section will give an overview of bring individual components into a common environment and use various tools to assemble them. 1.1 Definition of an Assembly Model You create an assembly by combining multiple components and/or assemblies into a single environment. Parametric relationships are created between each component that determines component behavior in the assembly. These relationships can range from simple constraint-based relationships that determine a component's position in the assembly, to advanced relationships such as adaptivity. Adaptivity enables a component to change size based upon its relationship to other components in the assembly. 1.2 Assembly Constraints You use assembly constraints to create parametric relationships between parts in the assembly. Just as you use 2D constraints to control 2D geometry, you use 3D constraints in an assembly to position parts in relation to other parts. There are four basic assembly constraints, each with unique solutions and options. Mate/Flush Constraint The Mate/Flush constraint is used to align part features such as faces, edges, or axis. Before Mate Constraint After Mate Constraint Before Flush Constraint After Flush Constraint ME Introduction to CAD/CAE Tools Page 1 of 34
2 Angle Constraint Used to specify an angle between two parts. The angle constraint is applied to faces, edges, or axes. Before Angle Constraint After Angle Constraint Tangent Constraint Used to define a tangential relationship between two parts. The tangent constraint is generally applied to circular faces and planar faces. One of the selected faces must be circular. Before Tangent Constraint After Tangent Constraint ME Introduction to CAD/CAE Tools Page 2 of 34
3 Insert Constraint This constraint is used to insert one component into another. This constraint effectively combines a mate axis/axis and a mate face/face constraint. Generally the insert constraint is applied to bolts, or pins, or any part that needs to be inserted into a hole on another part. It is applied by selecting a circular edge on each part. Before Insert Constraint After Insert Constraint ME Introduction to CAD/CAE Tools Page 3 of 34
4 2 Robot Arm Assembly 2.1 Project 1 This project will introduce you to placing and assembling parts in Autodesk Inventor First you will insert several parts into a new assembly file using several different workflows. Then, using the 3D constraint tools, you will assemble the parts into a completed assembly. 1. Create a new part using the Standard (mm).iam template. On the Quick Access toolbar, click New. In the New File dialog box, click the Metric tab. ME Introduction to CAD/CAE Tools Page 4 of 34
5 Select Standard (mm).iam. Click OK. 2. On the Quick Access toolbar, click Save to save the assembly. In the Save As dialog box, enter Robot-Assembly-A.iam. Click Save. 3. Place Component Start the Place Component tool Assemble tab Component panel Place Component ME Introduction to CAD/CAE Tools Page 5 of 34
6 In the Place Component dialog box, locate and double-click Robot-Base-Model-A.ipt. 4. Press ESC to cancel the Place Component tool. The first occurrence is automatically placed at the assembly origin relative to the component origin. In the browser, notice that the first component is automatically Grounded. A Grounded component is indicated by the pushpin icon. Any component can be Grounded or Ungrounded by right-clicking the component and clicking Grounded from the shortcut menu. NOTE: Typically only the first component in an assembly is grounded, more than one grounded component in an assembly can make it difficult to apply 3D constraints properly. ME Introduction to CAD/CAE Tools Page 6 of 34
7 5. Place another component Right-click in the graphics window, select Place Component from the Marking Menu ME Introduction to CAD/CAE Tools Page 7 of 34
8 In the Place Component dialog box, locate and double-click Robot-Axis1-2.ipt Position the component in the graphics window, Left mouse click to place the component as shown. Press ESC to cancel the command. ME Introduction to CAD/CAE Tools Page 8 of 34
9 6. Drag components into an assembly: Open Windows Explorer and navigate to the folder where you installed the dataset. Highlight the following part files and then click and drag them into the graphics window at the same time. Robot-Axis2-3.ipt Robot-Axis3-4.ipt Robot-Axis4-5.ipt Robot-Axis5.ipt Robot-Axis5-Adapter.ipt Robot-Clamp.ipt Robot-Clamp-Mount.ipt 7. Notice how the components are spaced. The actual arrangement may differ on your screen depending on the order in which the components were selected. ME Introduction to CAD/CAE Tools Page 9 of 34
10 8. And 3D Constrains: Start the Constrain tool Assemble tab Position panel Constrain Type: Mate Solution: Mate ME Introduction to CAD/CAE Tools Page 10 of 34
11 Pick the top surface of component Robot-Base-Model-A for Selection 1 Pick the bottom surface of component Robot-Axis1-2 for Selection 2 Enter 0 into the Offset field. Click OK to accept the Face/Face Mate constraint ME Introduction to CAD/CAE Tools Page 11 of 34
12 9. Click and drag component Robot-Axis1-2 Notice how the part moves around aligned to the top surface of component Robot-Base-Model-A 10. Start the Constrain tool. Type: Mate Solution: Mate Pick the outer cylindrical surface of component Robot-Base-Model-A for Selection 1 Pick the outer cylindrical surface of component Robot-Axis1-2 for Selection 2 Enter 0 into the Offset field. Click OK to accept the Axis/Axis Mate constraint 11. Click and drag component Robot-Axis1-2 Notice that now the part only pivots around the previously constrained axis. Click Undo from the Quick Access toolbar to revert back to the previous part position. ME Introduction to CAD/CAE Tools Page 12 of 34
13 12. Start the Constrain tool. Type: Angle Solution: Directed Angle Under component Robot-Base-Model-A pick work plane Center-Work Plane for Selection 1 Under component Robot-Axis1-2 pick work plane Center-Work Plane for Selection 2 Enter 0.00 deg into the Angle field. Click OK to accept the angle constraint. 13. Click and drag component Robot-Axis1-2 Notice that now the part is fully contained and will not move. 14. Start the Constrain tool. Type: Mate Solution: Mate Pick the Origin YZ Plane of component Robot-Axis1-2 for Selection 1 ME Introduction to CAD/CAE Tools Page 13 of 34
14 Pick the Origin XY Plane of component Robot-Axis2-3 for Selection 2 Enter 0 into the Offset field. Click Apply NOTE: Clicking Apply accepts the constraint and leaves the command active to apply additional constraints. 15. Continue the Constrain tool. Type: Mate Solution: Mate Pick the cylindrical surface shown of component Robot-Axis1-2 for Selection 1 Pick the cylindrical surface shown of component Robot-Axis2-3 for Selection 2 Enter 0 into the Offset field. ME Introduction to CAD/CAE Tools Page 14 of 34
15 Click OK 16. Drag component Robot-Axis2-3 to the position shown 17. Start the Constrain tool. Type: Mate Solution: Mate Pick the Origin XY Plane of component Robot-Axis2-3 for Selection 1 Pick the Origin XY Plane of component Robot-Axis3-4 for Selection 2 Enter 0 into the Offset field. Click Apply 18. Continue the Constrain tool. Type: Mate Solution: Mate Pick the cylindrical surface shown of component Robot-Axis2-3 for Selection 1 ME Introduction to CAD/CAE Tools Page 15 of 34
16 Pick the cylindrical surface shown of component Robot-Axis3-4 for Selection 2 Enter 0 into the Offset field. Click Apply 19. Drag component Robot-Axis3-4 to change its angle. Notice that both Robot-Axis2-3 & Robot-Axis3-4 move. Click Undo on the Quick Access toolbar to revert back to the previous position. 20. Ground component Right-click component Robot-Axis2-3 in the graphics window. ME Introduction to CAD/CAE Tools Page 16 of 34
17 Click Grounded from the Overflow Menu 21. Drag component Robot-Axis3-4 to position shown to change its angle. Notice that only Robot-Axis3-4 moves. 22. Start the Constrain tool. Type: Angle Solution: Directed Angle ME Introduction to CAD/CAE Tools Page 17 of 34
18 Pick the top surface shown of Robot-Axis3-4 for Selection 1 Pick the top surface shown of Robot-Axis2-3 for Selection 2 Enter deg into the Angle field. Click OK 23. Start the Constrain tool. Type: Insert Solution: Opposed Pick the circular edge shown of component Robot-Axis3-4 for Selection 1 ME Introduction to CAD/CAE Tools Page 18 of 34
19 Pick the circular edge shown of component Robot-Axis4-5 for Selection 2 Enter 0 into the Offset field. Click Apply 24. Continue the Constrain tool. Type: Angle Solution: Directed Angle Pick the top surface shown of Robot-Axis4-5 for Selection 1 Pick the top surface shown of Robot-Axis3-4 for Selection 2 Enter 0.00 deg into the Angle field. Click OK 25. Start the Constrain tool. ME Introduction to CAD/CAE Tools Page 19 of 34
20 Type: Insert Solution: Opposed Pick the circular edge shown of component Robot-Axis5 for Selection 1 Pick the circular edge shown of component Robot-Axis5-Adapter for Selection 2 Enter 0 into the Offset field. Click OK 26. Start the Constrain tool. Type: Mate Solution: Mate Pick Work Axis1 in component Robot-Axis4-5 for Selection 1 Pick the Origin Z Axis of component Robot-Axis5 for Selection 2 Enter 0 into the Offset field. Click Apply 27. Continue the Constrain tool. Type: Mate Solution: Mate Pick Work Plane1 of component Robot-Axis4-5 for Selection 1 ME Introduction to CAD/CAE Tools Page 20 of 34
21 Pick Work Plane3 of component Robot-Axis5 for Selection 2 Enter 0 into the Offset field. Click OK 28. Create subassembly by creating an In-Place Component Shift-select both Robot-Clamp and Robot-Clamp-Mount in the graphics window or in the browser. Right-click in the graphics window, select Component from the Overflow Menu ME Introduction to CAD/CAE Tools Page 21 of 34
22 Select Demote from the flyout On the Create In-Place Component dialog box enter Robot-GripperAssy for the New Component Name Click the Browse Templates to change the Template to Metric\Standard (mm).iam Click OK ME Introduction to CAD/CAE Tools Page 22 of 34
23 29. Notice in the browser that both components have been moved into an assembly file. 30. Double click assembly Robot-GripperAssy to edit it within the context of the main assembly. 31. Add a second occurrence of a component Right click on component Robot-Clamp Select Copy from the Overflow Menu ME Introduction to CAD/CAE Tools Page 23 of 34
24 Right-click the graphics window, select Paste from the Overflow Menu The copied component is placed in the assembly. 32. Exit in-context editing Click Return from the ribbon Assemble tab Return panel Return 33. Open subassembly Right-click subassembly Robot-GripperAssy Select Open from the Marking Menu Robot-GripperAssy is opened in its own window. If the assembly is not visible in the window, use the Zoom All tool from the Navigation Toolbar 34. Depending on the order in which the components were original placed in Robot-Assembly-A.iam it may be necessary to change which components are grounded in this new assembly. Make sure that Robot-Clamp-Mount is grounded and both occurrences of Robot-Clamp are NOT grounded. ME Introduction to CAD/CAE Tools Page 24 of 34
25 35. Start the Constrain tool Type: Mate Solution: Flush Pick the side face shown of component Robot-Clamp:1 for Selection 1 ME Introduction to CAD/CAE Tools Page 25 of 34
26 Pick the side face shown of component Robot-Clamp-Mount for Selection 2 Enter 0 into the Offset field. Click OK 36. Change Parameter name Open the Parameters dialog box Assemble tab Manage panel Parameters Because you have only placed one constraint in assembly Robot-GripperAssy, this is only one parameter listed in the Parameters dialog box called d0. Single click on the parameter name and change it to GripperOffset NOTE: Parameter names cannot contain spaces Click DONE 37. Start the Constrain tool Type: Mate Solution: Flush Pick the side face shown of component Robot-Clamp:2 for Selection 1 ME Introduction to CAD/CAE Tools Page 26 of 34
27 Pick the side face shown of component Robot-Clamp-Mount for Selection 2 Enter - GripperOffset into the Offset field. By adding a Negative - symbol before the parameter value, this will make the constraint offset value always be negative of the original. Click OK 38. Start the Constrain tool Type: Mate Solution: Mate ME Introduction to CAD/CAE Tools Page 27 of 34
28 Pick the face shown of component Robot-Clamp:1 for Selection 1 Pick the face shown of component Robot-Clamp-Mount for Selection 2 Enter 0 into the Offset field. Click Apply 39. Continue the Constrain tool Type: Mate Solution: Mate Pick the face shown of component Robot-Clamp:2 for Selection 1 ME Introduction to CAD/CAE Tools Page 28 of 34
29 Pick the face shown of component Robot-Clamp-Mount for Selection 2 Enter 0 into the Offset field. Click Apply 40. Continue the Constrain tool Type: Mate Solution: Flush Pick the face shown of component Robot-Clamp:1 for Selection 1 Pick the face shown of component Robot-Clamp:2 for Selection 2 Enter 0 into the Offset field. ME Introduction to CAD/CAE Tools Page 29 of 34
30 Click Apply 41. Continue the Constrain tool Type: Mate Solution: Mate Pick the face shown of component Robot-Clamp:1 for Selection 1 Pick the inside face shown of component Robot-Clamp-Mount for Selection 2 Enter 0 into the Offset field. Click Apply 42. Visualize gripper motion Expand Robot-Clamp:1 in the browser Right-click in constraint Flush:1 (Should be the first constraint placed in this assembly) ME Introduction to CAD/CAE Tools Page 30 of 34
31 Select Drive Constraint from the Shortcut Menu On the Drive Constraint dialog box click the expand button ME Introduction to CAD/CAE Tools Page 31 of 34
32 Select Start/End/Start under Repetitions Enter 10 in the Repetitions field Click the Play button Robot-Clamp:1 & Robot-Clamp:2 are animated in the graphics window Both parts move because Robot-Clamp:2 was contained using the parameter value from Robot-Clamp:1 43. Click Save on the Quick Access Toolbar 44. Close the window for Robot-GripperAssy.iam 45. Notice that all edits made to Robot-GripperAssy.iam are now shown in Robot-Assembly-A.iam 46. Start the Constrain tool. Type: Insert Solution: Opposed Pick the circular edge shown of component Robot-GripperAssy for Selection 1 ME Introduction to CAD/CAE Tools Page 32 of 34
33 Pick the circular edge shown of component Robot-Axis5-Adapter for Selection 2 Enter 0 into the Offset field. Click Apply 47. Continue the Constrain tool. Type: Mate Solution: Mate Pick the cylindrical surface shown of component Robot-GripperAssy for Selection 1 ME Introduction to CAD/CAE Tools Page 33 of 34
34 Pick the cylindrical surface shown of component Robot-Axis5-Adapter for Selection 2 Enter 0 into the Offset field. Click Apply 48. If you haven t already done so, Unground component Robot-Axis Click Save on the Quick Access Toolbar 50. Close all files ME Introduction to CAD/CAE Tools Page 34 of 34
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