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RohanB
Posts: 6
Registered: ‎03-30-2012
Message 1 of 7 (174 Views)

Drawing a workspace

174 Views, 6 Replies
10-25-2012 11:08 AM

Hi

 

I modelled a manipulator arm (much like a human arm, or for those who are industrailly sound, like KUKA KR5), and I intend to draw its workspace.

 

The easiest way to do this is if I go back from the endeffector joint(that is my wrist), create a rotation about my wrist rotation axis and create a curve, take this curve and sweep it about my elbow rotation axis to create an area, take this area and rotate about my shoulder axis to  create a volume and take this volume and rotate it about my torso axis to create another volume.

 

So my question is, is there any way I could do such a thing in Autodesk inventor? Or am I just kidding myself?

 

I am using Autodesk Inventor 2010.

Distinguished Contributor
Ryan.Martinez
Posts: 141
Registered: ‎07-29-2011
Message 2 of 7 (169 Views)

Re: Drawing a workspace

10-25-2012 11:12 AM in reply to: RohanB

Put some files up if you can and let everyone know what version of inventor you are using.

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Active Member
RohanB
Posts: 6
Registered: ‎03-30-2012
Message 3 of 7 (164 Views)

Re: Drawing a workspace

10-25-2012 11:16 AM in reply to: Ryan.Martinez

I am using Autodesk inventor 2010.

Specificaly what files do you want? I have shoulder, arm, wrist etc assembled via  "insert" constraints. All rotational. Fairly simple.

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Ryan.Martinez
Posts: 141
Registered: ‎07-29-2011
Message 4 of 7 (153 Views)

Re: Drawing a workspace

10-25-2012 11:28 AM in reply to: RohanB

The assembly and parts, but one way to do it is figure out where your arm can move then create a soild to represent that space. Then disable that solid that way you wont be able to select it in the model space.

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Active Member
RohanB
Posts: 6
Registered: ‎03-30-2012
Message 5 of 7 (143 Views)

Re: Drawing a workspace

10-25-2012 11:50 AM in reply to: Ryan.Martinez

I checked and I can't upload the files here.:smileysad: But it is simple with 5 parts, and assembled via "insert" constraints.

 

I can somehow make a solid by rotating a curve, how do I make a solid by rotating a solid?

Distinguished Contributor
Ryan.Martinez
Posts: 141
Registered: ‎07-29-2011
Message 6 of 7 (139 Views)

Re: Drawing a workspace

10-25-2012 11:57 AM in reply to: RohanB

I do not believe there is any way to do what you are talking about

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JDMather
Posts: 27,586
Registered: ‎04-20-2006
Message 7 of 7 (137 Views)

Re: Drawing a workspace

10-25-2012 12:07 PM in reply to: RohanB

Do you want the max volume space - or do you want to also exclude the area within the sphere that it cannot enter?

 

Extend all joint to their maximum extension.  This is the radius of the sphere.

Seems to me that a while back someone posted an example using Dynamic Simulation and Traces to do the actual path of the robot for this.  But I think that might be more than you are after if all you need is the sphere (cut off at the floor).

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