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DESIGN ROBOT WITH SOLIDWORS 2010
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)
Part 0
Part 1
Part 2
Part 3
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 (Features toolbar).
3. Click Normal To (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. 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 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 (Features toolbar).
3. Click Normal To (Standard Views 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. Click Smart Dimension (Dimensions/Relations toolbar).
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).
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:
1. Select Blind in End Condition.
2. Set Depth to 180.
14. Click
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 (Features toolbar).
3. Click Normal To (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. Click Smart Dimension (Dimensions/Relations toolbar).
8. Select the edges
9. Move the pointer outside the model to see the current dimension. Click to place the dimension.
10. In the Modify dialog box, Set the value as this figure
11. Click Exit Sketch (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 (Features toolbar).
3. Click Normal To (Standard Views toolbar).
7. Click Circle (Sketch toolbar).
8. Click the center of the face and move the pointer to sketch a circle.
9. Release the circle tool by put ECS on keyboard
9. Click Smart Dimension (Dimensions/Relations toolbar).
10. Select the circle.
15. Move the pointer outside the model to see the current dimension
16. Click to place the dimension.
17. In the Modify dialog box:
a. Set the value with dimension as above picture
b. Click
18. Click Exit Sketch (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”
2.1 Creating a new file with file name “Part1”
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 Part1 for filename and Click Save
2.1.1 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 (Features toolbar).
3. Click Normal To (Standard Views toolbar).
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. Click Smart Dimension (Dimensions/Relations toolbar).
8. 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. Move the pointer outside the model to see the current dimension
14. Click to place the dimension.
15. 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 (Dimensions/Relations toolbar).
21. Select the circle.
22. Move the pointer outside the model to see the current dimension
23. Click to place the dimension.
24. In the Modify dialog box:
a. Set the value to 50.
b. Click
25. 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.
26. In the PropertyManager, under Direction 1:
a. Select Blind in End Condition
b. Set Depth to 50
27. Click
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”
4.1 Creating a new file with file name “Part3”
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 Part3 for filename and Click Save
4.1.1 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 (Features toolbar).
3. Click Normal To (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. 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
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 50.
14. Click
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 (Features toolbar).
3. Click Normal To (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. 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
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-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
1. Click File New (menubar)
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 in the left panel. Choose Part 1.SLDPRT and Click Open
8. Click Mouse in work space to put Part 1 in the assembly file
4. Click button Insert Componets
9. Click in the left panel. Choose Part 2.SLDPRT and Click Open
10. Click Mouse in work space to put Part 2 in the assembly file
5. Click button Insert Componets
11. Click in the left panel. Choose Part 3.SLDPRT and Click Open
12. Click Mouse in work space to put Part 3 in the assembly file
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
6. In left Panel choose Concentric at Standard Mates. Click the circle on Part 1 and the circle on
Part 2
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
10. In left Panel choose Concentric at Standard Mates. Click the circle on Part 2 and the circle on
Part 3
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 and find file
name “Assembly robot.xml” and chose Open
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
