# ME 24-688 - Week 4 Project 1 - Assemblies And Constraints

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ME 24-688 – Week 4Project 1 – Assemblies and Constraints1 Introduction to Assembly DesignThe following section will give an overview of bring individual components into a common environmentand use various tools to assemble them.1.1 Definition of an Assembly ModelYou 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 inthe assembly.These relationships can range from simple constraint-based relationships that determine a component'sposition in the assembly, to advanced relationships such as adaptivity. Adaptivity enables a component tochange size based upon its relationship to other components in the assembly.1.2 Assembly ConstraintsYou use assembly constraints to create parametric relationships between parts in the assembly. Just asyou use 2D constraints to control 2D geometry, you use 3D constraints in an assembly to position parts inrelation to other parts. There are four basic assembly constraints, each with unique solutions and options.Mate/Flush ConstraintThe 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 ConstraintME 24-688 – Introduction to CAD/CAE ToolsPage 1 of 34

ME 24-688 – Week 4Project 1 – Assemblies and ConstraintsAngle ConstraintUsed to specify an angle between two parts. The angle constraint is applied to faces, edges, or axes. Before Angle Constraint After Angle ConstraintTangent ConstraintUsed to define a tangential relationship between two parts. The tangent constraint is generally applied tocircular faces and planar faces. One of the selected faces must be circular. Before Tangent ConstraintME 24-688 – Introduction to CAD/CAE Tools After Tangent ConstraintPage 2 of 34

ME 24-688 – Week 4Project 1 – Assemblies and ConstraintsInsert ConstraintThis constraint is used to insert one component into another. This constraint effectively combines a mateaxis/axis and a mate face/face constraint. Generally the insert constraint is applied to bolts, or pins, orany part that needs to be inserted into a hole on another part. It is applied by selecting a circular edge oneach part. Before Insert ConstraintME 24-688 – Introduction to CAD/CAE Tools After Insert ConstraintPage 3 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints2 Robot Arm Assembly2.1 Project 1This project will introduce you to placing and assembling parts in Autodesk Inventor 2012. First you willinsert several parts into a new assembly file using several different workflows. Then, using the 3Dconstraint 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 24-688 – Introduction to CAD/CAE ToolsPage 4 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints 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 toolAssemble tab Component panel Place ComponentME 24-688 – Introduction to CAD/CAE ToolsPage 5 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints 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 thecomponent 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 andclicking Grounded from the shortcut menu.NOTE: Typically only the first component in an assembly is grounded, more than onegrounded component in an assembly can make it difficult to apply 3D constraintsproperly.ME 24-688 – Introduction to CAD/CAE ToolsPage 6 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints5. Place another component Right-click in the graphics window, select Place Component from the Marking MenuME 24-688 – Introduction to CAD/CAE ToolsPage 7 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints 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 componentas shown. Press ESC to cancel the command.ME 24-688 – Introduction to CAD/CAE ToolsPage 8 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints6. 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 atthe 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.ipt7. Notice how the components are spaced. The actual arrangement may differ on your screendepending on the order in which the components were selected.ME 24-688 – Introduction to CAD/CAE ToolsPage 9 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints8. And 3D Constrains: Start the Constrain toolAssemble tab Position panel Constrain On the Place Constraint dialog box set the following optionsType: MateSolution: MateME 24-688 – Introduction to CAD/CAE ToolsPage 10 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints 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 constraintME 24-688 – Introduction to CAD/CAE ToolsPage 11 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints9. Click and drag component Robot-Axis1-2Notice how the part moves around aligned to the top surface of component Robot-Base-Model-A10. Start the Constrain tool. On the Place Constraint dialog box set the following optionsType: MateSolution: 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 constraint11. Click and drag component Robot-Axis1-2Notice 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 24-688 – Introduction to CAD/CAE ToolsPage 12 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints12. Start the Constrain tool. On the Place Constraint dialog box set the following optionsType: AngleSolution: Directed Angle Under component Robot-Base-Model-A pick work plane Center-Work Plane forSelection 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-Axis1-2Notice that now the part is fully contained and will not move.14. Start the Constrain tool. On the Place Constraint dialog box set the following optionsType: MateSolution: Mate Pick the Origin YZ Plane of component Robot-Axis1-2 for Selection 1ME 24-688 – Introduction to CAD/CAE ToolsPage 13 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints Pick the Origin XY Plane of component Robot-Axis2-3 for Selection 2 Enter 0 into the Offset field. Click ApplyNOTE: Clicking Apply accepts the constraint and leaves the command active to applyadditional constraints.15. Continue the Constrain tool. On the Place Constraint dialog box set the following optionsType: MateSolution: 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 24-688 – Introduction to CAD/CAE ToolsPage 14 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints Click OK16. Drag component Robot-Axis2-3 to the position shown17. Start the Constrain tool. On the Place Constraint dialog box set the following optionsType: MateSolution: 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 Apply18. Continue the Constrain tool. On the Place Constraint dialog box set the following optionsType: MateSolution: Mate Pick the cylindrical surface shown of component Robot-Axis2-3 for Selection 1ME 24-688 – Introduction to CAD/CAE ToolsPage 15 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints Pick the cylindrical surface shown of component Robot-Axis3-4 for Selection 2 Enter 0 into the Offset field. Click Apply19. 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 24-688 – Introduction to CAD/CAE ToolsPage 16 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints Click Grounded from the Overflow Menu21. Drag component Robot-Axis3-4 to position shown to change its angle. Notice that only Robot-Axis3-4 moves.22. Start the Constrain tool. On the Place Constraint dialog box set the following optionsType: AngleSolution: Directed AngleME 24-688 – Introduction to CAD/CAE ToolsPage 17 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints 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 -20.00 deg into the Angle field. Click OK23. Start the Constrain tool. On the Place Constraint dialog box set the following optionsType: InsertSolution: Opposed Pick the circular edge shown of component Robot-Axis3-4 for Selection 1ME 24-688 – Introduction to CAD/CAE ToolsPage 18 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints Pick the circular edge shown of component Robot-Axis4-5 for Selection 2 Enter 0 into the Offset field. Click Apply24. Continue the Constrain tool. On the Place Constraint dialog box set the following optionsType: AngleSolution: 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 OK25. Start the Constrain tool.ME 24-688 – Introduction to CAD/CAE ToolsPage 19 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints On the Place Constraint dialog box set the following optionsType: InsertSolution: 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 OK26. Start the Constrain tool. On the Place Constraint dialog box set the following optionsType: MateSolution: 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 Apply27. Continue the Constrain tool. On the Place Constraint dialog box set the following optionsType: MateSolution: Mate Pick Work Plane1 of component Robot-Axis4-5 for Selection 1ME 24-688 – Introduction to CAD/CAE ToolsPage 20 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints Pick Work Plane3 of component Robot-Axis5 for Selection 2 Enter 0 into the Offset field. Click OK28. Create subassembly by creating an In-Place Component Shift-select both Robot-Clamp and Robot-Clamp-Mount in the graphics window or in thebrowser. Right-click in the graphics window, select Component from the Overflow MenuME 24-688 – Introduction to CAD/CAE ToolsPage 21 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints Select Demote from the flyout On the Create In-Place Component dialog box enter Robot-GripperAssy for the NewComponent Name Click the Browse Templates to change the Template to Metric\Standard (mm).iam Click OKME 24-688 – Introduction to CAD/CAE ToolsPage 22 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints29. 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 MenuME 24-688 – Introduction to CAD/CAE ToolsPage 23 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints 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 ribbonAssemble tab Return panel Return33. 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 NavigationToolbar34. Depending on the order in which the components were original placed in Robot-Assembly-A.iamit 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 areNOT grounded.ME 24-688 – Introduction to CAD/CAE ToolsPage 24 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints35. Start the Constrain tool On the Place Constraint dialog box set the following optionsType: MateSolution: Flush Pick the side face shown of component Robot-Clamp:1 for Selection 1ME 24-688 – Introduction to CAD/CAE ToolsPage 25 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints Pick the side face shown of component Robot-Clamp-Mount for Selection 2 Enter 0 into the Offset field. Click OK36. Change Parameter name Open the Parameters dialog boxAssemble tab Manage panel Parameters Because you have only placed one constraint in assembly Robot-GripperAssy, this isonly one parameter listed in the Parameters dialog box called d0. Single click on the parameter name and change it to GripperOffsetNOTE: Parameter names cannot contain spaces Click DONE37. Start the Constrain tool On the Place Constraint dialog box set the following optionsType: MateSolution: Flush Pick the side face shown of component Robot-Clamp:2 for Selection 1ME 24-688 – Introduction to CAD/CAE ToolsPage 26 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints 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 theconstraint offset value always be negative of the original. Click OK38. Start the Constrain tool On the Place Constraint dialog box set the following optionsType: MateSolution: MateME 24-688 – Introduction to CAD/CAE ToolsPage 27 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints 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 Apply39. Continue the Constrain tool On the Place Constraint dialog box set the following optionsType: MateSolution: Mate Pick the face shown of component Robot-Clamp:2 for Selection 1ME 24-688 – Introduction to CAD/CAE ToolsPage 28 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints Pick the face shown of component Robot-Clamp-Mount for Selection 2 Enter 0 into the Offset field. Click Apply40. Continue the Constrain tool On the Place Constraint dialog box set the following optionsType: MateSolution: 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 24-688 – Introduction to CAD/CAE ToolsPage 29 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints Click Apply41. Continue the Constrain tool On the Place Constraint dialog box set the following optionsType: MateSolution: 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 Apply42. 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 24-688 – Introduction to CAD/CAE ToolsPage 30 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints Select Drive Constraint from the Shortcut Menu On the Drive Constraint dialog box click the expand buttonME 24-688 – Introduction to CAD/CAE ToolsPage 31 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints 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 windowBoth parts move because Robot-Clamp:2 was contained using the parameter value fromRobot-Clamp:143. Click Save on the Quick Access Toolbar44. Close the window for Robot-GripperAssy.iam45. Notice that all edits made to Robot-GripperAssy.iam are now shown in Robot-Assembly-A.iam46. Start the Constrain tool. On the Place Constraint dialog box set the following optionsType: InsertSolution: Opposed Pick the circular edge shown of component Robot-GripperAssy for Selection 1ME 24-688 – Introduction to CAD/CAE ToolsPage 32 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints Pick the circular edge shown of component Robot-Axis5-Adapter for Selection 2 Enter 0 into the Offset field. Click Apply47. Continue the Constrain tool. On the Place Constraint dialog box set the following optionsType: MateSolution: Mate Pick the cylindrical surface shown of component Robot-GripperAssy for Selection 1ME 24-688 – Introduction to CAD/CAE ToolsPage 33 of 34

ME 24-688 – Week 4Project 1 – Assemblies and Constraints Pick the cylindrical surface shown of component Robot-Axis5-Adapter for Selection 2 Enter 0 into the Offset field. Click Apply48. If you haven’t already done so, Unground component Robot-Axis2-349. Click Save on the Quick Access Toolbar50. Close all filesME 24-688 – Introduction to CAD/CAE ToolsPage 34 of 34

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 .

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