Figure (robot): The RMIT Robot Arm
The model shown in Figure (robot) will be described in a step by step instructions on how to build and display this model.
This is the MGED input file:
in btm box 0 0 0 0 -90 0 40 0 0 0 0 6 in btm1 box 0 -90 0 0 -61.549 0 40 0 0 0 0 6 in rad rcc 20 -150 0 0 0 6 8 in cyl rcc 20 -45 6 0 0 30 20 in cyl1 rcc 20 -45 0 0 0 36 15.5 in cyl2 rcc 20 -45 0 0 0 36 12.5 in hole rcc 8 -8 0 0 0 6 3 in hole1 rcc 32 -8 0 0 0 6 3 cp hole1 hole2 in gus raw 21.5 -25.3 6 0 0 30 0 25.3 0 -3 0 0 in cnr box 0 0 0 6 6 0 6 0 0 0 0 6 in cnr1 box 34 0 0 0 -6 0 6 0 0 0 0 6 cp cnr cnr2 cp cnr1 cnr3 in rad1 rcc 6 -6 0 0 0 6 6 in rad2 rcc 34 -6 0 0 0 6 6 in head rcc 20 -45 36 0 0 30 18 in shaft rcc 20 -45 36 0 0 -50 12.5 in han rcc 20 -45 51 0 120 0 6 in ball sph 20 75 51 15 in cut box 20 -45 0 0 50 0 25 0 0 0 0 40 in squ box 12 -53 -14 0 16 0 16 0 0 0 0 -30 r handle u squ u shaft u han - ball r knob u ball r cor u cnr2 + rad1 r cor1 u cnr3 + rad2 in hole4 rcc 20 -150 0 0 0 6 3 cp hole2 hole3 r base u btm u btm1 - hole2 - hole3 - hole4 u rad - hole4 g all base handle knob size 300 e all
This is the MGED dialog:
mged mark BRL Graphics Editor (MGED) Version 2.31 Sat Oct 17 20:33:05 PDT 1987 mg\@godzilla:/usr/staff/mg/brlcad/mged mark: No such file or directory Crete new database (y/n)[n]? y attach (nu|tek|plot|ir) [nu]? nu ATTACHING nu (Null Display) Untitled MGED Database (units=mm) mged> in btm box 0 0 0 0 -90 0 40 0 0 0 0 6 mged> in btm1 box Enter X, Y, Z of vertex: 0 -90 0 Enter X, Y, Z of vector H: 0 -61.549 0 Enter X, Y, Z of vector W: 50 0 0 40 0 0 Enter X, Y, Z of vector D: 0 0 6 mged> in rad rcc 20 -150 0 0 0 6 8 mged> in cyl rcc Enter X, Y, Z of vertex: 20 -45 6 Enter X, Y, Z of height (H) vector: 0 0 30 Enter radius: 20 mged> in cyl1 rcc 20 -45 0 0 0 36 15.5 mged> in cyl2 rcc 20 -45 0 0 0 36 12.5 mged> in hole rcc 8 -8 0 0 0 6 3 mged> in hl ole 1 rcc 2 32 -8 0 0 0 6 2 3 mged> cp hole1 hole2 mged> in gus raw Enter X, Y, Z of vertex: 21.5 -25.3 6 Enter X, Y, Z of vector H: 0 0 30 Enter X, Y, Z of vector W: 0 25.3 6 Enter X, Y, Z of vector D: -3 0 0 mged> in cnr box 0 0 0 06 6 0 6 0 0 0 0 6 mged> incnr1 box 34 0 0 0 -6 0 6 0 0 0 0 6 incnr1: no such command, type ? for help mged> in cnr1 box 34 0 0 0 -6 0 6 0 0 0 0 6 mged> cp cnf r cnr2 mged> in cp cnr1 cnr3 mged> in rad1 rcc 6 -6 0 0 0 6 6 mged> in rad2 rcc 34 -6 0 0 0 6 6 mged> in shaft rcc 20 -45 36 0 0 30 18 mged> in shaft rcc 20 -45 36 0 0 -50 12.5 mged> in han rcc 20 -45 51 0 120 0 6 mged> in ball sph Enter X, Y, Z of vertex: 20 75 51 Enter radius: 15 mged> in cut box 20 -45 0 0 50 0 25 0 0 0 040 Enter Z: 03 NOTE: error again mged> killall cut mged> in cut box 20 -45 0 0 50 0 25 0 0 0 0 40 mged> in squ box 12 -53 -14 0 16 0 16 0 0 0 0- -30 mged> r handle + squ shaft u han u ball Defaulting item number to 1001 Creating region id=1000, air=0, los=100, GIFT material=1 mged> r knob + ball Defaulting item number to 1002 Creating region id=1001, air=0, los=100, GIFT material=1 mged> r cor + cnr2 + rad1 Defaulting item number to 1003 Creating region id=1002, air=0, los=100, GIFT material=1 mged> r cor1 + cnr3 + rad2 Defaulting item number to 1004 Creating region id=1003, air=0, los=100, GIFT material=1 mged> mater knob plastic Was Parameter string? n Override material color (y/n)[n]? y R G B (0..255)? 255 0 0 NOTE: This is color RED mged> mater handle plastic mged> Was Parameter string? n Override material color (y/n)[n]? y R G B (0..255)? 219 147 112 NOTE: This is color TAN mged> r base + btm u btm1 u gus cyl - cyl1 m1 - hole2 -hole3 -hole4 u rad- hole4 mged> error in number of args! NOTE: Typing errors mged> r base + btm u btm1 - hole2 - hole3 - hole4 u rad - hole4 Defaulting item number to 1005 Creating region id=1004, air=0, los=100, GIFTmaterial=1 dir_lookup: could not find "hole3" skipping hole3 dir_lookup: could not find "hole4" skipping hole4 dir_lookup: could not find "hole4" skipping hole4 mged> t ball cnr3 gus knob/ base/ cor/ han rad btm cor1/ handle rad1 btm1 cut head rad2 cnr cyl hole shaft cnr1 cyl1 hole1 squ cnr2 cyl2 hole2 mged> in hole 4 rcc 20 -150 0 0 0 6 3 mged> cp hole2 hole3 mged> killall base NOTE: Redo "base" region mged> r base + btm u btm1 - hole2 - hole3 - hole4 u rad - hole4 Defaulting item number to 1006 Creating region id=1005, air=0, los=100, GIFTmaterial=1 mged> g all base handle knob mged> tree all | all_________________| base_________| btm | btm1 | hole2 | hole 3 | hole4 | rad | hole4 | handle______________| squ | shaft | han | ball | knob________________| ball | handle_______________| squ | shaft | han | ball | knob_________________| ball mged> l base base (len 9) REGION id=1005 (air=0, los=100, GIFTmater=1)-- + btm u btm1 - hole2 - hole3 - hole4 u rad - hole4 u handle u knob mged> l gus gus: ARB8 (ARB6) 1 (21.5000, -25.3000, 6.0000) 2 (21.5000, 0.0000, 6.0000) 3 (21.5000, 0.0000, 6.0000) 4 (21.5000, -25.3000, 36.0000) 5 (18.5000, -25.3000, 6.0000) 6 (18.5000, 0.0000, 6.0000) 7 (18.5000, 0.0000, 6.0000) 8 (18.5000, -25.3000, 36.0000) mged> l ball ball: ELL V (20.0000, 75.0000, 51.0000) A (15.0000, 0.0000, 0.0000) Mag=15.000000 A dir cos=(0.0, 90.0, 90.0), rot=0.0, fb=0.0 B (0.0000, 15.0000, 0.0000) Mag=15.000000 B dir cos=(90.0, 0.0, 90.0) rot=90.0, fb=0.0 C (0.0000, 0.0000, 15.0000) Mag=15.000000 C dir cos=(90.0, 90.0, 0.0) rot=90.0, fb=90.0 mged> l knob knob (len 1) REGION id=1001 (air=0, los=100, GIFTmater=1)-- Material "plastic" Color 255 0 0 + ball mged> l handle handle (len 4) REGION id=1000 (air=0, los=100, GIFT MATER=1)-- Material "plastic" "n Color 219 147 112 + squ u shaft u han u ball mged> canter-0-75 0 mged> size 300 mged> tops all/ cor1/ cyl2 hole1 cnr cut gus cnr1 cyl head cor/ cyl1 hole mged> analyze cyl cyl: TGC V (20.0000, -45.0000, 6.0000) H (0.0000, 0.0000, 30.0000) Mag=30.000000 H dir cos=(90.0, 90.0, 0.0), rot=90.0, fb=90.0 A (-17.5032, -9.6767, 0.0000) Mag=20.000000 B (9.6767,-17.5032, 0.0000) Mag=20.000002 c=20.000000, d=20.000002 AxB dir cos=(90.0, 90.0, 0.0), rot=90.0,fb=90.0 Surface Areas: base(AxB)=1256.6371 top(CxD)=1256.6371 side=3769.9114 Total Surface Area=6283.1855 Volume=37699.1132 (0.0100 gal) mged> q