OUTLINE:

“Assembly Mechanism” is an assembly of pre-existing mechanisms or sub mechanisms which could be supplemented with or without additional engineering connections.

With normal working in DELMIA we have to create command joints for individual tool devices (clamps) and we need to add control device for controlling all the tool devices at a time. And adding them under same motion group with robot will make the Spec tree structure and working complicated.

To avoid this and to increase the end user productivity, now DELMIA V6 supports users to design complex mechanisms using "Assembly mechanism" feature. And the Mechanism assembly created will be treated as single device and thus all the commands (driver joints) of all the mechanisms in the assembly will be displayed under same tab in respective Device Attributes (JOG, Home Positions, Travel Limits, Speed & Acceleration) dialogs.

METHODS:

Using this "Assembly Mechanism" feature of DELMIA V6, We can create Assembly Mechanisms of two types.

1. Assembly mechanism with only Sub mechanisms

Some Real time Examples: Stationary Welding Fixtures, Buffer Fixtures and Material Handling Gripper.

2. Assembly mechanism with command joints & sub mechanisms

Some Real time Examples:  Fixtures mounted on Turntable/Trunion, Slides or Transportation systems

PRE REQUIREMENTS  for Creating Assembly Mechanism:

1: Kinematics at sub mechanism level should be defined.

Please refer Creating Sub mechanism Kinematics.AVI given below.

2: Fix type defined for sub mechanisms should be “Fix” (This Prereq is required for Type-2 assembly mechanism)

3: Assembly level Data structure need to be defined and stored, as per the required type.  

WORKING of TYPE 1 (Assembly mechanism with only Sub mechanisms)

Import and Open Required Tool Device.Data in DBG (Device Building) Apps.

Invoke “Mechanism Representation”  command from “Kinematics” section of Action bar & select root node of Tool Device, activate “Link all independent sub mechanism” option in Mechanism Options tab as shown in image and Select OK.

Structure of Mechanism Representation created under spec tree will be as shown in the image

Invoke “Motion Controller”command from “Motion Controller” section of Action bar and select Root Node of Device. Motion controller for the Device is created and shown under Spec tree.

Invoke JOG , we can see all the individual command joints of sub mechanisms together in one tab.

Please refer Assy Mechanism_TYPE-1.AVI given below

WORKING OF TYPE 2  (Assembly mechanism Command joints & Sub mechanisms)

Import and Open Required Tool Device.Data in DBG (Device Building) Apps.

Invoke “Mechanism Representation”  command from “Kinematics” Action bar & select root node of Tool Device, activate options in Mechanism Options tab as shown in image and select OK.

Use “Create Joints and build mechanism”    command for creating command joints at assembly level.

Final Structure of Mechanism Representation created under spec tree will be as shown in the image.

Invoke “Motion Controller”  command from “Motion Controller” Action bar and select Root Node of Device. Motion controller for the Device is created and shown under Spec tree.

Invoke JOG , we can see all the individual command joints of sub mechanisms & command joints created at assembly level together in one tab

Please refer AVI (Assy Mechanism_TYPE-2.AVI)