A friend of mine needed something to hang onto when transferring to and from his wheelchair but doesn't always have a grab bar nearby. To solve this we built a telescoping transfer bar that attaches to his chair. We took a few pictures of critical dimensions of the chair and inserted a side view as a sketch picture. 

After Scaling the sketch picture I sketch the transfer bar on the image and added critical dimensions. Using those dimensions, I got to work designing and programming. 

As I final check before fabrication I created an assembly with the transfer bar on the sketch picture.

Everything looked good so it was time for fabrication!

The final installation