myRIO Balancing Robot

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CAD Prototype

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This document was created for the myRIO Balancing Robot Project
https://decibel.ni.com/content/groups/myrio-balancing-robot
myBOT.png

CAD Prototype

Overview

This document describes the CAD Prototype created for myRIO Balancing Robot, according to User Story U-002: CAD Prototype

The CAD Prototype was created using PTC Creo Elements. http://de.wikipedia.org/wiki/Creo_Elements/Direct_Modeling

http://de.wikipedia.org/wiki/Creo_Elements/Direct_ModelingFor the use in LabVIEW a *.wrl File was created. All Elements (wheel1, wheel2, motormount, motor1, motor2 and myrio) of the prototype are accessible as individual parts in LabVIEW.

A rendering "balancingbot.png" has been created and is in use as the group picture for the myRIO Balancing Robot NI Community group.

All documents can be found attached to this document.

  • myRIO_BalancingRobot_CAD.zip, contains all CREO Element files
  • myRIO_BalancingRobot_WRL.zip, contains LabVIEW enabled *.wrl files
  • myRIO_BalancingRobot_STL_v1.stl, is a Stereolithographie File of the Robot that can be used for importing to other programs.
  • myRIO_BalancingRobot_3D_v1.pdf, is a 3D-PDF file. Useful to get an overview without the need for a CAD program.
  • Draw myRIO Balancing Robot.zip, is a LabVIEW project showing a quick example of how to draw a myRIO Balancing Robot inside LabVIEW.

balancingbot.PNG

Table of Contents

1. Creation of the CAD model

The CAD Prototype was created using PTC Creo Elements. http://de.wikipedia.org/wiki/Creo_Elements/Direct_Modeling

The parts and assembly files are presented in "myRIO_BalancingRobot_CAD.zip" file attached to this document.

The file "myRIO_BalancingRobot_STL_v1.stl" can be used to import the model to other CAD programs, or to print the Prototype on a 3D printer.

The file "myRIO_BalancingRobot_3D_v1.pdf" is a 3D enabled pdf file that can be used to look at the CAD model without the need for specialized software.

2. LabVIEW Preparation

LabVIEW needs VRML (*.wrl) files in order to work with 3D-models. To read more about VRML files please read: http://en.wikipedia.org/wiki/VRML

The LabVIEW model was created using the "Save as" function in CREO Elements. The VRML files have been created in the assembly view.
CREO creates a *.wrl file for every part:

  • balancingbot_v1.wrl: Assembly file for the whole robot
  • wheel_prt.wrl
  • motor_prt.wrl
  • doublemotormount_prt.wrl
  • myrio_prt.wrl

balancingbot_v1.wrl inlines all the other files. So make sure, all files are placed in the same location.

The parts are presented in "myRIO_BalancingRobot_WRL.zip" file attached to this document.

3. LabVIEW Integration

The VI "Draw myRIO Balancing Robot.zip" shows a quick example how the Robot can be built inside LabVIEW.

The zip file contains a LabVIEW project, compiled for LabVIEW 2013, showing how to draw a myRIO Balancing Robot inside LabVIEW.

4. Conclusion

The CAD prototype described in this document serves as a starting point for all Simulation activities (e.g. U-028 Simulate simple balancing Robot).

The CAD prototype contains models of the elements used for the myRIO Balancing Robot prototype (as described here: https://decibel.ni.com/content/docs/DOC-30571). The wheels, motormount and motors are exact models of the original Digilent parts.

The "myRIO" on top of the motormount is a rough representation of the real myRIO device, no mechanical structure to hold the device in place is presented in this work.

For further development additional elements can be placed on a future CAD model, e.g. batteries, sensors, an exact model of the myrio, mechanical structure.

5. Sources

6. Further Information

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