Mannequin Simulation. D. Chablat. 21/11/2016 D. Chablat 1

Transcription

1 Mannequin Simulation D. Chablat 21/11/2016 D. Chablat 1

2 DELMIA workbench Use of Delmia's 5 virtual human workbench Human Builder Human Activity Analysis Human Posture Analysis Human Measurements Editor Human Task Simulation Difficult to do everything in 4 hours 21/11/2016 D. Chablat 2

3 Outline of the lecture Discovery of the environment Using the mannequin Programming of the manikin Evaluation of ergonomics 21/11/2016 D. Chablat 3

4 CATIA/DELMIA Current workbench Compass to move object Names of the files CatPart: parts CatProduct: assembly of parts CatProcess: simulation 21/11/2016 D. Chablat 4

5 Creating and Modifying a Mannequin Human Builder 21/11/2016 D. Chablat 5

6 Create a new product Mannequin Fichier->Nouveau-> Product Activate the workbench Human Builder 21/11/2016 D. Chablat 6

7 Creation a mannequin Mannequin Insert an new mannequin Select the product (on the top left) Define a name and its properties 21/11/2016 D. Chablat 7

8 Define the options Mannequin Observe the variations as a function of the percentile of the population and the gender 21/11/2016 D. Chablat 8

9 Modification of the mannequin Open the Human Measurements Editor Workbench Select the mannequin Try to modify all the parameters It s possible to save the local properties of the mannequin Exit of the workbench 21/11/2016 D. Chablat 9

10 Animation of the mannequin Objectives: to use the direct and inverse geometric model Posture editor Forward kinematics Inverse kinematics Reach (position only and position & orientation) Standard pose 21/11/2016 D. Chablat 10

11 Animation of the mannequin Postures memorized Direct geometric model: displacement of joints Attention: a joint can have several degrees of freedom Use the contextual button to change the degree of freedom piloted Inverse kinematics: movement from the hands, feet... Attention: by default the trunk is fixed Attraction only in position or with orientation Use the "IK behavour" editor to add mobility to the manikin. 21/11/2016 D. Chablat 11

12 Animation of the mannequin Block one end (foot, hand, head) using the «CTRL» key 21/11/2016 D. Chablat 12

13 Predefined Postures Explore different postures Study the parameters of the poses with respect to the manikin View lecture 21/11/2016 D. Chablat 13

14 Mannequin in an environment 21/11/2016 D. Chablat 14

15 Data Creating a working environment Create a new Process Insert a product «exemple_office» Insert a resources «marcheur» 21/11/2016 D. Chablat 15

16 Placement of manikin on floor Place mode (z only) Select the floor then the mannequin 21/11/2016 D. Chablat 16

17 Examples Create a simple task Move a part of the body Walking Pick and place an object Climbing stairs 21/11/2016 D. Chablat 17

18 Create a task Create a task for a selected mannequin Create a move to posture activity Use the direct kinematic model to move the mannequin 21/11/2016 D. Chablat 18

19 Create a task Move one or more joints and then «create activity» Double-clicking on an action «MoveToPosture», it s possible to modify a posture Attention: Do not forgot to apply «Modify activity» It s possible to copy / past a posture from right arm to left one 21/11/2016 D. Chablat 19

20 Create a walking task Select a mannequin Define the path Define step type Defining the movement of the arms Click on the right button to finish the path Enable Collision Detection Generate postures 21/11/2016 D. Chablat 20

21 Pick an object Create a motion «MoveToPosture» Use the function «Reach position and orientation» Select the surface of the object and after the hand 21/11/2016 D. Chablat 21

22 Pick an object Use «Standard posture» Define the grasping type Use «Auto grasp» 21/11/2016 D. Chablat 22

23 Pick an object Create a «Pick activity» Note the links to the weight of the object Make a movement up the arm to check the grip. 21/11/2016 D. Chablat 23

24 How to simulate activity? Simulation of the process Select a program and use the command bar It is possible to make a more realistic simulation by using the command "to activate / deactivate the automatic simulation in real time 21/11/2016 D. Chablat 24

25 Saving positions After any simulation, return to the initial state It is possible to save the position of products and resources It is possible to make a full or partial backup 21/11/2016 D. Chablat 25

26 Make a Gantt with Activities Process Management Insert the activity library "Human.act" (nothing happens) Insert an activity on the Process 21/11/2016 D. Chablat 26

27 Make a Gantt with Activities Copy paste to have multiple processes Organize the processes "Open the PERT view" Create links between activities 21/11/2016 D. Chablat 27

28 Assign resources to processes One can simulate several resources in the same environment For each Process, it is necessary to assign a resource For each resource, it is necessary to assign a program 21/11/2016 D. Chablat 28

29 Simulation Simulate with all processes Open the GANTT 21/11/2016 D. Chablat 29

30 Free Activity: Generating a Complete Task - Taking an Object Define a motion sequence Walking towards the object Put your hand on the object Create an action to take the object (specify hand) Lift the object Enable vision to track object Enable option in IKB parameter 21/11/2016 D. Chablat 30