Design & Technology in Schools Program. Space Exploration: A Pro/DESKTOP Teacher s Guide

Transcription

1 Design & Technology in Schools Program Space Exploration: A Pro/DESKTOP Teacher s Guide

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3 Copyright 2003 Parametric Technology Corporation (PTC). All Rights Reserved. The PTC logo, Pro/DESKTOP and all PTC product names are trademarks or registered trademarks of PTC and/or its subsidiaries. User and training documentation from Parametric Technology Corporation is subject to the copyright laws of the United States and other countries. PTC hereby grants to the licensed user the right to make copies in printed form of this documentation, but only for use in the schools of teachers who have attended official training and in accordance with the license agreement under which the applicable software is licensed. Any copy made shall include the PTC copyright notice and any other proprietary notice provided by PTC. This documentation may not be disclosed, transferred, modified, or reduced to any form, including electronic media, or transmitted or made publicly available by any means without the prior written consent of PTC and no authorization is granted to make copies for such purposes. Information described herein is furnished for general information only, is subject to change without notice, and should not be construed as a warranty or commitment by PTC. PTC assumes no responsibility or liability for any errors or inaccuracies that may appear in this document. The software described in this document is provided under written license agreement, contains proprietary information and is protected by the copyright laws of the United States and other countries. UNAUTHORIZED USE OF SOFTWARE OR ITS DOCUMENTATION CAN RESULT IN CIVIL DAMAGES AND CRIMINAL PROSECUTION. In order to insure these materials are of the highest quality, users are asked to report any errors to PTC at schools@ptc.com. Suggestions for improvements and other activities are also welcomed. Space Exploration 3

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5 ACKNOWLEDGMENTS PTC gratefully acknowledges the following people for their part in creating these materials: Tim Brotherhood, Teacher and Author Staffordshire Local Education Authority, United Kingdom Sheila Schencke, Executive Director STARBASE Louisiana Barbara Koscak, Executive Director STARBASE - Michigan Rick Simms, Deputy Director STARBASE - Michigan Space Exploration 5

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7 TABLE OF CONTENTS Introduction to Space Exploration... 9 PROJECT: SHUTTLE TRANSPORT...11 Files for Shuttle Transport...12 Introduction...15 Assembling Parts...20 Object browser...24 Creating a Photo-Realistic Image...30 Using Pro/DESKTOP in Your Projects...41 PROJECT: SPACE STATION...45 Files for Space Station...46 Introduction...49 Sketching Profiles 2D...50 Extruding a 3D Shape...54 Modify Solids...59 Assemble Components...61 Extension Activities...63 PROJECT: GRAVITY TOROID...65 Introduction...69 Creating the Gravity Toroid...72 PROJECT: KINEMATIC MOVEMENTS...81 Files for Kinematics...82 Introduction...85 Solar Panels...86 Control surfaces on the shuttle...89 Sojourner...95 Quiz...99 Quiz - Answers PROJECT: RESCUE CRAFT DENSITY Files for Rescue Craft Introduction Measurements Browser Extension Work PROJECT: PUBLISHING 3D MODELS ON THE WEB Files for 3D on the Web Introduction Viewing VRML Models Inserting Your VRML Model into a Web Page Other VRML Features Space Exploration 7

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9 INTRODUCTION TO SPACE EXPLORATION In a rapidly changing world that increasingly relies on modern technology, it is important that students learn how and why technology works. Teachers play an important part in helping students understand modern techniques for engineering design development and production techniques that encourage technological literacy. The Design & Technology in Schools Program is a collaboration of PTC, the company responsible for the development and distribution of Pro/DESKTOP, and a network of teachers around the world whose goal is to help better prepare students for success in today s technology-driven society. This teacher s guide features a space exploration theme designed to excite and enthuse students while incorporating math and science concepts. Its goal is to help students view complex information from more than one vantage point and to help encourage effective problem-solving, critical thinking and decision making skills. The PTC Design & Technology in Schools Program has partnered with The Science and Technology Academies Reinforcing Basic Aviation and Space Exploration (STARBASE) to inspire students and teachers in science and math using aviation as the theme. As part of this partnership, these materials were created to help balance subject content and process skills. The sequence of activities has been developed with increasing levels of difficulty, providing the opportunity for teachers and students to progress to whatever level they decide. The introductory project of assembling a set of components to create a small shuttlecraft helps build confidence and provides insight into the knowledge and skills developed. Intermediate users can construct a toroidal space station using revolve tools which relies on the principles of centripetal forces when spinning to create artificial gravity. Advanced users loft the space shuttle fin and, using the measurement facility in Pro/DESKTOP, explore its mass using density values for different materials. This teacher s guide has also been developed with the International Technology Education Association (ITEA) Standards for Technological Literacy in mind. To help teachers with their curriculum planning, all activities have been mapped to the standards to show those aspects that are touched upon and those that are covered in a significant way. Enjoy exploring space with Pro/DESKTOP and the Design & Technology in Schools Program! Space Exploration 9

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11 Project: Shuttle Transport Space Exploration 11

12 FILES FOR SHUTTLE TRANSPORT The following files will be needed to successfully complete this project: File Name Animation1.gif Earth.bmp Earth2.bmp Jupiter 800 x 600.bmp Jupiter.bmp Planet.bmp Saturn.bmp Shuttle Assembly.zip - includes Empannage.des Fixed Wing.des Fuselage.des Landing Ger.des Nose Come.des Screen.des Shuttle assembly pending.des Variable Wing.des Space station Jupiter.bmp Space Exploration 12

13 TABLE OF CONTENTS INTRODUCTION...15 Shuttle transport 15 Changing the view ASSEMBLING PARTS...20 Object browser Moving parts in the design window Set the angle of the left wing variable Importing and assembling a new part Saving your assembly CREATING A PHOTO-REALISTIC IMAGE...30 Changing the background...36 USING PRO/DESKTOP IN YOUR PROJECTS...41 Next steps Space Exploration 13

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15 INTRODUCTION During this project you will use Pro/DESKTOP, parametric 3D modeling software, to construct virtual models of a futuristic shuttlecraft and a space station. You will also create photo-realistic image of your designs. Tutorials like this one will teach you step-by-step how to complete assignments and lessons. You can also view screen movies that demonstrate exactly how each step is done. You can stop and start the movies and replay them as often as you like. Shuttle transport The parts for a shuttlecraft have been created using Pro/DESKTOP. Your first task is to put the components together to create a model similar to the one shown here. Space Exploration 15

16 Starting Pro/DESKTOP Before you can continue, check that your teacher has installed Pro/DESKTOP on your computer and copied the STARBASE tutorials into your working area on the PC/network. Run Pro/DESKTOP. The Pro/DESKTOP screen looks like this. Standard Windows menus and toolbars Only the simplest menus will be visible until a design window is opened. For the next task you will open an existing file from the STARBASE folder. Opening a model Open the File menu and select Open Look in the STARBASE folder and select the file called Shuttle Assembly.des. Click on. A Pro/DESKTOP design window will open with a 'loose' group of components for a simple shuttle model. Space Exploration 16

17 Tour of the Pro/DESKTOP screen Now the design toolbars are visible. The yellow labels in the diagram below indicate the functions they perform. Each of these icons represents functions that can be activated from the File Toolbar at the top of the screen. Most can also be activated with keyboard shortcuts indicated by [**] s. 3D features Modify solids Views View direction Select 2D Object Browser Select 3D Sketch tools Trim/ Add constraint The fuselage for the shuttle has been fixed in position but all other components can move. Soon, you will add two or three 'constraints' to each component to put the shuttle together. To make this easier you will need to view the model from different angles. Changing the view Rotating Press the arrow keys on the keyboard to rotate the model. The Page up/page down keys also rotate the model but in a different axis. Space Exploration 17

18 Zoom Open the View pull-down menu from the top toolbar and select Zoom in [Shift + Z] The mouse cursor will change to an icon. Position this cursor in the center of the area you wish to zoom in on, e.g. the shuttle nose cone. Holding the left mouse button down while dragging the mouse around will expand a dotted rectangle. Let go of the mouse button when the dotted border surrounds the area you want to zoom in on. The dotted border will grow to fill the screen. Now try rotating the zoomed model with the arrow keys on your keyboard. Space Exploration 18

19 Manipulate Using this method it is very easy to rotate the model to a convenient position. On the keyboard press the space bar. A set of arrows appears in the design window. Two are light blue and one is orange. To rotate the model, hold down the left mouse button and drag around in the design window. The orange arrow is the main axis of rotation. To remove the manipulate arrows tap the space bar again. Return to default view At any time you can return to the original view of the entire design. First, you will change the view to Trimetric and then use Autoscale to make the entire model fill the design window. The first method will use a keyboard shortcut. These are listed against each option in the View pull-down menu. Hold down the Shift key on the keyboard. Tap and release the 'T' key, [Shift + T]. Your model rotates to a trimetric view. However, you may not be able to see very much in the design window. Don't panic! Open the View pull-down menu and select Autoscale, [Shift + A] Pro/DESKTOP zooms to show the entire model Space Exploration 19

20 ASSEMBLING PARTS This tutorial will show you how to attach the nose cone to the fuselage. Afterwards, you can attach the empennage section yourself. Overview Assembling parts joins surfaces together. To do this highlight the two corresponding surfaces and apply an assembly constraint. Here are examples of the main types of assembly constraints. Align Mate Offset Orient Center Axes Here's how to apply an assembly constraint. Zoom in on the parts Use the techniques you have been shown to zoom in on the nose cone and fuselage. Space Exploration 20

21 Selecting two surfaces In the Select 3D toolbar click on, the Select Faces tool, or [F]. Without clicking, move the cursor over the components. You should see surfaces prehighlight in light blue or cyan. When the joining surface on the nose cone is pre-highlighted (shown above) click with the left mouse button to select it. The surface will now be highlighted in red to show it is selected. Hold down the Shift key on the keyboard while you carry out the next step. When assembling parts, Shift acts like the word AND, allowing you to sellect multiple parts. Position the mouse to pre-highlight the front surface of the fuselage, then click to select it. Release the Shift key. Both joining surfaces should be selected. Space Exploration 21

22 Applying a 'Mate' assembly constraint Open the Assembly pull-down menu from the toolbar at the top of the screen. Select Mate. The nose cone will move until the selected surfaces are inline with each other (The body has already been fixed and cannot move). Rotate the model to show the surfaces are aligned (coplanar). Trimetric view of mated parts Side view of mated parts To fully assemble the nose cone to the fuselage, two further assembly constraints are required. Applying 'Align' assembly constraints Select the two side surfaces shown. The second surface is shown pre-highlighted prior to selecting. Remember to hold down the Shift key when selecting the second surface When both surfaces are highlighted red, open the Assembly pull-down menu at the top of the screen and select Align. Space Exploration 22

23 The nose section will move sideways until the surfaces are in line. Highlight the two base surfaces shown below and create an Align assembly constraint. There are now three assembly constraints between the nose cone and the fuselage of the shuttle. You can check this using the Object Browser. Space Exploration 23

24 OBJECT BROWSER The Object Browser Panel is very important. It keeps a record of nearly every step in creating a model or assembly. Currently the browser is displaying Workplane information. Displaying component information Open the Drop-down-list at the top of the browser and change from Workplanes to Components. The browser will change to show a list of components. Next to some you will see a + sign. Click on the + sign next to the Nose Cone component to expand this level. There will be three assembly constraints listed, a mate and two aligns. Expand the level below the Fuselage component. This time there are four assembly constraints. Three are copies of the ones in the nose. The other shows the body is fixed in position. Three constraints will prevent the nose cone from being moved in any direction relative to the fuselage. Moving parts in the design window It is a good idea to move parts close to each other on screen when assembling them. To do this, the part to be moved must be selected prior to dragging into position. To do this you will use a new selection tool. Space Exploration 24

25 Selecting a part In the Select 3D toolbar click on, the Select Part tool, or [P]. Move the mouse across the design window. Notice that entire parts pre-highlight in cyan in the same way surfaces did before. When a part is pre-highlighted, click on it The edges turn red showing it has been selected. De-selecting a part In complex assemblies there will be times when you accidentally select the wrong part. Click in a blank area of the design window to remove the highlight on the current selection. Moving a part Select the empennage component shown below. Move the mouse over the empennage until the part s defining lines highlight and then click the left mouse button. The cursor changes to this symbol. Click again and drag the component until it is close to the rear of the body then release the mouse button. Assembling the Empennage Now that the two parts are close together it is easier to apply assembly constraints. Use the techniques you have learned to assemble the empennage section to the fuselage. Assembling the wings Two types of wing have been provided. The wings with flat mounting surfaces can be assembled onto the lower sides of the body using the same techniques you have already learned. Space Exploration 25

26 Align these surfaces Mate these surfaces Align these surfaces Assemble the two wings with flat mountings Creating a Center Axes constraint The wings with cylindrical mounting points will be used to show you this assembly constraint. Left Wing Variable Cylindrical surfaces to be centered Click on, the Select faces tool, [F]. Select the cylinder on the wing. Holding down the shift key, add the cylinder along the side of the shuttle fuselage to the selection. Open the Assembly pull-down menu and select the Center Axes assembly constraint. The wing will move to a position where the two cylinders are aligned (co-axial). Space Exploration 26

27 Add an align constraint between the rear surfaces of the wing and fuselage. With only two constraints between this wing and the body it will be possible to alter the dihedral angle by dragging. You have used this technique before to move a component. Set the angle of the left wing variable Click on Select the wing., the Select Parts tool, [P]. Click and hold the mouse button down while moving the mouse. The wing should revolve around the cylindrical surfaces. Practice these techniques by assembling the second wing with cylindrical mounting. Space Exploration 27

28 Importing and assembling a new part So far the parts you have used have been on screen ready to be assembled. Now you will 'import' other parts that are provided in your work area. Adding Landing Gear to the Model Open the Assembly pull-down menu. Open the folder where your files are stored. Select the file called Left Landing Gear. Click on open. The landing gear will appear in the design already highlighted. Drag the landing gear close to where it will be assembled. Tip: You may need to use Autoscale to see the new component. Assembling the Landing Gear How many constraints are needed to fix the landing gear in position? Space Exploration 28

29 ASSEMBLY CONSTRAINTS FOR LEFT LANDING GEAR. Align rears Align sides Mate top and bottom Align sides Use the techniques already learned to assemble the landing gear. Add a second landing gear by repeating the importing steps listed above and assemble it on the other side of the shuttle. Saving your assembly This works differently to other windows software. If you simply saved the design it would overwrite the file called Shuttle Assembly.des you opened at the start of this tutorial. You need to save it with a different name. Open the File pull-down menu. Select Save Copy As. Decide on the location for your design. Type a name for your model. Click on Save. Unlike other Windows software Pro/DESKTOP continues with the original design (Shuttle Assembly.des). Close the design window and open the copy with your name before starting the next task. Space Exploration 29

30 CREATING A PHOTO-REALISTIC IMAGE When you are creating shapes and assembling parts, Pro/DESKTOP shades the models to help you recognize form and depth. This shading is simple but effective and allows for fast computations. A module in Pro/DESKTOP called the Album allows you to add surface textures, alter views and change lighting. Model in the design window. The same model in the Album with no further alterations. Album images are dynamically linked to a 3D model so your shuttle model must be open on screen before you can create an album image of it. Starting an Album image. Open the File pull-down menu. Select New. Choose Album. Space Exploration 30

31 A blank album window opens over the top of your shuttle model. Notice that the menus, toolbars and the browser are slightly different in the album mode. Importing your shuttle design Open the Image pull-down menu in the top toolbar. Select New Image. Your model should be in the list. Click on. Space Exploration 31

32 Your shuttle will appear in the Album Window. The first thing you may notice is the perspective. That's just the start. Now for the really exciting part! Adding texture to a part The browser panel on the left of the screen is currently showing images. Open the list at the top of the browser and click on materials. Categories of materials are listed. Click on the + sign next to non-metal. The full list of non-metal finishes appears. Using the mouse, drag the sack next to the material plastic, injected onto the nose cone and click on the Update Button found at the top of the screen. Not much appears to happen. The nose cone will look only slightly different. To get the real effect you should change the color of the plastic. Space Exploration 32

33 Changing the color of a component Move the mouse until the edges of a component pre-highlight in cyan. Right click with the mouse. From the floating menu click on Set Material Properties. This dialogue window will open. Click on Set Color. Choose a color and then click on. Click on to close the Material Properties window. Viewing the result Click on. The Album window will change to show the effect of adding textures and changing colors. Adding textures to surfaces So far you have added textures to a whole component. A button on the toolbar will let you change textures on single surfaces. The surface you use in the next task should have had a Plastic texture applied to the component. Click on, the Select Faces tool in the toolbar, [F]. Move the mouse until the edges of a surface pre-highlight in cyan. Right click with the mouse. From the floating menu click on Set Material Properties. The dialogue window will open with the option to Set Color. Click on this Choose a color and then close the dialogue windows. After changing the color of several surfaces your model could look similar to this. Space Exploration 33

34 Experiment with different textures and colors. Not all textures allow you to change the color. Some, like brick have several colors that can be changed and a scaling factor. Use this to alter the size of the bricks to suite the size of the model. Try other textures to see the effect of changing the color(s) and scale. Tip: Change the texture on components before altering surfaces. Which materials from the list are most likely to be used to build a shuttle? Which parts of the shuttle would the materials be most suitable for? Some of the factors to consider might be: Light weight. High strength. Ability to withstand high temperatures. Can you think of any other properties of materials that would be important? Changing lighting and background Different lighting can have a dramatic effect on how a model appears. The Album view of the shuttle model should be open on screen. Open the Image pull-down menu. Select Image Properties. Space Exploration 34

35 This dialog will open. Make sure the Studio tab is selected. Open the Lighting roll-down list. The effect of each one is shown below. The effect of lighting in the Album No other parameters were changed between images Default Flood Room Spot Daylight Select one of the lighting effects. Click on to close the dialogue. To see the effect click on. Try other lighting effects and viewing the model from different directions. Space Exploration 35

36 Changing the background The final touch in making a successful Album picture is using a background image that places the model in context. The Album image of your model should be open on screen. You will alter the resolution for your album image to 650 x 336 pixels, matching an image of Saturn we have provided. Before proceeding, you will need to import the Saturn image to the Custom backdrops. Open Windows Explorer [Windows key + E]. Click the [+] by SYSTEM (C). Click the [+] by Program Files. Click the [+] by PTC. Click the [+] by ProDESKTOP2000i2. Double click on Bitmaps. o On the right, you will see a list of the currently available backdrops, Bricks, Course paper, etc. Open another Windows Explorer window [windows key +E] Open the Shuttle Assembly folder. Open the Planet Images folder. o On the right, you will see a list of the various planet.bmps. Click and drag Saturn over to the first Explorer Window you opened and drop it in among the other available backdrops. You can now select it for your Album image. Changing the image size Open the Image pull-down menu.. Select Image Properties In the dialog window make sure the Image tab is selected. Change the image size values to Width: 650 Height: 335 Do not close the dialog box. Space Exploration 36

37 Choose a background image Click on the Effects tab. Open the Background roll-down menu and select Custom. Open the new roll-down menu and select Saturn. Click on to close the Image Properties dialog window. See the effect by updating the album image with the button. The image will be greatly improved if the model is moved to one side and angled to look as though it is in orbit. Space Exploration 37

38 Rotating the model (Manipulate) Press the space bar on the keyboard. Cyan colored 'manipulate' arrows appear on screen for the three main axes. Move the screen cursor over the arrows until the vertical one turns orange. Hold down the left mouse button and drag to rotate the model. Release the mouse button. The orange arrow is the main axis for rotation. Notice how the surface textures and background image disappear. Don't worry they will re-appear next time you click on, the update button, or [F5]. Move the mouse until a different arrow turns cyan. Click and drag with the left mouse button. Notice how the shuttle revolves around the new orange arrow axis. Position the shuttle like the image on the right. Update the image with the, button. Zooming You will now zoom out to make the shuttle smaller in relation to Saturn. Open the View pull-down menu and select Zoom in. [Shift + Z]. Hold down the left mouse button and drag. Moving the mouse will enlarge or reduce the size of the shuttle. When the shuttle occupies about a quarter of the screen release the mouse button. All that remains is to scroll the view to place the shuttle in the top left corner of the image. Space Exploration 38

39 Scrolling the view Pro/DESKTOP does not use standard Windows scroll bars. The method used allows scrolling in any direction, not just vertical and horizontal. Scrolling is possible when the Manipulate arrows are visible. Press the space bar to show the manipulate arrows. Hold down the Shift key on the key board for the next step. Hold down the left mouse button and drag the model until the shuttle is in the top left corner of the image window. Release the mouse button. Saving your album image Album images are saved in a format unique to Pro/DESKTOP. In order to use them in documents and other software you will need to export in a standard file format such as JPG. Space Exploration 39

40 Exporting a JPG image The album image you want to export should be open on screen. Open the File pull-down menu Follow the Export option and select JPEG... Select the location for the file in the Save in: space, then fill-in a filename. Click on. The dialog will close and the file will be saved. You can use this image in almost any Windows software. Space Exploration 40

41 USING PRO/DESKTOP IN YOUR PROJECTS So what can Pro/DESKTOP be used for in school? This section should give you some ideas. The possibilities are almost limitless. Here are a few things to get you thinking. High quality 3D models and images of products. Engineering drawings. Kinematic models to prove mechanical motion, Loci, etc. Space Exploration 41

42 Configurations to test alternative designs. Animations of mechanical motion or 3D transformations. Space Exploration 42

43 STL format files for CNC machining or rapid prototyping. Solid models for use in other software for sophisticated animations. 17 year old student - De Ferrers High School Burton upon Trent, Staffordshire, UK Except for the last example, all of the above are taken from a series of seven project tutorials available at: Next steps In this tutorial you have used components provided for you to create assemblies. The next tutorial will show you how to design and create your own components using Pro/DESKTOP. Space Exploration 43

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45 PROJECT: SPACE STATION Space Exploration 45

46 FILES FOR SPACE STATION The following files will be needed to successfully complete this project: File Name 3 axis connect.des Hex compartment.des Solar compartment.des Through compartment.des Space Exploration 46

47 TABLE OF CONTENTS INTRODUCTION...49 SKETCHING PROFILES 2D...50 Beginning a design Where do I sketch? Viewing onto the workplane Making the palette visible Adding a shape Sketches Removing 'reference' from a constraint Changing a constraint Zooming EXTRUDING A 3D SHAPE...54 Extruding Adding a hexagonal sketch...56 Changing a constraint Moving lines Extrude link corridor MODIFY SOLIDS...59 Adding to a selection Hollow a solid ASSEMBLE COMPONENTS...61 Adding your model Assemble two parts EXTENSION ACTIVITIES...63 Next steps Space Exploration 47

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49 INTRODUCTION In this tutorial you will learn how to create a module for an orbiting space station and how to assemble it to a partly complete space station. To achieve this you will learn techniques for creating Pro/DESKTOP parts from scratch. Parts are made from solid shapes and creating a solid involves two stages. First, a 2D sketch is drawn on a workplane. Second, the shape is stretched or 'extruded' to create the solid Space Exploration 49

50 SKETCHING PROFILES 2D Beginning a design Start Pro/DESKTOP. If the Tip of the Day window appears click on the Close button. Click on, the New File icon to open an empty design window. The design window will show the outline of a green rectangle seen at an angle with two green arrows in the center. ORIGIN (0,0) Y axis arrow x axis arrow The green rectangle is the Base Workplane and the arrows show the directions for the X and Y axes from the origin. Where do I sketch? A workplane can have several sketches. Workplanes are like the glass panel on an overhead projector and sketches are the transparencies (plastic sheets) you write on. For complex diagrams teachers overlay several transparencies, gradually building up the image. Pro/DESKTOP can have multiple sketches on each workplane. Transparencies = sketches Glass panel = workplane Workplanes and sketches are listed in the browser on the left hand side of the Pro/DESKTOP screen. Here the base workplane has been expanded to show the sketch called initial. The + sign changes to a - sign. Space Exploration 50

51 Viewing onto the workplane When Pro/DESKTOP starts a new design the workplane is shown at an angle. It is easier to do the next bit if we look straight down onto it. Open the View pull-down menu and select Go to. From the fly-out menu select Onto Workplane. There are keyboard shortcuts for many of the menus. They are listed at the side. In future you will be shown the keyboard commands in brackets [Shift + W]. Sketching tools The sketching tools for Pro/DESKTOP are down the right hand side of the screen. The first four create lines and shapes. The last two can create new lines and modify existing lines. Straight Circle Rectangle Ellipse Arc or fillet Spline For the next section you will use pre-drawn shapes from the Pallet. If yours is already visible on the right hand side of the screen skip the next small section. Making the palette visible. Open the Tools pull-down menu. Click on the Palette option. The Palette will become visible. Space Exploration 51

52 The component you will make in the section is a hexagonal living module. You will create this design from scratch and then assemble with other modules to create an orbiting space station. Adding a shape In the Palette select the Shapes tab. Move the mouse cursor over the Hexagon shape in the Palette. Hold down the left mouse button and drag the Hexagon shape onto the workplane. The position doesn't matter. Release the mouse button. Sketches Notice how the green rectangle changes size and position to surround the shape. Dotted 'construction' lines are very useful for setting out the size and position of sketches. The hexagon of solid unbroken lines will be used to create the solids. It is important that this shape is unbroken. Any gaps, overlaps or stray lines will prevent the 3D shape being created. Removing 'reference' from a constraint Notice the text in brackets. This is a sketch constraint and is telling us the size of the construction circle that surrounds the hexagon. The brackets indicate it is a reference constraint. The reference brackets need to be removed so that the constraint can change the size of the circle. In the design toolbar on the right of the screen, click on the Select constraint tool. Move the mouse cursor over the constraint. Left mouse click to select the constraint. Space Exploration 52

53 The constraint turns red to show it is selected. Right mouse click over the constraint. In the floating menu click on. The brackets will disappear from the constraint. Changing a constraint The construction circle controls the size of the hexagon. By changing the size of the diameter constraint the circle and hexagon will re-size. Make sure the constraint is selected (colored red). Double click on the constraint. The Properties dialog window opens showing the current value of 100mm for the diameter constraint. The capsule needs to be 5 metres across the points. Alter the value to 5000 Click on. The hexagon sketch will probably disappear from view because it has increased in size fifty times! Zooming Do you remember from previous tutorials how to zoom to include everything? Autoscale can be found in the View menu but try the alternative keyboard shortcut. Hold down the Shift key and press the A key. Release the Shift key. You should now be able to see the sketch with a constraint showing Try another keyboard shortcut by altering the view to Trimetric. Hold down the Shift key on the keyboard and press the T key. The sketch may be partly off screen. Use the shortcut keys to do another Autoscale [Shift + A]. Use another shortcut to zoom out to Half size [Shift + H]. Now for the exciting bit, creating the solid shape. Space Exploration 53

54 EXTRUDING A 3D SHAPE Features tool bar If the Features toolbar is visible skip the next small step. Open the View pull-down menu. Select Toolbars. Click on the Features option. The Features toolbar should now be visible. Extruding Click on, the Extrude tool. The Extrude dialog window opens. Drag the Extrude Profile... dialog window to show the sketch underneath. There are two ways to define the length for the extrusion. Method one Near the center of the sketch there is a small yellow square or 'handle'. Click and drag the yellow handle up the screen. A hexagonal prism will be created as you drag. (You may need to pause to allow slower computers to catch up). The dialog window remains open and the Distance value will alter as you drag the yellow handle. Space Exploration 54

55 Method two Click in the Distance section of the Extrude Profile... dialog. Type in the number The capsule will change length until it is six meters long. Click on to close the dialog window. You now have a hexagonal solid to form the basis for the space station module. Next you will start a new sketch, add another hexagon sketch, resize it and create a shorter extrusion to form an airlock stub. Viewing workplanes and sketches Remember the Object Browser? This is the easiest way to view the workplanes and sketches in a model. The Object Browser should be showing a list of workplanes. Click on the small + sign, next to the Base workplane. The workplane will expand to show 2 sketches. The initial sketch is provided with every new design. The hexagon sketch was added when you dragged the shape from the palette. Note that the base workplane and hexagon sketch are shown in bold. This means they are 'active'. The extrusion used that sketch because it was active. For the next step change to view Onto Workplane [Shift W] and Autoscale [Shift + A]. Space Exploration 55

56 Adding a hexagonal sketch Remember how to add a new hexagon shape from the palette? Try it now. If you cannot remember here is an outline of the steps. The Palette must be visible on screen. The Shapes tab should be active. Drag the hexagon onto the workplane. It will be very small and will need to be enlarged. Zooming in Use keyboard shortcut of Shift + Z to begin a zoom (The zoom command can also be found in the View menu). Click on the center of the new hexagon sketch and hold the left mouse button down. Drag until the dotted rectangle surrounds the new hexagon. Release the mouse button. The small hexagon will be clearly visible. Tip: If you have problems simply Autoscale to see the entire sketch and zoom in again. You now need to change the diameter constraint from a reference value and alter the size to Here is a reminder of the steps to do this. Changing a constraint From the Design toolbar, click on, the Select Constraint tool. Select the diameter constraint (turns red). Right click and select Toggle Reference. (The brackets disappear) Double click the constraint. Alter the value to 2500 Click. Space Exploration 56

57 The hexagon will get bigger (Autoscale to see the effect) and will need moving to be centered on the original. Moving lines This involves selecting all the lines in the sketch and dragging them into position. Click on, the Select lines tool. Open the Edit menu and click on Select All. All of the lines in the smaller hexagon sketch will turn red. Notice the larger hexagon is not highlighted. This is because it is on a different sketch. Without pressing any mouse buttons, move the mouse over the highlighted lines. Whenever the mouse cursor is close to a line it changes to a four-headed arrow. When this is visible it is possible to move the selected lines. For the next bit, make sure you can see both hexagons. It will be easier to position the sketch accurately if you pick it up by a known position. The ideal place is where the two construction lines cross in the center. Notice the co-ordinates above the design window? As you move the mouse over lines, text appears telling you the location of the cursor. Move the mouse over the middle of the highlighted hexagon. Space Exploration 57

58 When the text feedback says Mid-point click and hold the left mouse button. Drag the smaller hexagon over the original one. The text will offer feedback on the new position. When the feedback text shows Intersection release the mouse button. The hexagons should now be lined up perfectly. Extrude link corridor The new hexagon can now be extruded to form a stub for the link corridor. View the model in trimetric [Shift + T]. From the Features menu or toolbar select, the extrude tool. Use the yellow drag handle to extrude the stub downwards. When the distance in the dialog window shows 1000 release the mouse button. Click on. You now have the basic shape of the space station module. Next you will chamfer the ends. Space Exploration 58

59 MODIFY SOLIDS The first task is to select the edges in the model that need to be chamfered. Click on, the Select edges tool in the design toolbar. Select one of the six edges on the top of the model. It will turn red. Any attempt to click on further edges will de-select the first. Here's how to add edges to the selection. Adding to a selection Hold down the Shift key on the keyboard. Click on another line. It is added to the selection, joining the first in being highlighted red. Continue to hold the shift key down clicking on edges until all six are selected. Chamfer The modify solids tools are in the features menu and toolbar. Click on, the Chamfer tool. Drag one of the yellow handles on the model to create the chamfer. Release the mouse button when the chamfer distance reaches 800mm. Space Exploration 59

60 Rotate the model to see the under side of the model. Use the same technique to add an 800mm chamfer to the bottom edges of the large hexagon. Leave the small hexagonal stub without chamfers because this will be used to connect this module to the rest of the space station. All that remains is to hollow the shape. The first step is to select the face that will provide the opening. Hollow a solid Turn the model to show the end of the small hexagonal stub. In the Design tool bar click on, the Select Face tool. Move the mouse over the end face. When the edge pre-highlights in cyan, click to select it. The face will turn red. In the Features toolbar click on, the Shell Solids tool. Set the shell Offset (thickness) by dragging the yellow handle or typing the value of 50mm. Click on. Save the model. Close any designs, leaving Pro/DESKTOP running for the next part of this tutorial. You are now able to create shapes using sketches and the Extrude Profile... feature. You can now practice the assembly techniques introduced in a previous tutorial using your module and other components we have provided. Space Exploration 60

61 ASSEMBLE COMPONENTS Tip: Assemblies should always start with an empty design window. Start a New Design. Maximize the design window. Adding components Open the Assembly pull-down menu. Locate the folder with the files. Select the component 3 axis connect.des and click. You won't be able to see the component. Hold down Shift and press the A key to Autoscale the screen view, [Shift + A]. Hold down Shift and press the H key to half scale the screen view, [Shift + H]. Fix a component The connector component should still be selected (red edges) Right click with the mouse. From the floating menu select Fix Component. Space Exploration 61

62 Adding your model Use the same steps to add your own module to the design window. Do not fix your component. Assemble two parts You may need a reminder on how to add assembly constraints between components. Drag your component into close proximity with the connector. Select two end faces. Apply a Mate constraint. Select the surfaces highlighted in red and add an align constraint. Add a constraint to adjacent external faces (align) The components are fully assembled. Three constraints have been added, the minimum needed to rigidly connect two components. Space Exploration 62

63 EXTENSION ACTIVITIES Several other components have been provided. With these you can assemble your own space station model. How about designing another module using the techniques you have learned? Next steps You can now create simple solids and build them into assemblies. The next tutorial shows you how to create more complex solids using powerful features in Pro/DESKTOP. Space Exploration 63

64 Space Exploration 64

65 PROJECT: GRAVITY TOROID Space Exploration 65

66 Space Exploration 66

67 TABLE OF CONTENTS INTRODUCTION...69 Health on prolonged space flight What is gravity Artificial gravity CREATING THE GRAVITY TOROID...72 Link corridor Vertical spokes Horizontal spokes Rim Toroid rim Shell Assemble to space station Further problems Space Exploration 67

68 Space Exploration 68

69 INTRODUCTION Health on prolonged space flight There are several physiological problems associated with prolonged space travel including loss of muscle function and reduced bone density. The human body puts its resources (i.e. calories, minerals and proteins) where they are needed most. Since in a low gravity environment the body does not have to work as hard as on the Earth s surface, muscles and bones begin to atrophy. Experiments on US and Russian flights have shown that these effects can be reduced if astronauts do regular, vigorous exercise. These are effective for short flights but journeys to planets such as Mars and further will need a sustainable solution. Long term, the best solution is to create some form of artificial gravity equivalent to that found on earth. What is gravity Gravity is the force that makes objects fall towards the ground. Gravity holds us down. This force is proportional to the mass of an object; the greater mass an object is, the greater the pull that object has on other objects. The average force of gravity acting on us here on Earth is equivalent to 9.8 ms -2. But small objects exert gravity too. Yes! Your body exerts a small gravitational force on other objects. Artificial gravity Science fiction writers have come up with many ways to create gravity including magnetic shoes and force fields. Most of these require materials that do not exist or huge energy sources to operate and are unlikely to become reality. However, a simple solution has been suggested since science fiction writing began. Space Exploration 69

70 Werner von Braun design Artwork 1968 Robert McCall Werner von Braun suggested the torus (above left) and Arthur C Clarke included a similar design (above right) in 2001: a Space Odyssey. If the diameter and rotational velocity of the large spinning wheel are carefully calculated, a centripetal force equivalent to 1g can be generated at the rim. Here are two examples that produce around 1g at the rim. Example 1 Wheel diameter (m) Rotation time (sec) Rim velocity (ms -2 ) Example 2 Wheel diameter (m) Rotation time (sec) Rim velocity (ms -2 ) Space Exploration 70

71 Math of toroid size How do we work out this? The formula that allows us to calculate the force at the edge of a spinning space station is: F = mw 2 r Where: F = The centripetal reaction force needed to supporting the person (assuming the force due to gravity on earth is 10 newtons) m = The mass of the average person (typically 70kg) w 2 = Angular velocity (radians per second) of the rim squared r = radius of the rim Two things are unknown, the angular velocity and the radius. If we substitute numbers for the values we know and use 40 meters for the radius we get: 700 = 70 x ωw 2 x 40 Resolving this we see: 700 = ωw 2 x = w 2 x = ωw 2 40 Radius = r CROSS SECTION THROUGH SPACE STATION Angular velocity = ω Mass = m Sq root 0.25 = ωw Or: Centripetal force = F radians per second angular velocity 1 radian = approximately 60 degrees So, for a radius of 40 meters, an angular velocity of 3.75 degrees per second will create a force at the edge equivalent to the gravity on earth. With this information we can create a toroidal module to add to the space station started in the previous tutorial. At the same time we can teach you a new Pro/DESKTOP technique for creating solid shapes, Revolve Profile. Space Exploration 71

72 CREATING THE GRAVITY TOROID Start Pro/DESKTOP and begin a New design. Link corridor The hub will be an extrusion from a hexagon sketch on the Frontal workplane. This will be similar to creating the corridor in the previous tutorial. Hexagon shape Makes sure the palette is visible and the Shapes tab selected. The browser should be set to show workplanes. Right click over the Frontal workplane and click on Select workplane. Drag the hexagon shape onto the Frontal workplane. Make sure the frontal workplane is prehighlighted in light blue when you release the mouse button. View onto the workplane [Shift + W] and Autoscale [Shift + A]. Changing the size of the hexagon You might remember how to do this from the previous tutorial. Here is a reminder of the key steps. Remove the reference brackets from the diameter constraint. Change the size of the construction circle to 2500mm. Autoscale, [Shift + A]. If necessary, you can refer to the Space station tutorial for the detailed instructions. Space Exploration 72

73 Moving the hexagon It will be much easier to center the spokes and rim if this hexagon is located on the origin. Make sure, the Select line tool is selected. Open the Edit pull-down menu and click on Select all. All of the lines in the hexagon sketch will be highlighted. Move the mouse over the center of the hexagon. Left mouse click and drag the hexagon over the origin (0,0). Renaming In complex designs it can be very difficult to locate which sketch is the basis for a particular feature. To help, you should always give sketches names that indicate their purpose. You have already done this in previous tutorials when creating a new sketch but existing sketches (and workplanes) can also be renamed. Move the mouse cursor over the text for the Lateral workplane and left mouse click. Pause, then left mouse click again. The sketch name will highlight in black and the text cursor will appear. Type a new sketch name of Link profile Click. You are now ready to extrude a solid to form the basis of the connecting link corridor. Space Exploration 73

74 Extruding the link corridor Click on, the Extrude Profile... tool. Change the dialog settings to match those in this dialogue box. Notice that the Symmetric about workplane option has been checked. This ensures that the link corridor extends an equal distance on either side of the frontal workplane making it easier to center the spokes and rim. Click on to close the Extrude Profile dialog box. Vertical spokes The vertical spokes are created in exactly the same way as the link corridor with a hexagon sketch on the Base workplane and a longer extrusion. The main stages are listed below. Refer back to creating the link corridor if you need more detailed steps. Space Exploration 74

75 Select the Base workplane. Add a hexagon shape from the palette. Alter the size to 2500mm diameter (remove reference first). Center the hexagon on the origin. Rename the hexagon sketch to Vspoke profile. Create an Extrusion named Vertical spoke, symmetrical about the workplane and 76000mm long. Horizontal spokes Repeat the above steps to create the horizontal spokes from a hexagonal sketch on the Lateral workplane. Rim The rim is created using a new technique called Revolve Profile... Unlike extrude which needs only one sketch revolve needs two. The revolve principle In Pro/DESKTOP a revolved shape requires two sketches, an axis sketch with a single straight line and a profile sketch of the shape of the object. Axis sketch Profile sketch Sketches (separated for clarity) Sketches (ready to revolve) Completed revolve Space Exploration 75

76 Toroid rim Axis sketch On the Frontal workplane create a new sketch called Rim axis. View onto workplane [shift + W] and zoom in on the hub of the station. Draw line horizontally through centre of airlock corridor (Shown in red). With the axis line selected. Fixing the axis line To provide a fixed reference for the revolve. The axis line will be fixed in position. Make sure the axis line is selected. Open the Constraint pull-down menu. Select the Toggle Fixed option. A small triangle appears on the axis line to show it is fixed. Space Exploration 76

77 Rim profile sketch The profile sketch must be on the same workplane as the axis sketch. For the rim profile you will use another hexagonal sketch. Zoom out to see the whole design. Drag a hexagon sketch onto the Frontal workplane. Rename the hexagon sketch Rim profile. Resize the hexagon to be 6000mm. Move the hexagon to the top of the vertical spokes, aligning it with the spoke. Constrain the top line in the hexagon to be 40,000mm from the axis line. Revolve rim The next bit is simple, to create the Revolved rim. Select, the Revolve Profile... tool from the features toolbar. Make sure the correct profile and axis sketches are selected. Type in 360 for the Angle. Click on. Space Exploration 77

78 You should now have a rim on your model Shell The final step is to hollow the toroid. Select the end face of the central airlock corridor. From the Features pull-down menu or from the features tool bar select tool., the Shell Enter 50 for the Offset. This will become the wall thickness for the toroid. Click on to see the result. Don t forget to save your model. Space Exploration 78

79 Assemble to space station The skills learned in the previous tutorial should enable you to assemble this toroid module to your space station assembly. Why not create an album image of your space station against a space background? Further problems This image is from the film 2001: a Space Odyssey. It shows an astronaut exercising by running around the perimeter of the rotating space station. Unfortunately life isn't as simple as we would like. Other effects are at work. Space Exploration 79

80 Varied perimeter speed If we assume the astronaut is running in the direction of spin, his angular velocity is faster than before. The effect is to increase the apparent gravity. He will feel as though he is running up-hill. What do you think he would feel if he ran against the direction of spin? Coriolis effect Have you ever tried to hold the axle of a spinning bicycle wheel? If you have, what happens when you try to change the axis of rotation? The wheel resists being turned and tries to lie down! Attempt to turn the wheel And the wheel will try to lie down! This is called the Coriolis effect. It is the same thing that makes the water spin as it disappears down the drain in a bathtub or sink. A detailed examination of the problems associated with artificial gravity can be found at Now you are ready to publish your space station to your school network or even the Internet! Space Exploration 80

81 PROJECT: KINEMATIC MOVEMENTS Space Exploration 81

82 FILES FOR KINEMATICS The following files will be needed to successfully complete this project: File Name C152 Open Assembly.zip Aileron drop link.des Aileron end.des Aileron rear drop linkl.des Aileron Starboard.des Aileron tube support.des Aileron.des C152 assembly.des Cabin side.des Control yoke.des Elevator drop link V2.des Elevator long link.des Elevator slide.des Elevator.des Firewall.des Flap.des Frame.des Fuselage lower.des Fuselage sub assembly.des Rudder box.des Rudder cross link.des Rudder front drop pin.des Rudder link.des Rudder pedal.des Rudder.des Tail.des Vertical stabilizer.des Wind.des Yoke horn.des Elevator.gif Pitch.gif Roll.gif Shuttle Assembly.zip Cargo bay door.des Fuselage.des Main engine.des Port elevon.des Rudder.des Shuttle assembly.des Stbd elevon.des Thruster.des Sojourner Assembly.zip Chassis.des Font link right.des Front link.des Mid link des Rear link right.des Rear link.des Sojourner assembly.des Solar panel.des Steering mount.des Wheel.des Solar Comaprtment Assembly.zip Link.des Solar compartment.des Unfolding.avi Yaw.gif Solar compartment assembly.des Solar panel.des Space Exploration 82

83 TABLE OF CONTENTS INTRODUCTION...85 SOLAR PANELS...86 Pro/DESKTOP model...86 Folding the panels...87 Unfolding the panels...88 CONTROL SURFACES ON THE SHUTTLE...89 Pitch...89 Open a Pro/DESKTOP model...90 Elevator movement...90 Roll...91 Aileron movement...92 Yaw...93 Rudder movement...94 SOJOURNER...95 Opening the Pro/DESKTOP Sojourner model...95 Suspension...96 Steering...97 Summary...98 QUIZ...99 QUIZ - ANSWERS Space Exploration 83

84 Space Exploration 84

85 INTRODUCTION In this tutorial you will explore Pro/DESKTOP models that have moving parts. This is called kinematics. First, you will explore how solar panels are opened on a space station. Next, you will learn how the largest glider in the world, the space shuttle, is controlled for landing. Finally, you will be shown how the steering mechanism and suspension system on the Mars explorer, Sojourner can be moved independently to cope with the rugged terrain. Space Exploration 85

86 SOLAR PANELS To generate enough electricity to power their systems, satellites and space stations have solar panel arrays that use photovoltaic cells covering the largest possible surface area. During launch the solar panels must be tightly folded. When the space station arrives in space the panels are unfolded. Folded Open Using Windows Explorer, locate the file called Unfolding.avi Double click on the file and it will play in Windows Media Player. The animation shows how compact the solar panels are when stowed and the large area they present when deployed. Pro/DESKTOP model Open the file called Solar Compartment Assembly.des The solar panels are already in the open position. The next section will show you how to close them. Space Exploration 86

87 Folding the panels Activate, the Select Component tool and click on the panel next to the central compartment to select it. With the mouse point to the left hand edge of the selected panel. Slowly drag the edge of the panel towards the central compartment. You will see the panels folding until they are tight together. Space Exploration 87

88 Repeat the process with the other side panels. The solar panels are now in the launch position. Notice how little space they need when stowed. Unfolding the panels This is more difficult because you cannot see the inner panels in order to select them. You will learn how to use the Component browser to select the correct component. Change the Workplanes browser to show Components. The solar panel closest to the compartment is named Solar panel. Move the mouse over the text in the browser and right mouse click. From the floating menu click on Select Component The solar panel will be selected, with the edges turning red. Use the same technique you used before to drag the edge of the solar panel away from the compartment and the solar array will unfold. Space Exploration 88

89 CONTROL SURFACES ON THE SHUTTLE In space, the shuttle uses small rockets to maneuver. In the atmosphere, there are control surfaces at the rear of the shuttle much like those on passenger aircraft. The control surfaces are colored black on the illustration to make it clear where they are. Rudder Elevons (combined elevators and ailerons) On the real shuttle many of the surfaces are black, why do you think this is? There are several reasons why they are this color. There are three major axes of movement for all aircraft, pitch, role and yaw. In the samples folder three animations are provided showing how the control surfaces cause these movements. Pitch Locate the file Pitch.gif Double click on the file The.gif animation will open looking like this. The control surfaces at the outer rear edges of the wing will move up making the rear of the shuttle move down and the nose to pitch up. Next the elevators will move down causing the rear of the wing to rise pitching the nose down. The animation will repeat until you close the browser window. What have you learned from this? Elevators control the Pitch of an aircraft Space Exploration 89

90 Open a Pro/DESKTOP model Open the file called Shuttle assembly.des The model is an assembly made up of several parts. The control surfaces are components in the assembly and can be moved by selecting one and dragging on screen. Use the cursor keys on the keyboard to turn the model to this position. Elevator movement Activate, the Select part tool in the selection toolbar. Move the mouse over the port (left) elevator until the edges pre-highlight in blue. Click with the left mouse button on the elevator to select it. The edges of the port elevator will be highlighted in red to show it is selected. Move the mouse cursor over the rear edge of the elevator. Hold down the left mouse button and drag upwards a short distance. Release the mouse button. The elevator will now be in the up position. Space Exploration 90

91 Repeat the previous steps to move the starboard (right) elevator to the up position. In this position the elevons are acting as elevators forcing the rear of the shuttle down and making the shuttle nose pitch up. Roll Locate the file Roll.gif Double click on the file. The gif file will open looking like this and animate showing how the control surfaces cause roll. The same control surfaces that made the shuttle change pitch control the shuttle in roll, this time acting as ailerons. As the left aileron moves up the right aileron moves down. This makes the shuttle roll to the left. When the ailerons are reversed the shuttle rolls to the right. The animation will repeat until you close the browser window. What have you learned from this? Ailerons control the roll of an aircraft Space Exploration 91

92 Aileron movement Return to the Pro/DESKTOP screen. Both elevons should still be in the up position showing how they move as elevators. You will now position the elevons as ailerons to make the shuttle roll. Using the cursor keys on the keyboard rotate the shuttle to this position Move the mouse cursor over the starboard aileron. The edges will turn blue Click with the left mouse button to select the aileron. The edges of the aileron will be highlighted in red to show it is selected. Move the mouse cursor over the rear edge of the aileron. Hold down the left mouse button and drag the aileron downwards a short distance. Release the mouse button. The aileron will now be in the down position. In this position the elevons are acting as ailerons forcing the shuttle to roll. Which way will the shuttle roll? Space Exploration 92

93 Roll to starboard? Roll to port? Yaw Locate the file Yaw.gif Double click on the file. The gif file will open looking like this and animate showing how the control surfaces cause yaw. The rudder is the moving part of the vertical stabilizer and makes the shuttle change direction in yaw. As the rudder moves to the left, as you look from the rear the shuttle the nose will yaw to the left. When the rudder moves across to the right the shuttle nose will yaw to the right. The animation will repeat until you close the browser window. What have you learned from this? The rudder controls the yaw of an aircraft Space Exploration 93

94 Rudder movement Return to the Pro/DESKTOP screen. The rudder should be in the central position. You will position it to make the shuttle yaw. Using the cursor keys on the keyboard rotate the shuttle to this position Move the mouse cursor over the starboard rudder. The edges will turn blue Click with the left mouse button to select the rudder. The edges of the rudder will be highlighted in red to show it is selected. Move the mouse cursor over the rear edge of the rudder. Hold down the left mouse button and drag the rudder to the left a short distance. Release the mouse button. The rudder will now be pointing to the left. This would cause the shuttle nose to yaw to the left. Use the same method to move the rudder to the right. On the shuttle in flight this would cause the nose to yaw to the right. The rudder on the actual shuttle performs two functions. It is split vertically. Once the shuttle has touched down the two halves open to act as an airbrake. Space Exploration 94

95 SOJOURNER On July 6 th 1997 The Mars rover called Sojourner rolled down a ramp from the Mars lander to begin exploring the surface of the red planet. This section of this tutorial shows you how the suspension and steering of Sojourner allows it to travel over the rocky terrain. Web links There are several Internet sites with information on the Mars explorer and Sojourner. These have lots of images, videos and 3D VRML where you can find out lots more about the rover Opening the Pro/DESKTOP Sojourner model Locate the samples folder for the STARBASE materials. Open the file called Sojourner Assembly.des in Pro/DESKTOP The model is an assembly of chassis, suspension components and wheels. The chassis has been fixed so that you can select and drag the other parts to explore how the suspension and steering operates. Space Exploration 95

96 Suspension Use, the Select Component tool to highlight the center wheel support Drag the end of the support upwards to position the center wheel as if it is resting on a bump or rock. Select the front suspension arm. Move this to show the raised position for the wheel. Space Exploration 96

97 The suspension on Sojourner provides a large vertical movement to cope with sloping ground and large rocks. The news reports at the time the lander was operating showed Sojourner with one wheel high up against a large rock the scientists nicknamed Yogi. Steering Each wheel on Sojourner is moved by a small electric motor. By rotating each wheel independently the rover can move in many different ways. Select the front steering support. Drag the support until the wheel is pointing like this. Repeat the steps to position the other corner wheels like this. Which direction do you think the rover will move? Space Exploration 97

98 Change the steering arms to these positions. Which direction do you think the rover move now? This position is one of the more unusual. It is called crabbing. If only cars could do this, parking would be so much easier! Summary In this tutorial you have learned how the components in Pro/DESKTOP models can be repositioned to show how mechanisms work. Why do you think this is useful? NASA spends huge amounts of money developing equipment to launch into space. The demands of space travel often require that components be made from very expensive materials using costly processes. Designs are developed using computer aided design software and tested on computers to find and fix problems and faults. This avoids many expensive mistakes when the parts are being made and assemblies put together. Space Exploration 98

99 QUIZ 1. Why are solar panels folded for launch? 2. In Pro/DESKTOP, how are components selected when the part cannot easily be seen? 3. What are the two functions elevons perform? 4. Match the direction of movement to the controls. (Draw a line between the movement and the correct controls). Pitch Roll Yaw Rudder Elevators Ailerons 5. How many wheels are there on Sojourner? 6. How many of the wheels on Sojourner can turn for steering? 7. Which year did Sojourner start exploring the surface of Mars? 8. Why does Sojourner have suspension that moves through large distances? 9. What is special about the steering on Sojourner? 10. What is the benefit of using computer aided design software and computers to design space equipment? Space Exploration 99

100 QUIZ - ANSWERS 1. Why are solar panels folded for launch? They must fit inside the launch rocket. 2. In Pro/DESKTOP, how are components selected when the part cannot easily be seen? Right click on the component name in the Component browser and click on Select Component. 3. What are the two functions elevons perform? Moving up and down together they work as elevators and as ailerons when they move in opposite directions. 4. Match the direction of movement to the controls. (Draw a line between the movement and the correct controls). Pitch Roll Yaw Rudder Elevators Ailerons 5. How many wheels are there on Sojourner? Six 6. How many of the wheels on Sojourner can turn for steering? Four 7. Which year did Sojourner start exploring the surface of Mars? Why does Sojourner have suspension that moves through large distances? To allow Sojourner to ride over the bumps and large rocks on the surface of Mars. 9. What is special about the steering on Sojourner? All four corner wheels can be turned independently. 10. What is the benefit of using computer aided design software and computers to design space equipment? To avoid expensive mistakes at the stage of making parts and assembling the end product. Space Exploration 100

101 PROJECT: RESCUE CRAFT DENSITY Space Exploration 101

102 FILES FOR RESCUE CRAFT The following files will be needed to successfully complete this project: File Name Escape capsule fuselage.des Escape shuttle assembly.des Tail fin.des Space Exploration 102

103 TABLE OF CONTENTS INTRODUCTION Loft through profiles Rescue shuttle Features browser Creating a loft Measuring complex solids MEASUREMENTS Center of gravity Final assembly BROWSER EXTENSION WORK Space Exploration 103

104 Space Exploration 104

105 INTRODUCTION Since Uri Gagarin became the first person to orbit the earth many others have ventured into space. There have been few accidents but some have lost their lives including astronauts in ground tests for the first Apollo missions. Apollo 13 was nearly lost due to an explosion but they were able to use the Lunar module as lifeboat and return safely to earth. Photograph NASA Russia has also had accidents, most recently the Mir space station was severely damaged when a supply craft crashed causing depressurization. The 25 th flight of the shuttle program failed catastrophically killing all crew members. As more people venture into space it is important to plan for potential accidents setting up contingency plans to reduce the risk of serious injury or loss of life. Photograph NASA The international space station is a joint project with agencies on several continents. Co-operation on a scale never seen before is creating the largest permanently manned space station ever planned. Astronauts will live and work on the station carrying out experiments in the micro gravity environment space provides. Illustration - Maris Mutimedia Space Station CDROM Space Exploration 105

106 Should a major problem occur astronauts and scientists are able to use a Russian Soyuz craft as a lifeboat. It is permanently docked and ready for immediate use when needed. Illustration - Maris Mutimedia - Space Station CDROM Designing a capsule for re-entry through the atmosphere of a planet has very strict design constraints. Some of these include: Operation in a space environment Re-entry through the upper atmosphere Descent through the lower atmosphere Landing Recovery Control in al phases Life support Modeling complex shapes CAD software can help greatly when developing the shape of components. For complex curved surfaces the extrude and project features in Pro/DESKTOP are limiting. This tutorial will show you how to create shapes with complex curves using the powerful sweep and loft tools. You will also use some of the measurement tools available in Pro/DESKTOP. Space Exploration 106

107 Loft through profiles Rules Lofting requires two or more valid profile sketches. Pro/DESKTOP then creates a solid object between the profiles. Loft Three profile sketches on offset workplanes for a small boat hull The solid shapes produced by lofting between the three profiles The sketches do not have to be parallel and lofting can create a closed shape. The following example is taken from the Pro/DESKTOP Help tutorials. This tutorial will show you how to create the vertical stabilizer for a rescue shuttle using the loft feature. First lets have a close look at how the fuselage was created. Space Exploration 107

108 Rescue shuttle Open the file called Escape capsule fuselage.des Only two main features determine the overall shape. The fuselage is lofted and extrude is used to create the wings. To give you an idea of how the features work let's look at the sketches that make up the loft. We can do this through the browser but listing features. Change the browser to show features. Features browser The features section of the browser stores a history of all 3D operations. The loft feature is named Fuselage and is second in the list. Expand the Fuselage feature by clicking on the + sign next to the loft icon. You will now see the sketches that were used to create the loft feature. They are the same sketches you can view through the Workplanes view of the browser. Selecting lines from the browser Move the mouse over the sketch named Center Cargo and right mouse click. From the floating menu, click on Select Lines. Space Exploration 108

109 All lines on that sketch will be selected. They are easily visible as red lines in the design window. Repeat these steps to see which lines are on each of the sketches making up the lofted fuselage. Lofting explained Move the mouse over the loft icon and right mouse click. From the floating menu select Redefine. The Loft profiles dialog window will open. The sketches making up the loft will be listed and notice they are in the same order in the browser. In the list of sketches in the window click on the one named Center cargo. Look in the design window. The sketch will have a small yellow 'handle' on it. Space Exploration 109

110 Click on a different sketch name in the list. The small yellow handle will move to the highlighted sketch. The yellow handle shows which corner or vertex will be joined when the shape is lofted. Pro/DESKTOP draws a loft line between the vertices Loft lines To explain the following examples a loft has been created between two hexagons. The first pair of illustrations shows a loft line between aligned corners of the hexagons. The resulting loft looks identical to an extrusion. Using exactly the same sketches but moving one of the loft handles to the adjacent vertex creates a twisted loft. Space Exploration 110

111 Creating a loft This section takes you through creating the vertical stabilizer (tail fin) using a loft. The finished vertical stabilizer will look something like this when complete. There are four sketches on angled workplanes for the lofted shape making the largest part of the fin. Below this is a small extruded piece for the connection with the fuselage. Lastly, a circle is projected up the rear of the shape creating the cylindrical surface for the rudder hinge. Loft Fin Extrude base Project hinge Open the file called Tail fin.des The extruded base has been done for you. The next step is to create the loft above this. The Base extrusion sketch is identical to the one we need for the base of the loft so we can use it again. The next step is to create a new workplane inclined at 30 degrees to the base. To make this possible, a short construction line was drawn on the Base extrusion sketch passing through the origin to act as a hinge. Space Exploration 111

112 New angled workplane Open the Workplane pull-down menu and select New Workplane. Fill-in the name as 30 degree. Select the Angled option. Type in 30 for the Angle. The hinge line must be selected manually. Open the roll-down menu and click on Lines. Leave the New Workplane dialog window open. Move the mouse over the short hinge line and click to select it. The new workplane will preview. Notice there is a small yellow handle on the edge of the new workplane. With this it is possible to adjust the angle by dragging. Leave it at 30 degrees. Click on. When a workplane is created in this way it is empty. A new sketch will be needed. New sketch In the Workplanes browser move the mouse over the name for the new workplane and right click. From the floating menu select New Sketch Type the name 30 degree for the sketch. Click on. Space Exploration 112

113 Before copying the lines it will be easier if the origin arrows are rotated to match the direction in the base loft sketch. Before transforming the origin arrows After transformation Rotating the origin arrows Open the Workplane pull-down menu. Select Transform Axes Click on the Rotate tab Type in 270 for the angle of rotation. (Pro/DESKTOP measures angle counterclockwise). Click on. Copy sketch lines Make sure the browser is showing Workplanes. Click on the + next to the Base workplane to expand it. If the sketch called Base extrusion is not active double click to activate it. With the mouse cursor over the sketch and right click. From the floating menu click on Select Lines. Open the Edit pull-down menu and select Copy. The lines are now stored on the Windows clipboard. From the Edit pull-down menu select Paste. The sketch lines are pasted into the new sketch. 60 degree workplane Create another angled workplane at 60 degrees from the base workplane. Add a sketch to the new 60 degree workplane If necessary, change the orientation of the origin arrows. Copy the lines from the Base extrusion sketch onto the new sketch. Space Exploration 113

114 Lateral sketch Create the fourth and final sketch needed for the loft on the Lateral workplane and name it Lateral loft. Change the orientation of the axes. Copy the same set of lines onto the new sketch. If we lofted the sketches as they are, the solid would be the same shape as a revolved profile. The required shape for the fin is outlined by construction lines on the Side profile sketch on the Frontal workplane. To achieve this shape, we will alter the length of each sketch. View Onto Workplane (Shift + W) Autoscale (Shift + A) We need to fix part of the sketch to make sure it changes size in the correct direction Select the bottom line of the profile. Open the Constraint pull-down menu and click on Toggle Fixed fix. Create a dimension constraint for the vertical length of the rectangle. Tip: Remember to use the attraction point for center when locating the top end of the constraint Change the constrain to a value of 5300mm. Space Exploration 114

115 The sketches should be these lengths. 5300mm 6000mm 4500mm Change the length of the sketches on the two angled workplanes to these values. Loft the tail fin The loft tool does not appear in the default features toolbar. Open the Feature pull-down menu Select Loft Through Profiles. The Loft Profiles dialog window opens. In the design window click on a line in each sketch to add them to the list. The loft line connects a vertex in each sketch. It is unlikely these will be located in the correct place. Space Exploration 115

116 Moving vertices In the Loft Profiles dialog window select one of the sketches. A yellow vertex handle will appear somewhere along the sketch lines. The lines are cluttered at the bottom right of the view so to make it easier to position the handles we will locate them towards the front of the fin. Drag the handle to a position near the curved at the front of the sketch. Click on another sketch in the dialog window and move the handle. Repeat for the remaining sketches. Click on to complete the loft. The last step is to create a cylindrical surface at the rear of the fin for the rudder hinge. On the Base workplane create a new sketch called Hinge Draw a circle at the location shown in the diagram on the right. Use attraction points to constrain the circle to center and ends of the existing line. Space Exploration 116

117 Project hinge profile Select, the Project Profile... tool. Change the options to Subtract material and Thru entire part. Click on The fin is now complete. Remember to save your work. Now we can look at some of the measurements Pro/DESKTOP does on solid shapes. Measuring complex solids Pro/DESKTOP calculates many other variables for components including the mass based on the density of the material. We will look at the tail fin assuming it will be made out of carbon fiber composite material. Setting the density Open the Tail fin finished.des component in Pro/DESKTOP. Open the Tools pull-down menu. Select Variables. In the dialog window click on, the component symbol, in left panel. Space Exploration 117

118 You will see density listed in the right hand panel. It is currently set to the density for water but in slightly strange units of Kg m -3. You need to change this to the density for carbon fiber. Click on the value column and change the number to Close the dialog window. MEASUREMENTS Open the Tools pull-down menu. Click on Select New Measurement. From the fly out menu click on Mass Properties. A dialog window will open. Drag the window to one side of the screen until you can see the component and the dialog window. Center of gravity The first thing you will notice is the red dot and green arrows that have appeared in the design window. These show the location of the center of gravity for the component. In the Mass properties dialog window you will also see the x, y and z numerical values for the C of G. The dialog window contains other useful information. For each measurement try to think of practical uses for the information. Space Exploration 118

119 Surface area This is measured in mm 3. Think about the quantities of materials, surface finishes and heat. Volume This is measured in mm 3. Consideration of materials may help you think of uses for this measurement. Mass Measured in Kg, you should have no problem thinking of practical uses for this measurement. Final assembly Open the file Escape shuttle assembly.des Open the Assembly pull-down menu. Locate and select the Tail fin.des component and click on. Create assembly constraints between the surfaces shown below. CENTER AXES Mate Mate A mate (offset) already exists between the rudder and the fuselage. Add a Center axis assembly constraint between the fin and rudder. The assembly is complete. Save the assembled model Space Exploration 119

120 BROWSER The browser provides a comprehensive history of the steps taken to create a model and the order they are carried out. It is also possible to step through the features 're-creating' the model. The next section shows how. First, use the Select part tool and highlight the fuselage. Right click and from the floating menu select Open file in context. Finish flag This is the checkered flag symbol, usually found at the bottom of the browser. Make sure the browser is showing Features. Using the mouse, click and drag the finish flag to the top of the list of features. The flag will reposition above the Nose feature Update the design, and the solids will disappear. The finish flag will appear at the top of the list of features in the browser. The model may disappear completely from the design window. Pro/DESKTOP hides information depending which selection tool is active. The sketches are still there. Click on the line select tool. The sketches that make up the model should now be visible. Tip: Moving the finish flag and saving the file is an excellent way to compress files before saving and sending them via . The fuselage file compressed in this way is 38kB when saved. When the updated file is saved with the finish flag at the bottom of the browser the file size is a massive 3.1Mb! Before looking at the browser in more detail we will look briefly at the sketches that make up the lofted fuselage. Space Exploration 120

121 EXTENSION WORK Shell the fin from the bottom surface, then make new mass measurements to see the reduction in mass. Work out the saving in launch costs based on $22,000 per Kilogram. The density figure we have provided is for pure carbon. What is the value for carbon fiber/ epoxy resin composite material? Why is a composite material used instead of pure carbon? Research the density/ strength of different materials. Is there a lighter material the fin could be made from? Is it as strong as carbon fiber? Space Exploration 121

122 Space Exploration 122

123 PROJECT: PUBLISHING 3D MODELS ON THE WEB Space Exploration 123

124 FILES FOR 3D ON THE WEB The following files will be needed to successfully complete this project: File Name Rocket.wrl Shuttle.wrl Web page template.doc Space Exploration 124

125 TABLE OF CONTENTS INTRODUCTION What is VRML? Definition VIEWING VRML MODELS Opening a VRML model Walking around the model Exporting models from Pro/DESKTOP Viewing a VRML model directly INSERTING YOUR VRML MODEL INTO A WEB PAGE Creating a hyperlink Converting a word document to a web page Viewing your VRML model from a web page OTHER VRML FEATURES Installing viewers at home Next steps Space Exploration 125

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127 INTRODUCTION What is VRML? You may have been on web sites where you can take a virtual tour of a building or played adventure games that involve finding your way around 'worlds' This web site recreates a Roman town called Wroxeter near to modern day Shrewsbury in England. You can take a virtual tour of a 3D model of the town. A VRML model of a simple steam engine like the ones sold as children's toys. These models are in the same format you will use to publish your designs. Definition VRML stands for Virtual Reality Modeling Language. It is the equivalent of a foreign language for computers. This language has a vocabulary and grammar that describes how 3D objects should be created and displayed on web pages. The complexity is hidden from the user who 'sees' the 3D object on screen and can rotate and zoom the view and 'navigate' around the object, sometimes called a fly through. Free viewer software needs to be installed in your browser before you can view VRML models. This has been done for you on the computers you will be using. At the end of this tutorial are instructions how to get one for your computer at home. Space Exploration 127

128 VIEWING VRML MODELS To show you how the system works, we will show you how to open the VRML model of a rocket directly in your web browser. Opening a VRML model Start the web browser on your computer. Open the File pull-down menu. Click on Open Locate the folder with the STARBASE sample files. Select the file named Rocket.wrl. Click on. The model will open in your web browser. Extra tool bars along the left and bottom edges of the window enable you to control the way you view and move around the model. Space Exploration 128

129 Walking around the model The Walk button, will be active by default. You can tell this because the screen cursor looks like the button. Click and drag in the view window and the model will move and/or change size. Experiment how moving the mouse changes the view of the rocket. Try some of the other buttons. In the following grid we have shown the button, the screen cursor and an explanation. Walk or fly through Look around up/down Turn (your head?) Rotate the model Targets a position The Restore button of the ones below can 'rescue' a model that has disappeared! Revolve the model Zooms out to see the entire model Looks straight on to the model Not used in Pro/DESKTOP Return to the default view You are now ready to explore a few web sites with VRML models or 'worlds' before creating models of your own. Viewing web sites with VRML models on them Here is a really cool site with loads of VRML models and worlds and links to lots of other 3D sites. A search for VRML will produce lots of links to other 3D sites Are you ready to create a 3D VRML model of your shuttle? Space Exploration 129

130 Exporting models from Pro/DESKTOP Being able to view the work of others in 3D is clever but publishing your own work in this way can be is fascinating. Here's how. Your shuttle model should be open on screen in Pro/DESKTOP. Open the File pull-down menu. Select Export. Choose the option for VRML Locate the folder where you want to save the file. Enter a name for your model. Click on. The file saved will have a.wrl extension. That's all there is to creating the file. Now for the exciting part, viewing the model. Viewing a VRML model directly Start your browser. Open the File pull-down menu. Select Open. Locate the file Shuttle.wrl Select it Click on. Your shuttle model will be visible in the browser window. Space Exploration 130

131 Remember how to use the tools around the edge of the window to navigate around your model? Try it now. Space Exploration 131

132 INSERTING YOUR VRML MODEL INTO A WEB PAGE For simplicity you will modify an existing web page in Word before saving it as an HTML file. Open the file Web page template.doc. Each row (horizontal) in the table has information on a single model. The second row is partly complete for your shuttle model. Text in the left hand column names the model and acts as a hyperlink to open the VRML model. Smaller text in the left column will tell viewers of the page how large the file is. This helps them decide whether they want to wait for some of the larger files to download. Even more helpful would be the average time for downloading at different modem speeds. Small pictures (thumbnails) of the models are inserted into the right hand column to give the viewer a clearer idea of what the model looks like. This could be a JPEG format image exported from the album. Space Exploration 132

133 Creating a hyperlink Hyperlinks are areas of a web page that are sensitive to mouse clicks. They usually open another web page. In ours they will open a 3D model. There are a number of different types of hyperlink. You will be shown how to create two types. Text Hyperlink Highlight the text Shuttle. Select the Hyperlink button on the toolbar. The Insert Hyperlink dialog window opens. Click on the button. Locate the folder where your shuttle model was saved. Select your model. Click on. Space Exploration 133

134 You will return to the Insert Hyperlink dialog window. The path to the your model appears in the top field. The Use relative path for hyperlink option should be checked. Save the modified page This has created a hyperlink from the text to your model. Viewers of the page will now be able to click on the text to open your model. Before we try that, the next section shows you how to create a hyperlink from the shuttle picture. Image Hyperlink Click on the image of the shuttle to highlight it. Select the Hyperlink button on the toolbar. Follow the same steps used previously for the text hyperlink. Save your modified page. Converting a word document to a web page Open the File pull-down menu. Select Save As HTML Locate the folder you want to save the web page in. Give the page a name. Space Exploration 134

135 Click on. Viewing your VRML model from a web page Open your web browser. Open the File pull-down menu. Click on Open Click on the button. Locate the folder where your shuttle model was saved. Select your model. Click on. Space Exploration 135

136 Your web page will open in the web browser. Move the cursor over the shuttle text or picture. The cursor will change to the familiar hand to show there is a hyperlink. Click on the shuttle text or picture. Space Exploration 136

137 Your model will open in the browser with the navigation buttons around the edge. Use the buttons and the mouse to explore your shuttle. Space Exploration 137

138 OTHER VRML FEATURES The VRML browser has a number of settings that can be altered. Click with the right mouse button on a blank area of the model window. A floating menu appears on screen. These determine how the model appears and how you navigate. Experiment with the following options. Viewpoints are not functional in Pro/DESKTOP models. Graphics controls lighting and appearance of models. Speed can be changed to suit the speed of your computer Movement repeats the tools on screen for navigating Toggles the navigation bar on/off Help menus and tutorials Further options. Tip: Don't make too many changes at once. Installing viewers at home If you want to do this type of thing at home a number of companies produce the free viewers. They are also available for most popular web browsers including Netscape and Internet Explorer. Try doing an Internet search to find the best viewer for you. Next steps You can now create VRML models from your Pro/DESKTOP assemblies and insert them into web pages. Space Exploration 138