Final ECAD part to assembly - icub-tech-iit/cad-libraries GitHub Wiki

On the overall robot assembly we should not mount the original assembly, but an "envelope" that will have a link to the original undergoing the changes, but will result as a single part. Here is below how to proceed to create it:

1. Create the envelope by double click of the "default Envelope Rep" command.

2. Create the envelope with part name as "boardName_MPCA" using as "Envelope name" the name "ENV_BOARD" as we decided last time.

use the "start part" standard

3. Remember to add all Datums we'll need... for example all "MATE_CONN" sysco

4. Use "autocollect" feature

5. select "solidify resulting geometry"

6. After move selection to "manual update"

7. Create the envelope You will find the envelope in the end of the tree

This part is exactly the part you will have to go and assemble on the robot.

8. Assign the mass of the assembly to the envelope.
   • First, save the mass of the PCA assembly to an external file, following the official Creo help webpage under the section Subassembly, if needed. It is suggested to leave the default name and location unchanged.
   • Then, with the envelope part active, follow the commands File, Prepare, Model Properties, Mass properties (change).
   • Switch the drop down menu to Fully assigned, browse your file - unless the default name was too long and got truncated, it should be detected automatically - and the clic OK.