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    1 \chapter{BUILDING A ROBOT ARM}
    2 
    3 \begin{figure}
    4 \centering \includegraphics{robot.ps}
    5 \caption{The RMIT Robot Arm.}
    6 \label{robot}
    7 \end{figure}
    8 
    9 The model shown in Figure \ref{robot}
   10 will be described in a step by step instructions
   11 on how to build and display this model.
   12 
   13 This is the MGED input file:
   14 
   15 \begin{verbatim}
   16 in btm  box 0 0 0    0 -90 0      40 0 0   0 0 6
   17 in btm1 box 0 -90 0  0 -61.549 0  40 0 0   0 0 6
   18 in rad  rcc 20 -150 0   0 0 6   8
   19 in cyl  rcc 20 -45 6    0 0 30  20
   20 in cyl1 rcc 20 -45 0 0 0 36 15.5
   21 in cyl2 rcc 20 -45 0 0 0 36 12.5
   22 in hole rcc 8 -8 0   0 0 6   3
   23 in hole1 rcc    32 -8 0  0 0 6   3
   24 cp hole1 hole2
   25 in gus  raw 21.5 -25.3 6  0 0 30  0 25.3 0  -3 0 0
   26 in cnr  box 0 0 0   6 6 0   6 0 0   0 0 6
   27 in cnr1 box 34 0 0  0 -6 0  6 0 0   0 0 6
   28 cp cnr cnr2
   29 cp cnr1 cnr3
   30 in rad1 rcc 6 -6 0  0 0 6 6
   31 in rad2 rcc 34 -6 0 0 0 6 6
   32 in head rcc 20 -45 36 0 0 30 18
   33 in shaft rcc    20 -45 36 0 0 -50 12.5
   34 in han  rcc 20 -45 51 0 120 0 6
   35 in ball sph 20 75 51  15
   36 in cut box  20 -45 0    0 50 0  25 0 0  0 0 40
   37 in squ box  12 -53 -14      0 16 0   16 0 0   0 0 -30
   38 r handle u squ u shaft u han - ball
   39 r knob u ball
   40 r cor u cnr2 + rad1
   41 r cor1 u cnr3 + rad2
   42 in hole4 rcc 20 -150 0   0 0 6   3
   43 cp hole2 hole3
   44 r base u btm u btm1 - hole2 - hole3 - hole4 u rad - hole4
   45 g all base handle knob
   46 size 300
   47 e all
   48 \end{verbatim}
   49 
   50 This is the MGED dialog:
   51 
   52 \begin{verbatim}
   53 mged mark
   54 BRL Graphics Editor (MGED) Version 2.31
   55   Sat Oct 17 20:33:05 PDT 1987
   56   mg\@godzilla:/usr/staff/mg/brlcad/mged
   57 
   58 mark: No such file or directory
   59 Crete new database (y/n)[n]? y
   60 attach (nu|tek|plot|ir) [nu]? nu
   61 ATTACHING nu (Null Display)
   62 Untitled MGED Database (units=mm)
   63 mged> in btm box 0 0 0 0 -90 0 40 0 0 0 0 6
   64 mged> in btm1 box
   65 Enter X, Y, Z of vertex:  0 -90 0
   66 Enter X, Y, Z of vector H:  0 -61.549 0
   67 Enter X, Y, Z of vector W:  50 0 0   40 0 0
   68 Enter X, Y, Z of vector D: 0 0 6
   69 mged> in rad rcc 20 -150 0 0 0 6 8
   70 mged> in cyl rcc
   71 Enter X, Y, Z of vertex:  20 -45 6
   72 Enter X, Y, Z of height (H) vector: 0 0 30
   73 Enter radius:  20
   74 mged> in cyl1 rcc 20 -45 0 0 0 36 15.5
   75 mged> in cyl2 rcc 20 -45 0 0 0 36 12.5
   76 mged> in hole rcc 8 -8 0 0 0 6 3
   77 mged> in hl ole 1 rcc 2 32 -8 0 0 0 6 2 3
   78 mged> cp hole1 hole2
   79 mged> in gus raw
   80 Enter X, Y, Z of vertex: 21.5 -25.3 6
   81 Enter X, Y, Z of vector H: 0 0 30
   82 Enter X, Y, Z of vector W: 0 25.3 6
   83 Enter X, Y, Z of vector D: -3 0 0
   84 mged> in cnr box 0 0 0 06 6 0 6 0 0 0 0 6
   85 mged> incnr1 box 34 0 0 0 -6 0 6 0 0 0 0 6
   86 incnr1: no such command, type ? for help
   87 mged> in cnr1 box 34 0 0 0 -6 0 6 0 0 0 0 6
   88 mged> cp cnf r cnr2
   89 mged> in cp cnr1 cnr3
   90 mged> in rad1 rcc 6 -6 0 0 0 6 6
   91 mged> in rad2 rcc 34 -6 0 0 0 6 6
   92 mged> in shaft rcc 20 -45 36 0 0 30 18
   93 mged> in shaft rcc 20 -45 36 0 0 -50 12.5
   94 mged> in han rcc 20 -45 51 0 120 0 6
   95 mged> in ball sph
   96 Enter X, Y, Z of vertex: 20 75 51
   97 Enter radius: 15
   98 mged> in cut box 20 -45 0 0 50 0 25 0 0 0 040
   99 Enter Z: 03  NOTE: error again
  100 mged> killall cut
  101 mged> in cut box 20 -45 0 0 50 0 25 0 0 0 0 40
  102 mged> in squ box 12 -53 -14 0 16 0 16 0 0 0 0- -30
  103 mged> r handle + squ shaft u han u ball
  104 Defaulting item number to 1001
  105 Creating region id=1000, air=0, los=100, GIFT material=1
  106 mged> r knob + ball
  107 Defaulting item number to 1002
  108 Creating region id=1001, air=0, los=100, GIFT material=1
  109 mged> r cor + cnr2 + rad1
  110 Defaulting item number to 1003
  111 Creating region id=1002, air=0, los=100, GIFT material=1
  112 mged> r cor1 + cnr3 + rad2
  113 Defaulting item number to 1004
  114 Creating region id=1003, air=0, los=100, GIFT material=1
  115 mged> mater knob plastic
  116 Was
  117 Parameter string? n
  118 Override material color (y/n)[n]? y
  119 R G B (0..255)? 255 0 0  NOTE:  This is color RED
  120 mged> mater handle plastic
  121 mged> Was
  122 Parameter string? n
  123 Override material color (y/n)[n]? y
  124 R G B (0..255)? 219 147 112   NOTE:  This is color TAN
  125 mged> r base + btm u btm1 u gus cyl - cyl1 m1 - hole2 -hole3 -hole4 u rad-
  126 hole4
  127 mged> error in number of args!   NOTE: Typing errors
  128 mged> r base + btm u btm1 - hole2 - hole3 - hole4 u rad - hole4
  129 Defaulting item number to 1005
  130 Creating region id=1004, air=0, los=100, GIFTmaterial=1
  131 dir_lookup:  could not find "hole3"
  132 skipping hole3
  133 dir_lookup:  could not find "hole4"
  134 skipping hole4
  135 dir_lookup:  could not find "hole4"
  136 skipping hole4
  137 mged> t
  138 ball     cnr3     gus     knob/
  139 base/     cor/     han     rad
  140 btm     cor1/     handle     rad1
  141 btm1     cut     head     rad2
  142 cnr     cyl     hole     shaft
  143 cnr1     cyl1     hole1     squ
  144 cnr2     cyl2     hole2
  145 mged> in hole 4 rcc 20 -150 0 0 0 6 3
  146 mged> cp hole2 hole3
  147 mged> killall base NOTE:  Redo "base" region
  148 mged> r base + btm u btm1 - hole2 - hole3 - hole4 u rad - hole4
  149 Defaulting item number to 1006
  150 Creating region id=1005, air=0, los=100, GIFTmaterial=1
  151 mged> g all base handle knob
  152 mged> tree all
  153 | all_________________| base_________| btm
  154                          | btm1
  155                          | hole2
  156                          | hole 3
  157                          | hole4
  158                          | rad
  159                          | hole4
  160                          | handle______________| squ
  161                                      | shaft
  162                                      | han
  163                                      | ball
  164                          | knob________________| ball
  165             | handle_______________| squ
  166                         | shaft
  167                         | han
  168                         | ball
  169             | knob_________________| ball
  170 mged> l base
  171 base (len 9) REGION id=1005 (air=0, los=100, GIFTmater=1)--
  172  + btm
  173  u btm1
  174  - hole2
  175  - hole3
  176  - hole4
  177  u rad
  178  - hole4
  179  u handle
  180  u knob
  181 mged> l gus
  182 gus:  ARB8 (ARB6)
  183 1 (21.5000, -25.3000, 6.0000)
  184 2 (21.5000, 0.0000, 6.0000)
  185 3 (21.5000, 0.0000, 6.0000)
  186 4 (21.5000, -25.3000, 36.0000)
  187 5 (18.5000, -25.3000, 6.0000)
  188 6 (18.5000, 0.0000, 6.0000)
  189 7 (18.5000, 0.0000, 6.0000)
  190 8 (18.5000, -25.3000, 36.0000)
  191 mged> l ball
  192 ball:  ELL
  193 V (20.0000, 75.0000, 51.0000)
  194 A (15.0000, 0.0000, 0.0000) Mag=15.000000
  195 A dir cos=(0.0, 90.0, 90.0), rot=0.0, fb=0.0
  196 B (0.0000, 15.0000, 0.0000) Mag=15.000000
  197 B dir cos=(90.0, 0.0, 90.0) rot=90.0, fb=0.0
  198 C (0.0000, 0.0000, 15.0000) Mag=15.000000
  199 C dir cos=(90.0, 90.0, 0.0) rot=90.0, fb=90.0
  200 mged> l knob
  201 knob (len 1) REGION id=1001 (air=0, los=100, GIFTmater=1)--
  202 Material "plastic"
  203 Color 255 0 0
  204  + ball
  205 mged> l handle
  206 handle (len 4) REGION id=1000 (air=0, los=100, GIFT MATER=1)--
  207 Material "plastic" "n
  208 Color 219 147 112
  209  + squ
  210  u shaft
  211  u han
  212  u ball
  213 mged> canter-0-75 0
  214 mged> size 300
  215 mged> tops
  216 all/     cor1/     cyl2      hole1
  217 cnr      cut     gus
  218 cnr1     cyl     head
  219 cor/     cyl1     hole
  220 mged> analyze cyl
  221 cyl:  TGC
  222 V (20.0000, -45.0000, 6.0000)
  223 H (0.0000, 0.0000, 30.0000) Mag=30.000000
  224 H dir cos=(90.0, 90.0, 0.0), rot=90.0, fb=90.0
  225 A (-17.5032, -9.6767, 0.0000) Mag=20.000000
  226 B (9.6767,-17.5032, 0.0000) Mag=20.000002
  227 c=20.000000, d=20.000002
  228 AxB dir cos=(90.0, 90.0, 0.0), rot=90.0,fb=90.0
  229 Surface Areas:  base(AxB)=1256.6371
  230   top(CxD)=1256.6371 side=3769.9114
  231 Total Surface Area=6283.1855
  232    Volume=37699.1132 (0.0100 gal)
  233 mged> q
  234 \end{verbatim}