iCub Facility – iCub mechanical design rules and conventions iCub Mechanical Design Rules and Conventions Versio n Date Author Comments 1.0 20 Sep 2010 A. Parmiggiani First emission 1.1 28 Jul 2013 A. Parmiggiani Beginning of the first revision. Integrated document on part categories, and reworked components (released 24 Oct 2012) 25 Sep 2013 A. Parmiggiani Completed revision 1.2 21 Nov 2013 A. Parmiggiani Second revision Corrected minor errors Added TEX category Table of Contents 1 Scope of document....................................................2 2 CAD system...........................................................2 3 CAD repository.......................................................2 3.1 Private repository structure............................................2 3.2 What goes where?........................................................3 3.3 What are the other folders for?.........................................3 3.4 .svn 101................................................................3 3.5 .svn client.............................................................4 4 Documentation coding standards.......................................4 4.1 Coding standard until iCub3.............................................4 4.2 Coding standard for iCub3 documents.....................................5 4.3 Examples................................................................5 4.4 iCub and iCub2 top level groups.........................................5 4.5 iCub3 top level groups..................................................6 5 CAD documentation standards..........................................6 5.1 Standard part...........................................................7 5.1.1 Tolerance classes and roughness...........................................7 5.2 Standard assembly.......................................................8 1
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iCub Facility – iCub mechanical design rules and conventions
iCub Mechanical Design Rules and ConventionsVersion Date Author Comments
1.0 20 Sep 2010 A. Parmiggiani First emission
1.1 28 Jul 2013 A. Parmiggiani Beginning of the first revision.Integrated document on part categories, and reworked components (released 24 Oct 2012)
25 Sep 2013 A. Parmiggiani Completed revision
1.2 21 Nov 2013 A. Parmiggiani Second revisionCorrected minor errorsAdded TEX category
Table of Contents1 Scope of document.............................................................................................................................2
3.2 What goes where?.............................................................................................................................................3
3.3 What are the other folders for?.........................................................................................................................3
4.1 Coding standard until iCub3...............................................................................................................................4
4.2 Coding standard for iCub3 documents...............................................................................................................5
4.4 iCub and iCub2 top level groups........................................................................................................................5
4.5 iCub3 top level groups.......................................................................................................................................6
5.1 Standard part.....................................................................................................................................................7
5.1.1 Tolerance classes and roughness...........................................................................................................................7
5.2 Standard assembly.............................................................................................................................................8
5.3 Possible categories.............................................................................................................................................8
5.3.1 Special cases and examples....................................................................................................................................9
8.1 Standard part drawings....................................................................................................................................13
8.2 Standard assembly drawings............................................................................................................................14
8.4 Other drawing conventions..............................................................................................................................15
9 Other conventions.............................................................................................................................15
1 Scope of documentThe basis for the collaboration of the different individuals involved in the design of the iCub platform is the definition of common rules and tools for the design itself.The present document establishes the standard for the documentation of the robot mechanics.Detailed CAD-related standards, and repository management conventions are also defined.
2 CAD systemThe mechanical design of the iCub and its complete documentation must follow a set of rules.The mechanical design and documentation of the project will be prepared with Creo Parametric 2.0 by PTC.
3 CAD repositoryThe iCub mechanical hardware is maintained by means of Subversion (.svn).The CAD dataset is stored in two separate .svn servers, a public one and a private one.The CAD data that is licensed with an open license is stored at the following address:https://svn.code.sf.net/p/robotcub/code/trunk/iCubHardware/mechanics/The repository is part of project named robotcub hosted by SourceForge; the project group page is at:http://sf.net/projects/robotcub.The home page http://robotcub.sf.net redirects users to the standard RobotCub.org website.This repository is commonly referred to as the “public” repository; this convention will also be used hereinafter in the current document.The public repository is open for anonymous reading. To obtain writing permits e-mail the project administrator ([email protected]).The CAD data that is not for public access is on the other hand stored at:https://data.icub.iit.local/repos/iCubHardware_dev/This repository is commonly referred to as the “private” or “developer’s” repository; this convention will also be used hereinafter in the current document.
3.1 Private repository structure
The private repository is maintained synced with the public one. Common folders are linked by means of the svn:externals option.The private repository structure is show in the following scheme.
iCub Facility – iCub mechanical design rules and conventions
Folders indicated with an asterisk “*” are linked from the public repository located at:https://svn.code.sf.net/p/robotcub/code/trunk/iCubHardware/mechanics/
For proper repository maintenance people committing files to the repository shall act in accordance with the following guidelines: Temporary models, sketches and documents shall be stored in a subfolder of the “.mechanics/dev” private folder All custom part, assembly, and drawing files of iCub and iCub2 shall be stored in the “.mechanics/proe” public
folder. All custom part, assembly, and drawing files of iCub3 shall be stored in the “.mechanics/icub3” private folder All commercial parts shall be stored in the “.mechanics/commercial/proe” public folder: All 3D models of electronic boards, components, etc. parts shall be stored in the “./mechanics/eltr/proe/” folder
3.3 What are the other folders for?
The folder “.mechanics/config” contains the PTC Creo Parametric custom configuration files.The folder “.mechanics/gadgets” contains the documentation and CAD files of tools, and ancillary equipment for the operation, and maintenance of the robot.The folder “.mechanics/prodoc” contains the robots’ production documents.
3.4 .svn 101
The basic commands available to .svn for manipulating the repository are: add: to add files and directories to the repository update: to get an up-to-date version of the code from the repository checkout: to get the first-time copy (or a new one) of the repository commit: to upload changes to any file into the repository
Please consult the .svn manual (or help) for more information before trying to commit any changes to the repository. The manual can be consulted on-line at the address:http://svnbook.red-bean.com/en/1.5/index.htmlAs it is easy to corrupt large assemblies, the following non-compulsory guideline has been agreed as an additional measure of caution.
iCub Facility – iCub mechanical design rules and conventions
Every designer is responsible for the top-level robot sub-assemblies he designed. Commits to this sub-assembly should preferably be done by the given designer. In case this is not convenient or possible other designers should inform the responsible designer of the changes they committed.
3.5 .svn client
The repository access and usage has been tested with the popular TortoiseSvn client which performs reasonably. The client can be downloaded and installed from:
4 Documentation coding standardsThis section describes the document standard for the iCub project.This coding scheme shall be used in all the design and development activities of the project.The use of the coding standard is mandatory to maintain file traceability.The coding allows the definition of a unique alphanumeric code for each file produced in the design process from part files to assembly drawings.The same coding should also be used for the written documentation (e.g. calculation report).There are two different coding standards: one is used for projects related to iCub and iCub2, another is used for iCub3.
4.1 Coding standard until iCub3
The code is composed as follows: RC: common to all iCub (RobotCub) documentation; GROUP: the group author acronym
Currently defined acronyms are listed below:o UGDISTo SSSAo UNIZHo UNIUPo UNIFEo UNIHERo ISTo UNISALo EPFLo TLRo EBRIo IIT
VERSION: numeric field unique for each different design or solution(this is the main assembly code – in the case of designs of several different mechanical groups, e.g. different shoulder assemblies, each design will have its code);
LETTER: The letter is a type identifier (explain what the file is):o A: Top Level Assembly
the top level assembly is the higher assembly in the model tree. Allowed top-level assembles are listed in the section 4.4.
o G: Group a group is a lower level assembly in the model tree;
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iCub Facility – iCub mechanical design rules and conventions
o P: Parto D: Documentation file (e.g. doc or xls files);o LY: 2D layout file;
CODE: Identification code in the current project (each part or group has its own identification code);All fields shall be separated by underscore characters “_”.
4.2 Coding standard for iCub3 documents
The code is composed as follows: ICUB3: common to all iCub3 documentation; VERSION: numeric field unique for each different design or solution
(this is the main assembly code – in the case of designs of several different mechanical groups, e.g. different shoulder assemblies, each design will have its code);
LETTER: The letter is a type identifier (explain what the file is):o A: Top Level Assembly
the top level assembly is the higher assembly in the model tree. Allowed top-level assembles are listed in section 4.5.
o G: Group a group is a lower level assembly in the model tree;
o P: Parto R: Reworked componento PE: electronic part base files
This is a “source” file: it shall never be mounted in the official robot CAD and is stored in a dedicated folder (see section 3.2)
o GE: electronic assembly base files This is a “source” file: it shall never be mounted in the official robot CAD and is stored in a
dedicated folder (see section 3.2)o D: Documentation file (e.g. doc or xls files);o LY: 2D layout file;
CODE: Identification code in the current project (each part or group has its own identification code);All fields shall be separated by underscore characters “_”.
4.3 Examples
Following the described standard the first part of the first iCub3 assembly will be:ICUB3_001_P_001Other valid codes for parts and assemblies are listed hereinafter:
other groups:o iKart moving platform: rc_tlr_013_a_001_ikart.asm.1
4.5 iCub3 top level groups
The list of top level assemblies for iCub3 is listed hereinafter.
iCub_subAssemblies.xls
5 CAD documentation standardsThis section presents the set of rules to be followed for the right definition of CAD files. The proper definition of CAD files is of the utmost importance for the production phase of the robot.
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iCub Facility – iCub mechanical design rules and conventions
Indeed the production phase of the robot is partially automatic and automatic processes heavily rely on the correct definition of part and assembly information.Besides the geometric information there is as series of additional data that are to be stored in the part and assembly files. The additional data are stored in the default start parts (.mechanics/config/standard_files/start_part.prt.1 and .mechanics/config/standard_files/sheetmetal_start_part.prt.1) and start assembly (.mechanics/config/standard_files/start_asm.asm.1).
5.1 Standard part
The parameters of the start part are listed in the following table.
Symbolic constant Default value Type Comments
TIPO XXXX String Category of the part (see section)DESIGNED XXX String Acronym of the group designing the partDRAWN XXXXXXXXX String The name of the designerTREATMENT - String The treatment (if any) to be applied to the partREV 0 String Revision of the part (alphanumeric: A1, A2, A3, …)DESCRIPTION XXXXXXXXXXXXXXXXX String Informative description of the partMATERIAL* ERGAL70 String The material assigned to the part.MASS* 0.000000e+00 Real Number Computed mass of the partDENOMINAZIONE* XXXXXXXXXXXXXXXXX String Additional parameter maintained for backward
compatibilityVOLUME* 0.000000e+00 Real Number Computed volume of the partSUB_DESCRIPTION String (optional) sub-description of the partTOL_DIM_CLASS m String Dimensional tolerance classTOL_GEOM_CLASS K String Geometric tolerance class
Parameters indicated with an asterisk “*” are compiled automatically by CreoParametric and are filled by the system at the first regeneration of the part. The MASS parameter directly depends from the MATERIAL parameter (using the density value reported in the material file).Note: The part description and revision fields will be used for the preparation of the project BOM. It is of the utmost importance that the fields are filled properly and with meaningful content.The start part is set to be in the ERGAL70 material. Standard materials can be loaded from the material library folder “.mechanics/config/materials”.
5.1.1 Tolerance classes and roughnessFor the dimensional tolerance class parameter, the values that can to be used are the following, according to the table below reported:
f m c v
Note: these values have to be written in LOWER case.
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iCub Facility – iCub mechanical design rules and conventions
For Geometric tolerance class parameter, the values that have to be used are the following, according to the table below reported:
H K L
Note: these values have to be written in UPPER case.
5.2 Standard assembly
The parameters of the start assembly are listed in the following table.
Symbolic constant Current value Properties Comments
DESCRIPTION String Informative description of the partSUB_DESCRIPTION String (optional) sub-description of the assemblyDESIGNED XXXX String Acronym of the group designing the assemblyDRAWN XXXXXXXX String The name of the designerMASS* 0.000000e+00 Real Number Computed mass of the assemblyREV 0 String Revision of the part (alphanumeric: A1, A2, A3, …)DENOMINAZIONE* String Additional parameter maintained for backward
compatibilityTIPO ASM String Category of the part (see section)VOLUME* 0.000000e+00 Real Number Computed volume of the assembly
Parameters indicated with an asterisk “*” are compiled automatically by CreoParametric and are filled by the system at the first regeneration of the assembly.
5.3 Possible categories
The “Tipo” parameter contains important information regarding the category of the component. This property is recovered automatically from the BOM files, generally for managing the production process.The list of possible categories is listed hereinafter:
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iCub Facility – iCub mechanical design rules and conventions
CATEGORY Description Notes
1 FAST Fasteners (screws, nuts, rings, washers, helicoils, etc.) Part category2 MOTR Electric motors Part category3 TRAS Mechanical transmissions (gearboxes, belts, Harmonic Drives) Part category4 BEAR Bearings (ball bearings, linear guides, balls screws, etc.) Part category5 CUST Custom mechanical parts (metal, polymers, etc.) Part category6 PLAS Freeform custom plastic parts (3D printing, molding) Part category7 COMM Generic commercial components Part category8 SHTM Sheet metal parts Part category /
The values defined in the previous convention were: COMMERCIALE: used for commercial components NO_COMMERCIALE: used for non-commercial components
These values are to be considered obsolete and shall not be used.
5.3.1 Special cases and examplesThere are special cases when a single component is split in several parts in the CAD model. The following examples are shown as a reference to address these cases.
Categories for frame-less motors
Motor Rotors COSMMotor Stators MOTR
Categories for frame-less Harmonic Drive speed reducers
5.3.2 Reworked componentsSpecial care shall be taken for what concerns the assignment of categories to components to be reworked or modified. In the following are reported some examples to be used as reference for various cases. Moreover some comments have been added to exemplify how these files can be treated in the production phase.
5.3.2.1 Reworked commercial componentThe reworking operations shall be inserted at the assembly level, while the base component shall be a part of the sub-assembly. An example follows.
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iCub Facility – iCub mechanical design rules and conventions
Code Cat. Production phase behaviour
RC_IIT_023_R_014 (assembly) REWK Send drawings to the supplier HPC_ZPG_0-4_100 (commercial gear part) TRAS Order the commercial component
5.3.2.2 Reworked commercial component and custom partsIf the reworking operations are simple (e.g. drilling a hole) they shall be inserted at the assembly level, while the base component and the shall be a part of the sub-assembly. These modifications shall be properly documented in the assembly drawing. If the reworking operations are more complex (e.g. milling, lathe turning, etc.) a REWK assembly shall be created. An example follows.
Code Cat. Production phase behaviour
RC_IIT_007_G_054 (assembly) ASM Send drawings to the supplier 1224N012S_30B20_10-1-256 (motor part) MOTR Order the commercial component RC_TLR_007_P_029 (custom part) CUST Order the custom component to supplier RC_TLR_010_R_027 (pin assembly) REWK Send the drawings to the supplier
o DRILL_BIT_0-5 (commercial part) COMM Order the commercial component
5.3.2.3 Modification of a cast partThe reworking operations shall be inserted at the assembly level, while the base component shall be a part of the sub-assembly. The part and the assembly shall have the same numbers in the code. An example follows.
Code Cat. Desired ERP software action
RC_IIT_022_R_005 (assembly) REWK Send drawings to the supplier RC_IIT_022_P_005 (freeform part) PLAS Have the custom component manufactured
5.3.2.4 Sheet-metal assembly with custom insertsThe drawings of the sheet-metal assembly are to be sent directly to the supplier. Any custom insert shall be added as an additional model to the assembly drawing. All the internal parts shall have the COSM category in order to have them ignored. An example follows.
Code Cat. Production phase behaviour
RC_IIT_023_G_013 (assembly) SHTM Send drawings to the sheet-metal supplier RC_IIT_023_P_004 (sheet-metal part) COSM Do not do anything RC_IIT_009_P_007 (insert part) COSM Do not do anything
5.3.2.5 Cover with helicoils and threaded holesThe drawings of the cover and its 3D model are to be sent to the supplier. The modifications in the cover part can be done at the assembly level, thus sparing one additional level of assembly nesting.
Code Cat. Production phase behaviour
RC_IIT_017_G_013 (cover assembly) REWK Send drawings to the cover supplier RC_IIT_017_P_023 (cover part) PLAS Order the cover to the supplier HELICOIL_M2_L1-5D (insert part) FAST Do not do anything (the supplier will
provide the fastener)
6 Revision managementAs the parts and assemblies everyone has to comply with the agreed revision management protocol.Whenever a part or assembly is modified the revision index shall be incremented.The revision index is an alphanumeric code composed by a capital letter (A-Z) and a natural number from 1 to 9.
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The revision index sequence will therefore be something like: A1, A2, A3, ..., A9, B1, B2, ... etc
6.1 New part code vs. advancing the part revision number
Every part modification needs to be tracked, therefore when a part needs to be changed it will either change revision or code. It is impossible to formulate a general rule to decide when to recode a part or when to revise it. Therefore the heuristic described hereinafter shall be used. Most iCub parts are produced by CNC milling machines that are specifically programmed to construct parts. If the part change can is minor (e.g. addition of a hole, change of a non-functional dimension) and that the part program can be recycled the part shall be given a new revision. If the part is revised the newest revision shall be backward compatible with previous revisions. If on the other hand the changes are more substantial the part shall be given a new code.
6.2 New assembly code vs. advancing the assembly revision number
Every assembly modification needs to be tracked, therefore when an assembly needs to be changed it will either change revision or code. The general rule to be used is that an assembly is to be revised if its bill of materials changes; two cases can occur:
one of the parts it comprises changes code or, the number of components it comprises changes.
In the case a component of the assembly changes revision the assembly shall not be revised. If the assembly changes substantially in functionality it shall be given a new code.
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7 Production documentsDepending on the category of the item a production document shall be stored in the prodoc folder.Documents in this folder are used for producing the robots therefore must be properly maintained and kept up-to date.The types of files to be archived are specified hereinafter for all the admissible categories. Special care shall be taken for sheetmetal assemblies.
CATEGORY Description
1 FAST No production files shall be stored2 MOTR No production files shall be stored3 TRAS No production files shall be stored4 BEAR No production files shall be stored5 CUST Creo .drw files shall be converted to .dxf files and archived.
3D models shall be exported as .stp if necessary.6 PLAS 3D models shall be exported as .stl7 SHTM Creo .drw files shall be converted to .dxf files and archived.
In the case of sheetmetal assemblies comprising custom inserts the drawing of the custom component shall be added to the drawing of the sheetmetal assembly (> Drawing models > Add model option).3D models shall be exported as .stp if necessary.In the case of sheetmetal assemblies comprising custom inserts only 3D model of the base sheetmetal part shall be saved (unless differently requested by the supplier)Note: It is assumed that custom inserts will be simple to produce and will be taken care of directly by the sheetmetal assembly supplier
8 COMM No production files shall be stored9 ELTR No production files shall be stored10 COSM No production files shall be stored11 ASM Creo .drw files shall be converted to .dxf files and archived12 REWK Creo .drw files shall be converted to .dxf files and archived
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iCub Facility – iCub mechanical design rules and conventions
8 Drawings - generalThe standard sheet drawing formats are:Robot_cub_a0_mech: A0 format for mechanical drawings;Robot_cub_a0_ass: A0 format for assembly drawings;Robot_cub_a1_mech: A1 format for mechanical drawings;Robot_cub_a1_ass: A1 format for assembly drawings;Robot_cub_a2_mech: A2 format for mechanical drawings;Robot_cub_a2_ass: A2 format for assembly drawings;Robot_cub_a3_mech: A3 format for mechanical drawings;Robot_cub_a3_ass: A3 format for assembly drawings;Robot_cub_a4_mech: A4 format for mechanical drawings;Robot_cub_a4_ass: A4 format for assembly drawings.
8.1 Standard part drawings
The drawing shall be prepared according to the ISO standard on technical drawings.The main drawing table shown hereinafter shall be compiled with all the necessary information.
P e r m i s s i o n i s g r a n t e d t o c o p y , d i s t r i b u t e a n d / o r m o d i f y t h i s d o c u m e n t u n d e r t h e t e r m s o f t h e
G N U F r e e D o c u m e n t a t i o n L i c e n s e , V e r s i o n 1 . 2 o r a n y l a t e r v e r s i o n p u b l i s h e d b y t h e F r e e
S o f t w a r e F o u n d a t i o n ; w i t h n o I n v a r i a n t S e c t i o n s , n o F r o n t - C o v e r T e x t s , a n d n o B a c k - C o v e r
T e x t s . A c o p y o f t h e l i c e n s e i s a v a i l a b l e a t h t t p : / / w w w . r o b o t c u b . o r g / i c u b / l i c e n s e / f d l . t x t
R o b o t C u b C o n s o r t i u m , E u r o p e a n C o m m i s s i o n F P 6 P r o j e c t I S T - 0 0 4 3 7 0 . w w w . r o b o t c u b . o r g - w w w . i c u b . o r g
T h e R o b o t c u b P r o j e c t - C o p y r i g h t ( C ) 2 0 0 5 - T h e R o b o t C u b C o n s o r t i u m
R o b o tC u b D ra w in g c o d e & d w g _ n a m e & to d a y s _ d a te
& D E S C R IP T IO N
& S U B _ D E S C R IP T IO N D a te
& s c a le& c u r re n t_ s h e e t/ & to ta l_ s h e e ts
D e s c r ip t io n S c a le S h e e t
A s s e m b ly R e f . & m o u n te d _ o n _ a s m
& D E S IG N E D & D R A W N & C H E C K E D & A P P R O V E D & M A S S & R E V
Is s u e d D ra w n C h e c k e d A p p ro v e d M ass K g R e v .
T o le ran ces accord ing to
U N I IS O 8 0 1 5 D im ens iona l T o lerance c lass - & TO L_D IM _C LA S S
G eom etric T o lerance c lass - & TO L_G E O M _C LA S SN u t s c re w 6 H -s c re w 6 g
1.6
General tolerances UNI EN 22768-1 / 22768-2 M e tr ic th re a d s IS O R o u g h n e s s
Treatment: &TREATMENT R = & U N D IM _ R O U N D S& U N D IM _ C H A M F E R S x 4 5 °
Material: &MATERIAL U n d im . R o u n d s U n d im . C h a m fe r s
10
9
8
7
6
5
4
3
2
1
0
1
A
B
C
D
2 3 4
The fields to be filled are described in the following table.
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MATERIAL* material assigned to the partDWG_NAME the name of the drawing file, that has to be the SAME of the reference 3D
modelSCALE* scale value of the drawingSHEET* sheet number (i.e. for two sheets of the same drawing: 1/2, 2/2, …)DATE* drawing creation dateMASS* mass value (part parameter, see before)TREATMENT treatment assigned to the part (if filled in the part, the value will be reported in
the table automatically)UNDIM. ROUNDS undimensioned rounds in the partUNDIM CHAMFERS undimensioned chamfers in the partISSUED* the company abbreviation in Robot-Cub (i.e. for Telerobot is TLR) (already fill in
the part)DRAWN the name of the group designerCHECKED the name of the person checking the assemblyAPPROVED the name of the person approving the designREV. revision of the document (part parameter, see before)DIMENSIONAL TOLERANCE CLASS* Dimensional tolerance class (see section 5.1.1 for more details)GEOMETRIC TOLERANCE CLASS* Geometric tolerance class see below for more detailsROUGHNESS Part roughness - see below for more detailsASSEMBLY REF. assembly in which the part is mounted (assembly code) – the parameter name
is “mounted on asm”DESCRIPTION* Description and eventually sub-description of the part (already fill in the part)
Parameters indicated with an asterisk “*” are compiled automatically by CreoParametric and are filled by the system at the first regeneration.
8.2 Standard assembly drawings
The drawing shall be prepared according to the ISO standard on technical drawings.The main drawing table shown hereinafter shall be compiled with all the necessary information.
P e r m i s s i o n i s g r a n t e d t o c o p y , d i s t r i b u t e a n d / o r m o d i f y t h i s d o c u m e n t u n d e r t h e t e r m s o f t h e
G N U F r e e D o c u m e n t a t i o n L i c e n s e , V e r s i o n 1 . 2 o r a n y l a t e r v e r s i o n p u b l i s h e d b y t h e F r e e
S o f t w a r e F o u n d a t i o n ; w i t h n o I n v a r i a n t S e c t i o n s , n o F r o n t - C o v e r T e x t s , a n d n o B a c k - C o v e r
T e x t s . A c o p y o f t h e l i c e n s e i s a v a i l a b l e a t h t t p : / / w w w . r o b o t c u b . o r g / i c u b / l i c e n s e / f d l . t x t
R o b o t C u b C o n s o r t i u m , E u r o p e a n C o m m i s s i o n F P 6 P r o j e c t I S T - 0 0 4 3 7 0 . w w w . r o b o t c u b . o r g - w w w . i c u b . o r g
T h e R o b o t c u b P r o j e c t - C o p y r i g h t ( C ) 2 0 0 5 - T h e R o b o t C u b C o n s o r t i u m
R o b o tC u b D ra w in g c o d e & d w g _ n a m e & to d a y s _ d a te
& D E S C R IP T IO N
& S U B _ D E S C R IP T IO N D a te
& s c a le& c u r re n t_ s h e e t/ & to ta l_ s h e e ts
D e s c r ip t io n S c a le S h e e t
A s s e m b ly R e f . & m o u n te d _ o n _ a s m
& D E S IG N E D & D R A W N & C H E C K E D & A P P R O V E D & M A S S & R E V
Is s u e d D ra w n C h e c k e d A p p ro v e d M ass K g R e v .
10
9
8
7
6
5
4
3
2
1
0
1
A
B
C
D
2 3 4
The fields to be filled are described in the following table.
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DWG_NAME the name of the drawing file, that has to be the SAME of the reference 3D model
SCALE* scale value of the drawingSHEET* sheet number (i.e. for two sheets of the same drawing: 1/2, 2/2, …)DATE* drawing creation dateMASS* mass value (part parameter, see before)ISSUED* the company abbreviation in Robot-Cub (i.e. for Telerobot is TLR) (already fill in
the part)DRAWN the name of the group designerCHECKED the name of the person checking the assemblyAPPROVED the name of the person approving the designREV.* revision of the documentASSEMBLY REF. (optional) assembly in which the part is mounted (assembly code)DESCRIPTION* Description and eventually sub-description of the part (already filled in the
assembly parameters)
Parameters indicated with an asterisk “*” are compiled automatically by CreoParametric and are filled by the system at the first regeneration.Assembly drawings shall be completed by the addition of a BOM (Bill Of Material) table. The default “BOM_table” file is stored in the (“./config/tables/” folder). This table will be automatically filled by the system, reading information reported in parts (or sub-assemblies) parameters.Part balloons shall be added to the part. The “with quantity” option shall be used.An example of the result of this process is shown hereafter.
The representation of the assembly sequence via exploded views is recommended for clarity although not mandatory.
8.3 Revision tables
In case of document revision, it is mandatory to add a revision table. The revision table is stored in the “./config/tables/” folder.The new revision table shall be positioned in the upper part of A4 drawings and in the upper-right corner of drawings in other formats. The required parameters are (always STRING type):
15
iCub Facility – iCub mechanical design rules and conventions
Name Description Type
Reviewer the group that creates the document revision StringDescription revision description StringZone (optional) the zone in the drawing where this revision is visible StringDate the revision date StringDrawn who draws the revision StringChecked who checks the revised document String
The same information shall be given for all successive revisions.The revision table is shown hereafter.
R e v . R e v ie w e r D e s c r ip t io n Z o n e D a te D ra w n C h e c k e d
8.4 Other drawing conventions
The following conventions shall be followed: Multi-sheet drawings shall be avoided
9 Other conventionsThe following conventions are mandatory and shall be followed always: Always use family table commercial components to avoid useless part duplication.
In the case of new components the best practice is to add new instances to the family table.
