Build Chassis

Add HEBI_Hexapod_Chassis Subsystem

1. Locate the GME Browser window.

2. Right-click on the RootFolder > B_SubSystems > 2_Locomotion > 2_Leg_Move_Base > 6_Hexapod > TripodGait > HEBI_Hexapod_Chassis Component Assembly and select Copy.

   

3. Inside the HEBI_Daisy_Hexapod Component Assembly canvas, right-click and select Paste Special ‣ As Reference.

   

Preview in Meta-Link

Now, the HEBI_Daisy_Hexapod System contains a single Subsystem. The physical architecture can be previewed in CREO via Meta-Link.

1. With the HEBI_Daisy_Hexapod Component Assembly canvas open, left-click on the Meta-Link button.

   

2. If the MetaLink window opens, left-click OK.

   

   CREO will open with the composed physical model loaded.

   

3. Once you’ve finished looking at the physical model, simply close CREO to exit Meta-Link.

Change HEBI_Hexapod_Chassis Tube Lengths

Let’s increase the length of the 6 tubes in HEBI_Hexapod_Chassis. One option is to modify the component directly; however, that would affect every design that contains a reference to HEBI_Hexapod_Chassis.

Fortunately, the HEBI_Hexapod_Chassis has a number of exposed parameter ports - including some that control the length of the 6 tubes.

1. With the HEBI_Daisy_Hexapod Component Assembly canvas open, right-click on the canvas just below the HEBI_Hexapod_Chassis model and select Insert New Reference ‣ Property.

2. Name the Property 125_mm.

3. Set the Property Value to 125.

   

Now connect the 125_mm Property to the HEBI_Hexapod_Chassis model’s Leg3TubeLen and Leg4TubeLen Parameter ports.

1. Left-click Connect Mode on the Mode toolbar (alternatively press Ctrl-2 to activate Connect Mode).

2. Left-click on the edge of the 125_mm Property.

3. Then left-click on the HEBI_Hexapod_Chassis model’s Leg3TubeLen.

4. Left-click on the edge of the 125_mm Property.

5. Then left-click on the HEBI_Hexapod_Chassis model’s Leg4TubeLen.

   

6. Left-click Edit Mode on the Mode toolbar (alternatively press Ctrl-1 to activate Edit Mode).

Add a second Property with a Value of 175.

1. Right-click on the canvas just below the 125_mm Property and select Insert New Reference ‣ Property.
2. Name the Property 175_mm.
3. Set the Property Value to 175.

Now connect the 175_mm Property to the HEBI_Hexapod_Chassis model’s Leg1TubeLen, Leg2TubeLen, Leg5TubeLen, Leg6TubeLen Parameter ports.

1. Left-click Connect Mode on the Mode toolbar (alternatively press Ctrl-2 to activate Connect Mode).

2. Left-click on the edge of the 175_mm Property.

3. Then left-click on the HEBI_Hexapod_Chassis model’s Leg1TubeLen.

4. Left-click on the edge of the 175_mm Property.

5. Then left-click on the HEBI_Hexapod_Chassis model’s Leg2TubeLen.

6. Left-click on the edge of the 175_mm Property.

7. Then left-click on the HEBI_Hexapod_Chassis model’s Leg5TubeLen.

8. Left-click on the edge of the 175_mm Property.

9. Then left-click on the HEBI_Hexapod_Chassis model’s Leg6TubeLen.

   

You can use Meta-Link again to verify that the physical model has changed.

Add Wireless_Chassis Part

1. Locate the GME Browser window.
2. Right-click on the RootFolder > A_Parts > HEBI_Robotics > 0_Chassis > Wireless_Chassis Component and select Copy.
3. Inside the HEBI_Daisy_Hexapod Component Assembly canvas, right-click and select Paste Special ‣ As Reference.

Connect Wireless_Chassis Part to HEBI_Hexapod_Chassis

1. Left-click Connect Mode on the Mode toolbar (alternative press Ctrl-2 to activate Connect Mode).

2. Left-click the HEBI_Hexapod_Chassis model’s TopMount Connector port.

3. Then left-click on the Wireless_Chassis model’s Mount Connector port to connect the two models.

   

4. Left-click Edit Mode on the Mode toolbar (alternatively press Ctrl-1 to activate Edit Mode).

You can use Meta-Link again to verify that the physical model has changed.

Designate Root Model in Component Assembly

Now that the HEBI_Daisy_Hexapod Component Assembly contains more than 1 CADModel, you need to designate which one is the root component.

1. With the HEBI_Daisy_Hexapod Component Assembly canvas open, right-click on the canvas and select Insert New Atom ‣ ReferenceCoordinateSystem.
2. Left-click Connect Mode on the Mode toolbar (alternative press Ctrl-2 to activate Connect Mode).
3. Left-click the ReferenceCoordinateSystem atom.
4. Then left-click on the HEBI_Hexapod_Chassis model’s ReferenceCoordinateSystem port to designate the HEBI_Hexapod_Chassis as the root model in the Component Assembly.
5. The Select Connection Role Type window will open. Select RefCoordSystem2RefCoordSystem and left-click OK.
6. Left-click Edit Mode on the Mode toolbar (alternatively press Ctrl-1 to activate Edit Mode).