Simulation de Mannequin - Centrale Nanteschablat/DMU/Simulation_de...DELMIA workbench 21/11/2016 D. Chablat • Use of Delmia's 5 virtual human workbench – Human Builder – Human

Mannequin Simulation

D. Chablat

21/11/2016 D. Chablat 1

DELMIA workbench

21/11/2016 D. Chablat

• Use of Delmia's 5 virtual human workbench – Human Builder – Human Activity Analysis – Human Posture Analysis – Human Measurements Editor – Human Task Simulation

• Difficult to do everything in 4 hours

2

Outline of the lecture

• Discovery of the environment • Using the mannequin • Programming of the manikin • Evaluation of ergonomics

21/11/2016 D. Chablat 3

CATIA/DELMIA

• Current workbench • Compass to move object • Names of the files

– CatPart: parts – CatProduct: assembly of parts – CatProcess: simulation

21/11/2016 D. Chablat 4

Creating and Modifying a Mannequin

Human Builder

21/11/2016 D. Chablat 5

Mannequin

• Create a new product – Fichier->Nouveau-> Product

• Activate the workbench – Human Builder

21/11/2016 D. Chablat 6

Mannequin

• Creation a mannequin – Insert an new mannequin – Select the product (on the top left) – Define a name and its properties

21/11/2016 D. Chablat 7

Mannequin

• Define the options

• Observe the variations as a function of the percentile of the population and the gender

21/11/2016 D. Chablat 8

Modification of the mannequin

• Open the Human Measurements Editor Workbench – Select the mannequin

• Try to modify all the parameters • It’s possible to save the local

properties of the mannequin • Exit of the workbench

21/11/2016 D. Chablat 9

Animation of the mannequin

• Objectives: to use the direct and inverse geometric model

• Posture editor • Forward kinematics • Inverse kinematics • Reach (position only and position & orientation) • Standard pose

21/11/2016 D. Chablat 10

Animation of the mannequin • Postures memorized

• Direct geometric model: displacement of joints

– Attention: a joint can have several degrees of freedom – Use the contextual button to change the degree of freedom

piloted

• Inverse kinematics: movement from the hands, feet ... – Attention: by default the trunk is fixed – Attraction only in position or with orientation – Use the "IK behavour" editor to add mobility to the manikin.

21/11/2016 D. Chablat 11

Animation of the mannequin

• Block one end (foot, hand, head) using the « CTRL » key

21/11/2016 D. Chablat 12

Predefined Postures

• Explore different postures – Study the parameters of the poses with respect to the

manikin – View lecture

21/11/2016 D. Chablat 13

Mannequin in an environment

21/11/2016 D. Chablat 14

Creating a working environment

• Data www.irccyn.ec-antes/~chablat/DMU/Delmia

• Create a new Process – Insert a product

« exemple_office » – Insert a resources

« marcheur »

21/11/2016 D. Chablat 15

Placement of manikin on floor

• Place mode (z only) • Select the floor then the

mannequin

21/11/2016 D. Chablat 16

Create a simple task

• Examples – Move a part of the body – Walking – Pick and place an object – Climbing stairs

21/11/2016 D. Chablat 17

Create a task

• Create a task for a selected mannequin

• Create a move to posture activity • Use the direct kinematic model

to move the mannequin

21/11/2016 D. Chablat 18

Create a task

• Move one or more joints and then « create activity »

• Double-clicking on an action « MoveToPosture », it’s possible to modify a posture

• Attention: Do not forgot to apply « Modify activity »

• It’s possible to copy / past a posture from right arm to left one

21/11/2016 D. Chablat 19

Create a walking task

• Select a mannequin • Define the path • Define step type • Defining the movement of the arms • Click on the right button to finish the path • Enable Collision Detection • Generate postures

21/11/2016 D. Chablat 20

Pick an object

• Create a motion « MoveToPosture » • Use the function « Reach position and

orientation » • Select the surface of the object and after the

hand

21/11/2016 D. Chablat 21

Pick an object

• Use « Standard posture » • Define the grasping type • Use « Auto grasp »

21/11/2016 D. Chablat 22

Pick an object

• Create a « Pick activity » • Note the links to the weight

of the object • Make a movement up the

arm to check the grip.

21/11/2016 D. Chablat 23

How to simulate activity?

• Simulation of the process • Select a program and use the command bar

• It is possible to make a more realistic simulation

by using the command "to activate / deactivate the automatic simulation in real time“

21/11/2016 D. Chablat 24

Saving positions

• After any simulation, return to the initial state • It is possible to save the position of products and

resources • It is possible to make a full or partial backup

21/11/2016 D. Chablat 25

Make a Gantt with Activities

• Process Management • Insert the activity library "Human.act" (nothing

happens) • Insert an activity on the Process

21/11/2016 D. Chablat 26

Make a Gantt with Activities

• Copy paste to have multiple processes

• Organize the processes "Open the PERT view" • Create links between activities

21/11/2016 D. Chablat 27

Assign resources to processes

• One can simulate several resources in the same environment

• For each Process, it is necessary to assign a resource

• For each resource, it is necessary to assign a program

21/11/2016 D. Chablat 28

Simulation

• Simulate with all processes • Open the GANTT

21/11/2016 D. Chablat 29

Free Activity: Generating a Complete Task - Taking an Object

• Define a motion sequence – Walking towards the object – Put your hand on the object – Create an action to take the object (specify hand) – Lift the object – Enable vision to track object – Enable option in IKB parameter

21/11/2016 D. Chablat 30