16.

810
Engineering Design and Rapid Prototyping

Lecture 3a

Computer Aided Design (CAD)

Instructor(s)

Prof. Olivier de Weck

January 16, 2007

 Plan for Today
„ CAD Lecture (ca. 50 min)
„ CAD History, Background
„ Some theory on geometrical representation
„ FEM Lecture (ca. 50 min)
„ Motivation for Structural Analysis
„ FEM Background
„ Break
„ Start creating your own CAD models (ca. 2 hrs)
„ Work in teams of two
„ Follow “User Manual” step-by-step, sample part
„ Then start on your own team projects
„ Use hand sketch (deliverable B) as starting point
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 Course Concept
last time today

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 Course Flow Diagram (2007)
Learning/Review Problem statement Deliverables
(A) Requirements
Design Intro / Sketch Hand sketching and Interface
Document
CAD Introduction Initial CAD design
(B) Hand Sketch
FEM/Solid Mechanics FEM analysis

Avionics Prototyping Optimization (C) Solidworks CAD

Model, Performance
CAM Manufacturing Revise CAD design Analysis

Parts Fabrication
Fabrication,
Assembly, Testing Assembly (D) Manufacturing
and Test Report
Test with Cost Estimate
+ Guest Lectures
Final Review (E) CDR Package
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 What is CAD?

„ Computer Aided Design (CAD)

„ A set of methods and tools to assist product
designers in
„ Creating a geometrical representation of the artifacts they
are designing
„ Dimensioning, Tolerancing
„ Configuration Management (Changes)
„ Archiving
„ Exchanging part and assembly information between teams,
organizations
„ Feeding subsequent design steps
„ Analysis (CAE)
„ Manufacturing (CAM)
„ …by means of a computer system.

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 Basic Elements of a CAD System
Input Devices Main System Output Devices
Computer
Keyboard CAD Software
Hard Disk
Mouse Database
Ref: menzelus.com
Network
Printer
CAD keyboard Plotter
Templates
Space Ball

Human Designer
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 Brief History of CAD
„ 1957 PRONTO (Dr. Hanratty) – first commercial numerical-
control programming system
„ 1960 SKETCHPAD (MIT Lincoln Labs)
„ Early 1960’s industrial developments
„ General Motors – DAC (Design Automated by Computer)
„ McDonnell Douglas – CADD
„ Early technological developments
„ Vector-display technology
„ Light-pens for input
„ Patterns of lines rendering (first 2D only)
„ 1967 Dr. Jason R Lemon founds SDRC in Cincinnati
„ 1979 Boeing, General Electric and NIST develop IGES
(Initial Graphic Exchange Standards), e.g. for transfer of
NURBS curves
„ Since 1981: numerous commercial programs
„ Source: http://mbinfo.mbdesign.net/CAD-History.htm
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 Major Benefits of CAD
„ Productivity (=Speed) Increase
„ Automation of repeated tasks
„ Doesn’t necessarily increase creativity!
„ Insert standard parts (e.g. fasteners) from database
„ Supports Changeability
„ Don’t have to redo entire drawing with each change
„ EO – “Engineering Orders”
„ Keep track of previous design iterations
„ Communication
„ With other teams/engineers, e.g. manufacturing, suppliers
„ With other applications (CAE/FEM, CAM)
„ Marketing, realistic product rendering
„ Accurate, high quality drawings
„ Caution: CAD Systems produce errors with hidden lines etc…
„ Some limited Analysis
„ Mass Properties (Mass, Inertia)
„ Collisions between parts, clearances
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 Generic CAD Process
Engineering Sketch Start

Settings Units, Grid (snap), …

3D 2D
dim
- Construct Basic Create lines, radii, part
Solids contours, chamfers
= extrude, rotate
Boolean Operations
Add cutouts & holes
(add, subtract, …)

Annotations
Dimensioning CAD file
Drawing (dxf)
x.x Verification Output
IGES file
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 Example CAD A/C Assembly
Loft

„ Boeing (sample) parts Nacelle

„ A/C structural assembly
„ 2 decks
„ 3 frames FWD Decks
„ Keel
„ Loft included to show
interface/stayout zone to Kee
A/C l
„ All Boeing parts in Catia
file format
„ Files imported into
SolidWorks by
converting to IGES
format
(Loft not shown)

Frames

Aft Decks

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 Vector versus Raster Graphics
Raster Graphics .bmp - raw data format

„ Grid of pixels
„ No relationships between
pixels
„ Resolution, e.g. 72 dpi
(dots per inch)
„ Each pixel has color, e.g.
8-bit image has 256
colors
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 Vector Graphics
.emf format
CAD Systems use
vector graphics

Most common interface file:

„ Object Oriented IGES
„ relationship between
pixels captured
„ describes both
(anchor/control) points
and lines between them
„ Easier scaling & editing
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 Major CAD Software Products

„ AutoCAD (Autodesk) Æ mainly for PC

„ Pro Engineer (PTC)
„ SolidWorks (Dassault Systems)
„ CATIA (IBM/Dassault Systems)
„ Unigraphics (UGS)
„ I-DEAS (SDRC)

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 Some CAD-Theory
Geometrical representation
(1) Parametric Curve Equation vs.
Nonparametric Curve Equation

(2) Various curves (some mathematics !)

- Hermite Curve
- Bezier Curve
- B-Spline Curve
- NURBS (Nonuniform Rational B-Spline) Curves

Applications: CAD, FEM, Design Optimization

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 Curve Equations
Two types of equations for curve representation
(1) Parametric equation
x, y, z coordinates are related by a parametric variable (u or θ )
(2) Nonparametric equation
x, y, z coordinates are related by a function

Example: Circle (2-D)

Parametric equation

x = R cos θ , y = R sin θ (0 ≤ θ ≤ 2π )

Nonparametric equation
x2 + y 2 − R2 = 0 (Implicit nonparametric form)

y = ± R2 − x2 (Explicit nonparametric form)

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 Curve Equations
Two types of curve equations
(1) Parametric equation Point on 2-D curve: p = [ x(u ) y (u )]
Point on 3-D surface: p = [ x(u ) y (u ) z (u )]
u : parametric variable and independent variable

(2) Nonparametric equation y = f ( x) : 2-D , z = f ( x, y ) : 3-D

Which is better for CAD/CAE? : Parametric equation

It also is good for

x = R cos θ , y = R sin θ (0 ≤ θ ≤ 2π ) calculating the
Δθ points at a certain
interval along a
curve
x2 + y 2 − R2 = 0

y = ± R2 − x2
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 Parametric Equations –
Advantages over nonparametric forms
1. Parametric equations usually offer more degrees of freedom for
controlling the shape of curves and surfaces than do nonparametric forms.
e.g. Cubic curve
Parametric curve: x = au 3 + bu 2 + cu + d
y = eu 3 + fu 2 + gx + h
Nonparametric curve: y = ax 3 + bx 2 + cx + d

2. Parametric forms readily handle infinite slopes

dy dy / du
= ⇒ dx / du = 0 indicates dy / dx = ∞
dx dx / du

3. Transformation can be performed directly on parametric equations

e.g. Translation in x-dir.
Parametric curve: x = au 3 + bu 2 + cu + d + x0
y = eu 3 + fu 2 + gx + h
Nonparametric curve: y = a ( x − x0 )3 + b( x − x0 ) 2 + c( x − x0 ) + d
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 Hermite Curves
* Most of the equations for curves used in CAD software are of degree 3, because
two curves of degree 3 guarantees 2nd derivative continuity at the connection point
Æ The two curves appear to be one.

* Use of a higher degree causes small oscillations in curves and requires heavy
computation.

* Simplest parametric equation of degree 3 u

P (u ) = [ x(u ) y (u ) z (u )]
= a0 + a1u + a 2u 2 + a3u 3 (0 ≤ u ≤ 1) START END
(u = 0) (u = 1)
a 0 , a1 , a 2 , a3 : Algebraic vector coefficients

The curve’s shape change cannot be intuitively anticipated

from changes in these values

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 Hermite Curves
P(u ) = a0 + a1u + a 2u 2 + a3u 3 (0 ≤ u ≤ 1)

Instead of algebraic coefficients, let’s use the position vectors and the
tangent vectors at the two end points!

Position vector at starting point: P0 = P (0) = a 0

u
P1 = P (1) = a 0 + a1 + a 2 + a3
P0′
Position vector at end point:
P0 P1′
Tangent vector at starting point: P0′ = P′(0) = a1 P1
START
P1′ = P′(1) = a1 + 2a 2 + 3a3
END
Tangent vector at end point: (u = 0)
(u = 1)

Blending functions ⎡ P0 ⎤
⎢P ⎥
3 ⎢
1 ⎥
P(u ) = [1 − 3u 2 + 2u 3 3u 2 − 2u 3 u − 2u 2 + u 3 − u + u ]⎢ ′⎥
2
: Hermit curve
⎢ P0 ⎥
⎢P′ ⎥
No algebraic coefficients ⎣ 1⎦

P , P ′ , P , P ′ : Geometric coefficients
0 0 1 1

The curve’s shape change can be intuitively anticipated from

changes in these values
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 Effect of tangent vectors on the
curve’s shape
⎡ P0 ⎤ ⎡ P(0) ⎤
⎢P ⎥ ⎢ ⎥
⎢ 1 ⎥ ⎢ P(1) ⎥
⎢ P ′ ⎥ = ⎢ P′ (0) ⎥ : Geometric coefficient matrix ⎡1 1 ⎤ Is this what you really wanted?
⎢ 0⎥ ⎢ ⎥ ⎢5 1 ⎥
⎢ P ′ ⎥ ⎢ P′ (1) ⎥ ⎢ ⎥ ⎡1 1 ⎤
⎣ 1⎦ ⎣ ⎦
⎢13 13 ⎥ ⎢ ⎥
Geometric coefficient matrix ⎢ ⎥ ⎢5 1 ⎥
⎣13 -13 ⎦
controls the shape of the curve ⎢5 5 ⎥ ⎡1 1 ⎤
⎢ ⎥
⎣5 -5 ⎦ ⎢ 5 1 ⎥
⎢ ⎥
⎢ 2 2 ⎥ ⎡1 1 ⎤
⎢ ⎥ ⎢5 1 ⎥
⎣ 2 -2 ⎦ ⎢ ⎥
⎢1 1 ⎥ ⎡1 1⎤
⎢ ⎥ ⎢5
⎣1 -1⎦ ⎢ 1 ⎥⎥
⎢4 0⎥
⎢ ⎥
START(1, 1) u END (5, 1) ⎣4 0⎦
(u = 0) (u = 1) dy dy / du 0
= = =0
dx dx / du 4
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 Bezier Curve
* In case of Hermite curve, it is not easy to predict curve shape caused by
changes in the magnitude of the tangent vectors, P0′ and P1′

* Bezier Curve can control curve shape more easily using several control
points (Bezier 1960)

n
⎛n⎞ ⎛n⎞ n!
P(u ) = ∑ ⎜ ⎟ u i (1 − u ) n −i Pi , where ⎜ ⎟ =
i =0 ⎝ i ⎠ ⎝ i ⎠ i !(n − i )!
Pi : Position vector of the i th vertex (control vertices)
P2 Control vertices
P1
* Number of vertices: n+1
Control polygon
n=3 (No of control points)

* Number of segments: n

P0 * Order of the curve: n

P3
* The order of Bezier curve is determined by the number of control points.
n control points Order of Bezier curve: n-1
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 Bezier Curve
Properties
- The curve passes through the first and last vertex of the polygon.

-The tangent vector at the starting point of the curve has the same
direction as the first segment of the polygon.

- The nth derivative of the curve at the starting or ending point is

determined by the first or last (n+1) vertices.

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 Two Drawbacks of Bezier curve
(1) For complicated shape representation, higher degree Bezier curves are
needed.
Æ Oscillation in curve occurs, and computational burden increases.

(2) Any one control point of the curve affects the shape of the entire curve.
Æ Modifying the shape of a curve locally is difficult.
(Global modification property)

Desirable properties :
1. Ability to represent complicated shape with low order of the curve
2. Ability to modify a curve’s shape locally

B-spline curve!
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 B-Spline Curve
n * Developed by Cox and Boor (1972)
P(u ) = ∑ N i ,k (u )Pi
i =0

where
⎧0 0≤i<k
Pi : Position vector of the ith control point ⎪
ti = ⎨ i − k + 1 k ≤i≤n
(u − ti ) N i ,k −1 (u ) (ti + k − u ) N i +1,k −1 (u )
N i ,k (u ) = + ⎪n − k + 2 n <i ≤ n+k
ti + k −1 − ti ti + k − ti +1 ⎩
(Nonperiodic knots)
⎧1 ti ≤ u ≤ ti +1
N i ,1 (u ) = ⎨
⎩0 otherwise

k: order of the B-spline curve The order of curve is independent of the number
of control points!
n+1: number of control points

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 B-Spline Curve
Example

Order (k) = 3 (first derivatives are continuous)

No of control points (n+1) = 6

Advantages
(1) The order of the curve is independent of the number of control points (contrary to
Bezier curves)
- User can select the curve’s order and number of control points separately.
- It can represent very complicated shape with low order

(2) Modifying the shape of a curve locally is easy. (contrary to Bezier curve)
- Each curve segment is affected by k (order) control points. (local modification property)

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 NURBS (Nonuniform Rational B-Spline) Curve

∑hP N (u )
⎛ n
⎞
∑
i i i ,k
P (u ) = i =0
⎜ B-spline : P (u ) = P N
i i ,k (u ) ⎟
n
⎝ ⎠
∑h N
i =0
i i ,k (u )
i =0

Pi : Position vector of the ith control point

hi : Homogeneous coordinate

* If all the homogeneous coordinates (hi) are 1, the denominator becomes 1

n
If hi = 0 ∀i, then ∑h N
i =0
i i ,k (u ) = 1.

* B-spline curve is a special case of NURBS.

* Bezier curve is a special case of B-spline curve.

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 Advantages of NURBS Curve over B-Spline Curve

(1) More versatile modification capacity

- Homogeneous coordinate hi, which B-spline does not have, can change.
- Increasing hi of a control point Æ Drawing the curve toward the control point.

(2) NURBS can exactly represent the conic curves - circles, ellipses, parabolas, and
hyperbolas (B-spline can only approximate these curves)

(3) Curves, such as conic curves, Bezier curves, and B-spline curves can be
converted to their corresponding NURBS representations.

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 Summary
(1) Parametric Equation vs. Nonparametric Equation

(2) Various curves

- Hermite Curve
- Bezier Curve
- B-Spline Curve
- NURBS (Nonuniform Rational B-Spline) Curve
(3) Surfaces
- Bilinear surface
- Bicubic surface
- Bezier surface
- B-Spline surface
- NURBS surface

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 SolidWorks

„ SolidWorks
„ Most popular CAD system in education
„ Will be used for this project
„ Do Self-Introduction via 16.810 User
Manual
„ See also
„ http://www.solidworks.com (Student Section)

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