origin.bas

本程序能实现机械臂在CATIA下的运动学仿真

Attribute VB_Name = "Origin"

'*****************************************************************************
' Purpose:      This macro calls the kinematics solver
'               and applies the computed motion to a
'               part of the mechanism
'               in a specific product document
' Assumptions:  The product document used as input is result of the
'               CAAKiiMechanismCreation use case
' Author:
' Languages:    VBScript
' Version:      V5R6
' Locales:      US English
'*****************************************************************************

Sub CATMain()

    '==================================================================
    ' 1-Prolog
    '==================================================================
    '------------------------------------------------------------------
    ' 1.a-Declare required variables: command set, motion matrix
    '------------------------------------------------------------------
    Dim dValcmd(1) As Double
    Dim dMotion(11) As Double

    '------------------------------------------------------------------
    ' 1.b-Retrieve the root product
    '------------------------------------------------------------------
    Dim oRootProduct As AnyObject
    Set oRootProduct = CATIA.ActiveDocument.Product

    '------------------------------------------------------------------
    ' 1.c-Retrieve the Mechanisms as a TechnologicalObject of the Product
    '------------------------------------------------------------------
    Dim cTheMechanisms As AnyObject
    Set cTheMechanisms = oRootProduct.GetTechnologicalObject("Mechanisms")

    '------------------------------------------------------------------
    ' 1.d-Take 1st mechanism found, and first moving part
    '------------------------------------------------------------------
    Dim oFirstMechanism 'As Mechanism
    Set oFirstMechanism = cTheMechanisms.Item(1)


    '==================================================================
    ' 2-Retrieve number of moving parts, and first one
    '==================================================================
    Dim iNbProd As Integer
    iNbProd = oFirstMechanism.NbProducts

    Dim oMovingPart 'As Product
    Set oMovingPart = oFirstMechanism.GetProduct(1)


    '==================================================================
    ' 3-Retrieve current command values
    '==================================================================
    oFirstMechanism.GetCommandValues dValcmd


    '==================================================================
    ' 4-Solve for other command values
    '==================================================================
    '------------------------------------------------------------------
    ' 4.a-Create another command set
    '------------------------------------------------------------------
    dValcmd(0) = dValcmd(0) + 10

    '------------------------------------------------------------------
    ' 4.b-Apply the command set
    '------------------------------------------------------------------
    oFirstMechanism.PutCommandValues dValcmd


    '==================================================================
    ' 5-Retrieve motion for a part after solving and apply it
    '==================================================================
    '------------------------------------------------------------------
    ' 5.a-Retrieve motion for a part after solving
    '------------------------------------------------------------------
    oFirstMechanism.GetProductMotion oMovingPart, dMotion
    '------------------------------------------------------------------
    ' 5.b-Apply the motion to the part
    '------------------------------------------------------------------
    oMovingPart.Move.Apply dMotion

End Sub