2:D Geometric Transformations # 4.43 aesle ABC can be represented as:- ae ri 3 ae) era aT a 0 0 ‘The scaling Marixiss = |0 2 0 oF 0: ‘The new matrix after scaling be PY ea a Dewees Bu Ballade OH ee ee 0 0 1 problem show that two Successive sealing transformations are [srl 0 0 : i: ie j , Geert OC a4.44 # CAD/CAM/.CAE Se2 00 The second scaling matrix be = $(Sx2, Sy2)=| 0 Sy2 ' Onac Sel 0 0] [Sx2 0 syl 0 [: sy2 0 ORC Or jl 9 ‘Sie Sie 0 0 eter Syl.sy2 0 0 0 a 2 0 Ojfsxl 0 0 0 10) Now S/Sx2,Sy2). S(St1, Syl) =| 0 Sy2 0 SY ; 0.1 FOvew anf 084s cOMRIB ‘Sx1.Sx2 0 0 S(Sx2,Sy2). S (Sx1, Sy) = 0 ea 3 0 ) Now S (Sx/, Syl) .S (Sx2, Sy2) = * Hence we have { Sy]). S (Sx2, Sy2) = S(Sx2,Sy2). 5 (Sx, Syl) <8 | ae Be oe ta 2 Successive scaling transformations are multiplicative, ple 4.18 E(8,3). Flip the polygon about the axis at 60 degrees. Solution: e f 4 Ax (Ay 14. 8 Bx By 1|-|4 8 The matrix forthe given polygon is P=|Cx Cy 1|=|6 10 Dx Dy 1| |g 8 Ex Ey 1} [8 3 | D)__ Rotate the polygon by 30 degrees anti clockwise, so that given axis will coincide | Y axis. Matrix formed P’ will be given by | P1=F-.R_ where P is original co-ordinate matrix and R Broil 4 8 1] [ Cos30 Sin30 0 is rotation matrix 19 46 1] -054 893 1 Pl=/6 10 1Jx/—Sin30 Cos30 0/=| 02 11.66 1 Hee. lel so ees onsl aldose abet 81 5.43 © ee2-D Geometric Transformations MAAS Now flip the polygon about ¥ axis, so that its ¥ eee terol 0 ordinates will remains same. New 196 46 1 -196 46 1 ~954 893 1f-1 0 0] | 054 893 1 P2=| 02 1166 1]0 1 o|=| -o2 11.66 1 2.93 1093 110 0 1| |-293 1093 1 543. 66 1 -543 66 1 Perform rotation in clockwise direction ‘to its position. Final matrix X will be , P'= P2.RX -196 46 1 0.60 496 1 0.54 8.93 1] [Cos30 -sin30 0] | 4.93 7.46 1 P'=| -0.2 11.66 1}x| Sin30 Cos30. 0| =| 5.66 10.19 1 -293 1093 1] | o 0 1] | 293 10.93 1 h -543 66 1 -140 8.43. 1 The final position of the polygon is as shown in the diagram with co ordinates: A’ (0.60 , 4.96) B’ (4.93 , 7.46) (5,66 , 10.19) D’ (2.93 , 10.93) E’ (1.40 , 8.43) by 30 degrees, so that given axis of flip will back ‘2.9, 10.9) Y-axis E(18,8.4) DE, 8) As, 3) aan X-axis ‘EXERCISE in ‘i jon mati i ion and Scaling with neat figure. pai formation matrix for translation, Rotation an 1 u vh i. ete SE edge co-ordinate system? Write transformation matrix for Tanslation, Rotation and Scaling? sa4.46 W CAD/CAM/ CAE 3. What is inverse transformation? ive the inverse transformation matriy Derive tion? Give 2p ‘Show that androtation.? of Flip (reflection) te O-FliD aA Flip feflection 4. What is necessity of FAP Flip © anstonal Show tha for a) X-Flip for shear tr TMation? 5 transformation matrix jon and derive matrix fo vitic Waoeelll reflection 5. Explain Shearing transformé Ot nsformation and geom mag Show the i tate between co-01 ? ; Be ione ‘ ea trix for a 2D rotation about 2 Ea 2 | State ae " ion matri e trary line? fee te iapiige Thar reflects an object about an arbitrary ine? Wag) dreugh 4 8. Derive the tran: A af is reflection? , i | above set Peete es ti ea pote transformation? Give the methods of, sil 9. What do you mean z a 3 transformation solution? rect method and method of Matrix conegaah Find Co 10. What is the difference FE jth is preferred? And why? a Ee for composite transformation? \ tnt isthe significance of this co-onl ats What are homogeneous co-ordinates? What is the significhte’ ©" - 1S Cina) anise Explain the inverse transformation? Derive the mi a: transformation? Len aa 13. A square with side 6 cm is located on the origin with one of the edge at an; Es ee with the Z-axis, Calculate the new position of the square if it is rotated aa angle triangl: a) 30° counter clockwise Explai b) 30° clockwise direction. Roca 14, Perform a 30 rotation of triangle A (1,1), B(S,2), C(3,3) a) About the origin an ang About point (1,1). about 15. Scale the quadrilateral ABCD with co-ordinates A (2,5), B (7,10), C (10,2) he quadriater rian; FA by 2 units in x-direction and 2 units in y-direction. arbitr: . Translate a triangle with co-ordinates A (2,5), B (7,10) e ti «Show P direction and 5 units in y-direction, YS (10) and 02 a Atri: . Reflect the polygon with co-ordinates A (- “ a a Dilinex=2 and )y=x42 ne ©) B 2), C0), D(0.2) aboutalif NAS et acne wit A (15D, B G3), € (64) apply following transformatiosé™ EXP! 19. Expl applica eae? Y-Flip 6) O-Flip 4) Flip about ana j 20. Develop ay ins of Computer graphics in CADICAM systen? Pn &), } Develop a 2D scaling transformation mates a me 3 2. Ti n matrix with reg; i epic Actor i teivagaarceer dit, = Magrity titagle ABC Racy successive translations are additnc 2 ——_cC ly aloy i @ i : (11), BG,3), C64) as cnt, MOMe x by 2 units and then png!) coo! mulpcainey ©") * Pediat, Show that wo sega uni Ai Mate quadrilateral ABCD with mi scaling tr tran in CCW direct; co-ordinates A. foll ag, Tamslormations ae adden the 43° WW. e.71.0(10,2) ana uni Siam ” ae co same as re shear al the 5. Show ther wmultaneous she; ‘ong X-axis follow, Sat reflecton about tine ons Poth axes d by pure shear dda BA ete2-D Geometric Transformations # 4.47 Show that transformation matrix for a reflection about line y = x is equivalent to a reflection relative to X- axis, followed by CCW rotation of 90") : Show that transformation matrix for a reflection about line y = -x is equivalent to a reflection Y-axis , followed by CCW rotation of 907 Show that a uniform scaling and a rotation form a commutative but in general scaling and rotation are not commutative? State homogenous transformation matrices for the followi i o§ Saran ton m wing operations: I. Rotation through 120° about 'Z’ axis. Ii. Translation through 10 and -20 units along 'x' and 'y' directions. Iii, Rotation through 30° about 'x’ axis. Find concatenated matrix if the operations are done in "above sequence. Will the order in which the operations are done affect the end result? When need one necessarily use the homogenous transformation matrix? _ Find concatenated homogenous matrix for the followirig operations, performed in the following sequences: I. Translation through 4 and 3 units along 2 and y axis. ii. Change of seale of x from 1:1 to 4 times and of-y from 1:1 to 3 times the original. Jii. Rotating about _ zaxis passing through the point (4,3) through 30” in anticlockwise direction j. What would be the effect of above operation on a circle having unit radius with its center _ originally located at (0,0) ? Sketch and explain. A triangle P, Q, R has its vertices at P (0, 0), Q(4, 0) and R(2,3). It is to be translated by 4 units in x direction, and 2 units in y direction, then it is to be rotated in anti clockwise direction about the new position of point R through 90 degree. Find the new position of triangle. Explain your answer with a neat sketch. Explain how an object can be mirrored about a straight line not passing through origin. A square with an edge length of 10 units is located on the origin with one of the edge at an angle of 30° with the +X axis, Calculate the new position of the square if it is rotated about Z axis by an angle 30° om the clockwise direction, Triangle PQR has vertices as P(2,4), Q(4,6) and R(2,6) is desired to reflect through an arbitrary line L whose equation is y= 0.5x +2. Calculate the new vertices of triangle and show the results graphically. A triangle ABC with vertices A (32, 22), B(88, 20) and C(32, 82) is to be scaled by a factor 0.6 about a point X(50, 42). Determine: I. The composite transformation mattix; and ii, The coordinates of the vertices for a scaled triangle. Explain the following transformations in 2D concept of computer graphics with individual examples: Translation Scaling Rotation A triangle is formed by 3 points A, B and C whose co-ordinates are A(50, 40), B(100, 60), C(70, 80). Calculate the new co-ordinates if the triangle is reduced in size using the scale factors S, = 0.5, Sy = 0.7 and base point is point A. A rectangle ABCD has vertices A (1,1), B(2,1), C(2,3), D(1,3). It is to be rotated by 300 CCW about point P(3,2). Determine: I. The composite transformation matrix ii, The new Coordinate of rectangle A triangle is defined 2-D system by its vertices (0,2), (1,3) and (0,4) perform transformations on this triangle. I. Find concatenating transformations matrix for following ii, Rotation of 30 degree clockwise about point (0,4) and iti. Translation in 3 Units in x directions and 2 units in y directions \ Consider a triangle ABC having coordinated A(10,10) B(20,10) and C(20,15). Determine the new vertex position if-44g CAD cam OnE Je is rot Le gehi is sc The triangle is i : it aahod of matslX concatenat necessity mi 4 And why? “ jon, Rotation at di dis prefer nce of this co-ordi tomnaion® WHEH TE Te igen for inverse homogeneous co-ordinates? Y (ey What are i a Formation UT eae flowing Pe and die -20 units a if the operations are end result? iit. The triangle 1s plain the inverse transf transformation? trices for the smogenous transformation matrices fl 4 0 mee axis. fi. Translation rears ie matrix J He Rotation through 300 about ‘x’ axis. Find cot are done affect above sequence. Will the order in which the ee natrix? need one necessarily use the homogenous transform righis rations, Find concatenated homogenous matrix for the fo an Gong 2 and y axis.it, Cha following sequences: I. Traslation through 4 and 3 unit he’ Original. Tit: Rotating scale of x from 1:1 to 4 times and of y from 1:1 to 3 times the © Thi zaxis passing through the point (4,3) through 30° in anticlockwise direc bi Loin What would be the'effect of above operation on a circle having unit radius with it originally located at (0,0) ? Sketch and explain. a Explain how an object can be mirrored about a straight line not passing through origin A sauare with an edge length of 10 unit is located on the origin with one of the edged Calculate the new position of the square if it is SOs an angle of 300 with the +X axi: about Z axis by an angle 30° on the clockwise direction performed ‘ Triangle PQR has vertices-as P(2,4), Q(4,6) and R(2,6) is desi rat arbitrary line L whose equation is Y=0.5x +2. Calculate the ee oH eI show the results graphically ces of triangle and A triangle ABC with vertices A (32, 22), B(88, 20) and i i, factor 06 about a point X(50, 42). Dect ) and C032, 82) is to be scaled by a The composite transformation matrix; and led triangle ii. The coordinates of the vertices for a scale - Consider a triangle ABC having coordinated (10,10) B20,10) and C(29,1 s , 15), Deer tneal if irection about vertex A.Introduction to CADICAM W/1.15 EXERCISE What is CAD/CAM/CAE2? What is traditional product cycle? Explain it with neat block diagram. CAD/CAM has its impact on all aspect of product eycle, Explain how? ‘What are the CAD/CAM tools used in manufacturing system? Explain the various requirements for setting up CAD/CAM Laboratory, Compare traditional and CAD/CAM based Product cycle Describe history of CAD/CAM What are the advantages and disadvantages of CADICAM? What are the basic reasons for implementing CAD/CAM. applications in design and manufacturing process? Explain product cycle with implementation of CAD/CAM technology. What are important parameters that need to be considered while selecting a CAD system? What are the challenges for engineers in the field of CAD/CAM? __List out various software’s used for CAD/CAMICAE applications Define PLM. Explain the importance of various PLM softwares used in the Sette3D GEOMETRIC TRANSFORMATIONS Introduction 8D Translation 3D Rotation 5.3.1Rotation about x axis 5.3.2 Rotation about y axis 5.3.3 Rotation about z axis 5.3.4 Rotation about axis parallel to principal axis 5.3.5 Rotation about axis in the space 8D Sealing 3D Reflection (Flip) Reflection about any plane Shearing (Twist) Geometric Mappings 5.8.1 Translational 5.8.2 Rotational 5.8.3 General Mappingphos f x | Exa The x sdb in 3D af more complex than 2D but easily understand the shy, Objects represe! 2 / unders the object. To manipulate, t0 view avs mien tne ob. onject®.- TO the use a Pnate transformations. The 2D transformallor™ (introduced earlier) cay geometric and co-oF i seed to. 3D transformations by just adding the Z crate aystem uses 4% 4 mat aie operemy Ob) © used to represent an object in 3D. “The generalised 4 x 4 transformation matrix for 3,Dimensional homogeneous coording ‘with partitions into 4 separate section is given by- ‘axis. parameter i.¢. homogeneoas axis (Cartesian coordinate stem, a boc\p ; 1 a yt 3x3, |3x1 gh iy ae ik 1x3 Nx ‘The ae 3 sub matrix produces a linear transformation in the form of scaling, shed reflection and rotation. The 1 x 3 lower left sub matrix produces translation (j= (% toy a ‘he 3 x1 sub matrix produces pers} specti : Pete open Gnifern) scaling wansformation and final sub. matrix of oe 1 Three-dimensional transforma i sformations « various views. In tht Chapter we wil study 3 be extended for projective transformations Be projections will be done in Chapter 6, D transformations in detail and further suf)” 5.2 THREE-DIMENSIONAL (3-D) TRANSLATION- 2 } AS DIMENSIONAL (3-D) ISLATION.- ff the move or translation Ss are Ix, fh 34 fe (oF ta Parameters a D tral ae are tx, ty and tz then the 3-D t f Zz 0 1 0 ty“thus for single point, 0 Le yzh = Les 942 Hey 00 3-D Geometric Transformations # 5.3 1 0 0 Le x ye 1) Example .1- Monet following given object and —1 unit along X, Y and Z axis respectively. ‘The Object coordinates are given in the table. Represent the transformed object in 3D space. Given-_ tx =5, ty =3 and tz =-1. AX BY [ce Dy Ex Fe Gx Hy AX Bx CY Dx Ex Fe Gt Hg Thus transformed coordinates of an object are- Vertex xX Y Z A 0 0 1 B 0 a 1 Cc 1 1 1 D Que 0 T H E 0 0 0 i 0 1 0 a G 1 1 0 H 2 0 0 Ay Az 1 By Bz 1 ere . ix By Bz ON Ge Gy Ce 1\ 1 Ot NG Pie DEM by vet | Oo 0 Fy E21) |g gy & 1) |0 0 1 0 Py Re VW ae Fy Feat. [ie by te Gy Gz 1) |Gx Gy Gz! Hy Hz 1) [Hx Hy Hz 1 Ay Az 1] [0 0 11 57 3e Mitel By Be 1) JO 1-11 Se Aer Ole 1 Cy Gd Mea aed 1°00 0) 164° 0° 1 Dy Dz 1 Bete |Uele 00) eh 77 bs Ey BROMO tpi Ogi mle lree acu. Fy EU Naat OM UIA Sa NTE [Sack sA. D Gy G21] jt 1 0,1 a 6. 4 habe Hy HZ 1} [2.0.9.1 73-11 i5.4 #7 CAD/ CAM). CAE 4 "(6,4,0) , “ B(5,4,0) CAE. peng FPG.4-1) (64-1) uf x Z Example 5.1 The Original and transformed object in 3D space (tx =5, ty =3 and| 5.3 THREE-DIMENSIONAL (3-D) ROTATIONS- In 2-dimensional rotation all transformations are carried out in the xy plane, dimensional rotation, a three-dimensional rotation can be specified around any line ig “Therefore for 3-D rotation we have to specify an axis of rotation about which the obj rotated along with the angle of rotation, 5.3.1 Rotation about x-axis- For rotation about x-axis, the x coordinates of an object do not change and: in planes perpendicular to x-axis i. yz plane. Itis given by- 1 0 0 | Cos(@) — Sin(@x) 0 —Sin(@&) Cos(&) 0 OKO 0: ae where @ris rotation about x ‘Thus for single point, Ueto. 0 ec oD as dees 0 a) Sin(@) 0. i i 0 -Sin(&) Cos(@) 0 A 3 0: ah One O14 © rotat ta ean res a right ao Sense i.e. anticlockwise3-D Geometric Transformations 7 5.5 5.3.2 Rotation about z-axis TA similar manner rotat rotation about z axis in which the z coordinates De ee He Ah the z coordinates of an object do not Zz Cos(&) Sin(&) 0 0 =Sin(@z) Cos(&) 0 0 0 0 10 0 Ooh Re where @ is rotation about z axis in CCW direction ‘Thus for single point, Cos(&) Sin(éx) 0 0 pe ie Meters ae = Sin(G2) Cos(6) 0 0 0 Oe wt 20 0 0 1 5.3.3. Rotation about y-axis For rotation about y axis, the y coordinates of an object do not change and rota in 2x plane which is (Ry) given by- tion occurs = Cos(6) 0 —Sin(@) 0 0 % 0 0 * Sin(Oy) 0 Cos) 0 Gx 0 0 0 z where @y is rotation about y axis in CCW direction sin terms have been interchanged because ycand z rotations are y2, 2%, ~~ Note that in the y rotation matrix, the sign of ig to the right-handed system, the plane sequences for the x, Qt d xy respectively. While the first and third of the plane axes (yz and xy) are.in the natural ‘of terms in the matrices, the third one for the y rotation, namely 2x, is in the reverse of the terms order. Since 3-D composite rotations are not commutative always the order of rix multiplication is very important. 5.2. Rotate the object given in Example 5 \gh 90° in counter clockwise direction and represent about Y-axis through -90° and Z-axis the transformed object in 3D space.56 w CAD/CAM/ CAE Given 1 Ore, ee He ayaa Foetal Br BY Bee Nana cx oy Dei Oval Dx’ By Be 1) ron ont and ae me Ey ; ear oen & =90" Fr SPF Als: lite 2 Omer Gx Gy G& 2001 Hx Hy Hz } Cos-90) 0 -Sin(-90) 0] [ Cos(90) Sin(90) 0 g ji { 0 0| |-Sin90) Cos(90) 0 9 Ry Re! (90) 0 Cox-90) 0 0 9. leg a a 0 1 0 0 01) 0010)/f0 100] fo 010 0 100} |-1 0 0 o} J-1 0.00 PN on aco 010; 0 -100 0° 0 0-1} [0° 0 HOO! ot P'= PX Ryx Rz Av Ay’ Az? 1] [0 0 1 1 o -101 By By’ Be 1] (0 114 -1 -1 0] feo Oh CORO 1 1 fom oiep] 11 an Dx’ Dy De 1) |20 1 4 “105.0 0} '|-o 10am Pr Eee A100 ui lel ok amy Gla | eh 0 0! ie: Fi Fs 116/10" Ub LO ae oa =1 08108 CEM Gy Neen | pea miging -1 o 1! j Hx Hy’ Hy | 2001 0:3 c0n oem j a yand z a final coordinates of an object are. “l-1,0) Cela cael E'(0,0,0) F(-1,0,0) Sai ie v8 0, G(-1,0,1) H(O3-D Geometric Transformations # 5.7 > Example 5.2 Rotation about Y (-90° ) and about Z (90°) 5.3.4 Rotation About an Axis Parallel To Principal Plane: The rotational transformation given in the above cases rotation of an object about But in actual practice, the axis of rotation is not parallel to one rotation is parallel to one of the principal axes. If one of the then rotation of an object is accomplished by principal co-ordinate axes X.2. of the principal axes or the axis of axes of rotation is parallel to the principal axes, using following steps- 1. Translate object so that axis of rotation the same direction. Rotate an object about the specified axis. 3, Translate the transformed body back 10 its original position Mathematically, P’=P.T .R Ei is coincident with the principal coordinate axis in Where P” — transformed matrix P. - original untransformed matrix 1’— translation matrix R— Rotation matrix 7! - inverse translation matrixee ee wt ta line passing through 58 CAD | CAM / CAE z ven in Example 5 A Example 5.3- Rotate the object gi eae acaane) Given ae Ax Ay Az! 00 1 BX By Beay best | Sau 1 cee ) .g °c ae Dx D Ee px Dy Dz! 270ale Ex E Be EO geRe |e Fal Bar aes ea I Gxt Ge Gece Ty Os Hx 1 He By Hea) amoce A|- ae ‘Thass the i A’(0.268, E'( 0.268, initially move the object in'such @ Wa} inci n y that line DH coincides » "Spout Z axis, Therefore the equation is given by: a P'=PxTXRcxT| Siok (1ie-0 F. “Line passing tough D an His ying inthe 5 PE it Cos(&) Sin(&) 0 0 iy —Sin(&) Cos(&) 0 0 es ; yt3-D Geometric Transformations #7 5.9 ‘Ax Ay AZ 1] fo 0 1 f 0268 -1 11 ‘Be BY Ba Oe ta) -023 -0.13 1 1 ci Cy C2 I} |1 1 1 1) [0866 05 0 0) | 064 036 11 Dx Dy D2 1|_|2 0.1 1|)-05 0866 0.0) | 2. 0 11 EX By E21) |0001f) 0 0 1 of jos =r 01 Ft Fy F2, 1} 10 1 0.4] [0268 -1 0 1} |-023 -013 0 1 Gt Gy G21) ]1 1°01 064 036 0 1 He Hy Hz 1| [2001 pplaeigiem 0-1 ‘Thus the coordinates of the transformed objects is given by — A’(0.268, -1, 1) B'(-0.23,-0.13,1) — €( 0.64, 0.36, 1) D(2,0,1) E7( 0.268, -1,0) F'(-0.23, -0.13,0) — G’(.0.64, 0.36, 0) H’(2,0,0) Example5.3 Rotation about DH. through 30°-5.10 ¥ CAD/CAM/CAE he Space: é 5.3.5 Rotation About an Arbitrary Line int! ; nich is not parallel to one o Rotation of an object about any arbitrary axis, whick u axes, can be obtained iy composite ernsformanion, Taeeeo Pe transforma following sequence of transformations ; Stepl- Translate object in such a way that rotation axis passes through the origin jg is at the coordinate origin. that axis of rotation axis Pi Pe coincides with one of the, Step 2- Rotate object $0 ic is preferred. To coincide the axis of rotation to Z axis axes, Normally Z axis is ©) origional orientation Y P Z Step 5- Translate to the origiontll Step 2. o tep 2- Rotation P2 on Z axis _ position Fig. 5.1 Rotation of an object about arbitrary axis() Step3 Figure (a): Rotation about x Figure (b) : Rotation about y After rotation about X axis through @, axis P/ P2 will be XZ plane, the Z. component of unit vector is d and X component is a sce figure (b) and the length of unit vector will be 1. Now rotate object through @y about Y axis so that arbitrary axis coincides with Zaxis. Therefore cos @ = d/l=d and sin by = Perform the desired rotation 8z about z axis. Apply inverse rotation about y axis and then about x axis to bring the rotation axis back to its original orientation. ‘Apply inverse translation to move rotation axis back to its original position. ay Thus composite transformations to rotate an object about any arbitrary line is given by— : Pasi =TXRxx RyXRex Ry! X Re! XT! And P'= PT rou eee Oia. 0 1) 0) 080) i CR a OE a 0 0 1 0 Or ORI O ate HM ed5.12 w CAD/CAM/ CAE pieee 1 0 o 0 0 Cos& Sin& 0 0 -Sin@& Cos& 0 0 0 0 1 Ry= LUE 0 cld —bld 0 bld cld 005 ae and Rx! = Cos(-6) 0 —Sin(-4) 0 Oo, Ong 0 Sin(-8) 0 Cos(-&) 0} JF AADra3080 Ry= Bd F108. Mae, |-abld cid b O 0 1 l-acld -bld Re 0 OSPR Cos(Ge) Sin(Be) 0 0] ~ Sin(B) Cos(6) 003-D Geometric Transformations 7 5.13 lution: ven that C(1,1,1) and E.(0,0,0). The line passing through vertex E and C is not parallel to any ipal axes, therefore we have to perform following steps- 1. Find direction cosines a,b, c and also find d. Find out Ox and @y 3. Rotate an object about x and y through Ox and Gy respectively, therefore Line EC will coincide with Z axis. (Rx and Ry) . Rotate an object through 45 degrees (Rz) | Apply inverse rotation about y axis and then about x axis to bring the rotation axis back to its original orientation. (Rx" and Ry" ) Thus composite transformations to rotate an object about line CE is given by Toy, = REX RYX REX RY XR ath P'= PT direction cosines (a ,b, €) of the vector CE ,can be'easily obtained by using following lation- Ve fom =e) ty = Hee) VTE =a) 2 Or= yw d=0) The composite transformations to rotate an object about line CE is given by- - “1 T= RxxRyXRexky "Rx result——————— CAE 213 0 5:14 7 cAD/CAM! jue Olt | taaeeNal ‘ cid b Of] 2/3 Ha -abld CaS, o| chy 11S R=) geld ee Pais pis 0 : 0 gis 9 -0577.0 0.408 -0.707 -0577 0, =|_q408 0707 -0577 0 07 ope geloo etn eae Cos(45) Sin(45) 0 0 0.707 0.707 0 | -Sin(45) Cos(45) 0 0} _|-0.707 0.707 0 oO} Blo eal PIE 0 1 of 0 04-021 0) oo 4 -ab/d\ ~acld 0) [0816 -0.408 —0.408 st] eld -bld 0} | 0 0707 0707 0 2 sl aa se 60), ]0333 0.333 0577 | 0 0 On] 0 0 078 Thus 7 ia ev = St REX RY Rex Ry! Ry“! 816 0 05779 0707 9707 0 0/0816 ~o408 -0408 6) ~0408 ~0707 ~957 7 01|-0707 0707 0 9}| 0 0707 ~a707 0} Te resull} 0408 0707 -0577 0 ° © 1 offo333. 0333 9577 ol} Peau Of Oo nil <6 UR 0805 0506 -0311 Teny=|~°3!! 0.805 0.506 0 9506-0311 o.g95 0 a -dae 13 UB cam 0 ae 5.14 w CAD i 0 ; 0 12/3 ve 4 a ia. | 13 a eublde Ce s..0) elie A ea ebld 7 a eyz|eacld “i og 1 Bis 2 aa 3 c q Dil at Osu ee uate 0577 0 en 408 -0.707 io 4 0707-057 ; 0408 : ; ’ a | On Oe OMeN i 0.107 0.707 0 sint45) 0 0 cos(45) _sinf45) Cos(45) 0 0} _|—0.707 oa 8 Meo 20 0 Ola ad ‘ 0 0 OL 0 0 eee d -abld' -acld 0) [0816 —0408 —0.408 0 ‘old —-b/d 0) | 0 0.707 -0.707 0) 1 ee ¢ 0] [0333 0333 0577. 1 Oe 2),0 0 0 0 0 Rx RyxRex Ry x Re! A: 0816 0 0577 0] [ 0707 0767 0 0] [0816 -a408 0408 0} ~0408 -0707 -0577.0/|-0707 07070 o|| 0 0707 07070 0408 0707 -05770]} 0 9 4 0}}0333 0333 0577 O| Der aO ea 0h dll onanmeo tl Os 0) 50 gaan resul 0805 0506 0311 0 0311 0.805 0506 9 9506 -0311 0805 9 Dae oe ate result =3-D Geometric Transformations # 5.15 At AS AS a ae a ae Bt BY Be tl | Bx By pe 4 ct Cy C21) Nex cy cz 1] [osos 0506 -0311 0 Di Dy Di 1] _|Dx Dy Dz 1| _ |-0311 a805 0506 0 Bt EY Eé 1! <| Ex By Bz 1| “| 0506 -0311 0805 0 re FS Fei) | ke Fy Fe ee 0. 0 1 Gt G) Gt} |Gx Gy Ge1 He HY HE 1 [He Ay Hed Ax’ Ay! Az’ 1 oo1t By Be 1 Deakclet oO Ce 1 Tera 0.805 0.506 -0.311 0 Dy Del. |2 0 14 =0311 0.805 0.506 0 By Ev 1] |0 0 0.1 0.506 -0311 0805 0 Fy! Fe 1 0101 0 0 Oy aca Gy’ Get Lestat Hy Hz’ 1 2001 ‘Ax Ay’ Az’ 1] £0,506 -0.311 0.805 1 Bxt By? Be | | 0195 049 aan Cr! Gy Cel d 1 1 Ie al Dx! Dy! Dz* 1|_| 2.115 0.70 0.1841 Ex’ Ey’ Ez’ 1| | 0 0 07. i Feo Fy! Fe 4 AOS 0.8. 0.506% Gx' Gy, Gz' 1 0.494 13) O3195 1 Hx’ Hy’ He’ 1| [1.609 1.01 -0.621 1——————aa7==—_—~ 5.16 ~ CAD/ cAM/ CAE = PACs Asscali following tt \, Trar 3. Tra ‘Example = directions Given: D a j '8°(0.506, 0:31, 0.805) B°(0.195, 0.494, 1311) CC. 1, 1) D'(2.115, 0701 0 | £0, 0,0) F'(-0.311, 0.805, 0.506) G’'(0.494, 1.31, 0.195) H°( 1.609, 1.01, 063) Example 5.4 Rotation about line EC through (45°), E(0,0,0) - oe 5.4 THREE-DIMENSIONAL (3-D) SCALING- If the scaling factor parameters are Sx , Sy and Sz along X, Y and 2 dein Jocal 3-D scaling transformation matrix is given by- (3 a4 __ To get uniform sealing transformation (Overall) scaling we sh matrix is given by ould have Sx =‘Sx/ Sx 0 0 0 Consider the object given in Example 5.1 and ent directions and 4 unit Ax Bx Cx Dx Ex Fx Gx Hx PS Byes 0 Sy/Sx 0 0 ‘A scaling of an object with respect to a selected fixed position can be represented with the ing transformation sequence, |, Translate the fixed point to the origin it along Z direction, Represent the transformed object in 3D space Az Bz Cz Dz Ez Fz a Hz Ay’ os cy Oe Ey Fy’ Gy’ Hy’ jeometric Transformations # 5.17 2. Seale the object 3, Translate the fixed point back to its original position. large by 2 units along X, Y oo° IL ye oOo oN SL Sho — BS 0 2 Aare uv Sb oem Oe Ba te ete - © Boe rls ss e es eee cone onee Sia 04S . i Ep omen wee o CEL elena SS Moe once ly tSSrl ea caps cam/cAE : pxomple 5 Teeptes 518 0 Given, x i A. me Fxy= pv t Y and by 4 along Z axis pject by 2 units along X, g Example $5 Sealing object Wy ees along X and Y axes by 2 umits andZaij g, ‘Thus the coordinates after enlarging. - riven by \ units meet Sona C1B24) D(4,0,4) 7 E(0,0.0) F(0,2.0) G'(2,2,0) (4,00) am > De 5.5 THREE-DIMENSIONAL (3-D) REFLECTION- 3-D object does not solely depend on rotations but also the) # The orientation of reflections, Unlike 2-D, in 3-D reflections occur through a plane. For a pure reflei determinant of reflection matrix is always —1 ‘The reflection transformation (Flip) about-principal planes is given in the following table” Flip Fil ‘ transformation ae xz-Flip y olip Flip about 3 eres ye-plane xz-plane Combination - flip, yelp) Sign changes z flip in ayo 10 0 Ola y All af al i Matix |{2 1 0 0 0 0 ojf-1 Oo A 00 0 0 -1 0 oljjo -1 00 13-D Geometric Transtormations # 5.19 ple 5.6- Reflect the object given i ‘ resent the transformed obj atte ae: 1 about a. XY plane, YZ and XZ plane. Ar Ay Az 1] foo 1 1 Bx By Be \| |0 111 Cx. Cy RGz AN) | Tiga aa et Dx Dy Dz 1\_|2 011 Ex Ey & 1) j0001 Fx Fy Fz'1| |0 101 Gx Gy G i} |1 101 Ax Hy Hz ij |2 00 1 10 0 0 “1000 t. 0 0, 0 Ooleer 0100 0-10 0 =| 9 lathe i eatineeN aioe oe ee 0:0 gO 0001 OO: BEL ‘a. Reflect the object about XY plane P= Px Fay ‘Ay Ay’ Az’ 1) fo 0 17 bower ay By By! Be 1| jo 1 it Ol ait Cx Cy Ce 1 fei 1-1) fr {o 0 co} bent t Dx Dy’ Dz. pile cnsi tle |O420 10 20} 2D Ee by (Ee 1 | Gooeostp 0 —1F0 OP ONO a eye Fy rah o 101} {0 0 0 1 Oj b i0 71 Gx Gy Gi qo e0 Ul Ve ye, (aa. 2100 0.0L m0 50 +b [He Hy He 1 Thus the coordinates after reflecting the object about XY plane are given by- A‘(0,0,-1) B(0,1-1) CCb-D D(2,0,-1) E7(0,0,0) F(0,1,0) G10) H'(2,0,0)5.20 7 CAD/CAM/ CAE b. ject about YZ plane Reflect the object he pxFyz 4 0 014 ‘Ax’ Ay’ Az’ I ae Roget By’ "Be 1} jo 4 “Ze $ es cl Melis eel ot Bes 2 ae ~ pe alnl2 Ost Ope Oe Dy nal x 010 0 00 Ey" Eg 1 ooo! 2 La pe Rate Oi Cea Oa oy oe 1|.ft1 01 a Hz’ 1| [2 0 0 1 -2 00 wus the coordinates after reflecting the object about YZ plane are given by-- A’(0,0,1) B0,1,1) C%-1,1,1) D"(-2, 0, E'(0, 0.0) F(0,1,0) G'(-11,0) 1) -HPC-2,0 lect the object about XZ plane oP:3:D Geometric Transformations 5.21 c Example 5.6 Reflection about XY, YZ. and XZ plane Example 5.7- Reflect the object given in Example-5.1 about a plane passing through vertex Hand parallel to YZ plane.Represent the transformed objects in the above cases. Given i 1 \ 1 1 1 1 1 ‘Ax Ay Az jo Bx By Bz oy Dx Dy Dz Ex By Ez Fx Fy Fe Gx Gy Gz Hx Hy Hz 0 1 1 2 tr=-2,ty=tz=0 if =-2,ty=tz= 1 1 1 1 1 1 0 0 0 00 1 1 i 1 ‘ll 1 1 1 To reflect the given object about a plane parallel to principal plane YZ, we need to low the below steps: : 1. Translate object so that reflection plane coincides with the principal plane Y2i 2, Reflect object about the YZ plane. 3. Translate the transformed body back to its original position.“8.22: W CAD /CAM/ CAE Mathematically, P? = P.T .Fyz .T! oe P? = transformed matrix i P - original untransformed matrix T- translation matrix Fyz— Reflection matrix 7" « inverse translation matrix Thus , P'=PxTxFyzxT ; fee 0 07 [-1 0 0 0) fk ° ce 4/0 1 0 of }o 1 0 of} 0 Bee gical 0-000 Tiegh 0 be -pee 1) 000 0] late — [1 00 0] f-10 0 0} f1 0 0 o peepee ete 2 0 Oh | ot D301 105100 Dig Ox LO)" 0. .0/ 1 ,0):40° Oe diel -2001/{0 00 1} [2001 Ay Ar y az tT] fo 01 1 a Bye Bee ho speat a é ; : Aint Thus | BCE 11 ele ot ogy Ts Papen Det 12..0 gale lag ute o., 5A % E110 0 0 al 9 0 of _j2 0 Pa Pe Ge age O rol“la o DeGeeli y oha ) Pea = Byeipaailt , 4 ell a 0 hy al :3-D Geometric Transformations 7 5.23 ‘Thus the coordinates after reflecting the object about a parallel plane to YZ. plane and passing through DH are given by- A'(4,0,1) B’(4,1,1) eal 1) oe D201) E(4,0,0) F(4,1,0) G(3,1,0) (2, 0,0) 5.6 REFLECTION ABOUT ANY PLANE- In above session we have developed transformation matrices for reflection about Principal planes, some time a plane is not parallel to any principal axes. In such situation to reflect the object following procedure is adopted- Translate a known point on the reflection plane to the origin of coordinate system " Rotate the normal vector to the reflection plane until it is coincide with +Z axis. Thus reflection plane coincide with XY plane. he5.24 » CAD/CAM/ CAE Reflect the object about xy plane. Perform inverse rotations and translations to brin; ig the reflection pl; position, Par’ ON peewee 52- ginal and t Let P1(x1,y1,21) is the given point the reflection plane. cen To translate this point to the origin use following translation mattix- : We 0 7010) a Pil: Cee nae : Paley farke 7 ‘ gi 2% 7 eee ’ Let us assume that the normal vector to the reflection is given by ik Ne=a-i+b-J+e-R (a)? +(by° +(c)? . ‘Th ot, pa Wd, c= Q@, gare + Therefo To coincide vector N with z axis we will use the same procedure as sedi Therefore, 0 Ae _|-abld cid b 0 POF |cald Shia eenO Quer Onno for reflection about xy plane we have, . rae : 20; OMG) - i lO on 5 VA\o1 0 AT 6 3 OOO S HL aS | For inverse transformation use following relation 1000 Oba le o.0 2 T's 0 0 10 mir oath jane is ai Thus composite tat to reflect an co about‘any arbitrary plat Ay : x Ry x Fy. X RY" dtd ‘ obtait an object after reflection about any plane are it Bai Saal 1mple 5.8- Reflect the 0} i seat and transformed of Object given in Exam, 2 Seamettic Transtormations 7 6.25, origi jects in th ‘ample 5.1 a” above cases © St About plane CDHG. Represent the Given ge < zlala|mfolofee|>|2 we} —lolo}m|—|e|o|>!) o|-|-lele|-|-/2)< olelelo|-|-|-|-|8 ‘The line passing thr sci im ping mow, ete E and Oi rl the ple COM and G(1,1,0) given by eflection plane is passing through point E(0,0,0) Hi : saith JtokR V = Va)? +? +(0? = @? +? + = V2 Oriel oe pace 2 Ve Ae v Inorder to reflect the object about the plane CDHG follow the steps below:- 1. Initially we have to translate the object in such a way that the point G coincides with the origin.(T) Rotate the vector until it coincides with Z axis. (Rxy) Reflect the object about XY plane (Fxy). Perform inverse rotations and translation: original position 4 to bring the reflection plane to its (aety land T) Thus composite transformations 10 reflect an object about any arbitrary plane is iven by — eck Lemma ty By RCT” result526 w CAD/CAM/CAE ) dips Onad) 1000 pao 0 Fe dot tbl flue Fao Oh eg yO 0010 0 0 HO Se eetn Goa Ay ob t a Gr aa OL ee (20 1/20 Ol aordeldae hy Ole -i{2 0 v2 0 2 eata = ota 61 00 Slee 0 0 0 Opt 0 0 0 1 viz 0 Wz 0 araga-ole Pa OF NE soot Ger Oe Ole : 0 0 22 Seog Ol Faye ee + tne TE bey ey HE OF ae = ee3-D Geometric Transformations 5.27. T.Rxy Fy Ry 1x7 T.Rxy.Fxy.Ry x71 = T.Rxy.Fxy Ry x" 77 = 1 ° o-co - ooo 0 2 bp (Ag? AY’: GAZE SEO 2.09 lee Dees Bx’ By’ Bz’ 1 O21 T) EY 12S PST (Cx iid Cyna@ass al big Depaul Fel Diictds Ove dah ond cen Di" Dy! DENG REN DESO U1) mos ys #6 Baap We! By? Ec W100 Oot] 0 0 1 0|- 12.3 On ec. Fy’ Fe. MeO atleOr A he 26 28 Oieta (1.9 ji Bic o co: (ero i i 0 1 P Lae’ Hy' He 1) 12°00 1 20°01 Thus the coordinates after reflecting the object about the CDHG are given by- A(2,2, 1) PSEA) 2 be CC, |, BE) D(2,0,1) B(2,2,0) P(1,2,0) G(1,1,0) . (2,00) From these results it is observed that there is no change in the values of vertices : |C, D, H, G, as we are reflecting object about plane passing through these vertices,5.28 7 CAD Then! Je 5.8 Reflect about Plane CDHG Example 5. 7 Rn ‘ORMAI THREE-DIMENSIONAL (3-D) SHEARING (TWIST) TRANSF' TH, 5. T seas 3 re i like “pushing” a geometr transformation looks lik i ee a aa by x an ae For example the right hand side cylin re, ee 5 ; eri Sota Pear transformation to the left hand side cylinder: a zi . alot In this shear transformation, six shear parameters are involved namely sid $ each of three directions and Perpendicular to each of the other directions. Th* shear factors are given below- Shear along the x-axis, Perpendicular to y-axis is Shy Shear along the x-axis, Perpendicular to z- axis is Shy Shear along the y-axis, Perpendicular to x -axis is Shy. Shear along the y-axis, Perpendicular to z- axis is Shyz. Shear along the z-axis, perpendicular to x -axis Sh... Shear along the z-axis, perpendicular to y-axis Sh,y moe Rer»‘3-D Geometric Transformations # 5.29 Fig.5.3a Shear along X Fig.5.3b Shear along Y Fig.5.3c Shear along Z ‘Then the shear transformed coordinates along x, x=x+y-Sh, +z-Sh, y and z axes are given by- y=x-Sh,, +y+z-Sh,. and zZ=x-Sh,, + y-Sh, +z ‘Above equations of shear transformation are represented in matrix form as below- fh, (Si 0 She Sea\ SHY, Wee LS She Bh, 1.1 0 2160.0. Woot m1 P'= P+ Sh where Sh is shear matrix. 1 Sh, Sh, 0 Shy 1. Shy, ky eikh ye Ns” y. 1 0 j Ons emer O40 15.30 w CAD/CAM/ CAE plane. Given- Sh, =0.2 Sh, =02 ie 0, Shy 1 Srl sh: ¢o a) ‘At Ay Az I] [0 0 2 Bi By Bz 1| |0 22 ct oy ci 1} |22 2 Di Dy Dé 1} |2 0 2 EX EY Ez 1| [000 Fi FY FZ 1| 10:2 0 Gt GY Ge 1] 1220 Ht HY Hz 1| [2 0 0 yw by Example 5.9 Twist the 2 unit cube shown belo So, =o P'= PxSh ‘The-new coordinates of the object after Shear Transformation are: A’(0.4,0,2) B’( 0.8, 2, E'(0,0, 0) (0.8, 2,2) F'(0.4, 2,0) eT €(2.8,2,2) @Q4,2,0) iS onnoonno 0.2 units in xy plane ang oun ecoooNnNnn o ve oma —3-D Geometric Transformations # 5.31 0.2 units in ay plane and Example 5-10 Twist the origin centered 2 unit cube along X-axis by “04 units in yz plane.5.32 W CAD/CAM/ CAE At Ay AZ 1 foo 21 BY BY Bz 1 Oj2nzeL CRE CY. Ge. 2 22uel Dx Dy D2 1 2 aD rap stg 08 104-0. Bebe ee 1\.0 | Op0sOadl eee f ye , 04 0 me! OBC AL Te ah ae Gt GS Gel 2 210.1 Ak Hy Hz 1| 2:05.04 The new coordinates of the object after Shear Transformation are: Erne ose BY(1.2,2,2) Cin 2) (0,0, 0) F(04,2,0) G24, 2,0) Example 5,19 Bk te 0.8 Be 2.8 eco oN RAa Bsample 5.11 Twist the 2 unit cube shown be low by 0. S ‘Geometric Transformations 7 5.33 ‘units in all six shear directions, 5 Given- Shy =Sh, =Sh,, =Sh,, =Sh, =Shy =02 1 Shy Shy 0 See hr Shg ‘Sh, 1- 0) And P'=PxSh 0) 0. Guat At Ay Az 1] [0027 04 04 1 1 Ba By. Be 1). )0.2/21 04 24 24 1 ce cy ce 1] |2-2 21] f1 02 02 0] [28 28 28 1 Dt Dy Dé 1} |20 21) 102 1 02 0] |24 08 24 1 ee Ey £2 1} [0.00.1] [o2 021 0} |o 0 01 Fe Fy Fe 1] [0 2.0, Hpifeo wonmoyat| 042 02. Gt GY G21 220 1)0. 24 24 08 1 Hi Hy He 1| [2001 2 04 0415.34 ¥ CAD/ CAM/CAE F Example 5.11 Shear along all axis with Shearing factor 0.2. ‘The new coordinates of the object after Shear Transformation are: A’(0.4, 0.4, 1) B’( 0.4, 2.4, 2.4) C'( 2.8, 2.8, 2.8 ) D'(24,08 1 we E’(0, 0,0) F°(0.4, 2, 0.2) G’(2.4, 2.4, 0.8 ) H’(2, 0.4, 0.4) a 5.8 GEOMETRIC MODEL MAPPING In geometric modeling, both mapping of geometric models and geometric transform are vital. Geometric transformation changes the object position, size and orientation witht to the origin of the coordinate system. But in geometric mapping, without changing location, model is described from one coordinate system to another. ‘ 5 We create object on sketch plane relative to UCS (User Co-ordinate System) alt coordinates relative to UCS. After this CAD software maps the input to the WCS (Wi ordinate System) before storing it in the database. ‘There are three possible types of mapping - 1, Transnational mapping 2, — Rotational Mapping 3. General mapping 5.8.1 Transnational mapping When the axes of the two coordin: required: In following figure, the origins space are the same The notin D ate systems are parallel, only transnationdl ie of WCS and UCS are different but their ofiet™®3+D Geometric Transformations # 541 ig -10 pow Ye Ze [LS 1 0 ape|ot 0 6 =6 2 -15 1] oO 0 1 2 00 00 CA sus the coordinates of Cy Cs and C sin WCS are given b 4,-1.5) are given by- ct ) 5 Geass D5) igs nds }CalSsap2. AS) EXERCISE Explain 3 D transformat i eT eee sn matrix for translation, Rotation and Scaling with neat figure. formation? Derive the inverse transformation matrix for 3D translation and rotation, ? 4, What is necessity of Flip (reflect : 1 a jon) trans 2 transformation matrix for a) XY-Flip _b) eee icone als 4 ae 3D Sten transformation and derive matrix for shear transformation? erentia ee E Disa te between co-ordinate transformation and geometric transformation. Give one 6, _ Derive the transformation matrix for a 3D rotation about an arbitrary line? 7, _ Derive the transformation matrix for a 3D rotation about an arbitrary plane? §. Derive the transformation that reflects an object about an arbitrary plane? Write the matrix representation for this reflection? 9,, Anarbitrary axis is given by the line object by an angle eo 10. Given pp, =(%y,2) and p rotate an object about an axis pp, ‘one corner at (0,0,0) and opp the cube by ekuwise direction ? | mapping with example? 13, What is mapping? What are the application areas where mapping can be used? 14, Show that three-dimensional rotations are not commutative? : ee i i i he line passing through the points ie: formation matrix for rotation about the ugh the P (00 ae A with the rotation angle as 360 degrees n counter clockwise direction. mx-+c.Write a program to rotate any given solid =(xy,2).Write the sequence of transformations required to with angle @ ? osite corner at (2,2,2). Write the necessary degrees passing through the line joining 11. Aunit cube with transformations required to rotate (0,0,0) and (2,2,2) in Counter Clo 12, Discuss rotational and translational pitt ;GEOMETRIC MODELLING Need of Geometric Mode! ing Requirements of geometric modelling 3D modelling techniques 7.3.1 Wire frame modeling 7.3.2 Surface Modelling 7.3.3 Solid Modelling [= 4 _| Difference Among Wire frame, Surface and Solid Modelling 7.5 _ | Introduction to solid modelling 76 Set Theory 77 Representation Schemes for Solid Models. 7.10 7.74 CSG — Solid Entities 7.10_| 7.7.2 Boundary Representation - Brep A TAZ 7.7.3. Cellular Decomposition 744 7.7.4 Feature Based Modelling 744 7.8_| Euler theory 7.23 7.9 _ | Mass Property Calculations 725 7.1 NEED OF GEOMETRIC MODELLING ~ ‘x model is a mathematical representation of geometric form which is stored in computer merfory, Thus computer representation of the geometry of a component using software is called geometric model. This model can be used al every stage of the product cycle, : For manufacturing automobile engine we may require around 10,000 drawings models in "various departments with different styles. Once models are prepared using any CAD software, these models can be used in almost all departments of the organization which includes - Designing the parts and assemblies and then performing tolerance analysis of the assemblies. : Preparation of producti Heer nee evfermal and Kinematics analysis ct al and ku a : ee ere parts and after extracting material, properties from material library, cost estimation can be easily done. Process plans are also prepared forall the components, ion drawings of individual parts, subassemblies, assemblies,7.2 ~ CAD /CAM/ CAE 6. Using C. ap Pea Sens We can use model as input-for CNC programming, Gane Rae eee the components from one station to another jg Vehicles (AGV), tandling devices such as Robots, conveyors, Automate, 8. : eee Measuring Machines (CMM) dimensional and geometric o,_pachecked by extracting various dimensions and parameters from the mode oy ipporting activities such as material requirement and procurement, ‘ of materials, manufacturing: resource requirement, plasning and scheduling, competitors products etc, are also possible once geometric models are available with yg Thus for all these activities, geometric modelling becomes the central part that manipulated at all these stages. While modelling, geometric models are prepared in nil that the other modules such as CAM, CAE, mechanism systems are able to Use this infers in the most optimal and efficient way. 3 4 Fo perform above activities manually, considerable manpower, valuable time andy will be required. Thus to avoid these difficulties, creation of 3D model in computer and at the every stage of the product cycle is the one and only one solution! There are ‘numbers of software packages available for modelling, Making analysts, manufactrng simulating etc, Each package has its own strengths and weakness. 7.2 REQUIREMENTS OF GEOMETRIC MODELS | © }Represent the realistic 3D geometric models in the computer. These models ; geometry as well as its characteristics. Good geometric model is designed based following important guidelines 1. Modelling method must be easy to use MA ~~ Completeness of part representation “No representation can describe all possible solids, able to represent a useful set of geometric objects. 4, Model should not create any ambiguity to users. A given representation in correspond to one and only one solid. a 5, To represent the solid normally there should only one unique way. Due to a however a representation = ‘compare two identical solid representations. 6. A geometric model must be very accurate; there should not be any approximation 7 Geometric modelling should not create any invalid or impossible models... ‘The various transformations such as move, rotate, scale etc. and manipulations union, intersect, subtract etc. should be able to be performed on geometric 9, A good representation should be compact enough for saving space and allow fore Pes algorithms to determine desired physical characteristics. ‘Geanetic inode! should Have’ ‘shading and rendering capablity to give reaniam ie the model. 7.3 3D MODELLING TECHNIQUES 3D Geometric modelling is done in three different ways — 1) Wire-frame Modelling 2) Surface Modelling and 3) Solid ModellingGeometric Modelling #73 Fig. 7-1 shows example ofthese three modelling methods a a Surface Model Solid Model Wireframe Model Fig 7.1 731 Wire frame modelling Wire frame modelling is the oldest and simplest method of geometric modelling which can be used to store model mathematically in the computer memory. It Contains information about the locations of all the points (vertices) and edges in space coordinates. Various wire frame entities are points, lines, planer arcs, circle, curves eic, Each vertex is defined by x, y, 2 coordinate, Edges are defined by a pair of vertices and Faces are defined as three or more edges. Tus Wireframe is a collection of edges, there is no skin defining the area between the edges. This is the lowest level of modelling and has serious limitations. But in some-applications such 4s ool path simulation it is very convenient to use wire frame models. Advantages of Wireframe Models + Itis simplest method and requires less memory space. + It forms the basis for surface and solid middelling, * Manipulations in the model can be done easily and quickly. Disadvantages * One of the serious limitations is the ambiguity of orientation and viewing plane. Due to this it is very difficult 10 interpret the object from a particular viewing plane and creates confusion,7.4 # CAD / CAM/ CAE circles or curved g, * Lack of information to determine object profiles such 2 ed t prone e shows a 3D Curved Profile gp model do not recognize the curved profiles: Figure SHON ca as this = ee a blind hole and its three confusing projection &, fw recognize curved profiles. ‘ 1 4 a pisad¥' Beet me ba Fig 7.2 i © Physical properties such as mass, surface area, volume, center of gravity ea ey) Es possible to calculate. . he + Wire frame model has no knowledge of surface faces . therefore it will odie) interference between two matting components and this is serious drawback , component assembly, kinematics analysis, NC tool and robot arm simulation. = # ; ee ot © To construct model we require lot of data compared to solid models i.e. for wire i both geometrical and topological data (shape) are needed while solid requires ij) preci geometrical data. a diffe e : © Does not represent an actual solid (no surface and yolume).. | fame e| : © Cannot model complex curved surfaces, = Adv a . 7.3.2 Surface Modelling ‘Surface modelling is the next stage of wire frame modelling. A surface model rat E the skin of an object, these skins have no thickness or material type. Surface models define k surface features, as well as the edges, of objects. It is used to create complex shaps! automobile bodies, ship hulls and also air craft bodies. A surface model is defined intel) faces in addition to wire frame entities. Various analytic and synthetic surface eis®) Advantages of Surface Models B + Blimi ‘gui 7 . ae Fiintes much ambiguity and non-uniqueness present in wireframe modes by tit he s D * Renders the model fc fisualizati i realist Beat a better visualization and presentation, objects appear more reals . i surface geomets 7‘ i . f (wumericallyconoled) machines, (°° Computer-aided “manufacturing, (CAMD : 1 Provi : es the geometry needed by the manufacturing engincer for mould and diedGeometric Modelling 7 7-5 sed to design and can be Us ig analyse complex free-formed surfaces of ship hulls, airplane *selages and car bodies. face properties such as roughness, co ed and face PrOP ‘ehness, colour and reflectivity si lectivit: is ivity can be assign tages of Surface Models is 5 ion about the ovides no information about the inside of an object. curved surfaces need a fine mesh to be accurate, provides wrong results if mesh is to0 coarse. Complicated computation, depending on the number of surfaces. 739 solld Modelling ip te solid modelling, the solid definitions include vertices (nodes), edges, surfaces, weight, saivoiume. This model consisting of the complete description of the solid in a certain form is spe most ideal representation, as all the information required at every stage of product cycle can secbisined with this technique. The model is a complete and unambiguous representation of a prsivly enclosed and filled volume. This is most widely used method and a number of ‘ferent techniques available to represent the solid, but generally two techniques are very fanovs viz. Constructive Solid Geometry (CSG) and Boundary representation (B-rep). Advantages of Solid Models + Has all the advantages of surface models (uniqueness, non-ambiguous, realistic, surface, profile) plus volumetric information. * — Allows the designer to create multiple options for adesign. 2D sandard drawings, assembly drawing and exploded drawings are generated form the model. * Can easily be exported to different Finite Blement Method programs for analysis. * Can be used in newly manufacturing techni (CIM), computer aided manufacturing (CAM) and Volumetric and Mass properties Properties are obtained if density is included. Disadvantages of Solid Modelling "More intensive computation than wireframe Requires more powerful computers (faster wit “edad mathematical approach of wireframe, see design for manufacturability (DFM). and surface modelling h more memory), not & problem any of solid entities is discussed in next chapters. E more ques; computer integrated manufacturing of an object can be easily obtained. Corresponding massace and Solid Modelling ‘surface and Solid Modelling: frame, Surface Model Moderate Plane, revolved, ruled, | tabulated, free form surfaces cone, cube, cylinder, ‘Moderate Less + aan Impossible Impossible Easily possible abe yi [sew neon Nouposnble ‘Automatic possible ‘Automate 5, NC code gener + 2 prererence between | Not possible to detect | Cam-detect Can detect matting parts reF . TeRenteine and Not possible Possible Possible dow effect 3 i ae ; Not possible done iy ose Possible done 8. Cross sectioning. manually _ automatically f Elimination of hidden | pone manually May be possible Possible ines 10. Calculation of Possibleamta : physical properties such - Possible to calculate scale evolu; surfer sein some properties aeeit: center of gravity, M.I. etc TI. Design parameters : 5 iain Not possible Not possible Possible 12. Generation of Assembly and detail | oy og x drawings from model fot possible Not possible Possible and vice versa hi 13. CAD/CAM/CAE, Drafting, design modules Drafting Drafting, design manufacturing, assembly, Table7.1 Difference Among Wire frame, Surface and Solid Modelli 7.5 INTRODUCTION TO SOLID MODELLING Solid objects are re Presented by different approaches, O: . colt . Ont appro Parts by treating them as combinations of si ¢ of them is an Such programs are know! design of mechanical les. is of simple building bls nm as Solid modeller and can hold ©” optimisation Fl fe rea discussin 5 fore discussing the various sents of old rattling tone pn set operations, Lvs of alacbra This inc natty V8 TOPOIOGY 9 a 20m solid model consists of both geometrical and t no ‘ onspology is non-metric geometry, oie nce between topolos id se i ? BY and geometry is illustrated in the following fi ing figures. ‘rec wy 13 14 igs Is bs i us 2 im Fig. 7.3a Same Geometry but different topology 7 16 ay i Ls 12 1s 12 iW ny Fig. 7.3b Same topology but different Geometry The geometry that defines the object (pentago In fig (7.3b), both objects are made of unequal lengths but hav es in fig.(7.3a) have same geometry but different topology an ‘topology but different geometry. Be is defined as a collection of objects, such that given an “her the object belongs to the set OF does not belong to the set. lal lees. The objects that belong t0 Set are called member © 1s of Solid Modell mental ing Geometric Modelling # 7.7 solid is aed, modeling, we will discuss the ies geometry, topology, set theory: [30 © jsa80 O cdges and faces informati '& consi ie are ee of the object. Whereas Beken s aject are connected together. are only concerned with Pecos) and 1 n) consists of Lengths LI 10 LS. In. Fig. 31, both objects are of equal lengths but they vary in their topology. fe same topology. Thus din fig. (7.36), t 16 SET : THEORY i object and a set, we can say Sets are usually denoted by + elements of the set and N