VL Basic

Virtual.
Lab Motion Training

Basic Training
LMS Virtual.Lab Motion Technical Support

(+40)268 310101 ext.6503
daniel.tohoneanu@lmsintl.com
Agenda
Introduction to the Interface

LAB 1- Interface Lab
Adding a Part to a Part Document
LAB 2 - Adding a Part
Compass Intro/Moving Parts in the Product Doc.
LAB 3 - Creating and Moving Parts
Introduction to Mechanism Model
LAB 4 - Assigning Bodies to Part
LAB 5 - Camero Lab
Manipulation using the Compass
LAB 6 - Manipulating Objects Using the Compass
2copyrightLMSInternational2008
Agenda
Mechanism Modeling
LAB 7 - Slider Model
Basic Geometry Creation
LAB 8 - Creating Simple Geometry
LAB 9 - Importing CAD Geometry
LAB 10 - Creating Bodies and Associating Geometry
Element Creation
LAB 11.1/11.2 - Creating Joints and Constraints
Force Creation
LAB 12 - Creating Forces
Analysis of Results
LAB 13 - Analysis of Results
Introducing Virtual.Lab
Main Menu
Compass
Mechanism
Design
Workbench
Specification
Tree
Standard Toolbar
Model Display
Navigation Toolbar
Main Menu
The Start menu is a

navigation tool intended to
help you toggle between
different workshops.
To start a Virtual.Lab
Session, select Motion, and
then Mechanism Design.
Main Menu
The File menu is the
starting point for opening

all new and existing files
of any type.
The File menu provides
all save options for the
files associated with the
current Virtual.Lab
Session.
Models should always be
saved to a specified
project folder.
Main Menu
TIP : Save Management

shows currently loaded files
and their storage location
TIP : Use Send To to share

models with other people.
Save Management Window
The window shows which files were modified during the current session and
which files were just opened.
Files may be saved in alternate folders by using Save As... button and
specifying a different Path.
Insert Menu
Convert DADS *.def model

File to a Motion *.CATAnalysis
Document
Any of the Motion Elements can
be added from this menu
instead of the Mechanism
Design Workbench.
Post-Processing Functionality
can be executed from this
menu, this includes the
development of a customized
solver.
Main Menu
Units are set from the Tools Options selection on the Main Menu Bar
Specification Tree
The Specification Area is split into two
main branches
The Links Manager
The Analysis Model
The Links Manager records
specification of any links to external
files being utilized in the current
Virtual.Lab session
All Virtual.Lab Motion elements are
recorded under the Analysis Model
branch.
Items are expanded and reduced by
double-clicking the item, or by clicking
on the + symbol to expand, and the symbol to reduce.
F3 will Hide/Show the Spec. Tree
Analysis Model
Individual Elements within the

Analysis Model can be edited
by double-clicking on the
element name.
A selection is indicated by
highlighting the selected
element orange.
A branch entry for Constraints,
Forces, etc. only appear after
an element corresponding to
the category has been defined.
File Structure
Mechanism
Design Info
.CATAnalysis
Blue
Triangle
Assembly
Info
.CATProduct
Two
Gears
Geometry
Info
.CATPart
.CATPart
Single
Gear
Specification Tree
.CATAnalysis
Blue
Triangle
.CATProduct
Two
Gears
.CATPart
Single
Gear
Activating a Workbench
Double-Click
Activates
.CATAnalysis
Document
Mechanism Design Workbench
.CATProduct
Document
Motion Product Design

Workbench
.CATPart
Document
Part Workbench
Lab 1: Starting in the Interface
File Structure
Mechanism
Design Info
.CATAnalysis
Blue
Triangle
Assembly
Info
.CATProduct
Two
Gears
Geometry
Info
.CATPart
.CATPart
Single
Gear
Specification Tree
.CATProduct
Two
Gears
.CATPart
Single
Gear
Double-Click
Activates
.CATProduct
Document

Workbench
.CATPart
Document
Part Workbench
Motion Product Design Workbench
This workbench must be activated to move Parts within a mechanism relative to
contraints.
This workbench functionality includes that of the Product Structure Workbench and the
ability to move parts while maintaining constraints.
To activate the Motion Product Design Workbench, Double-Click Product1_ROOT, Select
Start Motion Motion Product Design from the Main Menu Bar.
Assign the Compass to a Part of the Mechanism.
While holding down the Shift Key, use the mouse to Click and drag any axis of the
compass.
The Mechanism will only move in those Degrees of Freedom that are unconstrained.
Product and Part Workbenches
Motion Product Design Workbench: Must be active to add

parts to a Product Document. (Expanded Tree Icon)
Part Workbench: Must be active to add Geometry to Part

Documents. Geometry creation Tools are split between two
Workbenches.
Solid Geometry Workbench: Solid Gear Icon
Wireframe Geometry Workbench: Surface Icon
Lab 2: Adding a Part and Geometry
File Structure
Mechanism
Design Info
.CATAnalysis
Blue
Triangle
Assembly
Info
.CATProduct
Two
Gears
Geometry
Info
.CATPart
.CATPart
Single
Gear
Double-Click
Activates
.CATProduct
Document

Workbench
The Compass
Knowing how to use the Compass is very important for mechanism modeling in
Virtual.Lab Motion
The compass is docked in the top right-hand corner of the document
There are 3 main areas of functionality:

Manipulate Viewpoints
Move or Rotate Parts
Move Features of a Part
About the Compass
Compass Manipulation Handle (red square) is used to drag and place the
compass. All rotations are about this point.
Privileged Plane is orients the compass when it is snapped to an object
Free Rotation Handle (white dot) is used to freely rotate the compass
Free Rotation Handle
Compass
Manipulation Handle
Privileged Plane
About the Compass
Compass has pop-up menu
Highlight part of compass, press

right mouse
This menu has some important

functions for working with mechanisms:
Lock Current Orientation (toggle)
Snap Automatically to Selected
Object (toggle)
Edit
Manipulating Part Orientations
Start the Motion Product Design Workbench

The compass can be assigned to a Part using
the Manipulation Handle (red square). Using the
mouse cursor, click on the Manipulation Handle,
then drag and drop the compass on a Part.
If the Compass color changes to light green, this
indicates that the Compass was successfully
assigned to a part.
Click and Drag compass axes to move part
Using the Manipulation Handle of the Compass,
drag the compass off of the part into open space
to refresh.
Lab 3: Moving Parts in a Product Document
File Structure
Mechanism
Design Info
.CATAnalysis
Blue
Triangle
Assembly
Info
.CATProduct
Two
Gears
Geometry
Info
.CATPart
.CATPart
Single
Gear
A Workbench contains buttons associated with operations.
These operations are grouped based on document type.
Double-Click
Activates
.CATAnalysis
Document
Mechanism Design
Workbench
Expand the Analysis Model

section of the Specification Tree
using the Plus Symbol to see
Mechanism Elements
The Mechanism Design Workbench is the first displayed

Workbench in a new Virtual.Lab Motion Session.
Bodies, Joints, Forces, and Constraints are created
from this area.
Analysis results can be reviewed by selecting on the
animation or graphing icons.
The black down arrows indicate further options for a
particular workbench selection are hidden from view.
Element Creation Commands :
Create a Body / Make Body Flexible

Force Library
Initial Condition Library
Joint Library
Constraint Library
Controls Library
Suspension Library
Solver & Results :

Start Motion Solver
Export to Batch Solver
Import Previous Results
Export Stress Histories
Visualization :
Mesh Images
Animate Mechanism Motion
Trace
Export Curves
Lab 4: Mechanism Analysis
Model Display
The open space in the
interface used for

displaying the model
geometry, and icons
associated with model
elements.
Animation of the model
solution will be
displayed in this field.
Selection of elements
can be done from the
Specification Field or
the Model Display
Dynamic View Control

Pan:
Rotate
Zoom
1 - Click and hold

middle
1 - Click and hold middle
1 - Click and hold middle
2 Click and hold right
2 Click but DO NOT

HOLD right
Drag the mouse around

the Model Display
Drag the mouse around

the virtual sphere
Drag the mouse up for in,

down for out
1 2
In
Y pan
X pan
Out
Dynamic View Control
To change center of rotation:

Right mouse on any geometry
Select Reframe On
This procedure also provides a

quick way to zoom on small
parts
View Control of Specification Tree

All View Controls can be applied to
Specification Tree
Pan, Zoom only
Click with mouse on any white branch in
Specification Tree
Geometry in Model Display becomes inactive
(grays out)
All View Controls now apply to Specification
Tree
To exit, Click the white line again.
Workbench Display
HOW THE WORK GETS DONE
To create anything, you need to go the right

workbench
By default the right-hand side of the
Virtual.Lab Motion Interface is designated

for the Workbench display area
Best way to change workbench by picking things

on the model display or from the specification tree
Any section of the workbench can be moved
around the modeling screen by clicking and

dragging on the horizontal line prior each section
of the workbench.
Workbench Display
First Icon indicates the active workbench

Cant figure out what the icon does?
Just hold cursor over the icon, and text

description will pop up, just like any Windows
Application
Lab 5: Camero Lab
The Compass Moving Things
How to move Parts, Features and change

Mechanism orientation
Used to manipulate Viewpoints in the Model

Display
In Product Structure Workbench

can be used to move or rotate parts
CHANGE ORIENTATION OF MECHANISM
In Part Workbench, can be used to move or

rotate part features
Manipulating Viewpoints
Manipulate viewpoints with compass docked (in upper righthand corner)

Move the cursor over the compass to highlight axes, planes,
arcs on planes, or axis letters
Dragging over a highlighted section allows panning/zooming
movement in that direction
Clicking on an axis letter aligns the viewpoint along that axis.
Note: can use Free Rotation Handle when rotation about a
specific axis are NOT desired
Manipulating Viewpoints with Edit
With compass docked (in

upper right-hand corner),
select Edit from pop-up menu
Allows for precise movement
or rotation of the viewpoint
Use Measure distance or
Measure angle to get
distance/angle of objects in
Model Display for input
Manipulating Parts with Edit
Use to precisely manipulate

Part orientations
After dropping on Part,
right-click or double click
over the compass for the
dialog box under the Edit
heading
The dialog box has two
entry options
Position or Angle relative to
world
Increments
Edit Position
Compass coordinates shown under Position heading

Change the position by entering the new values and clicking the Apply Button.
Edit Increments
Increments area allows

Translation/Rotation of Part
relative to specific axis
Move Part by setting the
translation/rotation values for an
axis and clicking the + or -
button
Use the Measure distance...
button to translate a part along a
vector derived from two selected
objects
Use the Measure angle...
button to rotate a part through an
angle defined by two objects
Compass Menu - Other
Snap Automatically to Selected Object toggle

Use as an alternative to dragging and dropping the
compass onto the object.
Set in the Compass contextual menu
Select an object to snap to, either from Model
Display or from the Specification Tree
The compass will snap automatically until the
option is deselected
Lock Current Orientation toggle

Used to lock the current compass orientation
Set in the Compass contextual menu
As the compass is dragged over parts, the
compass remains oriented the same
Moving Features
Start the Part Design Workbench

Features with the Part can be moved
or rotated by dragging and dropping

the compass onto the Feature using
the manipulation handle (red square)
Compass color change to light green
indicates the Feature is selected
Move the Feature with the compass in
the same manner as the Part
manipulation
Drag compass into open space to
refresh
Can use Edit for precise movement
Lab 6: Compass Drill
Lab 7: Slider Model
Analysis Model
A Body element provides an

interface within the Analysis
Model (Dynamic Simulation)
portion of Virtual.Lab to the Part
Document.
A Part Document represents a
collection of geometry both
solid and wireframe.
Kinematic joints and forces are
defined between the interacting
bodies.
Each separate Analysis Case is
given a new branch in the
Specification Tree.
Creating a Body
Select the Body from a
Select on the branch
New Part Button
of the Specification
Tree labeled after the
Product1_ROOT
Product Document.
This indicates that the Part Document that will be associated with
the Body will be added to this overall Product Document.
Creating a Body
Select the Body from a
Select on the branch
New Part Button
of the Specification
Tree labeled after the
Product1_ROOT
Product Document.
Body Dialog Box
A new branch for the body element

will appear under the Analysis Model
section of the Specification Tree.
The Body dialog box

must be completed to
fully define the body
element. In this case the
only change made was
to name the body
Bucket, then select OK
to close the box.
Creating New Geometry
To start creating geometry it is first

necessary to Double-Click the Part
Document. This will enable the Part
Design workbench with the
geometry creation tools.
Sketcher Button
The Sketcher Button will highlight upon selection, the user must indicate
a sketching plane. This can be done from either the Model Display or
from the Specification Tree by selecting on one of the xy, yz, or zx planes
beneath the Part Document branch.
Sketcher
By default the sketcher will open parallel to the selected
sketch plane.
A grid helps the user create and approximate profile shape.
Properties of the Grid are defined under Tools Options.
The Sketcher Workbench will appear with these default

entries. As with any workbench, the Sketcher Workbench can
be customized with selections the user prefers.
Creating Solid Cylinder Geometry
Select the Circle Button from the Sketcher Workbench

In the Sketcher Window, left-click to select a center point,
Circle
Button
and drag the circle out to an approximate diameter of the

cylinder.
To set sketch dimensions select the Constraint Button.
Select the sketched circle, and then drag the diameter
dimension outward.
Double-Click the dimension label to edit the dimension
value.
Constraint
Button
Extruding the Cylinder

Once the circle has been dimensioned, exit the Sketcher
by selecting the Exit Button.
The sketched circle should remain highlighted in the
Model Display.
Exit Button To extrude a cylinder from the sketched circle profile,
click on the Pad Button.
The Pad Dialog appears, the user must specify the
extrusion length and direction.
Pad Button
Sketcher Auto-Constraints
Default settings for the

Sketcher can be viewed
within the Tools Options
window.
Grid Spacing can be
modified.
Geometrical and
Dimensional AutoConstraints are both
toggled. This
automatically creates
detected constraints.
Auto-Constraint Colors
Features within the

Sketcher window will
change color as
constraints are added
either manually by the
user or via autoconstraints.
Element Colors:
Current
Selected
Protected
No Change
Fixed/IsoConstrained
Over Constrained
Inconsistent
Auto-Constraint Symbols
Lab 8: Simple Geometry Lab
Using Existing Geometry
It is simple to cut and paste PartBody items such as Pads to and from
one Part Document to another. Simply Left-Click the geometry item,
and then Right-Click to bring up a menu of options.
Select Copy from the menu, and then Left-Click on the second
PartBody. Right-click for the menu, and then select Paste.
Any item from the Specification Tree can be easily copied through this
procedure.
Importing Geometry 2 ways
First way - with .STEP, .IGES, and .STL geometry or existing

*.CATShape, *.CATPart files:
Double-Click the Product1_ROOT (default top level) branch of the Specification tree
to activate the Motion Product Design Workbench
Right-Click on top level Product Document and select Component Existing
Component from the menu
A File Selection Window will appear, select a file type then pick file
Creates Part (new branch) under Product1_ROOT
This new Part geometry can then be assigned to a Body in the Mechanism Model
Importing CATIA V4 Geometry
If a Kinematic Set is present in the V4 model:

Copy & Paste the kinematic set from V4 *.model document to applications branch of
V5 *.CATProduct document
The V4 geometric sets will be converted to V5 *.CATPart documents
V4 *SOLM and *SOLE geometry will be converted to Result solids in V5 (these are
solids without history)
To get Spec solids (with history)

ALL *SOL V4 geometry must be Copied and inserted in a V5 *.CATPart document
using the Paste Special command.
From the Paste Special dialog, Select CATIA_SPEC to get solids with history.
history
Importing Geometry - ProE
From the Virtual.Lab Main Menu select Insert Existing CAD Model
Highlight a product node under the Links Manager to specify the CATProduct document in
which to save the imported geometry
Select the ProE assembly or part document from the File Selection Window.
Parameter Visualization
There are specific settings that must be activated within the environment window to
allow for the visualization of the defined parameters within the Specification Tree.
To see the value of the parameter or formula used:
Tools Options General Parameters and Measure Knowledge tab
To see parameters and relations at the Part document level
Tools Options Infrastructure Part Infrastructure General and Display tab
To see parameters and relations at the Analysis document level
Tools Options Motion General tab
A branch will be added to the Part

Document to show Referenced
Parameters.
A separate Parameter List is

developed under the controlling
document. Click a Parameter
branch and click
to change
a value.
Defining a Parameter
Parameters can be defined under any document in Virtual.Lab Motion.

To add a parameter to a document select the document from the
Specification Tree, and then select the Formula Button.
In this case two User

Parameters have been
defined at the Analysis
Document level.
Parameterize Geometry
Parameters can used in many areas of the interface.

The dimensional constraints of a sketch are one application area.
In this example: inner radius = 13mm, outer radius = 32mm.
The User Parameter inner_rad

has been defined under the
dump_cyl Part document.
Applying Material
The mass and inertia properties associated with a
body are determined by the geometry and the

material applied to the geometry.
Steel material can be applied to the newly defined
cylinder:
First, select the Part Document of Part1. This
will activate the appropriate workbench of tools.
Second select on the Apply Material Button.
Following this selection, a library of materials
will appear.
Finally select on the Metal Tab in the Library
Window, and select Steel from the list. You
must specify at the bottom of the window to
Apply Material, and then select OK to close the
window.
Apply Material
Button
Lab 10: Creating Geometry & Bodies
Creating a Joint
Once two bodies and the associated geometry have been

defined it is possible to define a joint connection.
Double-Click Analysis Model to active the Mechanism Design
Workbench.
The default icon displayed on the Workbench is the Bracket
Joint Button, but clicking on the black arrow next to the Button
reveals all joint options.
Skating your cursor over each button provides identification of

the type of joint associated with the button.
Joint Dialog
Select the Revolute Joint
Select valid geometry
Button
features from the

Model Display or
Specification Tree.
Valid geometry features highlight orange as you skate the cursor

over the model geometry.
Creating a Constraint
All Constraints in
Virtual.Lab are defined

based on geometry
features that can be
selected directly from the
Model Display.
Selections can also be
made from the Geometry
Branches under the Part
Document.
Static Figures within the
dialog box indicate valid
selections to complete the
element definitions.
Considering Degrees of Freedom
Joints and constraints remove degrees of freedom from the dynamic
system.
Strict relations are imposed by joints and constraints between bodies.
Used in all types of analysis.
Counting the Degrees of Freedom (DOF):
3D: 6 DOF (3 Translational, 3 Rotational)
Rotational DOF are determined by 4 Euler Parameters: e0, e1, e2, and
e3
These Euler Parameters are necessary to avoid mathematical
singularities in models
Basic Joint Types
Button
Joint
Allows For:
Bracket
No Rotation or Translation
Cylindrical
Rotation and Translation along a single axis.
Revolute
1 Rotational Axis
Spherical
Rotation All Axes
Translational
1 Translation
Universal
Rotation about any two axes
Compound Joints
Button
Joint
Allows for:
RevCylindrical
Relative Rot. About two axes. Trans. Along one of

these axes.
RevSpherical
Relative Rot. About a single revolute axis. Relative Rot.

At a single Spherical Joint.
RevRev
Relative Rotation, two axes.
Compound Joints
Button
Joint
Description
RevTranslational
Relative Rotation and Translation
Spherical-Spherical
Rotation about three axes
Complex Joint Types
Button
Joint
Allows For:
Gear
The Rotation in two Revolute or Cylindrical Joints to be

coupled
Screw
The relation of the distance between two origins to the

relative angular displacement accumulated between the
origin X axes
Planar
Slide and Rotate on a common plane
CV-Joint
Couple the rotational motion between two axes

independent of the bending angle between the two axes
Redundant Constraint Removal

Example: 3D slider-crank
with redundant
constraints
Revolute 2
Co
C
k
ran
nr
o
Revolute 3
Revolute 1
Ground
4 bodies x 6DOF each

1 Ground constraint x 6
3 Revolute joints x 5
1 Translational joint x 5
Slider
Translational
=+24
= -6
= -15
= -5
-2 DOF
NOTE: It is recommended that you build models without redundancy. It is

considered a modeling error if a model fails do to redundant constraints

Information File
Shows which
constraints in each
joint that are
redundant
Shows which others

can be manually
deleted instead
Decide which constraints to delete:

For the 1st redundant constraint:
Deleting REV3-constraint 3 makes it equivalent to a cylindrical joint instead of a

revolute joint.
For the last two redundant constraints:
Deleting REV2-constraint 5 and REV2-constraint 4 makes it equivalent to a

spherical joint instead of a revolute joint.
To update the model:

Delete REV2 and REV3
Create CYL1 and SPH1 in their places.
Without Redundant Constraints

Example: 3D slider-crank
without redundant
constraints
Cylindrical joint
Co
C
k
ran
nr
o
d
Spherical joint
Revolute 1
Ground
4 bodies x 6 DOF each

1 Ground constraint x 6
1 Revolute joints x 5
1 Cylindrical joint x 4
1 Spherical joint x 3
1 Translational joint x 5
Slider
=+24
= -6
= -5
= -4
= -3
= -5
+1 DOF
Translational
Mechanical Simulation Drivers
Drivers allow you to kinematically prescribe the motion of the

model.
The model may be driven in a variety of ways.
Drivers are time-varying constraint.
A driver element can be used in any type of analysis.
Creating a Driver
Select the Joint Driver
Define a Function
Button
prescribing the Driver

behavior. A function
is applied to the
driver by RightClicking in the
Function Field Entry
and selecting New .
Defining the Driving Function

The Function Definition Dialog appears during the definition of the
Driver element.
The Function window allows the user to specify the type of function as
Harmonic, Polynomial, Expression, and Spline.Curve.
Defining a Spline Curve
Data can be supplied for the Spline Curve

definition in 2 ways:
Sourced from an external data file.
Entered Manually in the dialog columns
provided.
External File format for Spline Curves
Stored as tab delimited text file or first sheet of

an Excel worksheet
Must be organized in columns
Each column must contain a heading
Each column title must be original.
Units in heading or with data
Units in the heading must be in parenthesis
Units must match units required for spline

curve
Other non-titled columns of the data sheet
may be used for other data and relations
Driver Types
Button
Joint
Allows For:
Joint Driver
Driving of the Relative Angle or Translation in a joint
One-Body
Driving the X, Y, or Z position of a body
Two-Body
Driving the X, Y, or Z difference between two bodies
Point-Constraint
Driving the global position of a point in space
Lab 11.1 & 11.2: Creating Joints
Mechanical Simulation Forces
Force elements do not remove degrees of freedom from the model.

Force elements are ignored in Kinematic analysis.
User-Defined forces allow for complete force control.
Creating a Force
Once a Force type has been chosen

the Forces branch is added to the
Analysis Model. This example
shows a force branch corresponding
to element RSDA.1 is added to the
Analysis Model.
Specific information is required by
each Dialog box, refer to Online
help for additional description of
requirements.
Force Dialog
Select the RSDA Button
Select a valid joint

to apply the force.
Valid selections
highlight orange in
the Model Display or
Specification Tree.
Force parameters can be

defined as constant or as a
variable function.
Basic Force Types

Button
Joint
Allows For:
TSDA
(Translational Spring
Damper Actuator)
Translational Force between two points
RSDA
(Rotational Spring
Damper Actuator)
Rotational force about the axis of a revolute or

cylindrical joint
Bushing
Six DOF Force between two coordinate systems
Three-Point
A force or torque which acts at a point on a body
Advanced Force Types
Button
Force Element
Allows For:
Beam
The six-degree of freedom beam force
Contact
Modeling the forces that occur between a pair of bodies

when they collide
Tire
Modeling a vehicle tire interacting with a road profile
Lab 12: Creating Forces
Analysis Case
Each Virtual.Lab Motion session has an Analysis Case branch under

the Analysis Model by default.
There are two branches under each Analysis Case: InitialConditions
and Solution Set.
Every New Analysis case will be given an individual branch in the
Specification Tree.
This approach makes for easy comparison of multiple analyses. For
example, What-If scenarios with only one or two parameter changes.
Inserting a New Analysis Case
A new analysis case can be added to the Analysis Model section of the
Specification Tree by selecting Insert New Analysis Case from the
Virtual.Lab Main Menu.
The Analysis case name can be changed

by Right-Clicking and going to the Properties
Menu selection.
Every solution will generate three result

files: <case>.LMSMotionSolverInput,
<case>.LMSMotionInfo, and
<case>.LMSMotionResults where the prefix
<case> is defined by the name of the
Analysis case.
Analysis Case
A link to each result file is added automatically in the Links Manager

section of the model Specification Tree.
By default these files will be created in the same directory as the
CATAnalysis file. If a different location is desired simply change the
Working Directory in the Solution Set Dialog.
Types of Analysis
Kinematic Solution:
Solution of zero degree of freedom model.

Define kinematic drivers (time dependent constraints) to prescribe
system motion and remove remaining degrees of freedom.
Force, control and hydraulic elements, as well as mass values, are
ignored.
Inverse/Dynamic Solution:
Same as kinematic analysis, but compute joint reaction driving

forces.
Types of Analysis
Static Solution:
Finds local equilibrium position of mechanism by minimizing

acceleration.
If the system has zero stiffness in some coordinate direction, a
numerical method is used to artificially define a term so a solution
can still be found.
Results for systems with stiffness in all directions are precise.
In System Data element, if ending time is greater than starting time
and drivers are present in the model, then analysis is called
quasistatic.
Types of Analysis
Dynamic Solution:
Solves models with positive (or zero) number of degrees of

freedom
Uses sparse matrix solvers to improve efficiency
Stable numerical integrators (explicit method default)
Static/Dynamic analysis performs static analysis at start of
simulation and then dynamic analysis.
PECE Integration Method

PECE -- "Predict, Evaluate, Correct, Evaluate." An explicit integration Adams-
Bashforth-Moulton predictor-corrector method.

This solves the differential-algebraic equations (DAE) using a differentialgeometric approach.
A generalized coordinate partitioning method is used to reduce the DAE to
ODE (ordinary differential equations).
A variable-stepsize and variable-order ODE solver developed by Gordon
and Shampine is then used to solve the reduced ODE.
This method is well suited for solving most dynamic problems.
PECEA -- This integrator is the same basic integrator as PECE.

PECEA places integration controls on all states instead of just the
independent coordinates.
The PECEA integrator should be used on models where there are closed
kinematic chains but the overall system still has degrees of freedom.
BDF Integration Method

BDF -- "Backward Differentiation Formula". An implicit integrator which uses a
backward differentiation formula method.

This integrator iteratively solves a large system of DAEs to converge to a
solution at each time step.
The iteration matrix is calculated by a finite difference scheme.
The implementation of the integrator is based on DASSL, which has been
developed by L. Petzold.
It is inherently stable for stiff systems where the eigenvalues differ by large
margins.
RK -- "Runge-Kutta".
Solves DAEs based on a differential-geometry approach[1].
A generalized coordinate partitioning method is used to reduce the DAE to
ODE (ordinary differential equations).
A Runge-Kutta 4th-order method (DOPRI5) is used to integrate the ODE
set.
Solving a Model
This dialog is accessed

by Double-Clicking
Solution Set from within
the Analysis Model
portion of the Virtual.Lab
Specification Tree.
Settings directly
associated with an
analysis are defined in
this dialog prior to
submitting the analysis.
Click OK to close
Calculating a Solution
After closing the Solution Set
dialog, the Solution Set branch

in the Analysis Model should
remain highlighted.
Next select on the Compute
Solution Button.
By default the setting for the
debug flag in Solution Set
Dialog is set to TRUE. A
solution window is provided
during the analysis run. This
window will report the
completion status of the
analysis.
Compute Solution
Button
Submitting a Batch Solution

Submit Batch Solution
Button
Alternately Select the Submit
Batch Solution Button.

The Virtual.Lab Solver can be
licensed separately to allow a
batch solution to be submitted
to a remote machine.
The Batch Status GUI allows
the status of remote jobs to be
monitored.
The .LMSMotionSolverInput
file can also be exported so
the solver can be run external
from the interface.
Batch Status
Button
Reviewing Solution Errors

If any errors occur during the model analysis, these errors get saved to
an information (.LMSMotionInfo) file. This file gets stored in the project
directory.
This file can be accessed directly from the Links Manager (doubleclick).
Information File Contents:
Warnings: Information to be aware of, problems that may cause
unexpected results.
Errors: Cause analysis to stop
Reviewing Solution Errors
Information File Contents:
Redundant constraint removal

Initial Velocities
Independent Coordinates
Failure during position, velocity, or acceleration analysis
CPU usage information
Animating and Graphing
Once a solution has successfully completed. Analysis results can be

reviewed through graphing results and animating the simulation.
Virtual.Lab provides photo-realistic animation results that allow the user
to visualize the system response.
Virtual.Lab comes with complete post-processing capabilities. This
graphing tool includes functionality applicable to all disciplines provided
in Virtual.Lab.
Animation playback can be synchronized with a moving cursor in
plotted data.
Animating Results
Each Analysis Case gets a separate branch within the Mechanism

Model portion of the Virtual.Lab Specification Tree.
Select on the Solution Set branch below the Analysis case to be
animated.
Select on the Animate Button. This will bring up the Animation Toolbar.
Animate Button
Animation Toolbar
To close the Animation Toolbar, just select on the Animate Button

again.
Animating Results
Loop
Icon
Timestep
Play
Forward
Icon
Player
Parameters
For smooth animation
playback the Time Step

should be set to the
solution Print Interval in
the Player Parameters
Dialog.
Player Parameters Dialog
Animation Scenes
Animation Vectors
Follow viewpoint in
animation
Collision Detection
Tracing Geometry Examining Envelope
of Motion
Graphing Results
Open Motion Graph

Window Button
Graphing of solution
data is a useful tool
for reviewing
analysis results.
Filter binary results
by selecting an
Analysis Case.
Select variables for
the X and Y axes.
Then use the
Create Plots button.
Graphing Results
New Display Button
A variety of Motion
Display windows
are available for
displaying the
defined plots.
Using the Motion
Display Wizard,
activated by the
New Display
button, set up the
desired Motion
Display window.
Graphing Results
The plots created can be added to the Graphical Display window by

first clicking on the Select Data Button.
Select Data Button
Secondly, highlighting the desired plot in the Data Selection Window.

Placing the plot is achieved by selecting on the X-axis of the Graphical
Display Window.
Display attributes can be modified for both plots and axes within the
Graphical Display window.
Analysis results can be displayed in the coordinate system of any
reference frame in the model.
Mathematical functions can be created to involve numerous analysis
results, parameters, and/or mathematical arguments.
Finding Errors in Analysis
Animation and Graphing:
Visually detect and study unexpected behavior

Initial positions or orientations of bodies in the system.
Both Rigid and Flexible Motion.
Velocities, accelerations, and forces
Interference between individual bodies in the system.
Lab 13: Analysis and Review
Thank you
LMS Virtual.Lab Motion Technical Support

(+40)268 310101 ext.6503
daniel.tohoneanu@lmsintl.com

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Virtual.

Lab Motion Training

LMS Virtual.Lab Motion Technical Support

Introduction to the Interface

The Start menu is a

The File menu is the

starting point for opening

TIP : Save Management

TIP : Use Send To to share

Save Management Window

Convert DADS *.def model

Individual Elements within the

Mechanism Design Workbench

Motion Product Design

Lab 1: Starting in the Interface

Motion Product Design

Motion Product Design Workbench

This workbench must be activated to move Parts within a mechanism relative to

Product and Part Workbenches

Motion Product Design Workbench: Must be active to add

Part Workbench: Must be active to add Geometry to Part

Lab 2: Adding a Part and Geometry

Motion Product Design

There are 3 main areas of functionality:

About the Compass

Free Rotation Handle

About the Compass

Compass has pop-up menu

Highlight part of compass, press

This menu has some important

Manipulating Part Orientations

Start the Motion Product Design Workbench

Lab 3: Moving Parts in a Product Document

Expand the Analysis Model

Mechanism Design Workbench

The Mechanism Design Workbench is the first displayed

Mechanism Design Workbench

Element Creation Commands :

Create a Body / Make Body Flexible

Mechanism Design Workbench

Solver & Results :

Mechanism Design Workbench

Lab 4: Mechanism Analysis

The open space in the

interface used for

Dynamic View Control

1 - Click and hold

1 - Click and hold middle

1 - Click and hold middle

2 Click and hold right

2 Click but DO NOT

Drag the mouse around

Drag the mouse around

Drag the mouse up for in,

Dynamic View Control

To change center of rotation:

This procedure also provides a

View Control of Specification Tree

Pan, Zoom only

Click with mouse on any white branch in

HOW THE WORK GETS DONE

To create anything, you need to go the right

By default the right-hand side of the