Kinematics and Dynamics - Lab2 PDF

Kinematics and Dynamics of Mechanisms and Robot Lab session 2 SolidWorks Motion Crank Slider
2011
T H E L A B O R A T O R Y S E SS I O N 2 F O R D Y NA M I C S O F M E C H A N I S M S A N D RO B O T S C O U R S E
I. Lab Objective
Solidworks Motion is a simulation software package to analyze and optimize a mechanism, and it is embedded in the SolidWorks interface. It enables engineers to model 3D mechanical systems as virtual prototypes and can produce kinematics and dynamics result such as acceleration, joint reaction forces, and inertial forces. The overall process of using SolidWrks Motion for analyzing a mechanism consists of three main steps: model generation, analysis (or simulation), and result visualization, as illustrated in Figure 1. Key entities that constitute a motion model include servo motor that drive the mechanism for kinematics analysis, external loads (force and torque), force entities such as spring and damper, and the initial conditions of the mechanism. Most importantly, assemble mates must be properly defined for mechanism so that the motion model captures essential characteristics and closely resembles the behavior of the physical mechanism.
Figure 1 General Process of Using Solidworks Motion
Tran Thi Luyen ttluyen@ait.ac.th
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II.
Lab Assessment
The scoring structure mentioned here is for this Lab only; final Lab score will be combined from all individual Lab scores. If in group, score will be same for all students in group. In case a student is absent, he (she) will not get the Attendance score. However, he (she) still can get other scores if he (she) submits (shows) the completion of assignments to the Lab Instructor by the time students are working specified by the Lab Instructor. No group score is applied for absent student. Criteria Attendance Completion of Lab session 2 Total Score (percent) 20 80 100
III.
Lab Setup
Convention: inches are used as units in this Lab session. To change the unit to inches for a document, select Tools | Options | Document Properties | Units | IPS (inch, pound, second). Use the Solidworks 2009 software to open the file Crank-Slider.sldasm in Lab 1. Choose from pull-downs menu: Tools Add-ins and click Solidworks Motion in both boxes then click OK to active this software.
IV .
User Interface of SolidWorks Motion

1. User Interface Motion Manager
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User interface of the Motion is embedded in and identical to that of SolidWorks. The Motion Manager is a separate window that is used to create and play animations as well as conduct motion analysis. When you open an existing assembly (or part) in SolidWorks, the Motion Study tab (with the default name Motion Study 1) will appear at the bottom of the graphics area.
Figure 2
Motion Toolbar
Figure 3 Motion toolbar
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The Motion toolbar shown in Figure 3 provides major functions required to create and modify motion models, create an run analyses, and visualize result. As you move the mouse pointer over button, a brief description about the functionality of the button will appear. The button in Motion toolbar and their functions are also summarized in Table 1 1 with more details.
Table 1 1 The Shortcut Button in Motion Toolbar
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V.
Using SolidW orks Motion
Click the Motion Study tab at the bottom of the graphics area to bring up the MotionManager window. Double click the tab and rename the study Kinematic. We will add a rotary motor to drive the crank and conduct kinematic analysis. Later we will add a force for a dynamic simulation. Adding a Rotary Motor Click the Motor button from the Motion Toolbar to bring up the Motor window Figure 4. Choose Rotary Motor. Move the pointer to the graphics area, and pick a circular are defines the rotation direction of the rotary motor as shown inFigure 5. You may change the direction by clicking the direction button right under Component/Direction. Choose on the top of the dialog box
Constant speed and enter 60RPM for speed. Click checkmark to accept the motor definition.
Figure 4
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Figure 5
from Choose Motion Analysis for the study. Click the Motion Study Properties button the Motion toolbar. In the Motion Study Properties dialog, enter 100 for Frame per second, and click the checkmark on top. Drag the end time key to one second mark in the timeline area to define the simulation duration. Click Calculate button from the Motion toolbar to simulate the motion. After a short moment, you will see that the mechanism start moving. The crank rotates 360 degrees as expected and the piston moving forward and backward for complete cycle. Save and Reviewing Result We will create four graphs for the mechanism: X-position, X-velocity, and X-acceleration of the piston; and velocity of mate Concentric 2 (between crank and rod). Right Click on Piston from the Motion Manager. Choose Simulation Plot, the Result box will appear as Figure 7. Choose the Displacement/Velocity/Acceleration from the <Select category>, from the <select a sub-category> choose XYZ position, from the <select result component> choose X Component. Click the checkmark on the top.
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Figure 6
Figure 7
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Figure 8 X position of Piston
Repeat all steps to create the graphs: X-velocity, X-acceleration of the piston; and velocity of mate Concentric 2 (between crank and rod).
Figure 9- X-Velocity of Piston.
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Figure 10- X-Acceleration of Piston.
Figure 11 Angular Velocity of mate between crank and rod.
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Interference Check Next we will learn how to perform interference check. SolidWorks Motion allows you to check for interference in your mechanism as the parts move. You can check any of the components in your SolidWorks assembly model for possible interference, regardless of whether a component participates in the motion model. Using the interference check you can find: All the interference that occur between the select components as the mechanism moves through a specified range of motion, or the place where the first interference occurs between the selected components. The assembly is move to the position where the interference occurred. Make sure you have completed a simulation before proceeding to the interference check. From the Motion Manager right click on the Crank- slider, choose Check Interference the box will appear as Figure 12. Select all components and click Find now button to start the interference check. After pressing the Find Now button, the mechanism starts moving, in which the crank rotates a complete cycle. At the same time, the Find Interferences Over Time dialog box expands. The list at the lower haft of the dialog box shows all interference conditions detected. The frame, simulation time, parts that caused the interference, and the volume of the interference detected are list. Any interference occurs, we have to correct before save your mechanism.
Figure 12
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Creating and Running a Dynamic Analysis The final analysis will be dynamic, where we will add the force (acting along the negative Xdirection) to the piston for dynamic simulation. It will be more realistic if the force can be applied when the piston starts moving to the left (negative X-direction) and can be applied only for a select short period. Therefore, the force is simplified as step function of 3 Ib, along the negative X-direction applied for 0.1 seconds. The force will be defined as a point force at the center point of the end face of the piston. Before we add the force, we will turn off the angular velocity driver defined in the previous simulation. Right click on the Motor, choose suppress to off the motor. Click the button Force to add the force with the step function as show in Figure 13. Click check mark on the top to accept the definition. We are ready to run simulation.
Figure 13
We will create four graphs for the mechanism: X-position, X-velocity of the piston; and Reaction force of the pin of Rod and Piston. Tran Thi Luyen ttluyen@ait.ac.th Page 11
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Figure 14 X Position of Piston
Figure 15 X Reaction Force of Concentric4
Save your model. This manual is referred to Motion Simulation and Mechanism Design with SolidWorks Motion book.
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Kinematics and Dynamics of Mechanisms and Robot Lab session 2 SolidWorks Motion Crank Slider

Figure 1 General Process of Using Solidworks Motion

Tran Thi Luyen ttluyen@ait.ac.th

User Interface of SolidWorks Motion

Tran Thi Luyen ttluyen@ait.ac.th

Figure 3 Motion toolbar

Tran Thi Luyen ttluyen@ait.ac.th

Table 1 1 The Shortcut Button in Motion Toolbar

Tran Thi Luyen ttluyen@ait.ac.th

Using SolidW orks Motion

Tran Thi Luyen ttluyen@ait.ac.th

Tran Thi Luyen ttluyen@ait.ac.th

Tran Thi Luyen ttluyen@ait.ac.th

Figure 8 X position of Piston

Figure 9- X-Velocity of Piston.

Tran Thi Luyen ttluyen@ait.ac.th

Figure 10- X-Acceleration of Piston.

Figure 11 Angular Velocity of mate between crank and rod.

Tran Thi Luyen ttluyen@ait.ac.th

Tran Thi Luyen ttluyen@ait.ac.th

Figure 14 X Position of Piston

Figure 15 X Reaction Force of Concentric4

Tran Thi Luyen ttluyen@ait.ac.th

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