CHAPTER
T WO
BUILDING COMPUTER MODELS
OF MECHANISMS USING WORKING
MODEL® SOFTWARE
OBJECTIVES
Upon completion of this chapter, the student will be
able to:
1. Understand the use of commercially available software
for mechanism analysis.
2. Use Working Model® to build kinematic models of
mechanisms.
3. Use Working Model® to animate the motion of
mechanisms.
4. Use Working Model® to determine the kinematic values
of a mechanism.
2.1 INTRODUCTION
The rapid development of computers and software has
altered the manner in which many engineering tasks are
completed. In the study of mechanisms, software packages
have been developed that allow a designer to construct
virtual models of a mechanism. These virtual models allow
the designer to fully simulate a machine. Simulation enables
engineers to create and test product prototypes on their own
desktop computers. Design flaws can be quickly isolated and
eliminated, reducing prototyping expenses and speeding the
cycle of product development.
Software packages can solve kinematic and dynamic
equations, determine the motion, and force values of the
mechanism during operation. In addition to numerical
analysis, the software can animate the computer model of
the mechanism, allowing visualization of the design in
action.
This chapter primarily serves as a tutorial for simulating
machines and mechanisms using Working Model® simu-
lation software. Although the kinematic values generated
during the analysis may not be fully understood, the visual-
ization of the mechanism can be extremely insightful. The
material presented in the next several chapters will allow the
student to understand the numerical solutions of the
dynamic software. Proficiency in this type of mechanism-
analysis software, coupled with a solid understanding of
kinematic and dynamic analysis, will provide a strong basis
for machine design.
2.2 COMPUTER SIMULATION
OF MECHANISMS
Along with Working Model®, other dynamic analysis
programs are available. These include ADAMS® (Automatic
Dynamic Analysis of Mechanical Systems), Dynamic
Designer®, LMS Virtual.Lab, and Analytix®. All these com-
puter programs allow creation of a mechanism from menus,
or icons, of general components. The general components
include those presented in Chapter 1, such as simple links,
complex links, pin joints, sliding joints, and gear joints. The
mechanism is operated by selecting actuator components,
such as motors or cylinders, from menus.
In machine design, one of the reasons for the widespread
adoption of solid modeling is that it sets the stage for many
ancillary uses: Working drawings can be nearly automatically
created, renderings that closely resemble the real machine are
generated, and prototypes can be readily fabricated. Many
products that work with the solid modeling software are
available to analyze the structural integrity of machine com-
ponents. Similarly, studying the motion and forces of moving
mechanisms and assemblies is becoming almost an automatic
side effect of solid modeling. Figure 2.1 illustrates a solid
model design being analyzed with Dynamic Designer within
the Autodesk Inventor® Environment.
Regardless of software, the general strategy for performing
the dynamic analysis can be summarized as follows:
1. Define a set of rigid bodies (sizes, weights, and inertial
properties). These could be constructed in the solid
modeling design package.
2. Place constraints on the rigid bodies (connecting the
rigid bodies with joints).
3. Specify the input motion (define the properties of the
driving motor, cylinder, etc.) or input forces.
4. Run the analysis.
5. Review the motion of the links and forces through the
mechanism.
Of course, the specific commands will vary among the
different packages. The following sections of this chapter will
focus on the details of mechanism analysis using Working
Model 2D®. As with any software, knowledge is gained by
experimenting and performing other analyses beyond the
tutorials. Thus, the student is encouraged to explore the soft-
ware by “inventing” assorted virtual machines.
31
32 CHAPTER TWO
FIGURE 2.1 Dynamic analysis of a solid model.
2.3 OBTAINING WORKING MODEL
SOFTWARE
Working Model 2D is created and distributed by Design
Simulation Technologies. Copies of the software can be
purchased, at substantial educational discounts, online at
http://www.workingmodel.com or http://www.design-
simulation.com. A free demonstration version of Working
Model 2D is also available for download. This demo ver-
sion enables students to create fully functioning “virtual
prototypes” of complex mechanical designs. However,
some features are disabled, most notably the Save and
Print functions. Regardless, this version can provide an
excellent introduction to building computer models of
mechanisms. Design Simulation Technologies, Inc. can be
contacted at 43311 Joy Road, #237, Canton, MI 48187,
(714) 446–6935.
As Working Model 2D is updated, the menus and icons
may appear slightly different from the tutorials in this text.
However, using some intuition, the student will be able to
adapt and successfully complete mechanism simulations.
2.4 USING WORKING MODEL
TO MODEL A FOUR-BAR MECHANISM
As mentioned, Working Model is a popular, commercially
available motion simulation package. It rapidly creates a
model on a desktop computer that represents a mechanical
system and performs dynamic analysis. This section uses
Working Model to build a model of a four-bar linkage and
run a simulation [Ref. 16]. It is intended to be a tutorial; that
is, it should be followed while actually using Working Model.
The student is then encouraged to experiment with the soft-
ware to perform other analyses.
Step 1: Open Working Model
1. Click on the Working Model program icon to start the
program.
2. Create a new Working Model document by selecting
“New” from the “File” menu.
Working Model displays the user interface. Toolbars used to
create links, joints, and mechanism actuators appear along
the sides of the screen. Tape controls, which are used to run
and view simulations, appear at the bottom of the screen.
3. Specify the units to be used in the simulation. Select
“Numbers and Units” in the “View” menu. Change the
“Unit System” to English (pounds).
The units for linear measurements will be inches, angles
will be measured in degrees, and forces will be specified in
pounds.
Step 2: Create the Links
This step creates the three moving links in a four-bar
mechanism. The background serves as the fixed, fourth link.
1. Construct the linkage by creating the three nonfixed
links. Double-click on the rectangle tool on the toolbar.
The tool is highlighted, indicating that it can be used
multiple times.
2. Using the rectangle tool, sketch out three bodies as
shown in Figure 2.2.
Rectangles are drawn by positioning the mouse at the first
corner, clicking once, then moving the mouse to the
location of the opposite corner and clicking again.
Rectangles are parametrically defined and their precise
sizes will be specified later.
3. Open the “Properties” box and “Geometry” box in the
“Window” menu.