COSMOSMotion Essentials Training

COSMOSMotion 2007

Image courtesy of National Optical Astronomy

Observatory, operated by the Association of Universities
for Research in Astronomy, under cooperative agreement
with the National Science Foundation.

About this course

Prerequisites
Course Design Philosophy
Using this book
A note about files
Conventions used in this book
Class Introductions

2007 SolidWorks Corp. Confidential.

Design Validation Products

COSMOSWorks
Adv. Professional
Professional

Designer

COSMOSFloWorks
COSMOSFloWorks
Flow
Flow Simulation
Simulation
Drop
Drop Test
Test

Static
Static
Vibration
Vibration
&
& Buckling
Buckling

Fatigue
Fatigue

Nonlinear
Nonlinear

Thermal
Thermal

Optimization
Optimization

Post-dynamics
Post-dynamics

COSMOSEMS
COSMOSEMS
Electromagnetic
Electromagnetic

COSMOSMotion
COSMOSMotion

2007 SolidWorks Corp. Confidential.

What is Motion Simulation ?

Study of moving systems or mechanisms

Motion of a system is determined by

Mechanical joints connecting the parts

The mass and inertia properties of the components
Applied forces to the system (Dynamics)
Driving motions (Motors or Actuators)
Time

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Mechanism types
Kinematic System
Movement of part(s) under enforced or
constrained motion
Fully controlled and only one possible
motion result irrespective of force and
mass
Zero degree of freedom

Dynamic System
Movement of part(s) under free motion
subject to forces
Partially controlled and infinite number
of results depending on forces
Greater than zero degrees of freedom

2007 SolidWorks Corp. Confidential.

Understanding Basics
Mass and Inertia
Newtons First Law
Conservation of momentum

Degrees of freedom
Rigid body
Grounded parts
Moving parts

Constraints
Restrictions placed on a parts
movement in specific degrees of
freedom
Mechanical joints are connections that
restrict the movement of one part to
another

Pendulum restrained
to pivot about mounting
point

y
x

Joint motion
Gravity

2007 SolidWorks Corp. Confidential.

Constraint Mapping
Mapping of SolidWorks assembly
mates (constraints) to
COSMOSMotion joints.
100+ ways of defining SolidWorks
mates.
Basic constraint types are merged to
simplified mechanical joints.
One Orthogonal Concentric mate in
SolidWorks becomes a Concentric joint.
One Coincident and One Orthogonal
Concentric mates in SolidWorks becomes
a Revolute joint.
One Point to Point coincident mate in
SolidWorks becomes a spherical joint
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User Interface

Motion toolbar

Pull down menu

Intellimotion browser
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Intellimotion builder

Lesson 1
Governor Mechanism

Image courtesy of National Optical Astronomy

Observatory, operated by the Association of Universities
for Research in Astronomy, under cooperative agreement
with the National Science Foundation.

Lesson 1: Topics
Introduction to the COSMOSMotion Feature Manager
Understand basic capabilities of COSMOSMotion
Run a Simulation
Create a result plot

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Lesson 1: Defining and Simulating a Mechanism

Parts
Moving Parts
Ground Parts

Constraints
Joints
Joint Primitives
Cam Constraints

Forces
Applied Forces
Flexible Connectors
Gravity

Results

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Lesson 2
Crankslider Mechanism

Image courtesy of National Optical Astronomy

Observatory, operated by the Association of Universities
for Research in Astronomy, under cooperative agreement
with the National Science Foundation.

Lesson 2: Topics
Create moving and ground parts
Review basic joint types in COSMOSMotion
Understand Automatic Constraint mapping
Apply motion to a joint
Create a result plot

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Lesson 2: Constraint Mapping Concept

1 Coincident and 1 concentric
mates becomes a revolute joint
1 Concentric mate becomes a
cylindrical joint
A point on a point coincident mate
becomes a spherical joint
A point on an axis coincident mate
becomes an Inline Joint
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Lesson 2: Results

Collar-1 not only translates

along collar_shaft-1 but also
rotates.
The rotation needs to be
prevented

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Lesson 2: Motion on Joints

Joint Types

Type of motion allowed

Available options
under Motion On
list

Cylindrical

Rotation and translation in one

direction

Rotate Z
Translate Z

Revolute

Only Rotation in one direction

Rotate Z

Translational

Only Translation in one direction

Translate Z

Spherical

Rotations in all directions, No

translation

Rotate X
Rotate Y
Rotate Z

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Lesson 2: Results
Power Consumption in Mechanism

Why is Power Consumption negative

in some places?
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Lesson 3
Piston Crankshaft Mechanism

Image courtesy of National Optical Astronomy

Observatory, operated by the Association of Universities
for Research in Astronomy, under cooperative agreement
with the National Science Foundation.

Lesson 3 Topics
Review basic joint types in COSMOSMotion
Create Mechanical Joints
Apply motion to a joint
Create and review results

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Lesson 3: Basic Joint Types

Joints used to constrain the relative motion of a pair
of rigid bodies by physically connecting them.
Joint Primitives used to enforce standard geometric
constraints

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Lesson 3: Joint definition

Location
Direction

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Lesson 3 Results

Torque required to drive the mechanism

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Lesson 4
Coupler

Image courtesy of National Optical Astronomy

Observatory, operated by the Association of Universities
for Research in Astronomy, under cooperative agreement
with the National Science Foundation.

Lesson 4 Topics
Simulate motion of gears using joint couplers
Joint coupler to associate the movement of one joint
with another
Modeling gear-mate from SolidWorks model

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Lesson 4: Couplers
Any one of the following joint combinations will create
a coupler:

Revolute-Revolute
Revolute-Translational
Revolute-Cylindrical
Translational-Cylindrical
Translational-Translational
Cylindrical-Cylindrical

Only motion transfer. No load transfer

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Lesson 4: Coupler Definition

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Lesson 4: Gear Mate in SolidWorks

Simulate Couplers using Gear Mate in SolidWorks

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Lesson 5
Door Mechanism

Image courtesy of National Optical Astronomy

Observatory, operated by the Association of Universities
for Research in Astronomy, under cooperative agreement
with the National Science Foundation.

Lesson 5 Topics
Create springs and damper entities in COSMOSMotion
Attach different parts together to move them as a single entity
Constrain the motion of a cylindrical joint to achieve correct
mechanism behavior
Modify springs and dampers to achieve desired design goals

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Lesson 5 Attaching Parts

Physically attach one part to another
Two parts will be welded or rigidly connected to one
another.
No relative motion between the two parts
Initial orientation between the two parts will be locked and
will be maintained throughout the simulation

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Lesson 5: Springs
Translational Spring Force = -k (X - X0)n + F0
Where:
k = Spring stiffness coefficient (always > 0)
X = Current distance between the spring connection points

X0 = Reference length of the spring (Free length)

n = Exponent defining spring characteristic

F0 = Reference force of the spring (preload)

Positive force repels the two parts.
Negative force attracts the two parts.

Similar force expression applies to Torsional Springs

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Lesson 5: Dampers
Translational Damper Force = c*vn
Where:
c - Translational damping coefficient
v - Current relative velocity between parts at the
attachment points
n - Exponent.

Similar force expression applies to Torsional Dampers

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Lesson 5: Results

gas_piston-1 not only translates

along gas_cylinder-1 but also
rotates.
The rotation needs to be
prevented

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Lesson 5: Results
Spring stiffness: 1 N/mm
Damper Co-efficient: 5 N (sec/mm)

Velocity goal is satisfied

Door does not stop in 30 seconds

Should we increase or decrease spring stiffness?

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Lesson 5: Results
Spring stiffness: 2 N/mm
Damper Co-efficient: 10 N (sec/mm)

Velocity goal is satisfied

Door stops in 30 seconds

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Lesson 6
Hatchback Mechanism

Image courtesy of National Optical Astronomy

Observatory, operated by the Association of Universities
for Research in Astronomy, under cooperative agreement
with the National Science Foundation.

Lesson 6 Topics
Create an Action Only force to simulate an
Change the mass properties of a part
Use Impact forces to control two parts from interfering each other

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Lesson 6: Forces
Affect the dynamic behavior of a mechanism
Do not prohibit or prescribe motion and so do not add or
remove degrees-of-freedom from your model.
Force Entities

Translational and Torsional Springs

Translational and Torsional Dampers
Action-Only Forces/Moments
Action-Reaction Forces/Moments
Impact Forces
Flexible Connectors
Gravity

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Lesson 6: Force Definition

Force Type
Whether the loading is a force or a
moment.

Location
Direction
Along an axis defined by an edge, plane or
cylindrical surface.
Along the line-of-sight between two points

Magnitude
Enter a pre-defined function expression
(step, harmonic, spline).
Enter an equation directly into the Function
Expression field using the library of built-in
COSMOSMotion functions.

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Lesson 6: Action Only Force

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Lesson 6: Material Properties

Adding Materials

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Modifying Material Properties

41

Lesson 6: Results

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Lesson 6: Impact Forces

Intermittent force that is dependent on relative distance
between two components).
Impact forces are used to simulate the collision between two
parts.
As two parts approach within a specified distance, the
impact force becomes active, and a force specified by the
impact parameters is applied to both of the colliding parts.
The collision is dependent on the materials and geometry of
the bodies colliding.

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Lesson 6: Impact Parameters

Impact Force = Spring Force + Damping Force
Stiffness: Depends on material properties and
curvature of interacting surfaces
Exponent: Determines impact force characteristic
Max Damping: Simulates energy loss in collision
Penetration: Depth at which maximum damping
occurs.
Length: distance at which the impact force is activated
(parts contact)

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Lesson 6: Impact Parameters

Impact Force = Spring Force + Damping Force
Stiffness: Depends on material properties and
curvature of interacting surfaces
Exponent: Determines impact force characteristic
Max Damping: Simulates energy loss in collision
Penetration: Depth at which maximum damping
occurs.
Length: distance at which the impact force is activated
(parts contact)

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Lesson 6: Impact Parameters

Good numbers for impact parameters:
Stiffness:

10000 lb/in

10000 N/mm

Exponent:

1.1-1.3

1.1-1.3

Damping:

0.1-100 lb-s/in

1-100

Penetration:

0.0001 in

0.01 mm

d cannot be specified as 0
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Lesson 6: Results
Translational displacement of the concentric joint between the piston
and cylinder parts

Notice that the displacement is held at 8 inches

which means that the impact force does not
allow further translation between the parts
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Lesson 6: Results

Magnitude of the impact force applied

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Lesson 7
Contacts

Image courtesy of National Optical Astronomy

Observatory, operated by the Association of Universities
for Research in Astronomy, under cooperative agreement
with the National Science Foundation.

Lesson 7 Topics
Apply Point to curve contact
Apply Curve to curve contact
Apply 3D Contact

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Lesson 7: Understanding Contacts

Point-curve - Restricts a point on one rigid
body to lie on a curve on a second rigid body.
Curve-curve - Constrains one curve to
remain in contact with a second curve.
Intermittent curve-curve - Applies a force
to prevent curves from penetrating each
other. Only active if the parts are touching
3D Contact Applies a force to prevent
bodies from penetrating each other. Only
active if the parts are touching

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Lesson 7: Impact Forces Vs Contacts

Contact is similar to an impact force in that the material properties
of the parts are used to define the contact parameters.
Contact differs from an impact force since any point along a curve
or geometry is used in the contact
Contact simulates friction forces between parts.

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Lesson 7: 3D Contact
Surface Representation of parts:
Tessellated Geometry
Faster but less accurate in certain
contact situations like point to surface or
multiple contacts

Precise Geometry
Longer simulation time but produces
accurate results

Contact Containers

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Lesson 8
Railcar Mechanism

Image courtesy of National Optical Astronomy

Observatory, operated by the Association of Universities
for Research in Astronomy, under cooperative agreement
with the National Science Foundation.

Lesson 8: Topics
Apply Gravity force to the mechanism
Create an Action-Reaction force to accelerate the railcar
Learn some advanced plotting techniques in COSMOSMotion

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Lesson 8: Action Reaction Force

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Lesson 8: Results
Probing translational velocity plot of body-1

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Lesson 8: Results
Plotting multiple plots in the same XY graph

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Lesson 8: Results
Replacing X axis time scale with a desired results
quantity

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Lesson 9
Floor Jack Mechanism

Image courtesy of National Optical Astronomy

Observatory, operated by the Association of Universities
for Research in Astronomy, under cooperative agreement
with the National Science Foundation.

Lesson 9 Topics
Apply motion to a part
Use different types of motion functions
Make a design change and study mechanical advantage

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Lesson 9: Part Motion

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Lesson 9: Function Types

Constant
Step Function
d0 = Initial value of displacement
d1 = Final value of displacement
t0 = Start step time
t1 = Final step time

Harmonic
Amplitude; Frequency; Time
Offset; Phase Shift; Average

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Lesson 9: Function Types

Spline
You can use your own motion data to
control your mechanism by importing
data points.
To import data points, they must be in
a .TXT or .CSV file format.
You may import an unlimited number
of data points.

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Lesson 9: Results
Translational Displacement of the
cylinder joint connecting the
piston and cylinder

Force on handle

Force to move the piston. A very

small force is required to push the
handle. This gets amplified
internally at the piston cylinder
area
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