SolidWorks Motion Tutorial 2011

IntroductiontoSolidModelingUsingSolidWorks2011
SolidWorksMotionTutorial
Page1
Inthistutorial,wewilllearnthebasicsofperformingmotionanalysisusingSolidWorksMotion.
AlthoughthetutorialcanbecompletedbyanyonewithabasicknowledgeofSolidWorkspartsand
assemblies,wehaveprovidedenoughdetailsothatstudentswithanunderstandingofthephysicsof
mechanicswillbeabletorelatetheresultsto
thoseobtainedbyhandcalculations.
Beginbycreatingthesixpartmodelsdetailedon
page2.Foreachpart,definethematerialby
rightclickingMaterialintheFeatureManager
andselectingEditMaterial.TheMaterial
Editorwillappear,asshownhere.SelectAlloy
SteelfromthelistofsteelsintheSolidWorks
materialslibrary.ClickApplyandtheClose.
RotationofaWheel
Tobegin,wewillanalyzeasimplemodelofa
wheelsubjectedtoatorque.FromNewtons
SecondLaw,weknowthatthesumoftheforces
actingonabodyequalsthemassofthebody
timestheaccelerationofthebody,or
Theaboveequationappliestobodiesundergoinglinearacceleration.Forrotatingbodies,Newtons
SecondLawcanbewrittenas:
Where isthesumofthemomentsaboutanaxis, isthemassmomentofinertiaofthebodyabout

thataxis,and istheangularaccelerationofthebody.Themomentofinertiaaboutanaxisisdefined
as:
where istheradialdistancefromtheaxis.Forsimpleshapes,themomentofinertiaisrelativelyeasy
tocalculate,asformulasfor ofbasicshapesaretabulatedinmanyreferencebooks.However,for
morecomplexcomponents,calculationof canbedifficult.SolidWorksallowsmassproperties,
includingmomentsofinertia,tobedeterminedeasily.
Page2
Page3
OpenthepartWheel1.Fromthemainmenu,selectTools:MassProperties.
Themasspropertiesofthewheelarereportedinthepopupbox.Forthispart,theweightis40.02
pounds,andthemomentofinertiaaboutthezaxis(labeledasLzzinSolidWorks)is609.3lbin2.Note
thatifyoucenteredthepartabouttheorigin,thentheproperties,labeledTakenatthecenterofmass
andalignedwiththeoutputcoordinatesystemwillbeidenticaltothoselabeledPrincipalmoments...
takenatthecenterofmass.
Sincethewheelissymmetricabouttheaxisofrotation,itwillbedifficulttovisualizetherotational
motioninthemodel.Addinganonsymmetricpatterntooneofthefacesofthewheelwillbehelpful.
Selectthefrontfaceofthepart,
andchoosetheAppearanceTool
fromthecontexttoolbarthat
appears.Youcanchoosetoedit
theappearanceoftheface,the
feature,theassociatedsolid
body,ortheentirepart.Choose
Face,sincewewillbeapplying
thepatterntothefrontface
only.
Page4
InthePropertyManager,clicktheAdvancedtabandtheColor/Imagetab.Under
Appearance,selectBrowse,andselectthecheckerpatternfromMaterials:
miscellaneous:Patterndirectory.ClickOpentoapplythepattern.
Clickanddragacornerofthepattern,asshownhere.Dragthe
corneroutwarduntilthepatternislargeenoughsothefaceisdivided
intofourquadrants,andclickthecheckmarkintheProperty
Manager.Savethepartfile.
OpenthepartWheel2.Findthemassproperties,andapplya
texturetoafaceofthemodel.Savethepartfile.
Notethatthemassofthispart(40.14lb)isalmostidenticaltothat
oftheotherwheel,butthemassmomentofinertia(837.0lbin2)is
about37%greater.Themassmomentofthepartdependsnotonly
onthepartsmass,butalsoonhowthatmassisdistributed.As
moremassisplacedatagreaterdistanceawayfromtheaxisofthe
part,thenthemassmomentofinertiaaboutthataxisincreases
(notethe intheequationfor onpage1).
Openanewassembly.InsertthecomponentFrame.
Sincethefirstcomponentinsertedintoanassemblyisfixed,itislogicaltoinsertthecomponent
representingthestationarycomponent(theframeor
groundcomponent)first.
InsertthepartWheel1intotheassembly.SelecttheMate
Tool.Addaconcentricmatebetweenthecenterholeofthe
wheelandoneoftheholesintheframelink.Besuretoselect
thecylindricalfacesforthemateandnotedges.Adda
coincidentmatebetweenthebackfaceofthewheelandthe
frontfaceoftheframelink.
Page5
Youshouldnowbeabletoclickanddragthewheel,withrotationabouttheaxisofthematedholesthe
onlymotionallowedbythemates.Theadditionofthesetwomateshasaddedarevolutejointtothe
assembly.Arevolutejointissimilartoahingeinthatitallowsonlyonedegreeoffreedom.
ClickontheMotionStudy1tabnearthelowerleftcorner,whichopenstheMotionManageracross
thelowerportionofthescreen.
TheMotionManagercanbeusedtocreatesimulationsofvariouscomplexities:
Animationallowsthesimulationofthemotionwhenvirtualmotorsareappliedtodriveoneor
moreofthecomponentsatspecifiedvelocities,
BasicMotionallowstheadditionofgravityandsprings,aswellascontactbetweencomponents,
tothemodel,and
MotionAnalysis(SolidWorksMotion)allowsforthecalculationofvelocities,accelerations,and
forcesforcomponentsduringthemotion.Italsoallowsforforcestobeappliedtothemodel.
Thefirsttwooptionsarealwaysavailablein
SolidWorks.SolidWorksMotionisanaddin
program,andmustbeactivatedbeforeitcanbe
used.
Fromthemainmenu,selectTools:AddIns.Click
thecheckboxtotheleftofSolidWorksMotion.
Bycheckingtheboxtotherightofanaddin,you
canhavethataddinloadedeverytimeyouopen
SolidWorks.
SelecttheForceTool.
YouwillseeamessagedisplayedthatSolidWorksMotionis
requiredinordertoaddaforcetoasimulation.
Page6
SelectMotionAnalysisfromthe
simulationoptionspulldown
menu.
Wewillapplyatorque(moment)tothewheel.Wewillsetthetorquetohaveaconstantvalueof1ftlb
(12inlb),andwillapplyitforadurationofeightseconds.
IntheForcePropertyManager,selectTorqueandthenclickonthefrontfaceofthewheel.
Notethatthearrowshowsthatthetorquewillbeappliedinthecounterclockwisedirectionrelativeto
theZaxis(wesaythatthistorquesdirectionis+Z).Thearrowsdirectlybelowthefaceselectionbox
canbeusedtoreversethedirectionofthetorque,ifdesired.
ScrolldownintheForcePropertyManagerandsetthevalueto
12inlb.ScrollbacktothetopofthePropertyManagerand
clickthecheckmarktoapplythetorque.
Page7
IntheMotionManager,clickanddragthediamondshapedicon(termedakeyfromthedefaultfive
secondstothedesiredeightseconds(00:00:08).ClicktheCalculatorIcontoperformthesimulation.
Theanimationofthesimulationcanbeplayedbackwithoutrepeating
thecalculationsbyclickingthePlayfromStartkey.Thespeedofthe
playbackcanbecontrolledfromthepulldownmenubesidethePlay
controls.
Iftheplaybackappearschoppy,thenyoucanrepeattheanalysiswith
smallertimeincrementsbyselectingMotionStudyPropertiesandsetting
theframeratetoahighervalue.Becarefulwithsettingthisratetoo
high,asthespeedofthesimulationcalculationwillbegreatlyreducedfor
highframerates.
Asnotedearlier,SolidWorksMotionprovidesquantitativeanalysisresults
inadditiontoqualitativeanimationsofmotionmodels.Wewillcreate
plotsoftheangularaccelerationandangularvelocityofthewheel.
SelecttheResultsandPlotsTool.InthePropertyManager,usethepull
downmenustoselectDisplacement/Velocity/Acceleration:Angular
Acceleration:ZComponent.Clickonthefrontfaceofthewheel,andclick
thecheckmark.
Page8
Aplotwillbecreatedoftheangularaccelerationversus
time.Theplotcanbedraggedaroundthescreenand
resized.Itcanalsobeeditedbyrightclickingtheplot
entitytobemodified,similartotheeditingofa
MicrosoftExcelplot.
Weseethattheaccelerationisaconstantvalue,about
436degreespersecondsquared.Sincetheapplied
torqueisconstant,itmakessensethattheangular
accelerationisalsoconstant.Wecancheckthevalue
withhandcalculations.Notethatwhilewecanperform
verycomplexanalyseswithSolidWorksMotion,checkingamodelbyapplyingsimpleloadsormotions
andcheckingresultsbyhandsisgoodpracticeandcanpreventmanyerrors.
Weearlierfoundthemassmomentofinertiatobe609.3lbin2.Sincethepoundisactuallyaunitof
force,notmass,weneedtoconvertweighttomassbydividingbythegravitationalacceleration.Since
weareusinginchesasourunitsoflength,wewilluseavalueof386.1in/s2:
609.3lb in
in
386.1
s
1.577lb in s
Sincethetorqueisequaltothemassmomentofinertiatimestheangularacceleration,wecanfindthe
angularaccelerationas:
12in
1.577lb in s
7.610
rad
Noticethatthenondimensionquantityradiansappearsinouranswer.Sincewewantouranswerin
termsofdegrees,wemustmakeonemoreconversion:
7.610
rad 180deg
rad
s
436
deg
ThisvalueagreeswithourSolidWorksMotionresult.
SelecttheResultsandPlotsTool.InthePropertyManager,usethepulldownmenustoselect
Displacement/Velocity/Acceleration:AngularVelocity:ZComponent.Clickonthefrontfaceofthe
wheel,andclickthecheckmark.Resizeandmovetheplotsothatbothplotscanbeseen,andformat
theplotasdesired.
Page9
Asexpected,sincetheaccelerationisconstant,thevelocityincreaseslinearly.Thevelocityattheendof
eightsecondsisseentobeabout3485degreespersecond.Thisresultisconsistentwithahand
calculation:
436
deg
s
8s
3490
deg
Often,theangularvelocityisexpressedinrevolutionsperminute(rpm),commonlydenotedbythe
symbol :
3490
deg
s
1rev
360deg
60s
1min
582rpm
Wewillnowexperimentwithvariationsofthesimulation.
Placethecursoronthelinecorrespondingtotheappliedtorque(Torque1)atthe4secondmark.
RightclickandselectOff.
Anewkeywillbeplacedatthatlocation.Thetorquewillnowbeappliedforfourseconds,butthe
simulationwillcontinueforthefulleightseconds.
Page10
PresstheCalculatoricontoperformthesimulation.
Theplotswillbeautomaticallyupdated.Notethattheangularaccelerationnowdropstozeroatfour
seconds,whiletheangularvelocitywillbeconstantafterfourseconds.
Intheprevioussimulations,thetorquewasappliedasaconstantvalue.Thatmeansthatthechangeof
theaccelerationrelativetotime(commonlyreferredtoasjerk)isinfiniteattime=0.Amorerealistic
approximationistoassumethatthetorquebuildsupoversomeperiodoftime.Forexample,wewill
assumethatittakestwosecondstoreachthefullvalueoftorque.
Movethetimebarbacktozero.RightclickonTorque1andselectEditFeature.
ScrolldowninthePropertyManager,andselectStepasthe
typeofForceFunction.Settheinitialtorqueto0andthe
finaltorqueto12inlb,andsettheendtimet2to2seconds.
Clickthecheckmark,andrunthesimulation.
Step Function
Notethattheangularaccelerationcurveissmooth,andpeaksatthesamevalueasbefore(436deg/s2).
Ofcourse,thefinalangularvelocityislowerthanforaconstantacceleration.(Thereisstillaninfinite
Page11
changeinaccelerationatt=4seconds.Thiscanbesmoothedbyaddingasecondstepfunctionwhich
stepsthetorquefrom12inlbtozerooverafixedamountoftime.)
NowletsseetheeffectofreplacingtheWheel1componentwithWheel2,whichhasahighermass
momentofinertia.Ofcourse,wecouldstartwithanewassembly,butitiseasiertoreplacethe
componentintheexistingassembly.Thiswillallowustoretainmostofthesimulationentities.
SelecttheModeltab.Deletebothmatesbetweenthe
FrameandWheel1(otherwiseyouwillreceiveerrors
whenreplacingthewheel,asthematingfaceswillnotbe
defined).ClickonWheel1intheFeatureManagerto
selectit.Fromthemainmenu,selectFile:Replace.
BrowsetofindWheel2,andclickthecheckmarktomake
thereplacement.
Addnewmatesbetweenthepartsasbefore(concentric
matebetweentwoholes,coincidentmatebetweentwo
faces).
Page12
RightclickonTorque1andselectEditFeature.Clickon
thefrontfaceofthenewwheel(Wheel2)toapplythe
torque.RuntheSimulation.
Notethatthemaximumangularaccelerationisabout317deg/s2,whichissignificantlylessthatofthe
simulationwiththeearlierWheel.Thisvaluecanbeverifiedbyrepeatingtheearliercalculationsor
fromtheratio:
609.3
deg
436
837.0
s
317
deg
Page13
FourBarLinkage
Inthisexercise,wewillmodela4barlinkagesimilartothatofChapter11ofthetext.Inthetext,we
wereabletoqualitativelysimulatethemotionofthesimulationwhendrivenbyaconstantspeed
motor.Inthisexercise,wewilladdaforceandalsoexploremoreofthequantitativeanalysistools
availablewithSolidWorksMotion.
Constructthecomponentsofthelinkageshownonpage2,andassemblethemasdetailedinChapter
11ofthetext.TheFramelinkshouldbeplacedintheassemblyfirst,sothatitisthefixedlink.
YoushouldbeabletoclickanddragtheCranklinkaroundafull360degreerotation.
Connector
Crank
Rocker
Frame
NotethattheConnectorlinkhasthreeholes.Themotionofthethirdholecanfollowmanypaths,
dependingonthegeometryofthelinksandthepositionofthehole.
Beforebeginningthesimulation,wewillsetthelinkstoapreciseorientation.Thiswillallowusto
compareourresultstohandcalculationsmoreeasily.
Addaperpendicularmatebetween
thetwofacesshownhere.
ExpandtheMatesgroupofthe
FeatureManager,andrightclickon
theperpendicularmatejustadded.
SelectSuppress.
Page14
Theperpendicularmatealignsthecranklinkatapreciselocation.However,wewantthecranktobe
abletorotate,sowehavesuppressedthemate.Wecouldhavedeletedthemate,butifweneedtore
alignthecranklater,wecansimplyunsuppressthemateratherthanrecreatingit.
SwitchtotheFrontView.Zoomoutsothattheviewlookssimilartotheoneshownhere.
TheMotionManagerusesthelastview/zoomofthemodelasthestartingviewforthesimulation.
MakesurethattheSolidWorksMotionaddinisactive.ClicktheMotionManagertab.
SelecttheMotoricon.InthePropertyManager,setthevelocityto60rpm.
ClickonthefrontfaceoftheCranktoapplythemotor,andclickthecheck
mark.
Page15
Clickanddragthesimulationkeyfromthedefault
fivesecondstoonesecond(0:00:01).
Sincewesetthemotorsvelocityto60rpm,aone
secondsimulationwillincludeonefullrevolutionof
theCrank.
ClicktheMotionStudyPropertiesTool.UndertheMotionAnalysistab,set
thenumberofframesto100(framespersecond),andclickthecheck
mark.
Thissettingwillproduceasmooth
simulation.
ChooseSolidWorksMotionfromthepull
downmenu,andpresstheCalculatoricon
torunthesimulation.
ClicktheResultsandPlotsTools.InthePropertyManager,setthetypeoftheresulttoDisplacement/
Velocity/Acceleration:TracePath.ClickontheedgeoftheopenholeoftheConnector.
Playbackthesimulationtoseetheopenholes
pathoverthefullrevolutionoftheCrank.
Ifdesired,youcanaddpathsfortheothertwo
jointsthatundergomotion.
Page16
Thefourbarlinkagecanbedesignedtoproduceavarietyofmotionpaths,asillustratedbelow.
Wewillnowaddaforcetotheopenhole.
Movethetimebarbacktozero.SelecttheForceTool.InthePropertyManager,thehighlightedbox
promptsyouforthelocationoftheforce.Clickontheedgeoftheopenhole,andtheforcewillbe
appliedatthecenterofthehole.
Thedirectionboxisnowhighlighted.Rotateandzoominsothatyoucanselectthetopfaceofthe
Framepart.Theforcewillbeappliednormaltothisforce.Asyoucansee,theforceactsupwards.
Clickthearrowstoreversethe
directionoftheforce.
Page17
ScrolldowninthePropertyManagerandsetthemagnitudeofthe
forceto20pounds.Clickthecheckmarktoapplytheforce.
Runthesimulation.
Wewillnowplotthetorqueofthemotorthatisrequiredtoproduce
the60rpmmotionwiththe20lbloadapplied.
SelectResultsandPlots.IntheProperty
Manager,specifyForces:MotorTorque:Z
Component.ClickontheRotaryMotorin
theMotionManagertoselectit,andclick
thecheckmarkinthePropertyManager.
Formattheresultingplotasdesired.
Notethattheappliedtorquepeaksatabout51inlb.Att=0,thetorqueappearstobeabout30inlb
(thenegativesignsindicatesthedirectionisabouttheZaxis,orclockwise
whenviewedfromtheFrontView).Inordertogetamoreexactvalue,we
canexportthenumericalvaluestoaCSV(commaseparatedvalues)file
thatcanbereadinWordorExcel.
RightclickinthegraphandchooseExportCSV.Savethefiletoa
convenientlocation,andopenitinExcel.
Page18
Attime=0,weseethatthemotortorqueis29.2
inlb.
Handcalculationsforastaticanalysisofthe
mechanismareattached,whichshowavalueof
29.4inlb.
Itisimportantwhencomparingthesevaluesto
recognizetheassumptionsthatarepresentinthe
handcalculations:
1. Theweightsofthememberswerenotincludedintheforces,and
2. Theaccelerationsofthememberswereneglected.
Thefirstassumptioniscommoninmachinedesign,astheweightsofthemembersareusuallysmallin
comparisontotheappliedloads.Incivilengineering,thisisusuallynotthecase,astheweightsof
structuressuchasbuildingandbridgesareoftengreaterthantheappliedforces.
Thesecondassumptionwillbevalidonlyiftheaccelerationsarerelativelylow.Inourcase,theangular
velocityofthecrank(60rpm,oronerevolutionpersecond)producesaccelerationsinthemembersthat
aresmallenoughtobeignored.
Letsaddgravitytothesimulationtoseeitseffect.
ClickontheGravityicon.InthePropertyManager,selectYasthedirection.Therewillbeanarrow
pointingdowninthelowerrightcornerofthegraphicsarea,showingthatthedirectioniscorrect.
Clickthecheckmark.Runthesimulation.
Thetorqueplotisalmostunchanged,withthepeaktorqueincreasingbyonlyoneinlb.Therefore,
omittinggravityhadverylittleeffectonthecalculations.
Nowwewillincreasethevelocityofthemotortoseetheeffectonthetorque.
Page19
Dragthekeyattheendofthetopbarinthe
MotionManagerfrom1secondto0.1second.Usethe
ZoomInToolinthelowerrightcornerofthe
MotionManagertospreadoutthetime
line,ifdesired.
Dragthesliderbarshowingthetimewithinthesimulation
backtozero.
Thisisanimportantstepbeforeeditingexistingmodel
items,aschangescanbeappliedatdifferenttimesteps.
Becausewewantthemotorsspeedtobechangedfrom
thebeginningofthesimulation,itisimportanttosetthe
simulationtimeatzero.
RightclickontheRotaryMotorintheMotionManager.Inthe
PropertyManager,setthespeedto600rpm.Clickthecheckmark.
Sinceafullrevolutionwilloccurinonly0.1seconds,weneedtoincrease
theframerateofthesimulationtoachieveasmoothplot.
SelecttheMotionStudyProperties.InthePropertyManager,settheSolidWorksMotionframerateto
1000frames/second.Clickthecheckmark.
Runthesimulation.
Page20
Thepeaktorquehasincreasedfrom51to180inlb,
demonstratingthatasthespeedisincreased,the
accelerationsofthemembersarethecriticalfactors
affectingthetorque.
Youcanverifythisconclusionfurtherbysuppressing
bothgravityandtheapplied20lbloadandrepeating
thesimulation.Thepeaktorqueisdecreasedonly
from180to151inlb,evenwithnoexternalloads
applied.
Toperformhandcalculationswiththeaccelerationsincluded,itisnecessarytofirstperformakinematic
analysistodeterminethetranslationalandangularaccelerationsofthemembers.Youcanthendraw
freebodydiagramsofthethreemovingmembersandapplythreeequationsofmotiontoeach:
F
ma F
ma M
Theresultisnineequationsthatmustbesolvedsimultaneouslytofindthenineunknownquantities(the
appliedtorqueandthetwocomponentsofforceateachofthefourpinjoints).
Theresultsapplytoonlyasinglepointintime.Thisisamajoradvantageofusingasimulationprogram
suchasSolidWorksMotion:sinceitisnotevidentatwhatpointinthemotionthattheforcesare
maximized,ouranalysisevaluatestheforcesoverthecompleterangeofthemechanismsmotionand
allowsustoidentifythecriticalconfiguration.
RolleronaRamp
Inthisexercise,wewilladdcontactbetweentwobodies,andexperimentwithfrictionbetweenthe
bodies.Wewillbeginbycreatingtwonewpartsarampandaroller.
Openanewpart.IntheFrontPlane,sketchanddimensionthetriangleshownhere.
Origin
Page21
Extrudethetriangleusingthemidplaneoption,withathicknessof1.2inches.
IntheTopPlane,usingtheCorner
RectangleTool,drawarectangle.
Addamidpointrelationbetweenthe
leftedgeoftherectangleandthe
origin.Addthetwodimensions
shown,andextrudetherectangle
down0.5inches.
Modifythematerial/appearanceasdesired(shownhereas
Pine).SavethispartwiththenameRamp.
Openanewpart.SketchanddimensionaoneinchdiametercircleintheFrontPlane.Extrudethe
circlewiththemidplaneoption,toatotalthicknessofoneinch.SetthematerialofthepartasPVC
Rigid.Modifythecolorofthepartasdesired(overridingthedefaultcolorofthematerialselected).
Openanewsketchonthefrontfaceofthecylinder.
Addanddimensionthecirclesandlinesasshownhere
(thepartisshowninwireframemodeforclarity).The
twodiagonallinesaresymmetricaboutthevertical
centerline.
Page22
ExtrudeacutwiththeThroughAlloption,withthesketchcontoursshownselected.Ifdesired,change
thecolorofthecutfeature.
Createacircularpatternoftheextrudedcutfeatures,withfiveequally
spacedcuts.SavethepartwiththenameRoller.
Openanewassembly.Inserttherampfirst,andplaceitattheoriginoftheassembly.Insertthe
Roller.
Addtwomatesbetweentherampandtheroller.MatetheFrontPlanesofbothparts,andadda
tangentmatebetweenthecylindricalsurfaceoftherollerandthesurfaceoftheramp.
Thebestwaytosetthecorrectheightoftherollerontherampisto
addamatedefiningthepositionoftheaxisoftheroller.
FromtheHeadsUpViewToolbar,selectView:TemporaryAxes.
Thiscommandturnsonthedisplayofaxesthatareassociatedwith
cylindricalfeatures.
Page23
Addadistancematebetweentherollersaxisandtheflat
surfaceatthebottomoftheramp.Setthedistanceas6.5
inches.
Sincetheradiusoftherolleris0.5
inches,theaxiswillbe0.5inches
abovetheflatsurfacewhenthe
surfaceoftherollercontactsthat
surface.Therefore,thevertical
distancetraveledbytherollerwill
be6.0inches.Also,notethatthe
distancetravelleddowntheramp
willbe12inches(6inchesdivided
bythesineoftherampangle,30
degrees).
Turnoffthetemporaryaxisdisplay.SwitchtotheMotionStudy.SelectMotionAnalysisasthetypeof
analysis.Addgravityintheydirection.
SelecttheContactTool.InthePropertyManager,youwillbepromptedto
selectthebodiesforwhichcontactcanoccur.Clickoneachofthetwo
parts.ClearthecheckboxeslabeledMaterialandFriction.Leavethe
otherpropertiesastheirdefaults.
Wewilladdfrictionlater,butourinitialsimulationwillbeeasiertoverifywithoutfriction.IntheElastic
Propertiessection,notethatthedefaultissetasImpact,withseveralotherproperties(stiffness,
exponent,etc.)specified.Ateachtimestep,theprogramwillcheckforinterferencebetweenthe
Page24
selectedbodies.Ifthereisinterference,thenthespecifiedparametersdefineanonlinearspringthat
actstopushthebodiesapart.Contactsaddconsiderablecomplexitytoasimulation.Ifthetimesteps
aretoolarge,thenthecontactmaynotberecognizedandthebodieswillbeallowedtopassthrough
eachother,oranumericalerrormayresult.
SelecttheMotionStudiesPropertyTool.Settheframerateto500andchecktheboxlabeledUse
PreciseContact.Clickthecheckmark.
Forsomesimulations,itmaybenecessarytolowerthesolutiontoleranceinordertogetthesimulation
torun.Forthisexample,thedefaulttoleranceshouldbefine.
Thematesthatweaddedbetweenthepartstopreciselylocatetherollerontherampwillprevent
motionoftheroller.Ratherthandeletethesemates,wecansuppressthemintheMotionManager.
RightclickoneachofthematesintheMotionManagerandselectSuppress.Runthesimulation.
Youwillseethattherollerreachesthebottomoftherampquickly.
Changethedurationofthesimulationto0.5seconds,andrunthesimulationagain.Createaplotof
themagnitudeofthelinearvelocityoftherollervs.time.
Therollerreachesthebottomoftherampinabout0.35seconds,andthevelocityatthebottomofthe
rampisabout68in/s.Thesevaluesagreewiththosecalculatedintheattachmentattheendofthis
document.
Nowletsaddfriction.
Movethetimelineofthesimulationbacktozero.RightclickonthecontactintheMotionManager
tree,andselectEditFeature.ChecktheFrictionbox,andsetthedynamiccoefficientoffrictionto
0.25.(Thefrictionvelocityisnotcriticalforthissimplifiedmodel;itcanbesettozero.)Calculatethe
simulation.
Page25
Theresultingvelocityplotshowsthevelocityatthebottomoftheramptobeabout54in/s.Thisvalue
agreeswiththatofthecalculationsshownintheattachment.
Toconfirmthattherollerisnotslipping,we
cantracethepositionofasinglepointonthe
roller.
SelecttheResultsandPlotsTool.Definethe
plotasDisplacement/Velocity/Acceleration:
TracePath.Clickonapointneartheouter
rimoftheroller(notonaface,butona
singlepoint).Clickthecheckmark.
Thetracepathshowsasharpcuspswherethe
pointsvelocityapproacheszero(itwillnot
becomeexactlyzerounlessthepointisonthe
outersurfaceoftheroller).Forcomparison,
repeattheanalysiswithalowerfriction
coefficient.
Changethefrictioncoefficientto0.15and
recalculatethesimulation.
Thistime,thetracepathsshowssmoothcurveswhenthepointisneartherampssurface,indicating
thatslidingandrollingaretakingplace
simultaneously.
Intheattachment,itisshownthatthe
coefficientoffrictionrequiretoprevent
slippingisabout0.21.
Itisinterestingtonotethatthefriction
coefficienttopreventslippingandthetime
requiredtoreachthebottomoftherampare
bothfunctionsoftheratioofthemomentof
inertiatothemassoftheroller.Youcan
confirmthisbychangingthematerialoftherollerandseeingthattheresultsofthesimulationare
unchanged.However,ifyouchangethegeometryoftheroller(theeasiestwayisbysuppressingthe
cutoutregions),thentheresultswillchange.
Page26
ATTACHMENT:VERIFICATIONCALCULATIONS
STATICANALYSISOFFOURBARLINKAGESUBJECTEDTO20LBAPPLIEDFORCE
FreebodydiagramofConnector:
20lb
B
CD
Bx
By
NotethatmemberCDisa2forcemember,andsotheforceattheendisalignedalongthemembers
axis.
Applyequilibriumequations:
M
5.714in
sin 75.09
5.522in
1.832in
cos 75.09
0.4714in
5.993in
228.5in lb
228.5in lb
228.5in lb
5.993in
38.13lb
38.13lb cos 75.09

9.812lb
11.427in 20lb
Page27
38.13lb sin 75.09
20lb
16.85lb
FreebodydiagramofCrank:
By
Bx
T
Ax
Ay
NotethatBxandByareshowninoppositedirectionsasinConnectorFBD.
SummomentsaboutA:
M
3in
3in 9.812lb
0
29.4in lb
Page28
ROLLERCALCULATIONS
NoFriction:
Freebodydiagram:
W
y
W sin
W cos
Whereistherampangle(30degrees)
Sincetheweightisequalthemassmtimesthegravitationalaccelerationg,theaccelerationinthex
direction x willbe:
g sin
x
Theaccelerationisintegratedwithrespecttotimetofindthevelocityinthexdirection:
g sin d
g sin
vxo
Wherevxo istheinitialvelocityinthexdirection.Thevelocityisintegratedtofindthedistancetravelled
inthexdirection:
g
g sin
v d
sin
v
x
2
Wherex0 istheinitialposition.Ifwemeasurexfromthestartingposition,thenx0 iszero.Iftheblockis

initiallyatrest,thenvxo isalsozero.Inoursimulation,theblockwillslideadistanceof12inchesbefore
contactingthebottomoftheramp(seethefigureonpage23).
Knowingthedistancetravelledinthexdirection,andenteringthenumericalvaluesofgas386.1in/s2
andofsin of0.5(sinof30o),wecanfindthetimeittakestheblocktoslidetothebottom:
Page29
12in
or
386.1 ins
2
0.5
0.353s
SubstitutingthisvalueintoEquation4,wefindthevelocityatthebottomoftheramp:
in
in
386.1 2 0.5 0.353s
68.1
x
s
s
Thisvelocitycanalsobefoundbyequatingthepotentialenergywhentherollerisatthetopoftheramp
(heightabovethedatumequals6inches)tothekineticenergywhentherollerisatthebottomofthe
ramp:
1
2
2
2 386.1
in
6in
s
68.1
in
FrictionIncluded:
FreeBodyDiagram:
W
y
f
N
Whiletherollerwithoutfrictionslidesandcanbetreatedasaparticle,therollerwithfriction
experiencesrigidbodyrotation.Theequationsofequilibriumare:
F
F
W sin
N
M
W cos
r
Page30
Ifthereisnoslipping,thentherelativevelocityoftheroller
relativetotherampiszeroatthepointwherethetwo
bodiesareincontact(pointO).Sincetherampis
stationary,thisleadstotheobservationthatthevelocityof
pointOisalsozero.
C
SincepointOisthecenterofrotationoftheroller,the
tangentialaccelerationofthecenteroftheroller x can
bewrittenas:
O
r
x
Substitutingthisexpressionintothefirstequilibriumequationandsolvingforthefrictionforce,
W sin mr
Substitutingthisexpressionintothethirdequilibriumequationandsolvingfortheangularacceleration
,
W sin mr r Io
W sin r I
mr
W sin r
I
mr
ThemassandthemomentofintertiaI canbeobtainedfromSolidWorks.Fortheroller,thevaluesare:
m 0. 017163lb
0.002515lb in
I
Sincepoundsareunitsofweight,notmass,theyquantitiesabovemustbedividedbygtoobtainthe
quantitiesinconsistentunits:
m
0. 017163lb
386.1in/s
4.4453X10
lb s
in
0.002515lb in
386.1in/s
6.5139X10 lb in s
Thevalueoftheangularaccelerationcannowbefound:
W sin r
I
mr
0. 017163lb sin 30
6.5139e
6lb in s
4.4453
0.5in
lb s
5
in
243.4
0.5in
rad
Page31
Therefore,thelinearaccelerationinthexdirectionis:
r
0.5in
243.4
rad
121. 7
s2
in
s2
Integratingtoobtainthevelocityandpositionatanytime:
vxo
121. 7
in
s2
1
2
60.85
in

s
Fortherollertotravel12inchesinthe direction,thetimerequiredis
12in
60.85 ins
0.444s
Andthevelocityatthebottomoftherampis:
121. 7
Wecanalsocalculatethefrictionforce:
W sin
mr
in
0.444s
2
0. 017163lb sin 30
54.0
4.4453e
in
s
lb s
in
0.5
243.4
rad
s
0.00318lb
Fromthesecondequilibriumequation,thenormalforceis:
N
W cos
0. 017163lb cos 30
0.1486lb
Sincethemaximumfrictionforceisthecoefficientoffriction timesthenormalforce,thecoefficientof
frictionmustbeatleast:
0.00318lb
0.1486lb
0.21
Thisistheminimumcoefficientoffrictionrequiredfortherollertorollwithoutslipping.

SolidWorks Motion Tutorial 2011

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SolidWorks Motion Tutorial 2011

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IntroductiontoSolidModelingUsingSolidWorks2011

Where isthesumofthemomentsaboutanaxis, isthemassmomentofinertiaofthebodyabout

38.13lb cos 75.09

38.13lb sin 75.09

Wherex0 istheinitialposition.Ifwemeasurexfromthestartingposition,thenx0 iszero.Iftheblockis

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