Basics 1

Rui_Moreira_2007

Creating a new
environment

product

and

start

DMU

Kinematics

Create a new product and insert Vara.CATPart using Insert Existing Component
command.

Copy the Vara part using Multi-instantiation command.

Change from Assembly design environment to DMU Kinematics.

This is the look of DMU Kinematics environment

Creating mechanisms and joints

An assembly can have several cinematic mechanisms, each one being composed by
several joints and commands.
Use Revolute joint
to create a 1 degree of freedom (1 rotation) joint between the
two ends of first and second Vara parts.
Note: joints can also be created between sub-assemblies.

First create a new mechanism using New Mechanism button. Name it using a small and
simple name.

Select
Select
Select
Select

axis of first part

axis of second one
reference face (preferentially a contact face) of first part
reference face of second part.

After elements selection dialog window should be as below.

Check Angle driven to create a command for this degree of freedom.

After the command validation, DMU creates the necessary constraints for the assembly
and the revolute joint.
Proceed identically to create the other joints (use Revolute joints in every part end).

This should be the final assembly.

Use Analyse > Mechanical Analysis to check mechanism consistency.

Despite the internal consistency of the assembly there isnt yet a fixed part in it.
Use Fix command

to fix fist part.

DMU Kinematics will then notify about assembly stability.

Using commands to simulate assembly kinematics.

Call Simulation with commands tool

Use slides to move each revolute joint. Use Immediate simulation.

When using On request simulation, modify the slides position and press the play button
to activate commands in joints.

Using laws in simulation

Define mechanism time:

Call formula command
Select Mecanismo1\KINTime parameter and change value to 10s.

Define relations between KINTime and angle commands of joints.

Double click on command.5
Right click on Command value text box.
Choose Edit formula option.

Proceed identically for the remaining joint commands.

Run a time driven simulation.

Call Simulation with laws command
Use time control buttons to run simulation