Pro-Engineer. Mechanism Design and Analysis. 2001 PDF

PTC Global Services
Mechanism Design
and Analysis
Release 2001
T-889-320-01
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Mechanism Design and Analysis
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PRINTING HISTORY
Document No. Date Description
PU-889-320-01 05/16//01 Initial Printing of Pro/USER: Mechanism Design and Analysis
for Release 2001
T-889-320-01 09/06//01 Initial Printing of Mechanism Design and Analysis
for Release 2001
Order Number T-889-320-EN

Printed in U.S.A
Training Agenda
Day One
Module 1: Introduction to Mechanism Design
Module 2: Creating and Analyzing Mechanisms
Module 3: Configuring Joint Axis Settings
Module 4: Defining Drivers and Motion
Module 5: Working with Motion Analysis Results
Module 6: Creating Cam and Slot Connections
Module 7: Optimizing Mechanism Designs

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Table of Contents
INTRODUCTION TO MECHANISM DESIGN 1-1

OVERVIEW .......................................................................................................................1-2
IMPLEMENTING MECHANISM DESIGN EXTENSION..............................................1-2
Mechanism Design without Cam and Slot Connections .................................................... 1-2
Mechanism Design with Cam and Slot Connections ......................................................... 1-4
MECHANISM DESIGN INTERFACE .............................................................................1-4
Using Mechanism Design Icons......................................................................................... 1-4
Accessing the Object Sensitive Menu................................................................................ 1-5
CREATING AND ANALYZING MECHANISMS 2-1

CREATING MECHANISM ASSEMBLIES .....................................................................2-2
Comparing Connections to Constraints.............................................................................. 2-2
Selecting Connection Types............................................................................................... 2-2
Calculating Mechanism Degrees of Freedom .................................................................... 2-7
Working with the Body...................................................................................................... 2-8
Redefining Assemblies as Mechanisms ............................................................................. 2-9
SIMULATING MOTION...................................................................................................2-9
Dragging Assembly Components .................................................................................... 2-10
Adding Controls when Dragging ..................................................................................... 2-11
Recording Configurations with Snapshots....................................................................... 2-13
Other Commands ............................................................................................................. 2-14
LABORATORY PRACTICAL ........................................................................................2-15
EXERCISE 1: Creating a Crane Assembly...................................................................... 2-15
EXERCISE 2: Creating Reciprocating Saw Components................................................ 2-20
CONFIGURING JOINT AXIS SETTINGS 3-1

JOINT AXIS SETTINGS ...................................................................................................3-2
Defining the Zero References ............................................................................................ 3-2
Setting the Range of Motion .............................................................................................. 3-4
Setting the Regeneration Configuration............................................................................. 3-4
LABORATORY PRACTICAL ..........................................................................................3-5
EXERCISE 1: Configuring Joint Axis Settings ................................................................. 3-5
DEFINING DRIVERS AND MOTION 4-1
DRIVERS AND MOTION ................................................................................................ 4-2
Selecting a Driver ...............................................................................................................4-2
Configuring Driver Profiles................................................................................................4-5
DEFINING MOTIONS...................................................................................................... 4-7
Configuring Time Domain Settings ...................................................................................4-8
Selecting Active Drivers.....................................................................................................4-8
Running Motion Definitions...............................................................................................4-9
LABORATORY PRACTICAL ....................................................................................... 4-10
EXERCISE 1: Creating Standard Joint Axis Drivers.......................................................4-10
EXERCISE 2: Creating Table Joint Axis Drivers ............................................................4-13
EXERCISE 3: Creating Geometric Drivers .....................................................................4-16
WORKING WITH MOTION ANALYSIS RESULTS 5-1

REVIEWING MECHANISM ANALYSIS RESULTS..................................................... 5-2
Viewing Playback Results..................................................................................................5-2
Generating Movie and Image Files ....................................................................................5-2
Checking Motion Interference............................................................................................5-3
Evaluating Motion Envelopes ............................................................................................5-4
Capturing Measurements and Show Plots ..........................................................................5-5
Evaluating Trace and Cam Synthesis Curves .....................................................................5-6
LABORATORY PRACTICAL ......................................................................................... 5-8
EXERCISE 1: Viewing Motion Playbacks and Creating Trace Curves.............................5-8
EXERCISE 2: Creating Measures....................................................................................5-10
EXERCISE 3: Checking for Interference.........................................................................5-13
CREATING CAM AND SLOT CONNECTIONS 6-1

CREATING CAM-FOLLOWER CONNECTIONS ......................................................... 6-2
Creating Cam Surfaces .......................................................................................................6-2
CREATING SLOT-FOLLOWER CONNECTIONS......................................................... 6-4
LABORATORY PRACTICAL ......................................................................................... 6-6
EXERCISE 1: Creating Geneva Cam Mechanisms ...........................................................6-6
EXERCISE 2: Synthesizing Cam Profiles .......................................................................6-12
EXERCISE 3: Creating Slot Connections........................................................................6-21
OPTIMIZING MECHANISM DESIGNS 7-1

BEHAVIORAL MODELING EXTENSION .................................................................... 7-2
Pro/ENGINEER Analysis ..................................................................................................7-2
Datum Analysis Features....................................................................................................7-5
OPTIMIZING MECHANISM DESIGNS..........................................................................7-9
Integrating MDX and BMX ............................................................................................... 7-9
Optimizing Designs............................................................................................................ 7-9
LABORATORY PRACTICAL ........................................................................................7-10
EXERCISE 1: Creating Motion Definitions in MDX...................................................... 7-10
EXERCISE 2: Creating Analysis Features in BMX ........................................................ 7-14
EXERCISE 3: Performing Sensitivity Analyses.............................................................. 7-17
EXERCISE 4: Optimizing the Hand Pump...................................................................... 7-19
SUMMARY......................................................................................................................7-21
USING PTC HELP A-1

DEFINING THE PTC HELP FEATURES .......................................................................A-2
USING THE Pro/ENGINEER ONLINE HELP ................................................................A-2
Defining the PTC Help Table of Contents ........................................................................ A-8
TECHNICAL SUPPORT B-1

Locating the Technical Support Web Page ....................................................................... B-2
Opening Technical Support Calls via E-Mail ................................................................... B-2
Opening Technical Support Calls via Telephone.............................................................. B-3
Opening Technical Support Calls via the Web ................................................................. B-3
Sending Data Files to PTC Technical Support.................................................................. B-3
Routing Your Technical Support Calls ............................................................................. B-4
Technical Support Call Priorities ...................................................................................... B-5
Software Performance Report Priorities ........................................................................... B-5
Registering for On-Line Support ...................................................................................... B-5
Using the Online Services................................................................................................. B-6
Finding Answers in the Knowledge Base ......................................................................... B-7
CONTACT INFORMATION............................................................................................B-9
Technical Support Worldwide Electronic Services........................................................... B-9
Technical Support Customer Feedback Line .................................................................... B-9
TELEPHONE AND FAX INFORMATION...................................................................B-10
North America Telephone Information........................................................................... B-10
Europe Telephone Information ....................................................................................... B-11
Asia and Pacific Rim Telephone Information................................................................. B-15
ELECTRONIC SERVICES.............................................................................................B-18
Module
Introduction to Mechanism Design

In this module you will learn about the essential functions of
Pro/ENGINEER Mechanism Design. The module also introduces
the major steps of implementing Mechanism Design.
Objectives
After completing this module, you will be able to:
• Describe the Mechanism Design applications.

• Describe the major Mechanism Design implementation steps.
Page 1-1
NOTES
OVERVIEW
The Pro/ENGINEER Mechanism Design Extension (MDX) is a kinematic
motion simulation program. You use it to obtain information about the
behavioral characteristics of your assemblies.
By defining “connections” during assembly creation, MDX enables you to

build “kinematic intelligence” into your assemblies. This can be done at
the beginning of the product development process. Once assembled, you
can investigate the design characteristics by animating the mechanism
throughout the range of motion.
The results of the motion animation provide graphical illustration of the

mechanism. They also yield engineering information that can facilitate
design optimization, such as interference analysis and cam profile
synthesis.
When used in conjunction with Behavioral Modeling Extension (BMX),

MDX can be used to create optimized designs based on measured
geometry information. When a full dynamics simulation is needed,
assemblies created using MDX can also be used in Pro/MECHANICA
Motion.
IMPLEMENTING MECHANISM DESIGN EXTENSION

Using Mechanism Design involves two fundamental steps: (1) defining a
mechanism, and (2) making it move. Depending on whether there are cam
and slot connections in the mechanism, the major steps of implementing
mechanism design are slightly different.
Mechanism Design without Cam and Slot

Connections
1. Create assembly connections - Assembling the components that are
intended to move using connections enables you to create a
movable system instead of one rigid body.
P a g e 1- 2 Mechanism Design and Analysis

NOTES
Figure 1 Connections available in the COMPONENT PLACEMENT dialog box.
2. Define Joint Axis Settings - You can use the joint axis settings to
quantitatively describe the displacement, set the range of the
motion and choose the default configuration used in regeneration.
3. Move the assembly

• Move the assembly interactively using the Drag functionality -
Using the Drag functionality, you can move the mechanism
through an allowable range of motion interactively.
• Setup drivers and run motion - The motor-like drivers enable
you to impose a particular motion on a mechanism. The
mechanism will move according to your design intent that has
been build in the connections, the joint axis settings and the
drivers.
4. Applications of the results - Using the motion run results, you can
perform various engineering studies, as well as generate movie and
image files for visualization purposes.
• Generate movie/image output
• Interference study
• Generate Motion Envelope
Introduction to Mechanism Design P a g e 1- 3

NOTES
• Create Trace curve/Cam synthesis curve

• Graph measure results
5. Perform Sensitivity and Optimization studies in conjunction with

BMX - Creating intuitive and movable mechanisms drastically
reduce the workload when setting up for performing studies, as
opposed to creating assembly skeletons. The built-in functionality
allows you to continuously monitor parameters within the motion
range.
Mechanism Design with Cam and Slot Connections

The procedures to implement mechanism design in models that have cam
and slot connections are very similar. You can create the advanced cam
and slot connections after you first assemble the component into the
assembly using the regular connections.
By using the advanced connections (cam and slot) you can capture
motions that are very difficult to accomplish using the regular connections
or skeletons.
MECHANISM DESIGN INTERFACE

There are three ways for you to access Mechanism Design commands:
• Icons in the toolbar area

• Commands located under the MECHANISM menu
• Object sensitive shortcut menu in the MODEL TREE
Using Mechanism Design Icons

You can perform Mechanism Design tasks using icons located on top of
the graphic pane. The following table lists the available Mechanism
Design icons.
Table 1: Mechanism Design icons.

Icon Descriptions
Define cams.
Define drivers.
Define joint axis zeros.
Define slots.

NOTES
Icon Descriptions
Drag assembly components.
Generate measure results.
Mechanism icon display.
Replay previous run motions.
Review body definitions.
Review and redefine body.
Run assembly analysis.
Run motion.
Accessing the Object Sensitive Menu

When the Mechanism is activated from the ASSEMBLY menu, the
MODEL TREE displays the entities exist in a mechanism design, including
the connections, drivers, motion definitions, and playbacks.
Figure 2 The Mechanism Design top level model tree.
You can expand the junction box to display the detailed list of the entities.
Introduction to Mechanism Design P a g e 1- 5

NOTES
Figure 3 Navigate the Mechanism Design model tree.
Selecting an entity in the MODEL TREE will highlight the entity in the
graphic pane. After an entity is selected in the MODEL TREE, you can
access the object sensitive shortcut commands by clicking the right mouse
button. The available commands are limited to the selected entity type.
Figure 4 Access the object sensitive menu from the MODEL TREE.
The SELECT_ACTION paradigm streamlines the workflow and increases

productivity. You can select and highlight the entity from the MODEL
TREE, and this eliminates the need to select the entities from the graphic
pane.

Module
Creating and Analyzing Mechanisms

In this module you will learn how to create assemblies using
connections. You will also learn how to simulate assembly movement
using the interactive drag features.
Objectives
• Describe the differences between connections and constraints.

• Build mechanisms with connections.
• Convert unmovable assemblies into movable assemblies.
• Simulate assembly movement using the drag functionality.
Page 2-1
NOTES
CREATING MECHANISM ASSEMBLIES

One of the first steps in mechanism design is to simulate assembly motion.
By assembling the movable components using connections, you can create
a movable system instead of one rigid body.
Comparing Connections to Constraints

Similar to assembly constraints, assembly connections are used to connect
components together. The connection types are defined by using the same
kind of assembly components that you would use in a real-world situation.
These assembly components include pins, bearings, and so on.
Each connection type is associated with a unique set of geometric

constraints that are based on existing constraints used in Pro/ENGINEER
Assembly mode. For example, a pin connection contains two geometric
constraints: an axis alignment constraint and a plane alignment constraint.
Degrees of Freedom
Each connection type has certain translational and rotational degrees of
freedom (DOF). Depending on how the component should move in the
assembly, you should use connections with appropriate DOF. An
assembly created in this manner is partially constrained. It will move in
accordance with design intent defined in the added connections.
Selecting Connection Types

The following table lists the eight available connection types on the
Component Placement dialog box, as well as the icons and DOFs:
Table 1: Connection Types

Connection Icon in Graphic Icon in the
DOFs
Type Window Model Tree
Pin 1
Cylinder 2
Slider 1
Planar 3
Weld 0

NOTES
Connection Icon in Graphic Icon in the

DOFs
Type Window Model Tree
Ball 3
Bearing 4
Rigid n/a n/a
Note:
In addition to these types of connections, advanced
connections such as cam and slot are also available.
Pin Connections
Bodies connected by pin connections can rotate about an axis.
Figure 1: Assembly created using a pin connection
Constraints Required
• Align axis or Insert cylindrical surfaces.
• Planar Mate/Align or Point Alignment.
Rotation DOF
1 - The connected body can rotate in one direction denoted by the arrow in
the connection symbol.
Translation DOF
0 - The connected body is not allowed to translate along the axis.
Creating and Analyzing Mechanisms P a g e 2- 3

NOTES
Cylinder Connections
The body connected by a cylinder connection can translate along and
rotate about a specific axis.
Figure 2: Assembly created using a cylinder connection
Rotation DOF
1 - The connected body can rotate in one direction denoted by the arrow in
the connection symbol.
Translation DOF
1 - The connected body can translate in one direction denoted by the arrow
in the connection symbol.
Slider Connections
The body connected by a slider connection can translate along an axis.
Figure 3: Piston assembly created using a slider connection
• Planar mate/align to restrict rotation along axis.

NOTES
Rotation DOF
0 - The connected body is not allowed to rotate in any direction.
Translation DOF
1 - The connected body can translate in one direction denoted by the arrow
in the connection symbol.
Planar Connections
The body connected by a planar connection can move in a plane.
Figure 4: Assembly created using a planar connection
• Plane alignment.
Rotation DOF
1 - The connected body can rotate in one direction denoted by the arrow
perpendicular to the plane.
Translation DOF
2 - The connected body can translate in two directions denoted by two

arrows within the plane.
Weld Connections
Weld connections are used to rigidly fix two parts to each other. They can
be used to determine the reaction force between two contacting parts using
Pro/MECHANICA.

NOTES
• Coordinate system alignment.
Rotation DOF
0 - The connected body is not allowed to rotate in any direction.
Translation DOF
0 - The connected body is not allowed to translate in any direction.
Ball Connections
A "ball-in-spherical-cup" joint allows rotation in any direction.
Figure 5: Assembly created using a ball connection
• Point to point alignment.
Rotation DOF
3 - The connected body can rotate in all three directions.
Translation DOF
0 - The connected body can not translate.
Bearing Connections
Bearing connections consist of a combination of a ball joint and a slider
joint.

NOTES
Figure 6: Assembly created using a bearing connection
• Point aligned to edge or axis.
Rotation DOF
3 - The connected body can rotate in all three directions.
Translation DOF
1 - The connected body can translate along the edge or axis.
Rigid Connection
A rigid connection is a way to access traditional Pro/ENGINEER
constraints when you assemble a component using connections. Parts
constrained by a rigid connection constitute a single body.
Calculating Mechanism Degrees of Freedom

In mechanical systems, degrees of freedom (DOF) are the number of
parameters required to define the position or motion of each body in the
system. Unconstrained bodies have 6 degrees of freedom. Each connection
will remove certain degrees of freedom from the mechanism depending on
the connection type. The resulting mechanism DOF can be calculated
using the following equation:
DOF = 6 × (# bodies ) − 5 × (# pins ) − 5 × (# sliders ) − 4 × (# cylinders)

− 3 × (# balls) − 3 × (# planars) − 2 × (# bearings )
Redundancies may occur when two or more connections constrain the

same DOF. As a result, the DOF calculated using the above equation
would be inaccurate.

NOTES
For example, the 4 bar linkage in the following picture should have 1
DOF. Using the MDX, the 4 bar linkage, can be created using 4 pin
connections. Using the equation above, the resulting DOF of the
mechanism should be as follows:
DOF = 6 × (3) − 5 × (4) = −2
Interpreting Negative Degrees of Freedom
The DOF of this mechanism would be negative due to redundancies in the

connections. Because all bodies in MDX are considered perfectly rigid
bodies, it is redundant to constrain the same motion at two connections of
a body. For example, the connecting rod in the 4 bar mechanism is
constrained by a pin connection at each end. Both of these pin connections
constrain the motion of the rod in the direction perpendicular to the page.
MDX can capture the motion of models with redundancies. Because this
rod is a perfectly rigid body, this redundancy in the connections will
prevent the accurate calculation of reaction forces at these connections,
using Pro/ MECHANICA down the road.
Figure 7: Degrees of freedom in a four bar linkage
Working with the Body

A body is a part or a group of parts that move as one rigid entity in a
mechanism. There is no degree of freedom (DOF) within the body. In
other words if a body consists of multiple components, these components
can not move relative to each other.

NOTES
When creating an assembly, if a component is assembled using assembly

constraint instead of connections, the assembled component and the
component/components it is assembled to become one body.
Defining Bodies
The constraints used to place a component determine which parts belong
to a body. Mechanism Design defines bodies automatically based on these
constraints.
In order to create a mechanism, you must understand the following rules:
• You can create connections only between distinct bodies.

• When defining the geometric constraints for a connection, you can
reference only a single body in the assembly and a single body in the
component being placed.
Note:
It is possible to have multiple bodies in a component since a
component could be a subassembly that contains a mechanism.
• Components placed with Pro/ENGINEER constraints that reference the

default assembly datums can not move with respect to the assembly.
They are considered a special type of body ? ground. Any component
that is placed with Pro/ENGINEER constraints to a ground body also
becomes a ground.
• You can highlight all of the bodies in the assembly. Different bodies
appear in different colors. Ground is always highlighted in green.
Redefining Assemblies as Mechanisms

An assembly created using traditional Pro/ENGINEER constraints can be
redefined to a mechanism. When you do this using the component
placement dialog box, if the constrains match a certain connection
definition, they will be converted to a connection automatically.
SIMULATING MOTION
After a mechanism is created, you can move bodies interactively using the
Drag function. This enables you to gain insight into how the assembly
behaves or to place the assembly in a particular configuration.

NOTES
Figure 8: Drag dialog box.
Dragging Assembly Components

Dragging is a powerful way to move your mechanism through an
allowable range of motion. Using the Drag icons in the DRAG dialog box,
you can select a body that is not defined as ground and drag it with the
mouse. You can also have a body translate along or rotate about the axis
of a coordinate system.
When dragging using one of the above methods, the following rules apply:
• The entity that you grab will be positioned as close as possible to the
current cursor location while keeping the rest of the mechanism
assembled.
• Left mouse button—to accept the current body positions and begin
dragging another body
• Middle mouse button—to cancel the drag just performed
• Right mouse button—to terminate the drag operation, leaving the
bodies where you have just dragged them
The following table lists the icons available for in drag operation.

NOTES
Table 2: Icons used in drag operations

Icon Description
Drag point.
Drag body.
Translate along the coordinate system axis.

Rotate about the coordinate system axis.
Select a coordinate system.
Point Drag
Select a location on a body within the current model, a circle will appear
at the selected location. This is the exact location on the body that you will
drag. The body will move based on the movement of the cursor and at the
same time satisfy the definition of the mechanism.
Body Drag
The body’s position on screen will change but its orientation will remain
fixed. If the mechanism requires the body to be reoriented in conjunction
with a change in position, then the body will not move at all since the
mechanism would not be able to be reassembled in the new position.
Should this happen, try using point dragging instead.
Moving about a Coordinate System

A body can translate along X, Y, Z or rotate about X, Y, Z of a selected
coordinate system. Selecting one of the 6 options reduces the movement of
the body to the selected direction for drag operations. Translation and
rotation in other directions is locked.
Adding Controls when Dragging

Controls can be added during the drag operation. You do this to achieve
predictable results and to study the motion of either the entire mechanism
or a portion of it. The following table lists the icons available for creating
and manipulating constraints.

NOTES
Table 3: Constraint icons

Icon Description
Align.
Mate.
Orient two surfaces.

Body ? body lock.
Enable and disable connections.
Enable and disable constraints.

Assemble the model using the applied constraints.
Copy the constraints from the current snapshot.

Paste the constraints to the current snapshot.
Delete the selected constraints.
You can add controls using one of the following methods when dragging:
• Add Constraints
• Lock bodies
• Enable/Disable connections
• Enable/Disable constraints
When using one of the above methods, the following rules apply:
• These added controls are valid only during the drag operation.
• If they are associated to a snapshot, they will be enforced when the
snapshot is shown or updated.
Constraints
Specify geometric constraints such as Align, Mate and Orient to reduce
DOF.
Locked Bodies
In a system with redundant DOF, the movement of a body may be

achieved in more than one way. To reduce the number of DOF, multiple
bodies can be locked together and move (behave) as one body. Locking

NOTES
bodies can achieve predictable movement result, hence improve the

dragging performance.
Note:
The bodies do not need to be in contact or adjacent to be
locked together.
Enabling and Disabling Connections

To make more DOF available to explore different design alternative or to
examine a portion of the system, connections can be temporarily disabled.
Recording Configurations with Snapshots

After you drag a body, you can save the current configuration, i.e. the
position and orientation of the components, as a snapshot. Snapshots
capture the existing locked bodies, disabled connections, and geometric
constraints.
A snapshot can be used for the following purposes:
• A starting point for a motion run.

• To place an assembly in a particular configuration.
• Snapshots can also be made available as explode states in assembly.
As a result the drawing created from the assembly will have multiple
view state. Different position configurations can be displayed on one
drawing sheet in a painless manner.
When manipulating snapshots, you can
• Create multiple snapshots

• Remove snapshots
• Switch from one snapshot to another
• Update a snapshots to the current configuration
• Borrow part position from one snapshot to another
The following table lists the icons available for creating and manipulating
snapshots.

NOTES
Table 4: Snapshot icons

Icon Description
Snapshot the current configuration.
Display the selected snapshot.
Update a snapshot using the current configuration.
Borrow part positions from other snapshots.
Make the selected snapshot available in drawings.
Delete the selected snapshot.
Other Commands
You can access package move functionality in the drag dialog box. You
can also switch among consecutive configurations. The following table
lists the icons for the operations mentions above.
Icon Description
Previous model configuration.
Next model configuration.
Package move.

NOTES
LABORATORY PRACTICAL
Goal
To create mechanisms using various connections.
Method
1. In the first exercise, you will create a crane assembly using the
slider, pin, and cylinder connections.
2. In the second exercise, you will create an assembly using the

slider, pin, and bearing connections.
EXERCISE 1: Creating a Crane Assembly

Task 1. Create a piston assembly.
1. Change the current working directory to

CREATING_CRANE_ASSY under the MECHANISMS folder.
2. Create a new assembly. Click File > New > Assembly , enter
[piston] as the name.
3. Assemble F_CYLINDER.PRT using the default constraint.

Ø Click Component > Assemble ,
Ø Select F_CYLINDER.PRT followed by Open .
Ø Click [Assemble at default position] followed by OK .
Task 2. Assemble M_CYLINDER.PRT using the slider connection.
1. Click Component > Assemble ,
2. Select M_CYLINDER.PRT followed by Open .
3. Click Connections so that the arrow beside it is pointing down.
4. Type in [piston] as the connection name, followed by <Enter>.
5. Select Slider from the TYPE drop-down list.

NOTES
6. The slider connection is composed of two constraints, Axis

alignment and Rotation. Click the cylindrical surfaces from both
parts as the references as the Axis alignment constraint.
7. Click the flat surfaces of the tabs from both parts as the references
as the Rotation constraint. You can use Flip button to reverse the
orientation of the part.
8. The placement status indicates that the connection definition is

complete and a slider connection icon is displayed.
9. Click OK to finish.
10. Save and close the window.
Task 3. Create an assembly.
[crane] as the name.
2. Assemble CRANE_PLATFORM.PRT using the default constraint.

Ø Select CRANE_PLATFORM.PRT followed by Open .
Ø Click [Assemble to default position] followed by OK .
Task 4. Assemble LOWER_ARM.PRT using the pin connection.
2. Select LOWER_ARM.PRT followed by Open .
4. Type in [arm_joint] as the connection name, followed by

<Enter>.
5. Select Pin from the TYPE drop-down list.
6. The pin connection is composed of two constraints, Axis alignment

and Translation. Click the A-1 in the LOWER_ARM.PRT and A-5 in
the CRANE_PLATFORM.PRT as the references for the Axis
alignment constraint.
7. Click the FRONT datum planes from both parts as the references
for the Translation constraint.

NOTES
8. If necessary, click the Flip button to reverse the part orientation.

The small tab on the LOWER_ARM.PRT should be oriented as
shown in the following picture.
9. Press and hold <Ctrl>+<Alt> and the middle mouse button. Drag
the cursor to move the LOWER_ARM.PRT to the configuration
shown in the following figure.
10. The placement status indicates that connection definition complete

and a pin connection icon is displayed. Click OK to finish.
Figure 9: Assemble the lower arm to the crane assembly
Task 5. Assemble the piston assembly using the pin connection.
2. Select PISTON.ASM followed by Open .
4. Accept the default connection name.
6. Click the A-3 in the F_CYLINDER.PRT and A-11 in the

CRANE_PLATFORM.PRT as the references as the Axis alignment
constraint.

NOTES
7. Click the FRONT datum planes in F_CYLINDER.PRT and the

CRANE_PLATFORM.PRT as the references as the Translation
constraint.
Note:
You can not use the FRONT datum planes in the
LOWER_ARM.PRT as the constraint reference because
the references of the constraints within one connection
must come from the same body.

and a pin connection icon is displayed. Do not click OK .
Task 6. Add a cylinder connection.
1. Click [Specify a new connection].
2. Accept the default connection name. Select Cylinder from the

TYPE drop-down list.
Note:
Adding a pin connection will result in redundant constraints.
3. Click the A-3 in the M_CYLINDER.PRT and A-3 in the

LOWER_ARM.PRT as the references as the Axis alignment
constraint.
4. The assembly might move to an undesired configuration. You will

move it later. Click OK to finish.
5. Click Done/Return .
Task 7. Drag the mechanism.
1. Click Mechanism from the ASSEMBLY menu, followed by Drag .
2. Click [Point Drag].
3. Click anywhere on the LOWER_ARM.PRT.

NOTES
4. Move the mouse cursor to move the LOWER_ARM.PRT. Notice

that the piston subassembly changes its configuration. The two
piston parts may come apart. You will set up the range of motion
later.
5. Drag the mechanism to a configuration, shown in the following

figure.
Figure 10: Drag the crane assembly
6. Close the dialog box and click Done/Return .
7. Save and erase the assembly.

NOTES
EXERCISE 2: Creating Reciprocating Saw

Components
Figure 11: Reciprocating saw assembly
Task 1. Create a new assembly and assemble the first component.
1. Change the current working directory to CREATING_RECIP_SAW

under the MECHANISMS folder.
[saw] as the name.
3. Assemble the MOTOR_ENDPLATE.PRT using the default

constraint.
Ø Select MOTOR_ENDPLATE.PRT followed by Open .
Ø Click [Assemble to default position] followed by OK .
Task 2. Assemble SHAFT1_W_CLIPS.ASM using the pin connection.
1. Click Component > Assemble .
2. Select SHAFT1_W_CLIPS.ASM followed by Open .
4. Type in [shaft1] as the connection name, followed by <Enter>.

NOTES
6. Click the A-1 in the SHAFT1_W_CLIPS.ASM and A-9 in the

MOTOR_ENDPLATE.PRT as the references for the Axis alignment
constraint.
7. If the components are obstructing your view, press and hold

<Ctrl>+<Alt> and the mouse buttons to move the shaft assembly.
8. Click the end surface of the shaft and the surface in the
MOTOR_ENDPLATE.PRT indicated in the following as the
references for the Translation constraint.
Figure 12 Specify the translation references.
8. Click Flip button to reverse the orientation of the part if necessary.

Task 3. Assemble the CON_ROD.PRT using a pin connection.
2. Select CON_ROD.PRT followed by Open .
4. Type in [rod] as the connection name, followed by <Enter>.
6. Click the A-1 in CON_ROD.PRT and the A-2 in the shaft part as the
references for the Axis alignment constraint. Alternatively, you can
select the corresponding surfaces.
7. If the components are obstructing your view, press and hold

<Ctrl>+<Alt> and the mouse buttons to move the component.

NOTES
8. Click the surfaces of the clip part and the surface of the
CON_ROD.PRT indicated in the following figure as the references
for the Translation constraint.
Figure 13 Specify the translation references.
9. Click Flip button to reverse the orientation of the part if necessary.

Task 4. Assemble the SHAFT_2.PRT using a slider connection.
2. Select SHAFT_2.PRT followed by Open .
4. Type in [shaft2] as the connection name, followed by <Enter>.
6. Reposition and reorient the SHAFT_2.PRT, using <Ctrl>+<Alt>

and the mouse buttons so that the assembly looks like the
following figure. Notice the location of the long cutout in the shaft
part.

NOTES
7. Click the A-1 in SHAFT_2.PRT and the A-14 in the

MOTOR_ENDPLATE.PRT as the references for the Axis alignment
constraint.
8. For the Rotation constraint references, select the surfaces indicated

in the following figure.
Figure 14 Specify the rotation constraint references.
9. Click Flip button to reverse the orientation of the part if necessary,

so that the mechanism looks like the following picture.

NOTES
Figure 15 Assemble the SHAFT_2.PRT using the slider connection.
10. The placement status indicated that the connection definition is

completed and a slider connection icon is displayed. Do not click
OK .
Task 5. Add a bearing connection.
1. Click [Specify a new connection].
2. Accept the default connection name. Select Bearing from the

3. Select datum point A2BE in CON_ROD.PRT as the ASSEMBLY

REFERENCE, A-2 in SHAFT_2.PRT as the COMPONENT
REFERENCE.
4. The placement status indicates that the connection definition is

completed and a bearing connection icon is displayed. Click OK to
finish.

Module
Configuring Joint Axis Settings

In this module you will learn how to use joint axis settings to specify
the zero references, range of motion, and the regeneration
configuration.
Objectives
• Designate zero references for joint axes.

• Designate range of motion.
• Designate regeneration configuration.
Page 3-1
NOTES
JOINT AXIS SETTINGS

Most mechanism design connections have one or more degrees of freedom
(DOF). A body with only one connection (also known as a “Joint”) should
be able to move freely in any direction that corresponds to the DOF of the
connection. The direction of motion is represented using coordinate
system axis.
Joint Axis settings can be used to quantitatively describe the displacement

in the direction of motion. You can also use them to limit the range of
motion and to choose the configuration used in regeneration.
Defining the Zero References

The position of a body in a specific joint axis direction is defined using
Joint Axis Position with respect to the zero position. The zero position can
be defined by setting zero at the position of interest or using references
from two bodies.
Designating the Joint Axis Zero

Joint Axis Zero can be set to any position of interest. To do this, first
move the body to the desired position. Then this current position can be
captured as the zero reference position. Position of the body during the
motion will be measured from the zero position. In the following figure, a
position of interest is used as the zero position.
Figure 1 Left: Make Zero position. Right: 30 degree position.

NOTES
Setting the User Reference

Joint Axis Zero can be set using references on the two bodies. A joint axis
reads zero when the references on the two bodies are aligned. In the
following figure, the top surface of the crank and the top surface of the
base are used as zero references.
Figure 2 Left: Zero position. Right: 30 degree position.
When defining joint axis zero references for rotational axes:

• Point–Point Zero Reference—Mechanism Design draws a vector from
each of the two points in a direction normal to the axis. These two
vectors should coincide for the joint zero. The points cannot lie on the
joint axis
• Point–Plane Zero Reference—The plane containing the point and the
rotational joint axis should be parallel to the selected plane for the joint
zero. The point cannot lie on the joint axis. It doesn’t allow point
reference anymore!
• Plane–Plane Zero Reference—The two planes are parallel at the joint
zero. Both planes must be parallel to the axis of rotation.
When defining joint axis zero references for translation axes:
• Point–Point Zero Reference—The displacement is measured as the

distance between the two points projected along the direction of
translation. This displacement will be zero at joint zero
• Point–Plane Zero Reference—The distance between the plane and the
point in the direction of the translation joint axis will be zero at joint
zero. The plane must be perpendicular to the joint axis.
• Plane–Plane Zero Reference—The distance between the planes is zero
at joint zero. Both planes must be perpendicular to the joint axis.
When defining joint axis zero references for planar or bearing
connections:
Configuring Joint Axis Settings P a g e 3- 3

NOTES
• Planar Connection—To avoid unpredictable behavior, you can only

define point–point or point–plane zero references for planar translation
axes. Also, you can only define plane–plane zero references for planar
rotation axes.
• Bearing Connection—You must select a point or plane on the body
that contains the line in the point–line constraint. Mechanism Design
aligns this reference to the point defining the bearing joint.
Setting the Range of Motion

The limits for a translational or rotational joint axis can be set by
specifying the maximum or minimum values of the joint axis position. It is
a good practice to check whether the specified limits provide the expected
range of motion using the drag command.
Setting the Regeneration Configuration

Assembly configuration used in regeneration can be set by entering the
desired joint axis position.

NOTES
Goal
To configure joint axis settings.
Method
1. In the exercise you will define the joint axis settings for the crane
assembly.
EXERCISE 1: Configuring Joint Axis Settings

Task 1. Define the Joint Axis Settings for the piston assembly using the
MODEL TREE.

CONFIGURING_JOINT_AXIS under the JOINTS folder.
2. Open PISTON.ASM.
3. Click Mechanism from the ASSEMBLY menu.
4. In the MODEL TREE, click the junction box to navigate to the

translation axis, as shown in the following figure.
Figure 3 Define the Joint Axis Settings using the MODEL TREE.
5. Click the TRANSLATION AXIS to highlight it.

NOTES
6. Right click and choose Joint Setting to open the JOINT AXIS
SETTINGS dialog box.
Task 2. Set the reference entities.
1. Check the By Reference check box under the SET USER

REFERENCES area.
2. Define the references by clicking the [Select] icon and select

the flat end surfaces of both bodies respectively, as shown in the
following figure.
Figure 4 Define the reference entities for the piston assembly.
Task 3. Set the joint limits.
1. Check the Limits check-box under the JOINT AXIS LIMIT area.
2. Enter [0] as the minimum value, [16] as the maximum value.
3. Click OK to close the JOINT AXIS SETTING dialog-box.
Task 4. Verify the Joint Axis Settings.
1. Retrieve the CRANE.ASM.
2. Drag the mechanism using the procedures in the previous chapter.

Notice that the hydraulic cylinder is not over extended. The
component is now moving within the specified limits.

NOTES
Task 5. Set the configuration used in regeneration.
1. In the CRANE assembly window, click the junction box in the

MODEL TREE, to navigate to the rotation axis in the ARM_JOINT,
as shown in the following figure.
Figure 5 Define the Joint Axis Settings using the MODEL TREE.
2. Click the ROTATION AXIS to highlight it.
3. Right click and choose Joint Setting to open the JOINT AXIS
SETTINGS dialog-box.
4. Check the By Reference check box under the SET USER

REFERENCES area.
5. Define the references by clicking the [Select] icon and select

the top surface of the LOWER_ARM.PRT as the Cyan Body
Reference. Select the top flat surface of the platform
CRANE_PLATFORM.PRT as the Green Body Reference.
6. Check the Use in Regeneration check box under the ASSEMBLY

CONFIGURATION area.
7. Enter [0].
8. Click OK to finish. The assembly should look like the following

picture.

NOTES
Figure 6 Define the configuration used for regeneration.

Module
Defining Drivers and Motion

In this module you will learn how to define drivers. You will also
learn how to define motions using one or more drivers.
Objectives
• Describe the purpose of drivers.

• Create drivers.
• Configure motions with one or more drivers.
Page 4-1
NOTES
DRIVERS AND MOTION

As part of your mechanism analysis, you can use a driver to study
kinematic behavior in your designs. Drivers behave like motors in that
they exert forces between two bodies within a single degree of freedom
(DOF). You can add drivers to your model to prepare it for a motion
study.
When configuring a driver, you specify:
• Position – location in the mechanism

• Velocity – speed
• Acceleration – rate of change of velocity
You can also control translational (straight line) or rotational motion. By
specifying driver's function, such as constant or ramp, you can define the
motion profile in terms of position, velocity, or acceleration.
Selecting a Driver
You can impose drivers on joint axes or on geometric entities such as
points, planar surfaces, and datum planes.
Joint Axis Drivers

Joint axis drivers are used to define the relative motion between two
bodies in the joint axis direction.
Geometric Drivers
Geometric drivers are used to define motion on points or planes. They are
useful when the motion cannot be defined using a joint axis, for example:
• The two bodies involved in the motion are not directly connected by a
joint.
• DOF needed cannot be satisfied by any existing connection.
• Complex 3-D motions as opposed to single translation or rotation is
needed.

NOTES
Based on the types of the entities (point, plane) and the types of motion
(translate, rotate), the following geometric drivers can be used:
• Plane-Plane Translation Driver

It moves a plane in one body with respect to a plane on another body,
keeping one plane parallel to the other. The zero position occurs when
the driven and reference planes are coincident.
In addition to the prescribed motion, the driven plane is free to rotate

or translate in the reference plane. Thus, a plane–plane driver is less
restrictive than a driver on a slider or a cylinder joint. If you want to
explicitly tie down the remaining degrees of freedom, specify
additional constraints such as a connection or another geometric
driver.
Note:
One application of a plane–plane translation driver would be to
define a translation between the last link of an open-loop
mechanism and ground.
• Plane-Plane Rotation Driver

It moves a plane in one body at an angle to a plane in another body.
During a motion run, the driven plane rotates about a reference
direction, with the zero position defined when the driven and reference
planes are coincident.
Because the axis of rotation on the driven body remains unspecified, a

plane–plane rotation driver is less restrictive than a driver on a pin
joint or cylinder joint. Thus, the location of the axis of rotation in the
driven body may change in an arbitrary way.
Note:
Plane–plane rotation drivers can be used to define rotations
around a ball joint. Another application of a plane–plane
rotation driver would be to define a rotation between the last
body of an open-loop mechanism and ground, such as a front
loader.
• Point-Plane Translation Driver
Defining Drivers and Motion P a g e 4- 3

NOTES
It moves a point in one body along the normal of a plane in another

body. The shortest distance from the point to the plane measures the
position value of the driver.
Note:
You cannot define the orientation of one body with respect to
the other using only a point–plane driver. Also note that the
driven point is free to move parallel to the reference plane, and
may thus move in a direction unspecified by the driver. You
can lock these degrees of freedom using another driver or
connection.
By defining x, y, and z components of motion on a point with respect

to a plane, you can make a point follow a complex, 3D curve.
• Plane-Point Translation Driver

A plane–point driver is the same as a point–plane driver, except that
you define the direction in which a plane will move relative to a point.
During a motion run, the driven plane moves in the specified motion
direction while staying perpendicular to it. The shortest distance from
the point to the plane measures the position value of the driver. At a
zero position, the point lies on the plane.
Note:
You cannot define the orientation of one body with respect to
the other using only a plane–point driver. Also, note that the
driven plane is free to move perpendicularly to the specified
direction. You can lock these degrees of freedom using another
driver or connection.
By defining x, y, and z components of motion on a point with respect

to a plane, you can make a point follow a complex, 3D curve.
• Point-Point Translation Driver

It moves a point in one body in a direction specified in another body.
The shortest distance measures the position of the driven point to a
plane that contains the reference point and is perpendicular to the
motion direction. The zero position of a point–point driver occurs
when both the reference and driven point lie in a plane whose normal
is the motion direction.

NOTES
Note:
The point–point translation driver is a very loose constraint
that must be used carefully to get a predictable motion. You
cannot define the orientation of one body with respect to the
other using only one point–point driver. In reality, you would
need six point–point drivers for this.
Also note that the driven point is free to move perpendicularly to the
specified direction, and may do so if you do not specify otherwise. Lock
these degrees of freedom using another driver or connection. By defining
x, y, and z components of motion on a point with respect to a plane, you
can make a point follow a complex, 3D curve.
Configuring Driver Profiles

You can use driver profiles to specify one of the following aspects or the
motion:
• Position — This type specifies the position of the selected entity.

• Velocity — This type specifies the velocity of the selected entity. An
initial position has to be set. The two choices are the joint axis zero or
current position.
• Acceleration — An initial position and an initial velocity need to be
set.

NOTES
There are eight types of driver profiles. Each type has its own input
requirements. The following table lists each driver profile, its description,
and its required settings.
Table 1: Driver profiles.

Profile Type Description Required Settings
Constant Use if you want a y=A
constant motion. where A = Constant for all time
Ramp Use if you want a y = A + B*t
constant motion or a where A = Constant, B = Slope
motion that changes
linearly over time.
Cosine Use if you want to y = A*cos(2*Pi*t/T + B) + C
make the mechanism where A = Amplitude, B = Phase,
oscillate. C = Offset, T = Period
SCCA Use to simulate a cam
profile output.
Cycloidal Use to simulate a cam y = L*t/T – L*sin (2*Pi*t/T)/2*Pi
profile output. where L = Total rise, T = Period
Parabolic Can be used to simulate y = A*t + 1/2 B(t2)
a trajectory where A = Linear coefficient,
B = Quadratic coefficient
Polynomial Use for generic driver y = A + B*t + C*t2 + D*t3
profiles where A = Constant term coefficient
B = Linear term coefficient
C = Quadratic term coefficient
D = Cubic term coefficient
Table Use for more complex Name of Input file with tabular input
motion profiles that you in two column format. The first
cannot specify with the column contains time, and the
other functions. If you second contains value of the Driver.
have output measure An error is generated if the driver
results to a table, you value is not specified for the entire
can use that table here. time domain of the motion run.

NOTES
The following picture is a graphic depiction of the types of available

profiles.
Figure 1 Profile Types
Once you define a driver, the driver profile can be graphically displayed.
You can edit, rename, copy, or delete existing drivers. There is no limit on
the number of drivers created on one entity.
DEFINING MOTIONS
Instead of using drag functionality to move a mechanism interactively,
you can use motion definitions to accurately control how a mechanism
should move over a given time period.
You define the way that an assembly should move by adding drivers to
your mechanism, then setting the time domain variables of the motion.
You can play back the output of the motion run or save the results to
replay them at a later time.

NOTES
Configuring Time Domain Settings

Using time domain settings, you can define when the motion starts, when
it ends, and at what rate the system captures the motion. There are three
parameters available for defining how the software measures the time
domain:
• Length — The length of the motion run, calculated using end time and
start time (in seconds)
• Rate — The number of frames per second during the motion run which
can also be defined using Interval (Rate = 1/Interval)
• Frame Count — Total number of frames captured for the motion run
These parameters are related by the following formula:
Frame Count = Frame Rate * Length + 1
As a result, only two of the three parameters need to be specified and the
third one will be derived automatically.
To fully define the time domain settings, you need to specify the Start
Time and one of the following combinations:
• Length and Rate

• Length and Frame Count
• Rate and Frame Count
Locking Entities During Motion Runs

You can lock bodies during a motion run. These locked bodies will not
move relative to ground during the defined motion run.
Configuring the First Motion

You can start the motion from the current screen configuration. You can
also select a snapshot you saved on the Drag dialog box.
Selecting Active Drivers

When there are multiple drivers available, you can select which ones to
use in the motion definition. The activated drivers are “time conditional,”
meaning that each driver can have its own start and end time, independent

NOTES
of one another. This gives you more flexibility when creating your
mechanism analysis.
Note:
If there are multiple drivers defined for an entity, for any given
motion run, turn on only one driver for that entity at a time.
Running Motion Definitions

You can create multiple motion definitions in a mechanism. You can also
edit, copy, remove and run and motion definition.
When running a motion definition, the movement of the mechanism will

be graphically displayed. The result of the motion run resides in session.
You can playback and save the motion results by using Result menu.
Exiting Pro/Mechanism without saving will delete all the motion results in
session.
If the motion run indicates that the mechanism could not be assembled at
some frames, you have probably defined drivers that require the
mechanism to assemble in an impossible configuration. It could be caused
by the following reasons:
• An error in the way you defined the driver

• A conflict between multiple drivers
• Drivers try to move a point past its limits
Whenever this happens, you can examine the mechanism in the last
successfully assembled frame and try to determine if the driver definitions
are appropriate.

NOTES
Goal
To create drivers and run motion definitions.
Method
In the first exercise, a joint axis driver is created to drive the reciprocal
saw.
In the second exercise, several table joint axis drivers are created to
simulate a backhoe moving dirt.
In the third exercise, a geometric driver is created to maintain the bucket

horizontal while moving wet cement using a front loader.
EXERCISE 1: Creating Standard Joint Axis Drivers

Task 1. Create a driver on the shaft1 joint.

CREATING_STANDARD_JOINT_AXIS under the DRIVERS folder.
1. Retrieve the SAW.ASM.

drivers icon, as shown in the following figure.
4. Click the DRIVERS to highlight it.
5. Right click and choose New to open the DRIVER EDITOR dialog
box.

NOTES
Figure 2 Add a driver using the MODEL TREE.
6. On the Entities tab, click the DRIVEN ENTITY drop-down list to

examine the available options. Leave the default Joint Axis .
7. Select the shaft 1 joint axis as shown in the above figure.
8. Click the PROFILE tab and fill out the dialog box as shown in the
following figure.
Figure 3 Saw driver profile.
9. Click Graph to examine the graph.

NOTES
Figure 4 Joint Axis Driver settings graph.
10. Close the graph window and the GRAPH OPTIONS dialog box.
Task 2. Create a motion definition.
1. Right-click the MOTION DEFS in the MODEL TREE and select

New .
2. Accept all the default and close the dialog box.
3. Access the new motion definition under the MOTION DEFS in the
MODEL TREE. Right click and select Run .
4. Pay attention to the snap ring on shaft 1. You can see that the
rotation is transformed to reciprocating translation in this
mechanism. You will also notice that the rotational speed gradually
increases.

NOTES
EXERCISE 2: Creating Table Joint Axis Drivers

Task 1. Create table joint axis drivers.

CREATING_TABLE_JOINT_AXIS under the DRIVERS folder.
2. Retrieve the BACKHOE2001.ASM.
4. Investigate the existing connections using the MODEL TREE.

ROTATION AXIS under JOINT_23 .
6. Click the ROTATION AXIS to highlight it. The joint axis is

highlighted in the graphic pane as well.
7. Right click and choose Driver to open the DRIVER EDITOR dialog
box, as shown in the following figure.
Figure 5 Add a joint axis driver at a specific joint.
8. Enter [spin] as the name of the driver.
9. On the PROFILE tab, select Position from the Specification drop-

down list.
10. Select Table from the Magnitude drop-down list.
11. Click Browse to locate the file on the hard disk.

NOTES
12. In the SELECT TABLE FILE dialog box, select All files(*) from the
13. Select and open A_SPIN.TXT.
14. Click Graph in the DRIVER EDITOR dialog box to view the table
graph.
15. Click Close to close the GRAPH OPTIONS dialog box.
16. Click OK to close the DRIVER EDITOR dialog box.
Task 2. Create more table drivers using the same procedures.
1. Create the following position table drivers (each driver simulates a

separate hydraulic actuator):
Ø Driver HYD1 on TRANSLATION AXIS in JOINT _31 .
Ø Use A_HYDRAULIC1_DRIVER.TXT as the table file input.
Ø Use A_ HYDRAULIC2_DRIVER.TXT as the table file input.
Ø Use A_ HYDRAULIC3_DRIVER.TXT the table file input.
Task 3. Create and run a motion definition.

New .
2. Enter [move_dirt] as the name of the motion definition.
3. Fill in the following information on the TIME DOMAIN tab.

Ø Accept the Length and Rate from the drop-down list.
Ø Enter [18] as the end time.
Ø Enter [5] as the rate.
Ø Select the Snapshot3 from the INITIAL CONFIGURATION
drop-down list.
4. On the DRIVER tab, ensure that only the four newly created drivers
are added to the ACTIVE DRIVERS area. Leave the Use Time
Domain Start and Use Time Domain End checkbox checked.
5. Click OK .

NOTES
6. Right-click the MOVE_DIRT motion definition in the MODEL

TREE under MOTION DEFS and choose Run .
7. In the MODEL TREE, expand the PLAYBACK junction box to

display the MOVE_DIRT playback. Right click and choose Save .
8. Click Done/Return from the MECHANISM menu. Save and erase

the assembly.

NOTES
EXERCISE 3: Creating Geometric Drivers

Task 1. Create a joint axis driver to lift the arm.

CREATING_GEOMETRIC_JOINT_AXIS under the DRIVERS
folder.
2. Open LOADER.ASM.

TRANSLATION AXIS under the PISTON connection.
5. Click the TRANSLATION AXIS to highlight it. The joint axis is

highlighted in the graphic pane as well.
box.
7. Enter [liftarm] as the driver name, and fill in the following

information on the PROFILE tab.
Ø Select Position from the Specification drop-down list.
Ø Select Ramp from the Magnitude drop-down list.
Ø Enter [1] for coefficient A.
Ø Enter [1.2] for coefficient B.
8. Click OK to close the dialog box.
Task 2. Create a geometric driver to keep the bucket horizontal when

lifting the arm.
1. Highlight the DRIVERS in the MODEL TREE. Right-click and

select New .
2. Enter [bucket] as the driver name.
3. On the ENTITIES tab, select Plane from the DRIVEN ENTITY

drop-down list.
4. Check the Rotation (in degrees) radio button.

NOTES
5. Select the top surface of the bucket part as the DRIVEN ENTITY, as
Figure 6 Select the bucket top surface and the driven entity.
6. Select ASM_TOP in the LOADER.ASM as the REFERENCE

ENTITY.
7. Select AA_1 in the LOADER.ASM as the MOTION DIRECTION.
8. Accept the default options on the profile tab. The 0 (zero) degree
constant position driver will maintain the two planes parallel.

New .
2. Enter [move_mortar] as the name of the motion definition.

Ø Accept the Length and Rate from the drop-down list.
Ø Accept [10] as the end time.
Ø Enter [3] as the rate.
Ø Select the start snapshot from the INITIAL CONFIGURATION
drop-down list.
4. On the DRIVER tab, make sure the two newly created drivers are
added and leave the Use Time Domain Start and Use Time
Domain End checkbox checked.
5. Click OK to close the MOTION DEFINITION dialog box.

NOTES
6. Right-click the MOVE_MORTAR motion definition in the MODEL

TREE and choose Run . As you can see, the arm is lifted and the
bucket is kept horizontal to the ground during the process.
7. In the MODEL TREE, expand the Playback junction box to display

the MOVE_ MORTAR playback. Right click and choose Save.

the assembly.

Module
Working with Motion Analysis Results

In this module you will learn the results and applications of
Mechanism Design.
Objectives
• Create static images and movies of your motion runs.

• Check motion interference.
• Create motion envelopes.
• Create trace curves.
• Measure and display plots.
• Create cam synthesis curves.
Page 5-1
NOTES
REVIEWING MECHANISM ANALYSIS RESULTS

Viewing Playback Results
The result of every successful motion run is temporarily stored in session
(in memory) as a “result set.” You can manipulate result sets in the
following ways:
• Play—Replay the selected motion run.

• Save—Store the result set in a file on the disk, which you can restore
and run in other session. The saved file has a pbk suffix.
• Remove—Remove the result set from session.
• Restore—Restore previously saved result set from disk.
• Export—Export a result set to files which can be used to create motion
envelopes.
Note:
The results saved for a master assembly may be played back
on its simplified reps or vice versa.
Generating Movie and Image Files

Another very useful Mechanism Design tool is its ability to generate
movie and image files. When you playback a result set, you can record the
motion as a MPEG movie file. You can also capture it as individual
frames in JPEG file format. You can use these JPEG files as pictures in
presentations or generate a movie using other application software.
By setting up the movie generation schedule, you can playback and record
the entire motion run or a specific portion of the run.
When capturing the motion run results, you can control the resolution of
the output file. The higher the resolution, the longer it takes. To reduce the
run time, you can change the background to a solid color or decrease the
image size.
Pag e 5- 2 Mechan ism D esign and An a ly sis

NOTES
Checking Motion Interference

You can perform interference checks when playing back the motion run.
The following mode options specify the types of interference check:
• No Interference—The MDX will not perform interference check.

• Quick Check—Does a low-level check for interference. The system
detects interference without highlighting the areas of interference.
Automatically selects Stop Playback as an option. This option saves
time when performing interference check on a large system.
• Two Parts—Allows you to specify two parts for which to check the
interference. Mechanism Design highlights the areas of interference.
• Global Interference—Checks for any kind of interference in the entire
assembly. Mechanism Design highlights the areas of interference.
Options—Gives the options available for the type of interference check.
• Include Quilts—Includes surfaces as a part of the interference check.

• Stop Playback—This option allows the motion to playback
uninterrupted when there is no interference. Whenever interference is
detected, the motion stops. You can then play the motion in single step
to examine the areas of interference in static frames.
Figure 1 Checking For Interference.
Wo rk ing with Motion An aly sis R esul t s Pag e 5- 3

NOTES
Evaluating Motion Envelopes

Motion envelopes are a very powerful output from Mechanism Design for
design purposes. The envelope is a surface representing the volume of
space that the mechanism moves in. Since this envelope surface represents
a “space claim,” this can be applied in top down design techniques. The
envelope surface could replace the mechanism subassembly with the
motion envelope in a higher level assembly for simplification and to
automatically avoid interference during the design process of surrounding
components.
Motion envelopes can be created in two ways. The first technique is to

export a separate part file with a surface feature. The other way is to create
an assembly analysis feature with behavioral modeling to create an
assembly surface. This technique provides associativity since the surface
feature will regenerate as the mechanism geometry or motion definition
changes.
Configuring Motion Envelopes

A motion envelope is a faceted solid model that represents the swept
volume created by a mechanism motion run. It represents the volume of
space in which that mechanism can exit. It is generated using the frame
file captured during the motion run.
Setting Motion Envelope Quality Levels

When creating a motion envelope, you can specify the quality level of the
envelope. Quality is inversely proportional to the size of the triangles used
to create the faceted model.
At a lower setting, the system creates fewer, larger triangles, producing a

roughly accurate representation of the object's shape. At a higher setting,
the system creates many smaller triangles, producing a more detailed,
more accurate representation of the object's shape. Increasing the quality
level results in a more complete representation but also increases the
creation time.
The recommended method for creating a motion envelope model is to set a

low quality setting and preview the results, only gradually increase the
quality level as necessary.

NOTES
The following are the available output formats of a motion envelope:
• Part (selected by default)—Pro/ENGINEER part

• LW Part —Creates a lightweight Pro/ENGINEER part
• STL—Creates an STL file
• VRML—Creates a VRML file
When output format is Pro/ENGINEER part, the motion envelope can be
used in the same manner as a standard Pro/ENGINEER part. It can be
assembled in a higher level assembly as a component for interference
checking.
Capturing Measurements and Show Plots

In many situations, you may need to keep track of the distance and angle
measurements of moving entities. Measurements can be easily
accomplished using the Pro/ENGINEER measure analysis feature.
Measure analysis features alone can only provide the measurement of a

fixed configuration. Measure analysis features used in conjunction with
measures functionality in MDX can capture the measurement information
during the motion run.
The measure results can be graphically displayed as plots or saved as table

files that can be used for other applications. This can help you understand
and analyze the results of a mechanism and provide information that can
help to improve the mechanism's design.
Before you can calculate and view measure results in Mechanism Design,
you must have completed the following steps:
• Create one or more analysis measure features in Pro/ENGINEER. Any

available measure types in datum analysis feature can be tracked in
Mechanism Design.
• Run one or more motion analyses for your mechanism in Mechanism
Design.
Upon finishing the steps above, you can configure and plot the graph. The
graph can plot a measure over time or a measure against another measure.
You have the option of creating a graph that displays multiple measures
for one set of motion analysis results, or you can see how a single measure
varies with different motion run results.

NOTES
Evaluating Trace and Cam Synthesis Curves

The Trace Curve command allows you to create trace curves and cam
synthesis curves. Trace curves and cam synthesis curves can be used to
generate slot curve, solid geometry and cam profile.
Representing Motion with Trace Curves

A trace curve graphically represents the motion of a point or vertex
relative to a part in your mechanism during a motion run. You can
visualize it as when drawing a curve on paper, the curve represents the
motion of the pen.
To create a trace curve you need to specify the point/vertex to trace, the
paper part, curve type and result set.
• Paper Part—Select a body on your assembly or subassembly to serve

as the reference on which to trace the curve. If you visualize a pen
tracing on paper, you can think of this part as the paper. The trace
curve you generate will be a feature of the part you select as the paper
part.
• Point or Vertex —Select a point or vertex on a body. Mechanism
Design uses the trajectory of this point to define the trace curve. If you
visualize a pen tracing on paper, this location is like the tip of the pen.
The point must be on a different body from the one you selected for
the paper part.
• Curve type—A trace curve can be 2D or 3D.
• Result set—Select a motion run result set from the list of available sets
in the current session or retrieve a result set from disk.
Trace curves can be used to create features such as:
• synthesize barrel cam profile

• generate slot profiles
Representing Motion with Cam Synthesis Curves

A cam synthesis curve is very similar to a trace curve except that the
motion of a curve or edge is traced during the motion instead of a point.
The cam synthesis curve remains tangent to the selected pen curve of
edge.
To create a cam synthesis curve, you need to specify the paper part, the
edge or curve to trace and the result set.

NOTES
Mechanism Design uses the trajectory of the selected curve/edge to

generate an internal and external curve for the envelope. You can select an
open curve or closed loop. If you select an open curve, at each time step in
the motion run, Mechanism Design determines the two points on the curve
that are closest and farthest from the rotational axis. Mechanism Design
generates two spline curves, one from the series of closest points, and the
other from the series of farthest points. You can also select multiple
continuous curves or edges. Mechanism Design automatically smoothes
the curves you select.
Cam synthesis curve can only be generated in 2D. As a result, each

resulting cam synthesis curve must reside in a plane. Cam profiles can be
generated using cam synthesis curves.

NOTES
Goal
To apply the results of your motion studies.
Method
In the first exercise, the previously saved backhoe playback result is
replayed. It is also used to create a trace curve.
In the second exercise, a measure is created and used to synthesis a joint

axis driver to replace the geometric driver.
In the third exercise, a result set is used to perform an interference check.
EXERCISE 1: Viewing Motion Playbacks and

Creating Trace Curves
Task 1. Playing Back the Motion.

VIEWING_MOTION_PLAYBACKS under the MOTION folder.
2. Open BACKHOE2001.ASM.
3. Click Mechanism from the ASSEMBLY menu, followed by

Results > Playback to open the RESULTS PLAYBACK dialog
box.
4. In the RESULTS PLAYBACK dialog box, click Restore and open

MOVE_DIRT.PBK from the current working directory.
5. Read the information in the DESCRIPTION box. Examine and

accept all the other default options.
6. Click Play to open the ANIMATE dialog box.
7. De-select the [Reverse Direction at Ends] and [Repeat

the animation].
8. In the ANIMATION dialog box, click [Play] to run the

MOVE_DIRT.PBK file.

NOTES
9. Click the [Reset the animation to the beginning], and play

again. This time, use the [Speed scroll bar] to adjust the speed.
Note:
The Capture option allows you to record the motion as a
MPEG movie file and capture it as individual frames in JPEG
file format. However, capturing this motion is time consuming.
If the hardware slows down when capturing, click the stop sign
at the lower right hand corner of the graphic pane to stop it.
10. Close the ANIMATION and the RESULTS PLAYBACK dialog

boxes.
Task 2. Create a Trace Curve using the saved results.
1. Click Trace Curve to open the TRACE CURVE dialog box.

Select the DISC.PRT as the PAPER PART.
Accept the default Trace Curve from the TRACE drop-down
list.
Turn on datum point display and select TRACE1 as the POINT,
VERTEX, CURVE END.
Select 3D as the CURVE TYPE.
Retrieve the MOVE_DIRT.PBK from the current working
directory as the result set.
2. Click Preview . The system displays the trace curve. Click OK to

close the dialog box. The system creates points along with the trace
curve.
3. Click Done/Return from the MECHANISM menu.
4. Retrieve the DISC.PRT. As you can see, the trace curve and the
datum points are created in the paper part.
5. Close and erase BACKHOE2001.ASM and DISC.PRT.

NOTES
EXERCISE 2: Creating Measures

Task 3. Create a datum analysis feature.
1. Change the current working directory to CREATING_MEASURES

under the MOTION folder.
2. Open LOADER.ASM.
3. Click [Insert an analysis feature]. You may have to right-click

the toolbar and select DATUM to display datum buttons.
4. Enter [piston2] as the name.
5. Accept the default Measure under TYPE.
6. Click Next .
7. In the MEASURE dialog box, select Distance from the TYPE drop-
down list.
8. Select the end surfaces of the piston part, as shown in the

following figure.
9. Click Close followed by [Build feature].
Task 4. Create the plot of the measure analysis feature using the
playback result.
2. Click Results > Measures .

NOTES
3. Select PISTON2:DISTANCE measure from the MEASURE

RESULTS dialog box.
4. Load MOVE_MORTAR.PBK from the current directory clicking the

LOAD A RESULT SET FROM FILE button.
5. Click Show Plot to graphically display the measure result.
6. Close the graph window.
Task 5. Save the measure results and used it as a table driver.
1. Click Save Table to save the measure results as a table file.
2. Click Close to close the MEASURE RESULTS dialog box.
3. Create a position driver on the TRASLATION AXIS in

JOINT_5(PISTON2) .
4. Enter [inverse] as the name of the driver.
5. On the PROFILE tab, select Position from the Specification drop-

down list.
6. Select Table from the Magnitude drop-down list.
7. Click Browse to locate the file on the hard disk.
8. In the SELECT TABLE FILE dialog box, select All files (*) from
the TYPE drop-down list.
9. Select and open PISTON2.TBL.
11. Click Graph in the DRIVER EDITOR dialog box to view the table
graph.
12. Close the graph window and GRAPH OPTIONS dialog boxes.
Task 6. Create a new motion definition using the new driver.

New .
2. Enter [move_mortar_new] as the name of the motion definition.

NOTES

Accept the Length and Rate from the drop-down list.
Accept [10] as the end time.
Enter [3] as the rate.
Select the start snapshot from the INITIAL CONFIGURATION
drop-down list.
4. On the DRIVER tab, add the LIFTARM and the newly created
driver. Leave the Use Time Domain Start and Use Time Domain
End checkboxes checked.
5. Click OK .
6. Right-click the MOVE_MORTAR_NEW motion definition in the

MODEL TREE and choose Run . As you can see, with the new
driver, the arm is lifted and the bucket is kept horizontal to the
ground during the process.

the assembly.

NOTES
EXERCISE 3: Checking for Interference
Task 1. Run a predefined motion definition.

CHECKING_INTERFERENCE under the MOTION folder.
2. Open HINGE.ASM.
4. In the MODEL TREE, click the junction box to navigate to

HINGE_MOTION under the MOTION DEFS . Right click and select
Run .
Task 2. Perform an interference check.
1. Click Results from the MECHANISM menu, followed by

Playback to open the Results Playback dialog box.
2. Accept HINGE_MOTION as the result set.
3. Click the Global Interference radio button from the

INTERFERENCE group, followed by Play to open the ANIMATE

NOTES
dialog box. There may be a short delay before the dialog box
appears.
4. Leave the [Reverse Direction at Ends] and [Repeat the

animation] selected.
5. Click [Play] to play the saved motion. As you can see, the
areas that interfere with each other are highlighted.
6. Use the [Speed scroll bar] to adjust the speed.
7. Close the ANIMATE dialog box.
8. Export the frame file for motion envelope part creation. Click
Export in the RESULTS PLAYBACK dialog box. The message
indicates that the HINGE_MOTION.FRA has been saved.
9. Save the playback file for later use. Click Save in the RESULTS
PLAYBACK dialog box. The message indicates that the result set
has been saved to the HINGE_MOTION.PBK file.
10. Close the RESULTS PLAYBACK dialog box.
11. Click Done/Return from the MECHANISM menu.
Task 3. Create an envelope part.
1. Click File > Save A Copy.
2. Select Motion Envlp form the TYPE drop-down list, followed by

OK .
3. Open HINGE_MOTION.FRA.
4. Examine the options in the CREATE MOTION ENVELOPE dialog

box and leave the quality level as 1.
5. Click Create and close the dialog box. The system creates the
envelope part.
6. Activate the envelope part (HINGE_ENV0001.PRT) window and

save it. If you were going to assemble this assembly to a higher
level assembly, you can use the envelope part to perform the space
claim analysis.

Module
Creating Cam and Slot Connections

In this module you will learn the advanced connections: cam and
slot. You will also learn how to synthesize cam profiles.
Objectives
• Create cam-follower connections.

• Create slot-follower connections.
• Create cams using cam synthesis curves.
Page 6-1
NOTES
CREATING CAM-FOLLOWER CONNECTIONS

You can use Mechanism Design to create advanced connections, including
2-Dimensional (2-D) cams and 3-Dimensional (3-D) slots.
Creating Cam Surfaces

You can create cam-follower connections from the surfaces on two bodies
in your mechanism. To do this, you can select:
• Any set of continuous, extruded surfaces belonging to a single body.

Extruded surfaces must be perpendicular to the plane that the defining
curve lies in. Also, the surfaces can curve in only one direction (they
cannot bow).
• Surfaces that have arbitrary trimming, including interior holes and
extrusion depth variations.
• Surfaces with different extrusion depths.
• Surfaces that angle sharply from one to the next. Mechanism Design
rounds off the corners and automatically smoothes them by fitting
spline curves to the cam geometry.
• Chains of open surfaces, where Mechanism Design automatically
closes the chain by looping an equivalent set of surfaces behind the
surfaces you selected.
• Non-parallel surfaces, where Mechanism Design does not add
constraints to make them parallel. If you want your cam surfaces to be
parallel, you should define constraints to keep them parallel. If you do
not define constraints to keep your cam surfaces parallel, the cams
may tilt and pivot during a motion simulation.
Selecting Curves
You can select planar datum curves or edges on a body for cam formation.
If you select an open planar curve, Mechanism Design automatically
forms a closed curve by adding an offset curve behind the initial curve and
closing the ends.
Mechanism Design automatically forms surfaces by extruding an arbitrary

depth perpendicular to the curve plane. The original curve will be the mid-
curve of the new cam—Mechanism Design extrudes an equal distance on
either side of the original curve. The default depth is very thin.

NOTES
Figure 1 Create a cam from a curve.
Automatically Detecting Tangent Surfaces

Mechanism Design automatically chooses tangent surfaces for your cam.
This happens after you select the first cam surface or curve.
Selecting the Surface Normal Direction

The surface normal direction indicates the side of the cam that Mechanism
Design will use for cam contact. Mechanism Design displays the surface
normal direction with a purple arrow.
You can reverse the direction of the surface normal for the cam using the
Flip command. If the selected surfaces are on a volume, the default normal
direction will be out.
Orienting the Cam Depth

Use these items to specify references to orient the cam on the surface.
Mechanism Design sees the cams you create as being of infinite length in
the extrusion direction.
• If you select a curved surface for your cam, the software displays it
with an appropriate depth.
• If you select a flat planar surface for your cam, the depth and
orientation of the cam need to be defined.
Automatic—The program automatically calculates an
appropriate cam depth based on the cam surfaces you selected.
C reat ing Cam and Slot Conne ction s Pag e 6- 3

NOTES
Mechanism Design determines the cam direction as a best

guess.
Front Reference and Back Reference—With this option, you
can specify the orientation and depth of a cam on the flat
surface. By selecting two points or vertices to serve as
references for the depth, the program determines a cam depth
equal to the distance between the references. These references
also orient the cam.
Permitting Cam Liftoff
You can specify whether the two bodies in your cam-follower connection
remain in contact during a drag operation or motion run. The Allow
Liftoff option allows the two cams to separate and collide during a drag
operation or motion run. The cams will not interpenetrate if they collide. If
you do not select Allow Liftoff, the two cams will remain in contact.
CREATING SLOT-FOLLOWER CONNECTIONS

Defining 3-Dimensional Slots
Slot-followers are point-curve connections between two bodies. Body 1
has a 3-Dimensional (3-D) curve (the slot) and Body 2 has a point (the
follower). The follower point follows the slot in all three dimensions.
Mechanism Design does not check for interference on the geometry

containing the follower point and the slot curve. You do not have to ensure
that the geometry of the slot and the slot-follower fit together precisely.
You must select a follower point on one body, and one or more curves for
the slot on another body. The slot-follower constrains the follower point to
the defining curve.
Selecting Curves in Slot-Follower Connections

You can select from these curves types to define slots:
• Planar or non-planar curves • Open

• Edges • Closed
• Datum curves
The selected curves must be continuous (C0), but do not have to be C1 or
C2 continuous. Mechanism Design automatically smoothes multiple
curves to ensure C2 curve results.

NOTES
Selecting Follower Points in Slot-Follower Connections

When selecting follower points:
• The follower point must be on a different body from the slot curve.
• You can select a datum point or a vertex.
• Your datum point must belong to a body—assembly-level datum
points cannot be used for follower points.
Selecting Slot Endpoints in Slot-Follower Connections

• You can select datum points, vertices, curves/edges, and surfaces for
slot endpoints. If you select a curve, edge, or surface, the slot endpoint
is at the intersection of the selected entity with the slot curve.
• If you do not select endpoints, the default endpoints for a slot-follower
are the extreme ends of the first and last curves selected for the slot.
• If you select a closed curve, or a series of curves that form a closed
loop, for your slot-follower, you do not need to specify endpoints.
However, if you choose to define endpoints on a closed curve, the
resulting slot will be an open slot. Click Flip to specify which portion
of the original closed curve will become the open slot.

NOTES
Goal
To create cam and slot connections, and to generate cam profiles.
Method
In the first exercise you will create a Geneva cam mechanism with the
Allow Lift-off option.
In the second exercise you will synthesize a cam profile.
In the third exercise you will create a slot connection.
EXERCISE 1: Creating Geneva Cam Mechanisms

Task 1. Create an assembly. Create two axes and a datum plane in the
top level assembly. These are used to locate components.

CREATING_GENEVA_CAMS under the CAMS folder.
2. Click File > New . Check Assembly and Use default template .
Enter [Geneva] as the name.
3. Create an axis to locate the GENEVA_WHEEL part. Click

[Insert a datum axis]. Click Two Planes . Pick ASM_FRONT and
ASM_RIGHT to create the datum axis.
4. Rename the axis to WHEEL. From the assembly menu, click Set
up > Name > Feature and pick the axis you just created. Enter
[wheel].
5. Click Done Sel .
6. Copy the WHEEL axis to create an axis to locate the

GENEVA_CRANK part.
Click Assembly > Feature > Copy > Move > Independent >
Done .
Pick the WHEEL axis. Click Done Sel .
Click Done > Translate .

NOTES
Pick ASM_FRONT as the direction reference.

Accept the default direction by clicking Okay.
Enter [2.125].
Click Done Move followed by OK in the GROUP ELEMENTS
dialog box. Click Done/Return .
7. Activate the MODEL TREE item display to show features. Select

View > Model Tree Setup > Item Display . Check the Features
check box in the DISPLAY group and then click OK .
8. Ungroup the copied group by right-clicking on GROUP

COPIED_GROUP and selecting Ungroup from the short-cut menu.
The GROUP COPIED_GROUP item will disappear from the
MODEL TREE.
9. Rename the axis to CRANK. From the assembly menu, click Set
up > Name > Feature and pick the axis you just created. Enter
[crank]. Click Done Sel .
10. Create a datum plane to locate the crank part. Offset from
ASM_TOP a value of [0.375]. Name it CRANK_PLANE.
Task 2. Assemble the wheel and crank parts using pin connections.
Figure 2 Assembling the wheel and the crank parts.
1. From the ASSEMBLY menu, click Component > Assemble .

Select GENEVA_WHEEL.PRT followed by Open .

NOTES
2. In the COMPONENT PLACEMENT dialog box, click Connections

on the PLACE tab. Accept the default PIN connection type.
3. For the Axis alignment constraint, pick A_1 in the wheel part as the
component reference, and WHEEL axis as the assembly reference.
4. For the Translation constraint, pick FRONT in the wheel part as the
component reference, and ASM_TOP as the assembly reference.
5. Click OK .
6. From the ASSEMBLY menu, click Component > Assemble .

Select GENEVA_CRANK.PRT followed by Open .
7. In the COMPONENT PLACEMENT dialog box, click Connections

on the PLACE tab. Accept the default PIN connection type.
8. For the Axis alignment constraint, pick A_2 in the crank part as the
component reference, and the CRANK axis as the assembly
reference.
9. For the Translation constraint, pick FRONT in the crank part as the
component reference, and CRANK_PLANE as the assembly
reference.
10. Press and hold the <Ctrl>+<Alt> keys and rotate the crank using
the middle mouse button until the assembly look like the preceding
figure.
11. Click OK to place the component.
Task 3. Define the joint axis settings.
2. Define the joint axis settings for the wheel part. In the MODEL
TREE, navigate to the ROTATION AXIS under CONNECTION1.
Right-click and select Joint Setting .

NOTES
Figure 3 Defining joint access settings.
3. Pick RIGHT in the wheel part as the Cyan Body Reference. Pick
ASM_RIGHT in the assembly as the Green Body Reference. Check
the Use in regeneration check box and enter [0]. Click OK to
finish.
4. Define the joint axis settings for the crank part. In the MODEL
TREE, navigate to the ROTATION AXIS under JOINT_1. Press and
hold the right mouse button and select Joint Setting .
5. Pick RIGHT in the crank part as the Cyan Body Reference. Pick
ASM_RIGHT as the Green Body Reference. Check the Use in
regeneration check box.
6. Enter [180] so that the crank pin sits directly in the wheel slot.
Click OK to finish. The model should still look like the preceding
figure.
Task 4. Create Cam connections with Allow lift off option.
1. In the MODEL TREE, navigate to the CAMS under

CONNECTIONS . Right-click and select New . Accept the default
driver name.
2. On the CAM1 tab in the CAM-FOLLOWER CONNECTION

DEFINITION dialog box, check the Autoselect checkbox. Click
the [Select] icon and select the pin surface in the crank part
using Query Sel . Click Done Sel to finish.

NOTES
3. On the CAM 2 tab in the CAM-FOLLOWER CONNECTION

DEFINITION dialog box, check the Autoselect checkbox. Click
the [Select] icon and pick the round surface of the wheel part
using Query Sel , as shown in the following figure.
4. Click Done Sel to finish. The system automatically includes all the
side surfaces.
Figure 4 Select the second cam surface.
5. Check the Allow Liftoff checkbox, followed by OK to finish the

cam definition.
Task 5. Create a snapshot and drag the mechanism.
1. Click Drag to open the DRAG dialog box.
2. Click the [Take a Snapshot of the current configuration] icon

before dragging the mechanism.
3. Drag the mechanism using the point drag.
Note:
Regenerate the model if the components move to an undesired
location.
4. Click Close after you finish manually actuating the mechanism.

NOTES
Task 6. Create a driver to actuate the crank pin joint.
1. In the MODEL TREE, navigate to the DRIVERS under

MECHANISM . Right-click and select New . Accept the default
driver name.
2. Select the crank pin joint axis as the Driven Entity . Click the
PROFILE tab, select Ramp from the MAGNITUDE drop-down list
3. Enter [180] as the A coefficient, [360] as the B coefficient.
4. Click OK to finish the driver definition.
Task 7. Create a motion definition.
1. In the MODEL TREE, navigate to the MOTION DEFS under

MECHANISM . Right-click and select New . Accept the default
driver name.
2. In the TIME DOMAIN tab, select Length and Rate from the drop-
down list. Enter [4] as the End Time, [100] as the rate.
3. Start the motion from SNAPSHOT1. Click OK to finish.
4. Click Run Motion .
5. Click Run from MOTION DEFINITIONS dialog box.
6. Click Close after you finish. Click Ignore if any error messages
are displayed.
7. Save the results by clicking Results > Playback > Save > Close .

NOTES
EXERCISE 2: Synthesizing Cam Profiles

Task 1. Create a cam connection using a surface and a curve.

SYNTHESIZING_CAM_PROFILES under the CAMS folder.
2. Open CAM_SHAFT.ASM.
3. Click Mechanism from the ASSEMBLY menu. The icons

displayed in the assembly shown that it includes two pin
connections and one slider connection. Use the MODEL TREE to
verify this.
Figure 5 Mechanism connection types.
4. In the MODEL TREE, click the junction box to navigate to CAMS

under CONNECTIONS .

NOTES
5. Click CAMS to highlight it. Right click and choose New to open
the CAM-FOLLOWER CONNECTION DEFINITION dialog box.
6. Ensure that the Autoselect option is unselected. Select the flat

Rocker surface, shown in the following figure, as the Cam1
Surface/Curves.
Figure 6 Selecting the Cam1 surface.
7. Click the Cam2 tab in the CAM-FOLLOWER CONNECTION

DEFINITION dialog box.
8. Ensure that the Autoselect option is unselected and select the

Valve curves, shown in the following figure, as the Cam2
Surface/Curves. You must select both halves. The cam surface and
the cam icon should be displayed.
Figure 7 Selecting the Cam2 curve.
10. Drag the mechanism to the configuration shown in the following

figure.

NOTES
Figure 8 The cam shaft without the cam surface.
Note:
This mechanism needs another cam connection at the location
indicated in the previous figure. In order to synthesize the cam
surface, you need to create two drivers. One driver is a ramp
position driver on the camshaft. The other driver is a cosine
drive to drive the slider connection on the valve part. After the
cam surface is synthesized, the valve driver should be deleted.
The mechanism can then be driven by the shaft driver and two
cam connections.
Task 2. Create a ramp position driver.
1. In the MODEL TREE, click the junction box to navigate to

ROTATION AXIS under CONNECTION_1 .
2. Click the ROTATION AXIS to highlight it
box.
4. Enter [Cam_shaft] as the name of the driver.
5. Click the PROFILE tab.
6. Use the drop down list to select Position and Ramp .

NOTES
7. Enter [0] for A, [360 ] for B.
Task 3. Create a cosine position driver. This driver is added to create a

cam synthesis curve.

TRANSLATION AXIS under JOINT_2 .
2. Click the TRANSLATION AXIS to highlight it.
box.
4. Click the PROFILE tab.
5. Enter [Valve1] as the driver name and fill in the PROFILE tab as
Figure 9 Valve1 DRIVER EDITOR dialog box.

NOTES
1. Click the MOTION DEFS in the MODEL TREE to highlight it.

Right-click and select New .
2. Enter [cam_synthesis] as the name of the motion definition.
3. Fill out the dialog boxes as shown in the following figure. The two
existing drivers have been added by default. Define the driver start
and end times.
For the cam_shaft driver, leave the Use Time Domain Start
and Use Time Domain End checkboxes checked.
For the Valve1 driver, uncheck the Use Time Domain End
checkbox. Enter [0.25] as the End Time.
Figure 10 Cam synthesis motion definition dialog box.
4. Click OK .
5. Access the new motion definition under the MOTION DEFS in the
MODEL TREE. Right click and select Run . The driver represents
one engine piston stroke.

NOTES
6. Click Done/Return from the MECHANISM menu. The system

prompts you to save the playback result. Read the message and
click No .
7. Save the playback result in the MODEL TREE as shown in the

following figure.
Figure 11 Save the playback result using the MODEL TREE.
Task 5. Create a cam synthesis curve from a motion run.
1. From the MECHANISM menu, click Results > Trace Curve .
2. Define a cam synthesis curve. Complete the following steps in the

TRACE CURVE dialog box:
Select the CAM_SHAFT.PRT as the PAPER PART.
Select Cam Synthesis Curves from the TRACE drop-down
list.
Click the circular edge of the FOLLOWER.PRT as the CURVE
OR EDGE, as shown in the following figure.
Highlight the CAM_SYNTHESIS result set, followed by
Preview .
Figure 12 Select the indicated edge to create a cam synthesis curve.

NOTES
3. The system should create two curves in the shaft part as shown in
the next figure. Click OK to finish.
Figure 13 Cam trace curves.
Task 6. Generate a cam surface using the cam synthesis curve.
1. Open CAM_SHAFT.PRT. The cam trace curves should be displayed

Figure 14 Viewing the cam trace.

NOTES
2. Click [Select Primary items], and select the curve that is closer
to the shaft.
3. From the Insert pull-down menu, click Protrusion > Extrude .
4. Use the drag handle (two headed arrow icon) to resize the
protrusion as shown in the following figure.
Figure 15 Extruding a cam.
5. In the MODEL TREE, redefine the cam protrusion ATTRIBUTES to

be Both Sides . Depth [1.2].
Task 7. Finalize the cam shaft assembly.
1. Activate the CAM_SHAFT.ASM window.

NOTES
3. Create a cam connection between the newly created cam profile

and the follower part:
In the MODEL TREE, click the junction box to navigate to
CAMS under CONNECTIONS .
Click CAMS to highlight it. Right click and choose New to
open the CAM-FOLLOWER CONNECTION DEFINITION dialog
box.
Click the Autoselect check box, then select the cam profile
surface as Cam1.
Click the CAM2 tab.
Click the Autoselect check box, then select the outside
cylindrical surface of the follower part as Cam2.
Click OK to finish. A new cam connection should be created as
Figure 16 New cam connection.
4. Delete the Valve1 driver using the MODEL TREE.
5. Create a new motion definition:

Click the MOTION DEFS in the MODEL TREE to highlight it,
right click and select New .
Enter [cam_new] as the motion definition name.
Enter [1] as the End Time, [100] as the Rate.
Click OK to finish.
6. Run the motion definition. It simulates one stroke of a valve-cam

shaft assembly.

NOTES
EXERCISE 3: Creating Slot Connections

Task 1. Assemble the POWERSCREW.PRT using a pin connection.

CREATING_SLOT_CONNECTIONS under the CAMS folder.
2. Open POWERSCREW.PRT and examine the geometry. Close the

window.
Tip:
Due to the complex geometry, you can save regeneration time
by suppressing the helix cut.
3. Open POWERSCREW.ASM and turn on the datum axis display.

The system displays the SCREW_AXIS.
4. Assemble the POWERSCREW.PRT using a pin connection. Click

Component > Assemble , select POWERSCREW.PRT followed by
Open . Display the POWERSCREW.PRT in a separate window and
remove it from the assembly window.
7. Enter [screw] as the connection name.
8. For the Axis alignment constraint, click the A-3 in the

POWERSCREW.PRT and SCREW_AXIS in the assembly as the
references.
9. For the Translation constraint, click the FRONT datum planes from
the screw part and ASM_RIGHT from the assembly as the
references.
10. Click the Flip button to reverse the part orientation.
11. The connection definition status should display as complete and a

pin connection icon is displayed. Click OK to finish.

NOTES
Task 2. Assemble the FOLLOWER.PRT using a slider connection.
2. Select FOLLOWER.PRT followed by Open .
5. Enter [follower] as the connection name.
6. Click the A-1 in the FOLLOWER.PRT and SCREW_AXIS in the

assembly as the references for the Axis alignment constraint.
7. Click the FRONT datum planes from the follower part and
ASM_FRONT from the assembly as the references for the Rotation
constraint.
8. Display the FOLLOWER.PRT in the assembly window and press

and hold <Ctrl>+<Alt> and the right mouse button. Drag the
cursor to move the FOLLOWER.PRT to the configuration shown in
the following figure.
Figure 17 Move the FOLLOWER.PRT while assembling.
9. The connection definition status should display as complete and a

slider connection icon is displayed. Click OK to finish.

NOTES
Task 3. Create a Slot connection.
2. In the MODEL TREE, click the junction box to navigate to SLOTS

under CONNECTIONS .
3. Click SLOTS to highlight it. Right click and choose New to open
the SLOT-FOLLOWER CONNECTION DEFINITION dialog box.
Figure 18 Configuring slot follower connections.
4. Select the FOLLOWER_PNT in the FOLLOWER.PRT as the

FOLLOWER POINT. Select the curve in the screw part, as shown in
the following figure, as the SLOT CURVE.
Figure 19 Create a slot connection.

NOTES
5. Select the two end points of the curve as the SLOT ENDPOINTS.
6. Click OK to finish the connection definition.
Task 4. Create a snapshot as the start point of the motion run.
1. Click Drag from the MECHANISM menu.
2. In the default view, use point drag to move the follower part to the
left end point of the curve, as shown in the following figure.
Figure 20 Start snapshot.
3. Create a snapshot. Enter [start] as the name and close the DRAG
dialog box.
Task 5. Create a driver on the screw.
1. Using the MODEL TREE, create a driver on the rotation axis of the
pin connection on the screw part.
2. Enter [screw_driver] as the name.
3. Create a constant velocity driver with coefficient A = -360.
4. Click OK .
1. Use the MODEL TREE to create a motion definition.
2. Use the start Snapshot as the Initial Configuration.

NOTES
3. Accept other defaults.
4. Run the motion definition.

Module
Optimizing Mechanism Designs

In this module you will learn to optimize mechanism designs using
Behavioral Modeling Extension.
Objectives
• Describe the compatibility between Mechanism Design Extension

and Behavioral Modeling Extension.
• Describe the purpose of feasibility and optimization analyses.
• Create the following types of analysis features:
Measure Analysis Features
Motion Analysis Features
Relation Analysis Features
Model Analysis Features
• Perform sensitivity analyses.
• Perform feasibility and optimization analyses using result
parameters generated from the analysis features listed above.
Page 7-1
NOTES
BEHAVIORAL MODELING EXTENSION

Behavioral Modeling Extension (BMX) is a set of tools that enables you
to:
• Capture design intent and optimize models.

• Create feature parameters based on model measurements and analyses.
• Analyze the behavior of measured parameters as dimensions vary.
• Automatically find the dimension values that achieve a desired model
behavior.
• Perform motion analyses.
In the following example, BMX is used to optimize a container design by
varying the height and diameter. This is done to obtain a required volume
with a design of minimum mass.
Figure 1 Optimizing a container.
Pro/ENGINEER Analysis
Pro/ENGINEER contains tools for performing a wide variety of model
analyses. Using Pro/ENGINEER analyses, you can investigate models’
properties and behavior. The following analyses are often used when
optimizing mechanism designs:

NOTES
• Measure
• Model analysis
• Sensitivity analysis
• Feasibility and Optimization analysis
The measure and model analyses are used to study model characteristics.
The sensitivity analysis, feasibility, and optimization analysis can be used
to study the model behavior.
Sensitivity Analysis
Sensitivity analysis is used to determine whether a certain model
characteristic or property is sensitive to a variable within a specified range.
It is often used to rule out the unimportant variables in the upcoming
optimization.
Feasibility Analysis
When performing a feasibility analysis, the system attempts to find a set of
dimension or parameter values within the specified ranges that satisfy all
of the imposed constraints.
Optimization Analysis
When running an optimization analysis, the system attempts to find
dimensions or parameters within the specified ranges that satisfy all of the
imposed constraints. Simultaneously, the system attempts to
maximize/minimize certain model properties.
In other words, an optimization analysis is a feasibility analysis with the

goal of optimizing certain properties.
There are several key factors that need to be defined in an

optimization/feasibility analysis.
• Goal: A goal is certain properties of the model that will be

maximized/minimized in an optimization analysis.
In the following example, the goal is to maximize the water volume
pumped in one stroke.
Optimi zing Me chan ism De signs Pag e 7- 3

NOTES
Figure 2 Maximize the hand pump functionality
• Design Constraints: They are constraints that model parameters need

to satisfy.
In the example, “no interference” should be satisfied by the final
design.
• Design Variables: In an optimization/ feasibility analysis, the system

changes the variables within a certain range to find the best values that
satisfy the constraints and optimize the goal.
In the hand pump example, there are 3 dimensions in two components
that can be altered, as shown in the following figure. Sensitivity
studies show that they are all crucial to the water volume. As a result,
they are all used in the optimization analysis.

NOTES
Figure 3 Three design variables used in the optimization.
Datum Analysis Features

BMX provides the capabilities of creating datum analysis features.
Definition
A datum analysis feature is a Pro/ENGINEER datum feature that is used
to capture model properties. Analysis features may contain a measure, an
analysis, user-defined analysis (UDA), an analysis performed by an
external application, or a relation.
Advantages
• Datum analysis features permanently capture the parametric
information of the model.
• Datum analysis features track design changes. The result parameters
and the result datum features in the analysis features automatically
updates whenever the model changes, eliminating the need to
manually measure the model.
• In addition, the results of the analysis features can be used in
feasibility/optimization analyses, automating the design optimization
process.
The following datum analysis feature types are often used in the
mechanism design optimization.

NOTES
• Measure Analysis Features

• Motion Analysis Features
• Model Analysis Features
• Relation Analysis Features

Measure analysis features can be used to capture geometric information
such as, the distance between entities, curve length, diameter, angle and
area.
In the hand pump example, a datum analysis feature is used to measure the
distance between the bottom of the pump and the bottom of the valve. This
measurement can be used to calculate the water volume pumped in one
stroke.
Figure 4 Analysis feature that measures the displacement of the valve.
Using the Coordinate System as the projection reference when measuring

the distance can track the direction of the displacement.
In the hand pump example, the projection distance is used to ensure that
the valve is always above the bottom of the cylinder during the
optimization. Without it, the optimization can result in an invalid design,

NOTES
Figure 5 Invalid design optimization caused by the improper measurement direction.

Model analysis features can be used to view model mass properties. They
can also be used to check for clearance or interference in assemblies.
In the hand pump example, a datum analysis feature is used to capture the
clearance (minimum distance) between the rod top part and the cylinder
part. The result of this datum analysis feature can be used as a constraint
in the design optimization. This ensures that no interference exists in the
optimized design.
Figure 6 Analysis feature that captures the clearance between two parts.

NOTES

Motion analysis features utilize the motion definition defined in MDX.
With motion analysis features, parameters such as distance and clearance
can be tracked in the motion run. The result can be displayed in graphs as
well as output as result parameters. In the hand pump example, result
parameters (Max_distance_Y and Min_distance_Y) of the motion
analysis feature are used to calculate the valve displacement.
Figure 7 The maximum and minimum of a measure are created as result parameters.
In addition to tracking result parameters from analysis features, a motion

analysis feature can also create a motion envelope. Since this motion
envelope is contained in the motion analysis feature, it will be associative
and will update as the mechanism changes.

Relation analysis features can capture the inter-relationship among
parameters. Ordinary relations are calculated at the beginning the
regeneration cycle. Relation analysis features, however, are regenerated in
the order that they are created in the model tree. Therefore, relation
analysis features will correctly track information as geometry changes
during sensitivity and optimization. In the hand pump example, a relation
analysis feature is used to calculate the water volume pumped in one
stroke.
Volume=(Max_distance_Y:fid_pumping-Min_distance_Y:fid_pumping)*pi

NOTES
OPTIMIZING MECHANISM DESIGNS

Mechanism Design Extension (MDX) is fully compatible with Behavioral
Modeler Extension (BMX). BMX can be used to optimize a design
assembled with MDX.
Integrating MDX and BMX

The integration of BMX and MDX occurs in the motion analysis features
in the following ways:
• Motion definition created in MDX is used in the definition of motion

analysis features.
• Parameters of interest are created using BMX. They are tracked when
running the motion definition during the motion analysis feature
definition.
• Result parameters generated from motion analysis features can be used
as goals and constraints in the feasibility analyses and design
optimization.
Optimizing Designs
To optimize mechanism designs using BMX:
1. Create the motion definition in MDX. The number of frames will

affect the accuracy of the optimization result. More frames will
provide results that are closer to the extremum.
2. Create the necessary analysis feature for setting up the feasibility

and/or optimization analysis, including measure analysis features,
relation analysis features, and model analysis features.
3. Create the motion analysis feature using the motion definition

created in MDX. Track the parameters of interest. The output
parameters will be the extremums and time when they occur.
4. Perform sensitivity analyses. It is a good practice to run a

sensitivity analysis to rule out the unimportant parameters.
Optimizing the model by varying only the crucial parameters can
greatly reduce the computation time.
5. Perform a feasibility analysis and/or optimize the design using the

result parameters generated from the previous analysis features.

NOTES
Goal:
Optimizing the hand pump to produce the maximum amount of water.
The handle motion range is captured using a geometry driver. It
represents a comfortable reach for an average height person. Three
dimensions are varied to maximize the water volume. The design
constraint is used to ensure that there is no interference in the final
design.
EXERCISE 1: Creating Motion Definitions in MDX

Goal
In this exercise, you will create a motion definition for the purpose of
generating a motion analysis feature.
Method
You will first retrieve and investigate the hand pump mechanism. You will
then create a point-plane geometric driver to simulate one stroke of the
pumping action. The range of motion represents a comfortable reach for
an average person. Finally, you will create the motion definition. The
frame number is chosen to capture the local extremum as close as
possible.
Task 1. Retrieve the hand pump assembly. The assembly was created
using mechanism.

OPTIMIZING_MECHANISM_DESIGNS under the
OPTIMIZATIONS folder.
2. Open HAND_PUMP.ASM.
Task 2. Drag the handle to examine the built in mechanism.
2. Investigate the mechanism. In the MODEL TREE, click the junction

box to navigate to the connections. Click the connections to
highlight them in the model.

NOTES
3. Drag the mechanism. Click Drag . Use Drag Point to drag the
handle part.
4. Close the DRAG dialog box when finish.
Task 3. Create a point-plane geometric driver to simulate one stroke of

the pumping action. The range of motion for the handle is built in the
driver. It represents a comfortable reach for an average person.
1. Highlight the DRIVERS in the MODEL TREE. Right-click and

select New .
2. Enter [Hand_Motion] as the name.
3. Specify the driver type and the driven entity:

On the ENTITIES tab, select Point from the DRIVEN ENTITY
drop-down list.
Select PNT0 at the end of the handle as the DRIVEN ENTITY.
Display datum points if necessary.
4. Select the Translation radio button from the MOTION TYPE

group.
5. Specify the reference entity:

Select Plane from the REFERENCE ENTITY drop-down list.
Select the bottom surface of the cylinder.
6. Click Flip if necessary, so that the direction arrow of the driver is

pointing up.
7. Click the Profile tab and fill in the dialog box as follows:
Specification: Position
Magnitude: Cosine
A=12, B=0, C=31, T=1
8. Click GRAPH to graph the driver profile. Click OK to close the

dialog box. The assembly should appear as shown in the following
figure.

NOTES
Figure 8 Create the geometric driver.

New .
2. Enter [one_stroke] as the name.

Accept the default 0.0 Start Time .
Accept the default Length and Rate from the drop-down list.
Enter [1] as the End Time .
Enter [20] as the Rate .
Make sure the Interval updates to 0.05.
Accept the default Screen INITIAL CONFIGURATION.
Note:
In this case, the initial configuration is actually determined by
the position geometric driver.
4. On the Driver tab, ensure that the newly created driver is added
and leave the Use Time Domain Start and Use Time Domain
End checkboxes checked.

NOTES
5. Click OK to close the dialog box.
6. Right-click the ONE STROKE motion definition in the MODEL

TREE and choose Run . As you can see, the motion simulates one
stroke of the pumping action.
7. In the MODEL TREE, expand the PLAYBACKS junction box to

display the ONE STROKE playback. Right click and choose Save .
8. Click Done/Return from the MECHANISM menu to exit MDX.

NOTES
EXERCISE 2: Creating Analysis Features in BMX

Goal:
In this exercise, you will create various analysis features using BMX.
Method
You will create the following analysis features:
• A measure analysis feature that tracks the position of the valve.

• A clearance model analysis feature that ensures the optimization will
not result in an unrealistic design.
• A motion analysis.
• A relation analysis feature that calculates the volume of the water.
Task 1. Create the Valve_Height analysis feature to track the position of

the piston.
1. Ensure that the current working directory is set to

3. Select View > Model Tree Setup > Item Display, and check the
Features option. Click OK .
4. Click [Insert an analysis feature].
5. Enter [valve_height] as the NAME.
6. Select Measure as the TYPE. Click [Next Page].
7. Select Distance as the measurement TYPE from the MEASURE

dialog box.
8. Define the entity; use the entity type filter as necessary:

Select the bottom surface of the cylinder as the FROM entity.
Select the bottom surface of the valve as the TO entity.

NOTES
Select the Coordinate System as the PROJECTION

REFERENCE. Select the ASM_DEF_CSYS in the top-level
assembly. Select Cartesian when prompted.
9. Click Compute and close the dialog box.
10. Create only the DISTANCE_Y result parameter.
Task 2. Create a Clearance analysis feature. The result parameter of the

Clearance analysis is the clearance between the ROD_TOP.PRT and the
cylinder. It is used to make sure they do not interfere with during the
optimization.
1. Without closing the dialog box, click [build and

repeat].
Enter [clearance] as the NAME.
Select Model Analysis as the TYPE, followed by

[Next Page].
2. Select Pairs Clearance as the TYPE.
3. Select ROD_TOP.PRT and CYLINDER.PRT from the MODEL

TREE.
4. Click Compute and close the dialog box.
5. Create the CLEARANCE result parameter.
Task 3. Create a motion analysis feature. The result parameters of the

Motion analysis are maximum and minimum valve travel. They will be
used to calculate the displacement of the valve.

repeat].
Enter [pumping] as the NAME.
Select Motion Analysis as the TYPE, followed by

[Next Page].
2. In the MOTION ANALYSIS dialog box:

Accept the default ONE STROKE motion definition.

NOTES
Select the two available parameters.

Click Run and view the graph. Close the graph windows.
Click Close .
3. Create the following result parameters: MAX_DISTANCE_Y,

MIN_DISTANCE_Y and MIN_CLEARANCE.
Task 4. Create WATER_VOLUME relation analysis feature to calculate

the volume of the water pumped in one stroke.

repeat].
Enter [water_volume] as the NAME.
Select Relation as the TYPE, followed by [Next

Page].
2. In the text editor, enter the following relation.

[volume = (Max_distance_Y:fid_pumping -
Min_distance_Y:fid_pumping)*pi]
Save and exit the editor.
Note:
The radius of the valve is 1. It is not an important factor in this
exercise.
3. Click [build] to finish.
4. Save the model and erase it from memory.

NOTES
EXERCISE 3: Performing Sensitivity Analyses

Goal
In this exercise, you will perform sensitivity analyses to identify the
crucial design variables.
Method
You will perform sensitivity analyses to three dimensions. They all turn
out to be important.
Task 1. Perform a sensitivity analysis to the LENGTH: LINK.

3. Click Analysis > Sensitivity Analysis . The Sensitivity dialog

box is displayed.
4. Select the LENGTH dimension in the link part as the VARIABLE

SELECTION.
Click Dimension .
Click the LINK part and select the LENGTH dimension.
Specify the variable range to be from 6 to 10.
5. For the PARAMETERS TO PLOT, select the

volume:water_volume .
6. Accept other defaults.
7. Select Options, Preferences, and check the Animate Model box.
8. Click Compute and observe the SENSITIVITY PLOT.
9. The volume changes from around 25 to around 29. It indicates that

the volume is sensitive to the link length.

NOTES
Task 2. Perform a sensitivity analysis to the LENGTH: HANDLE.
1. Repeat the procedures in the previous task and use the following
settings:
VARIABLE SELECTION ─ LENGTH: HANDLE
VARIABLE RANGE: from 18 to 22.
PARAMETERS TO PLOT: volume:water_volume.
2. Observe the SENSITIVITY PLOT. It indicates that the volume is

sensitive to this variable.
Task 3. Perform a sensitivity analysis to the Pin locating-dimension in

the handle part.
1. Repeat the procedures in the previous task and use the following
settings:
VARIABLE SELECTION ─ PIN: HANDLE. To locate the
pinhole, use the model tree to navigate to the HOLE ID 153 in
the handle part.
VARIABLE RANGE: from 5 to 10.
2. Observe the SENSITIVITY PLOT. It indicates that the volume is

sensitive to this variable.
Task 4. Take a note of the current value of all three variables.
1. Link length initial value:____________.
2. Handle length initial value:____________.
3. Pin location in the handle part: ____________.
4. Save the model and erase it from memory.

NOTES
EXERCISE 4: Optimizing the Hand Pump

Goal
In this exercise, you will optimize the hand pump.
Method
You will optimize the hand pump using the information generated in the
previous exercises.
Task 1. Create an optimization analysis to optimize the water volume.

2. Click Analysis > Feasibility/Optimization . The

FEASIBILITY/OPTIMIZATION dialog box is displayed.
3. Accept the default Optimization STUDY TYPE, and the name.
Task 2. Define the goal of the optimization.
1. Select Maximize and volume:water_volume from the drop-down

list.
Task 3. Define the Design Constraints to make sure the clearance

between the cylinder part and the rod top part is no less than 0.125 in.
1. Click Add .
2. Select clearance: clearance from the PARAMETER drop-down

list.
3. Select >= from the operand drop-down list.
4. Select Set and enter [0.125 ].
5. Select OK followed by Cancel to finish.

NOTES
Task 4. Define the Design Variables. From the previous exercise, we

learned that the water volume is sensitive to all three variables.
1. Click Add Dimension and select all three dimensions used in the
previous exercise.
2. Define the range as follow:

Length:HANDLE: 18 TO 22
Length:LINK: 6 TO 10
Pin:HANDLE: 5 TO 10
Task 5. Run the optimization analysis.
1. Take a note of the current time___________. The computation

time varies depending on the hardware capability.
2. Click Compute , and observe the convergence graph.
Task 6. Verify the design change.
1. When the optimization is completed, take a note of the finishing

time_________, the iteration_________ and the final
volume__________.
2. Click Close . Confirm to update the design.
3. Investigate the new values of the three variables.
4. Enter MDX and run the motion definition.
5. Save the model and erase the assembly.

NOTES
SUMMARY
You have learned:
• The Mechanism Design Extension is compatibility with the Behavioral

Modeling Extension.
• The purpose of Sensitivity, Feasibility and Optimization analysis.
• The following types of analysis feature are used in the mechanism
design optimization

Appendix
Using PTC Help

In this module you learn how to use PTC Help to search for
Pro/ENGINEER information. PTC Help provides quick references
and detailed information on selected topics.
Objectives
• Start PTC Help.

• Search for specific information about Pro/ENGINEER.
• Obtain context-sensitive help while performing a task.
Page A-1
NOTES
DEFINING THE PTC HELP FEATURES

The PTC Help system is integrated into Pro/ENGINEER. It offers:
• A table of contents, an index, and searching capability.

• Context-sensitive help access.
• Online tutorials focussed on teaching different aspects of the software.
• Expanded help topics available as special dialog boxes.
For addition help, the PTC Technical Support online Knowledge
Database features thousands of suggested techniques. Detailed
information on the Knowledge Database is referenced in the Technical
Support Appendix.
USING THE Pro/ENGINEER ONLINE HELP

The Pro/ENGINEER Online Help can be accessed:
• Using the Main Menu .
1. Click Help > Contents and Index from the Pro/ENGINEER Main
Menu, as shown in the following figure.
Figure 1: Accessing Help from the Main Menu
Pag e A- 2 Append ix A
NOTES
The Pro/ENGINEER Online Help homepage displays in your web

browser window. A list of topics displays in the left frame of the window.
Figure 2: Online Help Homepage
• Using Context-Sensitive Help .
1. Click the icon in the Pro/ENGINEER Main Menu toolbar.
2. Click any icon or any part of the Pro/ENGINEER Main Menu for
detailed information on a particular item. A browser window
displays with a description of the item.
Usin g PT C Help Pag e A- 3

NOTES
In the following example, clicking the Model Tree icon in the Main Menu
toolbar displays a browser window explaining the Model Tree icon
functionality.
Figure 3: Model Tree Icon
Figure 4: The Help Browser Window for the Model Tree Icon
3. The lower left corner of the browser window displays a See Also
link, as shown in the previous figure
NOTES
4. The See Also link provides a list of related topics, as shown in the
following figure.
Figure 5: The See Also List of Topics

NOTES
• Using the Pro/ENGINEER Menu Manager .
1. Click the icon in the Pro/ENGINEER Main Menu toolbar.
2. Select any menu command from the Menu Manager.
3. A TOPIC ROUTER browser window opens with a list of topic links

that explain the menu command.
4. Select a topic link.

The X-Section menu command in the Menu Manager displays the TOPIC
ROUTER browser window with a list of two related topics, as shown in the
following figure.
Figure 6: Using the Menu Manager
NOTES
• Using Vertical Menu Commands .
1. Right-click and hold on a menu command until the GETHELP

window displays.
Figure 7: Right-Clicking in Menu Manager

NOTES
Defining the PTC Help Table of Contents

There are four branches in the PTC Help Table of Contents:
Figure 8: Four Main Branches in Help System
Figure 9: Foundation and Additional Modules in Help
Appendix
Technical Support
In this module you learn about the telephone hotline and the online
services that provide 24 hour / 7 day Technical Support.
Objectives
After completing this module you will be able to:
• Open a Technical Support telephone call.

• Register for online Technical Support.
• Navigate the PTC Products Knowledge Base.
• Locate telephone numbers for technical support and services.
Page B-1
NOTES
Locating the Technical Support Web Page

Select SUPPORT from the PTC HOME PAGE, www.ptc.com, or go
directly to www.ptc.com/support/support.htm.
Opening Technical Support Calls via E-Mail

Send email to cs_ptc@ptc.com. Use copen as the e-mail subject.
Use the following format (or download the template from

www.ptc.com/cs/doc/copen.htm):
FNAME First Name

LNAME Last Name
CALLCENTER U.S., Germany, France, U.K.,
Singapore,Tokyo
TELEPHONE NNN NNN-NNNN x-NNNN
CONFIG_ID NNNNNN
PRODUCT
MODULE
PRIORITY
DESC_BEGIN description starts

description continues
description ends
DESC_END
Pag e B- 2 Append ix B
NOTES
Opening Technical Support Calls via Telephone

For your local Technical Support Center, refer to the Contact Information
telephone list referenced at the end of this module.
When logging a call, you must provide the following information to the
Technical Support Engineer:
• Your PTC software • The PTC product name.

Configuration ID.
• Priority of the issue.
• Your name and
telephone number.
Opening Technical Support Calls via the Web

To open Technical Support calls 24 / 7, select PRO/CALL LOGGERY in the
PTC web site, www.ptc.com/support.
Sending Data Files to PTC Technical Support

To send data files to PTC Technical Support, follow the instructions at:
www.ptc.com/support/cs_guide/additional.htm.
Note:
When a call is resolved, your data is deleted by a Technical
Support Engineer. Your data confidential and will not be shared
with any third party vendors, under any circumstances. You may
request a Non-Disclosure Agreement from the Technical Support
En gineer.
T e c h n i c a l Su p p o rt In f o rm at i o n Pag e B- 3
NOTES
Routing Your Technical Support Calls
Call
Customer question
Telephone Call Web Call
Tech SupportEngineer Call is automatically created

creates a call in the database in the database
Investigation Call Back and Investigation
Support Engineer
solves issue or
reports it
to Development (SPR)
SPR
Software Performance Report
SPR fixed from Development
Software Performance Report (SPR)
SPR Verification through Tech. Support Engineer
Update CD to customer
NOTES
Technical Support Call Priorities

• Extremely Critical – Work stopped
• Critical – Work severely impacted
• Urgent – Work impacted
• Non Critical
• General Information
Software Performance Report Priorities

• Top Priority – Highly critical software issue that is causing a work
stoppage.
• High – Critical software issue that affects immediate work and a
practical alternative technique is not available.
• Medium – Software issue that does not affect immediate work or a
practical alternative technique is available.
Registering for On-Line Support

To open a registration form, go to www.ptc.com/support,
click Sign-up Online, then enter your CONFIGURATION ID.
To find your CONFIGURATION ID, click Help > About Pro/ENGINEER .
Complete the information needed to identify yourself as a user. Note your

username and password for future reference.
NOTES
Using the Online Services

After you have registered, you will have full access to the online tools.
NOTES
Finding Answers in the Knowledge Base

The Technical Support KNOWLEDGE BASE contains over 18,000
documents.
Technical Application Notes (TANs), Technical Point of Interest (TPIs),

Frequently Asked Questions (FAQs), and Suggested Techniques offer up-to-
date information about all relevant software areas.
NOTES
Terminology Used by Technical Support

TAN – A Technical Application Note provides information about SPRs that
may affect more than just the customer originally reporting an issue. TANs
also may provide alternative techniques to allow a user to continue working.
TPI – A Technical Point of Interest provides additional technical

information about a software product. TPIs are created by Technical Support
to document the resolution of common issues reported in actual customer
calls. TPIs are similar to TANs, but do not reference an SPR.
Suggested Techniques – Provides step-by-step instructions including

screen snapshots, on how to use PTC software to complete common tasks.
FAQ – Frequently Asked Questions provides answers to many of the most

commonly asked questions compiled from the PTC Technical Support
database.
FAQs and Suggested Techniques are available in English, French, and

German.
Getting Up-To-Date Information

To subscribe to our KNOWLEDGE BASE MONITOR e-mail service, go to
www.ptc.com/support, and click Technical Support > Online Support
Applications > Knowledge Base Monitor . You will receive daily e-mail
with the latest information on your product.
Figure 1: Knowledge Base Monitor Sign Up
NOTES
CONTACT INFORMATION
Technical Support Worldwide Electronic Services
The following services are available 24 / 7:
• Web
www.ptc.com/support/index.htm (Support)
www.ptc.com/company/contacts/edserv.htm (Education)
• E-mail
cs_ptc@ptc.com (for opening calls and sending data)

cs-webmaster@ptc.com
(for suggestions about the Customer Service web site)
• FTP
• ftp.ptc.com (for transferring files to PTC Technical Support)
Technical Support Customer Feedback Line

The Customer Feedback Line is intended for general customer service
concerns that are not technical product issues.
• E-mail
cs-feedback@ptc.com
• Telephone
www.ptc.com/cs/doc/feedback_nums.htm
NOTES
TELEPHONE AND FAX INFORMATION

For assistance with technical issues, contact the Electronic Services noted in
the previous section, or the Technical Support line as listed in the Telephone
and Fax Information sections below.
PTC has nine integrated Technical Support Call Centers in North America,
Europe, and Asia. Our worldwide coverage ensures telephone access to
Technical Support for customers in all time zones and in local languages.
North America Telephone Information

Customer Services (including Technical Support, License Management, and
Documentation Requests):
• Within the United States and Canada

800-477-6435
• Outside the United States and Canada:
781-370-5332
781-370-5513
• Maintenance
888-782-3774
• Education
888-782-3773
NOTES
Europe Telephone Information

Technical Support Telephone Numbers
• Austria
0800 29 7542
• Belgium
0800-15-241 (French)
0800-72567 (Dutch)
• Denmark
08001-5593
• Finland
0800-117092
• France
0800-14-19-52
• Germany
0180-2245132
49-89-32106-111 (for Pro/MECHANICA® outside of
Germany)
• Ireland
1-800-409-1622
• Israel
1-800-945-42-95 (All languages including Hebrew)
77-150-21-34 (English only)
• Italy
0800-79-05-33
• Luxembourg
0800-23-50
Techni cal Suppo rt Info rm at ion Pag e B- 11

NOTES
• Netherlands
0800022-4519
• Norway
8001-1872
• Portugal
05-05-33-73-69
• South Africa
0800-991068
• Spain
900-95-33-39
• Sweden
020-791484
• Switzerland
0800-55-38-33 (French)
0800-83-75-58 (Italian)
0800-552428 (German)
• United Kingdom
0800-318677
License Management Telephone Numbers
• Belgium
0800-75376
• Denmark
8001-5593
• Finland
0800-117-092
• Eastern Europe
44 1252 817 078
• France
0800-14-19-52
• Germany
49 (0) 89-32106-0
NOTES
• Ireland
1-800-409-1622
• Italy
39 (0) 39-65651
• Netherlands
0800-022-0543
• Norway
8001-1872
• Portugal
05-05-33-73-69
• Russia
44 1252 817 078
• Spain
900-95-33-39
• Sweden
020-791484
• Switzerland
41 (0) 1-8-24-34-44
• United Kingdom
0800-31-8677

NOTES
Education Services Telephone Numbers

• Benelux
31-73-644-2705
• France
33-1-69-33-65-50
• Germany
49 (0) 89-32106-325
• Italy
39-039-65-65-652
39-039-6565-1
• Spain/Portugal
34-91-452-01-00
• Sweden
46-8-590-956-00 (Malmo)
46-8-590-956-46 (Upplands Vasby)
• Switzerland
41 (0) 1-820-00-80
• United Kingdom
44-0800-212-565 (toll free within UK)
44-1252-817-140
NOTES
Asia and Pacific Rim Telephone Information

Technical Support Telephone Numbers
• Australia
1800-553-565
• China*
10800-650-8185 (international toll free)
108-657 (manual toll free)
• Hong Kong
800-933309
• India*
000-6517
• Indonesia
001-803-65-7250
7-2-48-55-00-35
• Japan
120-20-9023
• Malaysia
1-800-80-1026
• New Zealand
0800-44-4376
• Philippines
1800-1-651-0176
• Singapore
65-830-9899
• South Korea
00798-65-1-7078 (international toll free)
080-3469-001 (domestic toll free)

NOTES
• Taiwan
0080-65-1256 (international toll free)
080-013069 (domestic toll free)
• Thailand
001-800-65-6213
Callers dialing from India or China must provide the operator with the
respective string:
• China
MTF8309729
• India
MTF8309752
The operator will then connect you to the Singapore Technical Support
Center.
License Management Telephone Numbers

• Japan
81 (0) 3-3346-8280
• Hong Kong
(852) 2802-8982
Education Services Telephone Numbers
• Australia
61 2 9955 2833 (Sydney)
61 3 9561 4111 (Melbourne)
• China
86-20-87554426 (GuangZhou)
86-21-62785080 (Shanghai)
86-10-65908699 (Beijing)
• Hong Kong
852-28028982
• India
NOTES
91-80-2267272 Ext.#306 (Bangalore)

91-11-6474701 (New Delhi)
91-226513152 (Mumbai)
• Japan
81-3-3346-8268
• Malaysia
03-754 8198

NOTES
• Singapore
65-8309866
• South Korea
82-2-3469-1080
• Taiwan
886-2-758-8600 (Taipei)
886-4-3103311 (Taichung)
886-7-3323211 (Kaohsiung)
ELECTRONIC SERVICES
Up-to-Date + Worldwide = Maximum
Information ISO 9000 Productivity
Certification with
Quality Control
PTC
System
Products

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PTC Global Services

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Order Number T-889-320-EN

Module 1: Introduction to Mechanism Design

Module 2: Creating and Analyzing Mechanisms

Module 3: Configuring Joint Axis Settings

Module 4: Defining Drivers and Motion

Module 5: Working with Motion Analysis Results

Module 6: Creating Cam and Slot Connections

Module 7: Optimizing Mechanism Designs

Education Services Registration in North America

Technical Support (Monday - Friday)

INTRODUCTION TO MECHANISM DESIGN 1-1

CREATING AND ANALYZING MECHANISMS 2-1

CONFIGURING JOINT AXIS SETTINGS 3-1

WORKING WITH MOTION ANALYSIS RESULTS 5-1

CREATING CAM AND SLOT CONNECTIONS 6-1

OPTIMIZING MECHANISM DESIGNS 7-1

USING PTC HELP A-1

TECHNICAL SUPPORT B-1

Introduction to Mechanism Design

• Describe the Mechanism Design applications.

By defining “connections” during assembly creation, MDX enables you to

The results of the motion animation provide graphical illustration of the

When used in conjunction with Behavioral Modeling Extension (BMX),

IMPLEMENTING MECHANISM DESIGN EXTENSION

Mechanism Design without Cam and Slot

P a g e 1- 2 Mechanism Design and Analysis

Figure 1 Connections available in the COMPONENT PLACEMENT dialog box.

3. Move the assembly

Introduction to Mechanism Design P a g e 1- 3

• Create Trace curve/Cam synthesis curve

5. Perform Sensitivity and Optimization studies in conjunction with

Mechanism Design with Cam and Slot Connections

MECHANISM DESIGN INTERFACE

• Icons in the toolbar area

Using Mechanism Design Icons

Table 1: Mechanism Design icons.

P a g e 1- 4 Mechanism Design and Analysis

Accessing the Object Sensitive Menu

Figure 2 The Mechanism Design top level model tree.

Introduction to Mechanism Design P a g e 1- 5

Figure 3 Navigate the Mechanism Design model tree.

The SELECT_ACTION paradigm streamlines the workflow and increases

P a g e 1- 6 Mechanism Design and Analysis

Creating and Analyzing Mechanisms

• Describe the differences between connections and constraints.

CREATING MECHANISM ASSEMBLIES

Comparing Connections to Constraints

Each connection type is associated with a unique set of geometric

Selecting Connection Types

Table 1: Connection Types

P a g e 2- 2 Mechanism Design and Analysis

Connection Icon in Graphic Icon in the

Figure 1: Assembly created using a pin connection

0 - The connected body is not allowed to translate along the axis.

Creating and Analyzing Mechanisms P a g e 2- 3

Figure 2: Assembly created using a cylinder connection

Figure 3: Piston assembly created using a slider connection

P a g e 2- 4 Mechanism Design and Analysis

0 - The connected body is not allowed to rotate in any direction.

Figure 4: Assembly created using a planar connection

2 - The connected body can translate in two directions denoted by two