Project* Page 1 of 10

Project*
First Saved Sunday, May 14, 2023
Last Saved Sunday, May 14, 2023
Product Version 2021 R1
Save Project Before Solution No
Save Project After Solution No

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Contents
Units

Model (A4)
Geometry
Parts
Materials
Coordinate Systems
Connections
Contacts
Contact Regions
Joints
Mesh
Transient (A5)
Analysis Settings
Joint - Rotational Velocity
Solution (A6)
Solution Information
Total Deformation

Material Data
Structural Steel

Units
TABLE 1
Unit System Metric (m, kg, N, s, V, A) Degrees rad/s Celsius
Angle Degrees
Rotational Velocity rad/s
Temperature Celsius

Model (A4)
Geometry
TABLE 2
Model (A4) > Geometry
Object Name Geometry
State Fully Defined
Definition
Source C:\Users\Admin\Downloads\gripper_assy_4bar.stp
Type Step
Length Unit Inches
Display Style Body Color
Bounding Box
Length X 0.41345 m
Length Y 0.41336 m
Length Z 0.32443 m
Properties
Volume 2.5685e-003 m³
Mass 20.163 kg
Scale Factor Value 1.
Statistics
Bodies 11
Active Bodies 11
Nodes 11
Elements 11
Mesh Metric None
Update Options
Assign Default Material No
Basic Geometry Options
Solid Bodies Yes
Surface Bodies Yes
Line Bodies No
Parameters Independent
Parameter Key ANS;DS
Attributes No
Named Selections No
Material Properties No
Advanced Geometry Options
Use Associativity Yes
Coordinate Systems No
Reader Mode Saves Updated File No
Use Instances Yes
Smart CAD Update Yes
Compare Parts On Update No
Analysis Type 3-D
Mixed Import Resolution None
Import Facet Quality Source
Clean Bodies On Import No
Stitch Surfaces On Import Program Tolerance
Decompose Disjoint Geometry Yes
Enclosure and Symmetry Processing Yes

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TABLE 3
Model (A4) > Geometry > Parts
finger|Solid2 finger|Solid2 rod|Solid1 rod|Solid1 rod|Solid1
Object Name hub|Solid1 finger|Solid2 rod|Solid1 finger_input|Solid4 crank|Solid1 intermediate_link|Solid1
[2] [3] [2] [3] [4]
State Meshed
Graphics Properties
Visible Yes
Transparency 1
Definition
Suppressed No
Stiffness
Rigid
Behavior
Reference
By Environment
Temperature
Material
Assignment Structural Steel
Bounding Box
2.5451e-002 2.5451e-002 7.5184e-002
Length X 0.254 m 0.19624 m 0.20955 m 0.23473 m 0.10519 m
m m m
2.5451e-002
Length Y 0.254 m 0.19624 m 0.19624 m 0.20955 m 2.5451e-002 m 2.54e-002 m
m
9.525e-002 7.5184e-002
Length Z 0.24408 m 1.27e-002 m 0.32443 m 5.3386e-002 m
m m
Properties
1.3893e-003 4.0063e-005
Volume 2.1119e-004 m³ 5.0937e-005 m³ 2.6706e-004 m³ 3.4776e-005 m³
m³ m³
Mass 10.906 kg 1.6579 kg 0.39986 kg 2.0964 kg 0.31449 kg 0.27299 kg
-7.4263e- 3.5288e- 7.6045e-002
Centroid X 7.62e-002 m 0.19878 m 7.62e-002 m 0.14887 m 0.15985 m -3.8788e-002 m 4.3537e-002 m
003 m 003 m m
7.6254e-002 -4.6381e-002 3.509e-003 -7.4263e- 7.0354e-002
Centroid Y 0.19878 m 7.62e-002 m 0.14889 m 0.15985 m 7.62e-002 m 5.8312e-002 m
m m m 003 m m
2.5782e-002 -2.0432e- -4.3348e- -2.0432e- -4.3348e-
Centroid Z -5.4298e-002 m -2.453e-002 m 8.181e-002 m 0.11187 m
m 002 m 002 m 002 m 002 m
Moment of 2.8488e-002 8.0397e-005
6.0167e-004 kg·m² 2.7595e-003 kg·m² 7.5136e-004 kg·m² 2.0632e-005 kg·m²
Inertia Ip1 kg·m² kg·m²
Moment of 2.8488e-002 8.5108e-005
6.6323e-003 kg·m² 3.4454e-003 kg·m² 1.4344e-002 kg·m² 2.3757e-004 kg·m²
Inertia Ip2 kg·m² kg·m²
Moment of 5.1934e-002 1.5318e-004
7.0592e-003 kg·m² 6.9385e-004 kg·m² 1.4875e-002 kg·m² 2.4355e-004 kg·m²
Inertia Ip3 kg·m² kg·m²
Statistics
Nodes 1
Elements 1
Mesh Metric None

TABLE 4
Model (A4) > Materials
Object Name Materials
State Fully Defined
Statistics
Materials 1
Material Assignments 0

Coordinate Systems
TABLE 5
Model (A4) > Coordinate Systems > Coordinate System
Object Name Global Coordinate System
State Fully Defined
Definition
Type Cartesian
Origin
Origin X 0. m
Origin Y 0. m
Origin Z 0. m
Directional Vectors
X Axis Data [ 1. 0. 0. ]
Y Axis Data [ 0. 1. 0. ]
Z Axis Data [ 0. 0. 1. ]

Connections
TABLE 6
Model (A4) > Connections
Object Name Connections
State Fully Defined
Auto Detection
Generate Automatic Connection On Refresh Yes
Transparency
Enabled Yes

TABLE 7
Model (A4) > Connections > Contacts
Object Name Contacts Joints
State Suppressed Fully Defined
Definition
Connection Type Contact Joint
Scope
Scoping Method Geometry Selection
Geometry All Bodies
Auto Detection

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Tolerance Type Slider

Tolerance Slider 0.
Tolerance Value 1.6716e-003 m
Use Range No
Face/Face Yes
Face-Face Angle Tolerance 75. °
Face Overlap Tolerance Off
Cylindrical Faces Include
Face/Edge No
Edge/Edge No
Priority Include All
Group By Bodies
Search Across Bodies Parts
Fixed Joints Yes
Revolute Joints Yes
Statistics
Connections 15 17
Active Connections 0 17

TABLE 8
Model (A4) > Connections > Contacts > Contact Regions
Frictionless - Frictionless - Frictionless - Frictionless - Frictionless - Frictionless - Frictionless -
Frictionless - Frictionless - Frictionless - Frictionless -
Object hub|Solid1 To hub|Solid1 To finger|Solid2 finger|Solid2 finger|Solid2 finger|Solid2 finger|Solid2
hub|Solid1 To hub|Solid1 To hub|Solid1 To finger|Solid2
Name finger|Solid2 finger|Solid2 To rod|Solid1 [2] To [2] To [3] To [3] To
finger|Solid2 finger_input|Solid4 crank|Solid1 To rod|Solid1
[2] [3] [2] rod|Solid1 rod|Solid1[4] rod|Solid1[3] rod|Solid1[4]
State Suppressed
Scope
Scoping
Geometry Selection
Method
Contact 3 Faces 1 Face
Target 9 Faces 13 Faces 3 Faces 1 Face
Contact
hub|Solid1 finger|Solid2 finger|Solid2[2] finger|Solid2[3]
Bodies
Target finger|Solid2 finger|Solid2
finger|Solid2 finger_input|Solid4 crank|Solid1 rod|Solid1 rod|Solid1[2] rod|Solid1 rod|Solid1[4] rod|Solid1[3] rod|Solid1[4]
Bodies [2] [3]
Protected No
Definition
Type Frictionless
Advanced
Pinball
Program Controlled
Region
Restitution
1
Factor
RBD
Contact Program Controlled
Detection

TABLE 9
Model (A4) > Connections > Contacts > Contact Regions
Frictionless - rod|Solid1[2] To Frictionless - rod|Solid1[3] To Frictionless - finger_input|Solid4 To Frictionless - crank|Solid1 To
Object Name
finger_input|Solid4 finger_input|Solid4 intermediate_link|Solid1 intermediate_link|Solid1
State Suppressed
Scope
Scoping Method Geometry Selection
Contact 1 Face 5 Faces 2 Faces
Target 1 Face 2 Faces
Contact Bodies rod|Solid1[2] rod|Solid1[3] finger_input|Solid4 crank|Solid1
Target Bodies finger_input|Solid4 intermediate_link|Solid1
Protected No
Definition
Type Frictionless
Advanced
Pinball Region Program Controlled
Restitution Factor 1
RBD Contact
Program Controlled
Detection

TABLE 10
Model (A4) > Connections > Joints > Joints
Revolute - Cylindrical - Cylindrical - Cylindrical - Cylindrical - Cylindrical - Cylindrical -
Cylindrical - Cylindrical - Revolute - Revolute
Object hub|Solid1 finger|Solid2 finger|Solid2 finger|Solid2 finger|Solid2 finger|Solid2 finger|Solid2
rod|Solid1[2] To rod|Solid1[3] To finger_input|Solid4 To
Name To To To [2] To [2] To [3] To [3] To
finger_input|Solid4 finger_input|Solid4 intermediate_link|Solid1 intermediate_link|Solid1
crank|Solid1 rod|Solid1 rod|Solid1[2] rod|Solid1 rod|Solid1[4] rod|Solid1[3] rod|Solid1[4]
State Fully Defined
Definition
Connection
Body-Body
Type
Type Revolute Cylindrical Revolute
Torsional
0. N·m/°
Stiffness
Torsional
0. N·m·s/°
Damping
Suppressed No
Friction
0.
Coefficient
Inner
0. m 0. m
Radius
Outer
0. m 0. m
Radius
Effective
0. m
Length

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Joint
Friction Program Controlled
Type
Radius 0. m
Reference
Scoping
Geometry Selection
Method
Applied By Remote Attachment
Scope 1 Face
Body hub|Solid1 finger|Solid2 finger|Solid2[2] finger|Solid2[3] rod|Solid1[2] rod|Solid1[3] finger_input|Solid4 crank|Solid1
Coordinate
Reference Coordinate System
System
Behavior Rigid
Pinball
All
Region
Mobile
Scoping
Geometry Selection
Method
Applied By Remote Attachment
Scope 1 Face
Body crank|Solid1 rod|Solid1 rod|Solid1[2] rod|Solid1 rod|Solid1[4] rod|Solid1[3] rod|Solid1[4] finger_input|Solid4 intermediate_link|Solid1
Initial
Unchanged
Position
Behavior Rigid
Pinball
All
Region
Stops
RZ Min
None
Type
RZ Max
None
Type
Z Min Type None
Z Max Type None

TABLE 11
Model (A4) > Connections > Joints > Joints
Revolute - hub|Solid1 To Revolute - hub|Solid1 To Revolute - hub|Solid1 To Revolute - hub|Solid1 To Fixed - Ground To
Object Name RJ
finger_input|Solid4 finger|Solid2 finger|Solid2[2] finger|Solid2[3] hub|Solid1
State Fully Defined
Definition
Connection
Body-Body Body-Ground
Type
Type Revolute Fixed
Torsional
0. N·m/°
Stiffness
Torsional
0. N·m·s/°
Damping
Suppressed No
Friction
0.
Coefficient
Inner Radius 0. m
Outer Radius 0. m
Effective Length 0. m
Joint Friction
Program Controlled
Type
Reference
Scoping Method Geometry Selection
Applied By Remote Attachment
Scope 2 Faces
Body hub|Solid1
Coordinate
Reference Coordinate System
System
Behavior Rigid
Pinball Region All
Mobile
Scoping Method Geometry Selection
Applied By Remote Attachment
Scope 1 Face
Body finger_input|Solid4 finger|Solid2 finger|Solid2[2] finger|Solid2[3] crank|Solid1 hub|Solid1
Initial Position Unchanged
Behavior Rigid
Pinball Region All
Stops
RZ Min Type None
RZ Max Type None

Mesh
TABLE 12
Model (A4) > Mesh
Object Name Mesh
State Solved
Display
Display Style Use Geometry Setting
Defaults
Physics Preference Mechanical
Element Order Program Controlled
Element Size Default
Sizing
Use Adaptive Sizing Yes

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Resolution Default (2)

Mesh Defeaturing Yes
Defeature Size Default
Transition Fast
Span Angle Center Coarse
Initial Size Seed Assembly
Bounding Box Diagonal 0.66863 m
Average Surface Area 1.3978e-003 m²
Minimum Edge Length 4.9873e-003 m
Quality
Check Mesh Quality Yes, Errors
Error Limits Aggressive Mechanical
Target Quality Default (0.050000)
Smoothing Medium
Mesh Metric None
Inflation
Use Automatic Inflation None
Inflation Option Smooth Transition
Transition Ratio 0.272
Maximum Layers 5
Growth Rate 1.2
Inflation Algorithm Pre
View Advanced Options No
Advanced
Number of CPUs for Parallel Part Meshing Program Controlled
Straight Sided Elements No
Rigid Body Behavior Dimensionally Reduced
Rigid Face Mesh Type Quad/Tri
Triangle Surface Mesher Program Controlled
Topology Checking Yes
Pinch Tolerance Please Define
Generate Pinch on Refresh No
Statistics
Nodes 11
Elements 11

Transient (A5)
TABLE 13
Model (A4) > Analysis
Object Name Transient (A5)
State Solved
Definition
Physics Type Structural
Analysis Type Transient
Solver Target ANSYS Rigid Dynamics
Options
Environment Temperature 22. °C
Generate Input Only No

TABLE 14
Model (A4) > Transient (A5) > Analysis Settings
Object Name Analysis Settings
State Fully Defined
Step Controls
Number Of Steps 5
Current Step Number 1
Step End Time 1. s
Auto Time Stepping On
Initial Time Step 1.e-002 s
Minimum Time Step 1.e-007 s
Maximum Time Step 5.e-002 s
Solver Controls
Time Integration Type Program Controlled
Correction Type Program Controlled
Assembly Type Program Controlled
Nonlinear Controls
Energy Accuracy Tolerance Program Controlled
Output Controls
Store Results At All Time Points
Analysis Data Management
Solver Files Directory C:\Users\Admin\AppData\Local\Temp\WB_Admin_19980_2\wbnew_files\dp0\SYS\MECH\
Scratch Solver Files Directory

TABLE 15
Model (A4) > Transient (A5) > Analysis Settings
Step-Specific "Step Controls"
Step Step End Time Initial Time Step Carry Over Time Step
1 1. s 1.e-002 s
2 2. s
3 3. s
On
4 4. s
5 5. s

TABLE 16
Model (A4) > Transient (A5) > Joint Condition
Object Name Joint - Rotational Velocity
State Fully Defined

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Scope
Joint RJ
Definition
DOF Rotation Z
Type Rotational Velocity
Magnitude Tabular Data
Suppressed No
Table Fitting
Fitting Method Program Controlled

FIGURE 1
Model (A4) > Transient (A5) > Joint - Rotational Velocity

TABLE 17
Model (A4) > Transient (A5) > Joint - Rotational Velocity
Steps Time [s] Rotational Velocity [rad/s]
0.
1 0.
1.
2 2. 1.5
3 3.
4 4. 0.
5 5.

Solution (A6)
TABLE 18
Model (A4) > Transient (A5) > Solution
Object Name Solution (A6)
State Solved
Information
Status Done
RBD Elapsed Time 0.474 s
Post Processing
Beam Section Results No

TABLE 19
Model (A4) > Transient (A5) > Solution (A6) > Solution Information
Object Name Solution Information
State Solved
Solution Information
Solution Output Solver Output
Update Interval 2.5 s
Display Points All

TABLE 20
Model (A4) > Transient (A5) > Solution (A6) > Results
Object Name Total Deformation
State Solved
Scope
Scoping Method Geometry Selection
Geometry All Bodies
Definition
Type Total Deformation
By Time
Display Time Last
Calculate Time History Yes
Identifier
Suppressed No
Results
Minimum 0. m
Maximum 2.2996e-002 m
Average 1.4352e-002 m
Minimum Occurs On hub|Solid1
Maximum Occurs On intermediate_link|Solid1
Minimum Value Over Time

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Minimum 0. m
Maximum 0. m
Maximum Value Over Time
Minimum 0. m
Maximum 2.2996e-002 m
Information
Time 5. s

FIGURE 2
Model (A4) > Transient (A5) > Solution (A6) > Total Deformation

TABLE 21
Model (A4) > Transient (A5) > Solution (A6) > Total Deformation
Time [s] Minimum [m] Maximum [m] Average [m]
0.
1.e-002
3.e-002
7.e-002
0.12
0.17
0.22
0.27
0.32
0.37
0.42
0.47 0. 0.
0.52
0.57
0.62
0.67
0.72
0.77
0.82
0.87
0.92
0.97
1.
1.05 3.5722e-005 2.3652e-005
1.1 1.4291e-004 9.4623e-005
1.15 3.216e-004 2.1296e-004
1.2 5.7185e-004 3.7872e-004
1.25 8.9367e-004 5.9195e-004
1.3 1.287e-003 8.5266e-004
1.35 1.7516e-003 1.1607e-003
1.4 2.2869e-003 1.516e-003
1.45 2.8923e-003 1.918e-003
1.5 3.5685e-003 2.366e-003
1.55 4.3148e-003 2.859e-003
1.6 5.1286e-003 3.3956e-003
1.65 6.0079e-003 3.9738e-003
1.7 6.9498e-003 4.5911e-003
1.75 7.9506e-003 5.2445e-003
1.8 9.0058e-003 5.9301e-003
1.85 1.011e-002 6.6432e-003
1.9 1.1256e-002 7.3787e-003
1.95 1.2437e-002 8.1302e-003
2. 1.3643e-002 8.8907e-003
2.05 1.4806e-002 9.6163e-003
2.1 1.5867e-002 1.027e-002
2.15 1.6829e-002 1.0856e-002
2.2 1.7697e-002 1.1379e-002
2.25 1.8477e-002 1.1842e-002
2.3 1.9174e-002 1.2251e-002
2.35 1.9794e-002 1.2609e-002
2.4 2.0342e-002 1.2922e-002

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2.45 2.0824e-002 1.3193e-002

2.5 2.1246e-002 1.3426e-002
2.55 2.1611e-002 1.3626e-002
2.6 2.1925e-002 1.3795e-002
2.65 2.2192e-002 1.3937e-002
2.7 2.2415e-002 1.4054e-002
2.75 2.2599e-002 1.415e-002
2.8 2.2745e-002 1.4225e-002
2.85 2.2856e-002 1.4281e-002
2.9 2.2934e-002 1.4321e-002
2.95 2.2981e-002 1.4344e-002
3.
3.05
3.1
3.15
3.2
3.25
3.3
3.35
3.4
3.45
3.5
3.55
3.6
3.65
3.7
0.
3.75
3.8
3.85
3.9
3.95
4. 2.2996e-002 1.4352e-002
4.05
4.1
4.15
4.2
4.25
4.3
4.35
4.4
4.45
4.5
4.55
4.6
4.65
4.7
4.75
4.8
4.85
4.9
4.95
5.

Material Data
Structural Steel
TABLE 22
Structural Steel > Constants
Density 7850 kg m^-3
Coefficient of Thermal Expansion 1.2e-005 C^-1
Specific Heat 434 J kg^-1 C^-1
Thermal Conductivity 60.5 W m^-1 C^-1
Resistivity 1.7e-007 ohm m

TABLE 23
Structural Steel > Color
Red Green Blue
132 139 179

TABLE 24
Structural Steel > Compressive Ultimate Strength
Compressive Ultimate Strength Pa
0

TABLE 25
Structural Steel > Compressive Yield Strength
Compressive Yield Strength Pa
2.5e+008

TABLE 26
Structural Steel > Tensile Yield Strength
Tensile Yield Strength Pa
2.5e+008

TABLE 27
Structural Steel > Tensile Ultimate Strength
Tensile Ultimate Strength Pa

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4.6e+008

TABLE 28
Structural Steel > Isotropic Secant Coefficient of Thermal Expansion
Zero-Thermal-Strain Reference Temperature C
22

TABLE 29
Structural Steel > S-N Curve
Alternating Stress Pa Cycles Mean Stress Pa
3.999e+009 10 0
2.827e+009 20 0
1.896e+009 50 0
1.413e+009 100 0
1.069e+009 200 0
4.41e+008 2000 0
2.62e+008 10000 0
2.14e+008 20000 0
1.38e+008 1.e+005 0
1.14e+008 2.e+005 0
8.62e+007 1.e+006 0

TABLE 30
Structural Steel > Strain-Life Parameters
Strength Coefficient Pa Strength Exponent Ductility Coefficient Ductility Exponent Cyclic Strength Coefficient Pa Cyclic Strain Hardening Exponent
9.2e+008 -0.106 0.213 -0.47 1.e+009 0.2

TABLE 31
Structural Steel > Isotropic Elasticity
Young's Modulus Pa Poisson's Ratio Bulk Modulus Pa Shear Modulus Pa Temperature C
2.e+011 0.3 1.6667e+011 7.6923e+010

TABLE 32
Structural Steel > Isotropic Relative Permeability
Relative Permeability
10000

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