Motion運(yùn)動(dòng)仿真培ImagecourtesyofNaionalOpticalAstronomyObservatory,operatedbytheAssociationofUniversitiesforResearchinAstronomy,undercooperativeagreementwiththeNationalScienceFoundation.CourseDesignPhilosophyUsingthisbookAnoteaboutfilesConventionsusedinthisbookClassIntroductions

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Post-WhatisMotionSimulation什么是運(yùn)動(dòng)仿真StudyofmovingsystemsorMotionofasystemisdeterminedMechanicaljointsconnectingthe零件的機(jī)械連Themassandinertiapropertiesofthe部件的質(zhì)量和慣性特 stothesystem系統(tǒng)的作用力（動(dòng)力學(xué)Drivingmotions(Motorsor驅(qū)動(dòng)運(yùn)動(dòng)（運(yùn)動(dòng)或致動(dòng)器時(shí)KinematicSystemMovementofpart(s)under dorconstrained外加或強(qiáng)制運(yùn)動(dòng)下的部Fullycontrolledandonlyonepossiblemotion and不考慮力和質(zhì)量的全約束和單一運(yùn)動(dòng)的Zerodegree 零自由DynamicSystemMovementofpart(s) motionsubject 自由運(yùn)動(dòng)物體與力作用下的零件運(yùn)Partiallycontrolledandinfinitenumberofresultsdependingon 依賴于力的部分約束和無限數(shù)量的結(jié)Greaterthanzerodegrees 自由度數(shù)大于yPendulumtoyPendulumtopivotaboutmountingxMassandInertiaNewton’sFirst 第一定Conservationofmomentum動(dòng)力守Degrees Groundedparts固定零Movingparts運(yùn)動(dòng)零 cedonapart’smovementspecificdegrees 作用在零件運(yùn)動(dòng)上的特定自由度的限themovementofonepartto機(jī)械關(guān)節(jié)是約束零件相互運(yùn)動(dòng)的JointmotionConstraint ofSolidWorksassemblymates(constraints)100+waysofdefiningSolidWorksBasicconstrainttypesaremergedtosimplifiedOneOrthogonalConcentricmateinSolidWorksesConcentricOne andOneOrthogonalConcentricmatesSolidWorksesaRevoluteOnePointtoPoint mateinesasphericale.g.1 es nar2orthogonal jointsesa3orthogonal esafixed

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SWSW裝配關(guān)運(yùn)動(dòng)約SWSW裝配關(guān)運(yùn)動(dòng)約 LineLineAng(0LineLineAng(90LineLineAng(0LineLineAng(90LineLineAng(0LineLineAng(90零件的結(jié)果會(huì)一直迭代計(jì)算直到達(dá)到該時(shí)間步上的力和加速度某一精度為止Revolute鉸接Revolute鉸接Cylindrical圓柱構(gòu)件構(gòu)件原方約束約束2個(gè)旋轉(zhuǎn)，3個(gè)移約束2個(gè)旋轉(zhuǎn)，2個(gè)移動(dòng)自TranslationalTranslationalSpherical球形z-

x-原Universal萬Universal萬向nar約束約束1個(gè)旋轉(zhuǎn)，3個(gè)移動(dòng)自由約束2個(gè)旋轉(zhuǎn)，1個(gè)移動(dòng)原原FixedFixedScrew螺旋約束約束3個(gè)旋轉(zhuǎn)，3個(gè)移動(dòng)自由約束1螺2個(gè)構(gòu)件可以不平行于移動(dòng)和旋轉(zhuǎn)軸，但2個(gè)構(gòu)件的Z螺應(yīng)該平行且方向一致ParallelParallelPerpendicular垂直原原方約束約束1個(gè)旋轉(zhuǎn)自由1st約束2個(gè)旋轉(zhuǎn)自由1st約束2個(gè)旋轉(zhuǎn)自由

InInLine點(diǎn)在直 ne點(diǎn)在X參X參考約束2約束2個(gè)移動(dòng)自由約束3個(gè)旋轉(zhuǎn)自由

OrientationOrientation約約束3個(gè)旋轉(zhuǎn)自由1Motion中，所有構(gòu)件都被作為理想剛體。意味著零件內(nèi)2、SolidWorks零件或子裝配體的兩種狀態(tài)：固定或靈重力加速度的 力Lesson第1

CarImagecourtesyofNaionalOpticalAstronomyObservatory,operatedbytheAssociationofUniversitiesforResearchinAstronomy,undercooperativeagreementwiththeNationalScienceFoundation.Lesson1TopicsIntroductiontotheCOSMOSMotionFeatureCOSMOSMotion的基本RunaCreatearesult

2、運(yùn)動(dòng)類型選項(xiàng) 3、Motion特征管理5、MotionManager工具Amechanicaljackisadevicethatliftsheavyequipment.Themostcommonformisacarjack,floorjack,orgaragejackwhichliftsvehiclessothatmaintenancecanbeperformed.Carjacksusuallyusemechanicaladvantagetoallowahumantoliftavehicle.Morepowerfuljacksusehydraulicpowertoprovidemoreliftovergreaterdistances.Mechanicaljacksareusuallyratedfora umliftingcapacity(e.g.,1.5tonsor3tons).的千斤頂使用動(dòng)力可以提供更遠(yuǎn)距離的舉升。機(jī)械千斤頂Lesson1:SimulationGoalLesson 1Opentheassembly：toopentheassemblyfileCar_Jack.sldasmfromtheLesson01folder.打開裝配體：Car_Jack.sldasm（文件夾、ChangetotheMotion切換到運(yùn)動(dòng)算、CreateaMotorthatdrivestheScrew_rodat5創(chuàng)建電機(jī)，驅(qū)動(dòng)絲杠、Typeof研究類、RuntheAnimationfor5運(yùn)行一個(gè)5秒的動(dòng)、RuntheAnimationfor8運(yùn)行一個(gè)8秒的動(dòng)、RenametheAssemblySimulation重命名裝配體算Lesson DuplicatetheAssemblymotionstudytocreateanewMotion裝配體算例創(chuàng)建一個(gè)新的運(yùn)動(dòng)算EnsurethatCOSMOSMotionisadded啟動(dòng)COSMOSMotion插SelectCOSMOSMotionastheTypeof選擇COSMOSMotion作為研究類ApplyGravitytothe應(yīng)用重力到裝配Createacontactconditionbetween 在 Link3和 Link4.間設(shè)定接觸條Createsimilarcontactconditionbetween Link1和 Link2之間創(chuàng)建一個(gè)同樣的接觸條Create of2000lbstosimulatetheweightofthecaronthecarLesson RuntheSimulationfor8運(yùn)行一個(gè)8秒的仿Plotthetorquerequiredtolifttheweightofthe輸出提升汽車重量所Plotthepowerconsumedtoliftaweightof2000輸出提升2000lbs重量所需消耗的功Rotate轉(zhuǎn)動(dòng)裝配ythe動(dòng)EnableViewKey激活視窗鍵創(chuàng)Createanewview建立一個(gè)新的視窗Reorientthe定位視ytheLesson SaveandcloseLesson1:DefiningandSimulatinga第1課：定義和仿真一個(gè)機(jī)添加電 折疊運(yùn)動(dòng)管理Parts部MovingPartsGroundPartsConstraints約JointPrimitivess FlexibleResults結(jié) 備注：運(yùn)動(dòng)算例相機(jī)之類的視覺屬性融合到運(yùn)動(dòng)算例中。運(yùn)動(dòng)算例不更改SolidWorks配合在您建模運(yùn)動(dòng)時(shí)約束零部件在裝配體中的運(yùn)可從運(yùn)動(dòng)算例使用MotionManager，此為基于時(shí)間線的界面包括有以下運(yùn)動(dòng)模擬工裝配體運(yùn)動(dòng)（可在 包內(nèi)使用）。您可使用裝配體運(yùn)動(dòng)動(dòng)畫裝配體的運(yùn)動(dòng)添加馬達(dá)來驅(qū)動(dòng)裝配體一個(gè)或多個(gè)零件的使用設(shè)定鍵碼點(diǎn)在不同時(shí)間規(guī)定裝配體零部件的位置。裝配體運(yùn)動(dòng)用插值來定義鍵碼點(diǎn)之間裝配體零部件的運(yùn)動(dòng)物理模擬（可在SolidWorks COSMOSMotion（SolidWorksofficepremium中使用。）您可使COSMOSMotion在裝配體上精確模擬和分析模擬單元的效果（包括力COSMOSMotion為進(jìn)一步分析標(biāo)繪模擬結(jié)果。決定使用哪種算例使用物理模擬生成考慮到質(zhì)量、碰撞、或引力演示性近似模擬果越佳。您可使用COSMOSMotion運(yùn)行沖擊分析算例以了MotionManager工2.或啟用/7.Lesson第2SliderCrank滑塊曲柄機(jī)ImagecourtesyofNaionalOpticalAstronomyObservatory,operatedbytheAssociationofUniversitiesforResearchinAstronomy,undercooperativeagreementwiththeNationalScienceFoundation.Lesson2TopicsCreatemovingandgroundReviewbasicjointtypesin回顧C(jī)OSMOSMotion中基本運(yùn)動(dòng)副類UnderstandAutomaticConstraintApplymotiontoaCreatearesultLesson2:Constraint 1 and1concentricmatesesrevolute1ConcentricmateesacylindricalApointonapointco mateesasphericaljointApointonanaxis mateesan 連Lesson2ResultsCollar-1notonlytranslatesalongcollar_shaft-1butalsoTherotationneedstobeLesson2:MotiononJoint運(yùn)動(dòng)副類Typeofmotion允許的運(yùn)動(dòng)類AvailableoptionsunderMotionOn圓柱Rotationandtranslationin沿同一方向既移動(dòng)又轉(zhuǎn)RotateZ（轉(zhuǎn)動(dòng)TranslateZ（移動(dòng)轉(zhuǎn)動(dòng)OnlyRotationinone只允許在同一方向轉(zhuǎn)RotateZ（轉(zhuǎn)動(dòng)移動(dòng)OnlyTranslationinone只允許在同一方向移TranslateZ（移動(dòng)球Rotationsinalldirections,所有方向的轉(zhuǎn)動(dòng)，沒有移RotateX（轉(zhuǎn)動(dòng)）RotateY（轉(zhuǎn)動(dòng)）RotateZ（轉(zhuǎn)動(dòng)）Lesson2ResultsPowerConsumptionin機(jī)構(gòu)的能量消WhyisPowerConsumptionin 為什么在某些位置能量消耗為負(fù)值LessonPistonCrankshaft活塞曲柄機(jī)ImagecourtesyofNaionalOpticalAstronomyObservatory,operatedbytheAssociationofUniversitiesforResearchinAstronomy,undercooperativeagreementwiththeNationalScienceFoundation.Lesson3TopicsReviewbasicjointtypesinCOSMOSMotion基本運(yùn)CreateMechanicalApplymotiontoaCreateandreviewLesson3:BasicJointJointsusedtoconstraintherelativemotionofapairofrigidbodiesbyphysicallyconnectingthem.JointPrimitivesusedto Lesson

DoorImagecourtesyofNaionalOpticalAstronomyObservatory,operatedbytheAssociationofUniversitiesforResearchinAstronomy,undercooperativeagreementwiththeNationalScienceFoundation.Lesson4TopicsCreatespringsanddamperentitiesinCOSMOSMotion中創(chuàng)建彈簧和阻尼Attachdifferentpartstogethertomovethemasasingle綁定不同部件作為同一實(shí)體運(yùn)Constrainthemotionofacylindricaljointtoachievemechanism約束圓柱副運(yùn)動(dòng)，實(shí)現(xiàn)正確的機(jī)構(gòu)運(yùn)Modifyspringsanddamperstoachievedesireddesign修改彈簧和阻尼器Lesson4AttachingPhysicallyattachoneparttoTwopartswillbeweldedorrigidlyconnectedtooneNorelativemotionbetweenthetwoInitialorientationbetweenthetwopartswillbelockedandwillbemaintainedthroughoutthesimulation2#Lesson4Springs Where（這里kSpringstiffnesscoefficientalways0)彈簧剛度系數(shù)（總是X=CurrentdistancebetweenthespringconnectionX0Referencelengthofthespring length)彈簧參考長(zhǎng)度（自由長(zhǎng)度n=Exponentdefiningspringcharacteristic彈簧特性定義指數(shù)F0=Reference ofthespring(preload)參考力（預(yù)緊力） repelsthetwoparts.正向力分離物體 expressionappliestoTorsionalTranslational Where（此處c-Translational v-Currentrelativevelocitybetweenpartsattheatta n- expressionappliestoTorsionalLesson4Resultsgas_piston-1notonlytranslatesgas_cylinder-1butalso活塞沿缸體既移動(dòng)又轉(zhuǎn)Therotationneedstobe消除轉(zhuǎn)Lesson4ResultsSpringstiffness彈簧剛度1DamperCo-efficient阻尼系數(shù)5NVelocitygoalis速度目標(biāo)應(yīng)該滿Doordoesnotstopin30門應(yīng)該不在30秒內(nèi)停下Shouldweincreaseordecreasespring應(yīng)該減小還是增加彈簧剛Lesson4:Springstiffness彈簧剛度2DamperCo-efficient阻尼系數(shù)10NVelocitygoalissatisfiedDoorstopsin30secondsLessonHatchbackImagecourtesyofNaionalOpticalAstronomyObservatory,operatedbytheAssociationofUniversitiesforResearchinAstronomy,undercooperativeagreementwiththeNationalScienceFoundation.Lesson5TopicsCreateanAction to創(chuàng)建一個(gè)單作用力并仿Changethemasspropertiesofa修改零件的質(zhì)量特Use stocontroltwopartsfrominterferingeach使用沖擊力控制零件間Lesson AffectthedynamicbehaviorofaDonotprohibitorprescribemotionandsodonotaddorremovedegrees- domyourTranslationalandTorsionalSprings直線和扭轉(zhuǎn)彈Action- s/Moments單作用力/力Action- s/Moments作用-反作用力/力 s沖擊FlexibleConnectors柔性連Gravity重Lesson Whethertheloadingis ora載荷是力還是力Direction方Alonganaxisdefinedbyan ne使用邊線，平面或圓柱面沿軸定Alongtheline-of-sightbetweentwo兩點(diǎn)間沿基準(zhǔn)線定Enterapre-definedfunctionexpression(step,harmonic,spline).EnteranequationdirectlyintotheFunctionExpressionfieldusingthelibraryofbuilt-inCOSMOSMotionfunctions.使用內(nèi)置的庫(kù)函數(shù)在內(nèi)直接輸入方程Lesson5Action Lesson5:Results移動(dòng)正確：活塞在氣缸

移動(dòng)過度：活塞在氣缸Lesson5 thatisdependentonrelativedistancebetweentwo sareusedtosimulatethecollisionbetweentwoAstwopartsapproachwithinaspecifieddistance,the esactive,andspecifiedbytheimpactparametersisappliedtobothofthecollidingThecollisionisdependentonthematerialsandgeometryofthebodies = +沖擊力=彈簧力+阻尼Stiffness:Dependsonmaterialpropertiesandcurvatureof Max :SimulatesenergylossinPenetration:Depthat um Length:distanceatwhichthe isactivated(parts長(zhǎng)度：沖擊力是主動(dòng)力時(shí)的距離（零件接觸Lesson5:Impact = +Stiffness:Dependsonmaterialpropertiesandcurvatureofin ctingsurfacesExponent:Determines Max :SimulatesenergylossinPenetration:Depthat um Length:distanceatwhichtheimpact isactivated(partscontact)Goodnumbersforimpact碰撞參數(shù)最佳Stiffness剛度10000100001.1-1.1-Dam阻尼0.1-100lb-0.00010.01dcannotbespecifiedas0Lesson5ResultsTranslationaldis cementoftheconcentricjointbetweenthepistonandcylinderparts活塞和氣缸間的同軸副的直線位Noticethatthe cementisheldat8incheswhichmeansthat doesnotallowfurthertranslationbetweenthe注意：當(dāng)位移保持在8英寸時(shí)，兩零件間的沖擊力不再允許更深的Lesson5ResultsMagnitudeofthe 沖擊力幅LessonLatching鎖緊機(jī)ImagecourtesyofNaionalOpticalAstronomyObservatory,operatedbytheAssociationofUniversitiesforResearchinAstronomy,undercooperativeagreementwiththeNationalScienceFoundation.Lesson6:UnderstandingPoint-curve-Restrictsapointononebodytolieonacurveonasecondrigid點(diǎn)-線：約束一剛性體的點(diǎn)的邊線Curve-curve-Constrainsonecurveremainincontactwithasecond線-線：約束一條與第二條Intermittentcurve-curve-AppliestopreventcurvesfrompenetratingeachOnlyactiveifthepartsare線-線間歇接觸：施加一個(gè)力防止曲線相互越，只有在零件接觸3DContact–Appliesatopreventbodiesfrompenetratingeachother.Onlyactiveifthepartsaretouching3D接觸：施加一個(gè)力防止實(shí)體間相 只有在零件接觸時(shí)起效Lesson6: sVsContactissimilartoanimpact inthatthematerialpropertiesofthepartsareusedtodefinethecontactparameters.接觸類似于在有沖擊Contactdiffersfromanimpact sinceanypointalongacurveorgeometryisusedinthecontact接觸不同于沖擊Contactsimulates sbetween接觸可以在零件間模擬摩擦Lesson6:3D3DSurfaceRepresentationof零件的特征網(wǎng)格幾何FasterbutlessaccurateincertainsituationslikepointtosurfaceormultiplePrecise精確幾何LongersimulationtimebutproducesLesson

Scissor剪式提ImagecourtesyofNaionalOpticalAstronomyObservatory,operatedbytheAssociationofUniversitiesforResearchinAstronomy,undercooperativeagreementwiththeNationalScienceFoundation.Overconstrainedmodel–Redundanciesmayleadto過約束模型-冗余將導(dǎo)致不精確的求Symmetricallymatesreport對(duì)稱的定位約束產(chǎn)生同的力幅值報(bào)告Lesson7:FlexibleSoftmodel–Flexiblemateswithtoosoftsettingsmayleadtoincorrect柔化模型-柔性配合，柔性設(shè)定將不會(huì)導(dǎo)致不正確的求Lesson7FlexiblematesModelwithoptimumstiffness–Flexiblemateswithcorrectstiffnessprovidecorrectdynamic最佳剛度模型-采用正確適宜的柔性配合可輸出正確的動(dòng)力學(xué)結(jié)LessonImagecourtesyofNaionalOpticalAstronomyObservatory,operatedbytheAssociationofUniversitiesforResearchinAstronomy,undercooperativeagreementwiththeNationalScienceFoundation.Lesson8定義固定和可動(dòng)的FindSwingjointtoaddmotiontoPartsBranchDoubleclickonjointcommontobothpartsinPartsbranchtomodifyjointinConstraints

SetMotionType:to SetFunction:to運(yùn)動(dòng)函數(shù)運(yùn)動(dòng)函數(shù):STEP(TIME,3,0d,4,-90d)+5,0d,6,DefineBoomandboom

SetMotionType:to SetFunction:toMotionMotionFunction:STEP(TIME,0,0d,1,-STEP(TIME,2,0d,3,35d)+STEP(TIME,5,0d,6, SetMotionType:to DefineExtendedBoomMotionSetFunction:toMotionFunction:STEP(TIME,0,0d,1,40d)+STEP(TIME,1,0d,2.5,-70d)+STEP(TIME,4,0d,5,70d)+STEP(TIME,5,6,-DefineBuc