SolidWorks运动仿真培训ppt课件

1、COSMOSMotion 运动仿真培训About this course关于本课程Prerequisites前提条件Course Design Philosophy课程设计原理Using this book本书运用方法A note about files配套光盘阐明Conventions used in this book本书中采用的原理Class Introductions课程引见COSMOSWorksAdv. ProfessionalProfessionalDesign Validation Products设计仿真产品DesignerStaticVibration & BucklingT

2、hermalDrop TestFatigueNonlinearPost-dynamicsCOSMOSEMSElectromagneticCOSMOSMotionCOSMOSFloWorksFlow SimulationOptimizationWhat is Motion Simulation 什么是运动仿真?Study of moving systems or mechanisms运动系统或机构研讨Motion of a system is determined by 运动系统定义：Mechanical joints connecting the parts 零件的机械衔接The mass a

3、nd inertia properties of the components 部件的质量和惯性特性Applied forces to the system (Dynamics) 系统的作用力动力学Driving motions (Motors or Actuators) 驱动运动运动或致动器Time 时间Mechanism types机构类型Kinematic System运动学系统Movement of part(s) under enforced or constrained motion 外加或强迫运动下的部件动作Fully controlled and only one possib

4、le motion result irrespective of force and mass 不思索力和质量的全约束和单一运动的结果Zero degree of freedom 零自在度Dynamic System动力学系统Movement of part(s) under free motion subject to forces 自在运动物体与力作用下的零件运动Partially controlled and infinite number of results depending on forces 依赖于力 的部分约束和无限数量的结果Greater than zero degrees

5、 of freedom 自在度数大于零Understanding Basics运动根底Mass and Inertia质量和惯性Newtons First Law牛顿第一定律Conservation of momentum动力守恒Degrees of freedom自在度Rigid body刚性物体Grounded parts固定零件Moving parts运动零件Constraints约束Restrictions placed on a parts movement in specific degrees of freedom 作用在零件运动上的特定自在度的限制Mechanical join

6、ts are connections that restrict the movement of one part to another机械关节是约束零件相互运动的衔接Joint motion运动副Gravity重力xyPendulum restrainedto pivot about mountingpointMapping of SolidWorks assembly mates (constraints) to COSMOSMotion joints. 映射SolidWorks装配体配合约束为COSMOSMotion的运动副100+ ways of defining SolidWorks

7、 mates. 100多种定义SolidWorks配合的方法Basic constraint types are merged to simplified mechanical joints. 根底约束类型合并为简化的机械约束One Orthogonal Concentric mate in SolidWorks becomes a Concentric joint.一个正交同轴配合转化为同轴副 One Coincident and One Orthogonal Concentric mates in SolidWorks becomes a Revolute joint.一个重合和一个正交同

8、轴配合转化为一个转动副 One Point to Point coincident mate in SolidWorks becomes a spherical joint一个点对点重合配合转化为一个球副。Constraint Mapping约束映射约束映射什么是约束映射?是指在2个指定的零件之间，自动地、智能的将装配关系转化为最小的机构运动幅的方式。根本的约束类型可以合并为简单的机构运动幅，例如 e.g. 1 coincident joints becomes a planar joint 2 orthogonal coincident joints becomes a translatio

9、nal joint 3 orthogonal coincident joints becomes a fixed joint 1 Coincident and 1 orthogonal concentric becomes a revolute joint一切的装配约束被映射为衔接，包括曲面和曲面的约束 (如： 圆柱面/平面相切、圆柱面/圆柱面相切) 。这些是共有的衔接。映射的约束注:SolidWorks 中有100多种零件约束的方式计算机如何进展运动分析？程序在每一个时间步都运用修正的Newton-Raphson迭代法进展运算采用很小的时间步，软件就会预测零件相对于原始条件或当前时间步的下一

10、个时间步的位置仿真求解必需满足以下要求： 零件的速度 零件间的配合关系 力和加速度 结果会不断迭代计算直到到达该时间步上的力和加速度值的某一精度为止。 运动副根底知识1原点方向Revolute铰接副约束2个旋转，3个挪动自在度构件1构件2Cylindrical圆柱副约束2个旋转，2个挪动自在度运动副根底知识2原点方向原点y-axisx-axisz-axisTranslational 挪动副Spherical球形副约束3个旋转，2个挪动自在度约束3个挪动自在度运动副根底知识3衔接点轴 1轴 2原点方向Planar平面副Universal万向副约束1个旋转，3个挪动自在度约束2个旋转， 1个挪动自

11、在度运动副根底知识4原点Fixed固定副Screw螺旋副约束3个旋转，3个挪动自在度约束1个自在度2个构件可以不平行于挪动和旋转轴，但2个构件的Z轴应该平行且方向一致。挪动和旋转轴螺距运动副根底知识5原点方向 1st Axis 2nd AxisParallel平行轴约束构件1的Z轴，一直平行于构件2的Z轴即构件1只能绕构件2的一个轴旋转约束2个旋转自在度Perpendicular垂直轴约束构件1的Z轴，一直垂直于构件2的Z轴即：构件1只能绕构件2的二个轴旋转约束1个旋转自在度运动副根底知识6衔接点方向衔接点指定的面X参考轴In Line点在直线上约束构件1的衔接点，只能沿着构件2衔接点标志的Z

12、轴运动约束2个挪动自在度In Plane点在面内约束3个旋转自在度约束2个构件之间的相对转动运动副根底知识7Orientation方向约束3个旋转自在度约束2个构件之间的相对转动CosmosMotion机构根底刚性实体： 1、 在Motion中，一切构件都被作为理想刚体。意味着零件内 部没有变形，在仿真过程中构件不会变形或改动外形。一个刚性构件可以是单一的SolidWorks零件或子装配体。 2、SolidWorks零件或子装配体的两种形状：固定或灵敏。 3、一个刚性的子装配体就是指组成子装配体的独立部件被刚性地相互附加焊接在一同，假设它们也是单一零件。CosmosMotion机构根底固定零件

13、一刚性零件可被当作固定构件或浮动运动的零件。固定零件就是绝对静止。每一固定的实体都具有0个自在度固定零件承当为运动刚性实体的参考构造SolidWorks中，装配体中的固定零件会自动地被处置为固定构件，在开场一个新的机构和映射装配体约束时。CosmosMotion机构根底浮动零件机构中可以运动的部件被当作是活动构件。每个活动构件有六个自在度。SolidWorks中，装配体中的浮动零件会自动地被处置为活动构件，在开场一个新的机构和映射装配体约束时。CosmosMotion机构根底配合SolidWorks配合充分定义刚性构件如何衔接以及它们之间如何相互运动。配合从零件的衔接中移除自在度。在两个刚性构

14、件中添加配合，例好像轴配合，就移走了自在度，致使它们相对于其它构件坚持定位，即使机构中存在运动或作用力。CosmosMotion机构根底电机电机可为零件定义在一个时间段内的运动。电机可定义位移，速度，或作为时间函数的加速度。CosmosMotion机构根底重力当零件的分量对运动仿真有影响时，重力是一个非常重要的数量，例如自在落体。重力有两部分组成： 重力矢量方向 重力加速度的幅值重力属性对话框可以指定方向和重力矢量值，可以在对应的文本框内输入x,y,z方向的值，或经过指定一个参考平面。幅值必需单独输入。默许的重力矢量值为0，-1，0，幅值为386.22in/s2(或与当前激活单位的当量值Cos

15、mosMotion机构根底约束映射概念CosmosMotion机构根底力当在CosmosMotion中定义各种力时，必需指定力的位置和方向。这些位置和方向可以从选定的SolidWorks实体中派生出来。实体可以是草图点，顶点，边线和面。User Interface用户界面总结Lesson 1第1课Car Jack汽车千斤顶Lesson 1: Topics内容Introduction to the COSMOSMotion Feature Manager COSMOSMotion特征管理器引见Understand basic capabilities of COSMOSMotion COSMOS

16、Motion的根本才干Run a Simulation 运转仿真Create a result plot 创建结果输出Cosmosmotion界面1、SolidWorks特征树2、运动类型选项框3、Motion特征管理器4、动画和特征时间线5、MotionManager工具条Lesson1:模型阐明A mechanical jack is a device that lifts heavy equipment. The most common form is a car jack, floor jack, or garage jack which lifts vehicles so that

17、maintenance can be performed. Car jacks usually use mechanical advantage to allow a human to lift a vehicle. More powerful jacks use hydraulic power to provide more lift over greater distances. Mechanical jacks are usually rated for a maximum lifting capacity (e.g., 1.5 tons or 3 tons).机械千斤顶是提升重型设备的

18、安装。最常见的款式是轿车千斤顶，地板千斤顶、车库千斤顶，用以提升汽车，以方便维修。轿车千斤顶通常借助机械优势让一个人就可提升汽车。更强大的千斤顶运用液压动力可以提供更远间隔的举升。机械千斤顶通常以最大提升才干分级例如1.5吨或3吨等Lesson 1:Simulation Goal 仿真目的Lesson 1：Analysis Step分析步骤11、 Open the assembly：to open the assembly file Car_Jack.sldasm from the Lesson01 folder. 翻开装配体： Car_Jack.sldasm 文件夹Lesson012 、Ch

19、ange to the Motion Study. 切换到运动算例3 、Create a Motor that drives the Screw_rod at 5 RPM 创建电机，驱动丝杠：5rpm.4 、Type of Study 研讨类型5 、Run the Animation for 5 seconds. 运转一个5秒的动画6 、Run the Animation for 8 seconds 运转一个8秒的动画7 、Rename the Assembly Simulation study 重命名装配体算例Lesson 1：Analysis Step分析步骤28 Duplicate th

20、e Assembly motion study to create a new Motion Study 复制装配体算例创建一个新的运动算例9 Ensure that COSMOSMotion is added in 启动COSMOSMotion插件10 Select COSMOSMotion as the Type of study 选择COSMOSMotion作为研讨类型11 Apply Gravity to the assembly 运用重力到装配体12 Create a contact condition between SprocketLink3 and SprocketLink4.

21、 在SprocketLink3 和 SprocketLink4.间设定接触条件13 Create similar contact condition between SprocketLink1 and SprocketLink2. SprocketLink1和 SprocketLink2之间创建一个同样的接触条件14 Create a force of 2000 lbs to simulate the weight of the car on the car jack. 创建一个2000lbs的力，以模拟汽车分量作用在千斤顶上。Lesson 1：Analysis Step分析步骤315 Run

22、 the Simulation for 8 seconds. 运转一个8秒的仿真16 Plot the torque required to lift the weight of the car. 输出提升汽车分量所需的扭矩17 Plot the power consumed to lift a weight of 2000 lbs. 输出提升2000lbs分量所需耗费的功率18 Rotate assembly 转动装配体19 Play the animation. 播放动画20 Enable View Key Creation. 激活视窗键创建21 Create a new view key

23、. 建立一个新的视窗键22 Reorient the view 定位视窗23 Play the animation 播放动画Lesson 1：Analysis Step分析步骤24 Save and close assembly. 保管和封锁装配体Lesson 1: Defining and Simulating a Mechanism第1课：定义和仿真一个机构Parts部件Moving Parts运动部件Ground Parts固定部件Constraints约束Joints运动副Joint Primitives根本副Cam Constraints凸轮约束ForcesApplied Force

24、s施加力Flexible Connectors 衔接柔性处置Gravity重力Results结果添加电机折叠运动管理器添加马达运转一个8秒的动画计算按钮时间线关键码备注： 运动算例简介 运动算例是装配体模型运动的图形模拟。您可将诸如光源和相机透视图之类的视觉属性交融到运动算例中。运动算例不更改装配体模型或其属性。它们模拟并动作给模型规定的运动。可运用 SolidWorks 配合在您建模运动时约束零部件在装配体中的运动。可从运动算例运用 MotionManager，此为基于时间线的界面，包括有以下运动模拟工具：装配体运动物理模拟COSMOSMotion比较装配体运动可在 SolidWorks中心

25、包内运用。您可运用装配体运动来动画装配体的运动：添加马达来驱动装配体一个或多个零件的运动。运用设定键码点在不同时间规定装配体零部件的位置。装配体运动运用插值来定义键码点之间装配体零部件的运动。 物理模拟可在 SolidWorks中心包内运用。您可运用物理模拟在装配体上模拟马达、弹簧、碰撞、以及引力。物理模拟在计算运动时思索到质量。物理模拟计算相当块，所以您可将之用来生成运用基于物理的模拟的演示性动画。COSMOSMotion可在 SolidWorks office premium 中运用。您可运用 COSMOSMotion 在装配体上准确模拟和分析模拟单元的效果包括力、弹簧、阻尼、以及摩擦。C

26、OSMOSMotion 运用计算才干强大的动力求解器，在计算中思索到资料属性和质量及惯性。您也可运用 COSMOSMotion 为进一步分析标绘模拟结果。决议运用哪种算例类型 运用装配体运动为不需求思索到质量或引力的运动生成演示性动画。 运用物理模拟生成思索到质量、碰撞、或引力的运动的演示性近似模拟。 运用 COSMOSMotion 运转思索到装配体运动的物理特性的计算才干强大的模拟。该工具为以上三种选项中计算才干最强的。您对所需的运动的物理特性了解越深，那么您的结果越佳。您可运用 COSMOSMotion 运转冲击分析算例以了解零部件对各种不同力的呼应。MotionManager 工具模拟单

27、元解算器没能收敛。能够缘由是:1.解算器没能获得指定的精度。松弛COSMOSMotion属性中的精度设定。 2.假设模型中的零件快速挪动，经常评价雅可比值。 3.机制能够已锁定。以不同的初始配置开场模拟或者更改您的马达以获得有效的运动。 4.假设在模拟开场时就出现缺点，运用较小的初始积分器步长大小。 5.尝试运用一严厉解算器，如WSTIFF。 6.尝试在模型中防止猛烈断续性，如忽然运动变化，力变化或启用/禁用配合。 7.您能够在运用速度极高的马达。尝试降低马达速度。 8.确定任何时候只需一个马达在驱动某一零部件。Lesson 2第2课Slider Crank Mechanism滑块曲柄机构Le

28、sson 2: Topics内容Create moving and ground parts 建立运动和固定部件Review basic joint types in COSMOSMotion 回想COSMOSMotion中根本运动副类型Understand Automatic Constraint mapping 了解自动约束映射Apply motion to a joint 给运动副添加运动Create a result plot 创建结果输出Lesson 2: Constraint Mapping Concept 约束映射概念1 Coincident and 1 concentric m

29、ates becomes a revolute joint 一个重合和同轴配合转化为转动副1 Concentric mate becomes a cylindrical joint 一个同轴配合转化为圆柱副A point on a point coincident mate becomes a spherical joint 一个点对点的重合配合转化为球副A point on an axis coincident mate becomes an Inline Joint 轴上一点的重合配合转化为在线衔接Lesson 2: Results结果 Collar-1 not only translat

30、es along collar_shaft-1 but also rotates. Collar-1轴套不仅沿collar_shaft-1滑动轴挪动同时还绕轴转动。 The rotation needs to be prevented 转动必需消除Lesson 2: Motion on JointsJoint Types运动副类型Type of motion allowed允许的运动类型 Available options under Motion On list应用选项Cylindrical圆柱副Rotation and translation in one direction沿同一方向既移

31、动又转动Rotate Z（转动）Translate Z（移动）Revolute转动副Only Rotation in one direction只允许在同一方向转动Rotate Z（转动）Translational移动副Only Translation in one direction只允许在同一方向移动Translate Z（移动）Spherical球副Rotations in all directions, No translation所有方向的转动，没有移动Rotate X（转动）Rotate Y（转动）Rotate Z（转动）Lesson 2: Results结果Power Consu

32、mption in Mechanism机构的能量耗费Why is Power Consumption negative in some places?为什么在某些位置能量耗费为负值？Lesson 3Piston Crankshaft Mechanism活塞曲柄机构Lesson 3 Topics内容Review basic joint types in COSMOSMotion COSMOSMotion根本运动副回想Create Mechanical Joints 建立机械副Apply motion to a joint 为运动副添加运动Create and review results 创建和

33、阅读结果Lesson 3: Basic Joint TypesJoints used to constrain the relative motion of a pair of rigid bodies by physically connecting them. 物理衔接的一对刚性体运用机械副约束相对运动Joint Primitives used to enforce standard geometric constraints 虚约束运用于强化规范几何约束Lesson 4Door Mechanism门开关机构Lesson 4 Topics内容Create springs and dampe

34、r entities in COSMOSMotion COSMOSMotion中创建弹簧和阻尼器Attach different parts together to move them as a single entity 绑定不同部件作为同一实体运动Constrain the motion of a cylindrical joint to achieve correct mechanism behavior 约束圆柱副运动，实现正确的机构运动Modify springs and dampers to achieve desired design goals 修正弹簧和阻尼器，实现设定的设计

35、目的Lesson 4 Attaching PartsPhysically attach one part to another 物理绑定一个零件到另一个零件上Two parts will be welded or rigidly connected to one another. 两零件被焊接或刚性衔接到一同No relative motion between the two parts 消除两零件间的相对运动Initial orientation between the two parts will be locked and will be maintained throughout th

36、e simulation 锁定两零件的原始定位，并在仿真求解中坚持定位1#实体2#实体Lesson 4: Springs弹簧Translational Spring Force线性弹簧力 = -k (X - X0)n + F0Where这里:k = Spring stiffness coefficient (always 0)弹簧刚度系数总是0)X = Current distance between the spring connection points X0 = Reference length of the spring (Free length) 弹簧参考长度自在长度n = Expo

37、nent defining spring characteristic弹簧特性定义指数F0 = Reference force of the spring (preload)参考力预紧力Positive force repels the two parts.正向力分别物体Negative force attracts the two parts.负向力拉近物体Similar force expression applies to Torsional Springs近似表达式可用于改动弹簧Lesson 4: Dampers缓冲器Translational Damper Force线性阻尼力 =

38、c*vn Where此处:c - Translational damping coefficient 线性阻尼系数v - Current relative velocity between parts at the attachment points 零件在衔接点上的相对速度n - Exponent. 指数Similar force expression applies to Torsional Dampers近似表达式可用于改动缓冲器Lesson 4: Results结果 gas_piston-1 not only translates along gas_cylinder-1 but al

39、so rotates. 活塞沿缸体既挪动又转动 The rotation needs to be prevented 消除转动Lesson 4: Results结果 Velocity goal is satisfied速度目的应该满足：Door does not stop in 30 seconds门应该不在30秒内停下。Should we increase or decrease spring stiffness?应该减小还是添加弹簧刚度？Spring stiffness 弹簧刚度: 1 N/mmDamper Co-efficient阻尼系数: 5 N (sec/mm)Lesson 4: R

40、esults Velocity goal is satisfiedDoor stops in 30 seconds速度目的满足门在30秒内停下Spring stiffness弹簧刚度: 2 N/mmDamper Co-efficient阻尼系数: 10 N (sec/mm)Lesson 5Hatchback Mechanism后尾箱开启机构Lesson 5 Topics目的Create an Action Only force to simulate 创建一个单作用力并仿真Change the mass properties of a part 修正零件的质量特性Use Impact forc

41、es to control two parts from interfering each other 运用冲击力控制零件间的相互关涉Affect the dynamic behavior of a mechanism 模拟机构的动力学行为Do not prohibit or prescribe motion and so do not add or remove degrees-of-freedom from your model.Force Entities力实体Translational and Torsional Springs 直线和改动弹簧Translational and Tor

42、sional Dampers 直线和改动阻尼器Action-Only Forces/Moments 单作用力/力矩Action-Reaction Forces/Moments 作用-反作用力/力矩Impact Forces冲击力Flexible Connectors柔性衔接Gravity重力Lesson 5: Forces力Force Type力类型Whether the loading is a force or a moment. 载荷是力还是力矩Location定位Direction方向Along an axis defined by an edge, plane or cylindri

43、cal surface. 运用边线，平面或圆柱面沿轴定义Along the line-of-sight between two points 两点间沿基准线定义Magnitude幅值Enter a pre-defined function expression (step, harmonic, spline).输入预定义的函数表达式步进，简谐，样条Enter an equation directly into the Function Expression field using the library of built-in COSMOSMotion functions. 运用内置的库函数在

44、函数表达式框内直接输入方程式Lesson 5: Force Definition定义力Lesson 5: Action Only Force单作用力Lesson 5: Results结果挪动过度：活塞在气缸外挪动正确：活塞在气缸内Lesson 5: Impact Forces冲击力Intermittent force that is dependent on relative distance between two components). 依赖于两元件相对间隔的间歇力Impact forces are used to simulate the collision between two p

45、arts. 间歇力用于仿真两零件的碰撞As two parts approach within a specified distance, the impact force becomes active, and a force specified by the impact parameters is applied to both of the colliding parts. 当两零件接近在指定的间隔内时，冲击力成为自动力，冲击参数控制的力施加在两碰撞零件之间。The collision is dependent on the materials and geometry of the

46、bodies colliding. 碰撞依赖于资料和碰撞的几何体外形Impact Force = Spring Force + Damping Force 冲击力=弹簧力+阻尼力Stiffness: Depends on material properties and curvature of interacting surfaces刚度：依赖于资料属性和接触面的曲率Exponent: Determines impact force characteristic指数：定义冲击力特性Max Damping: Simulates energy loss in collision最大缓冲：模拟碰撞的

47、能量耗费Penetration: Depth at which maximum damping occurs. 穿透深度：最大阻尼发生时的深度Length: distance at which the impact force is activated (parts contact) 长度：冲击力是自动力时的间隔零件接触Lesson 5: Impact Parameters碰撞参数Impact Force = Spring Force + Damping ForceStiffness: Depends on material properties and curvature of intera

48、cting surfacesExponent: Determines impact force characteristicMax Damping: Simulates energy loss in collisionPenetration: Depth at which maximum damping occurs. Length: distance at which the impact force is activated (parts contact)Lesson 5: Impact ParametersGood numbers for impact parameters:碰撞参数最正

49、确数值：Stiffness刚度: 10000 lb/in10000 N/mmExponent指数: 1.1-1.3 1.1-1.3 Damping阻尼:0.1-100 lb-s/in1-100 Penetration穿透: 0.0001 in0.01 mmLesson 5: Impact Parameters碰撞参数d cannot be specified as 0D不能设定为0Lesson 5: Results结果Translational displacement of the concentric joint between the piston and cylinder parts活

50、塞和气缸间的同轴副的直线位移Notice that the displacement is held at 8 inches which means that the impact force does not allow further translation between the parts留意：当位移坚持在8英寸时，两零件间的冲击力不再允许更深的挪动。Lesson 5: Results结果Magnitude of the impact force applied冲击力幅值Lesson 6Latching Assembly锁紧机构Point-curve - Restricts a poi

51、nt on one rigid body to lie on a curve on a second rigid body.点-线：约束一刚性体的点作用在另一刚性体的边线上Curve-curve - Constrains one curve to remain in contact with a second curve.线-线：约束一条与第二条曲线坚持接触Intermittent curve-curve - Applies a force to prevent curves from penetrating each other. Only active if the parts are t

52、ouching线-线间歇接触：施加一个力防止曲线相互穿越，只需在零件接触时起效。3D Contact Applies a force to prevent bodies from penetrating each other. Only active if the parts are touching3D接触：施加一个力防止实体间相互穿透。只需在零件接触时起效。Lesson 6: Understanding Contacts 了解接触Contact is similar to an impact force in that the material properties of the part

53、s are used to define the contact parameters. 接触类似于在有冲击力作用时，经过零件的资料属性来定义接触参数。Contact differs from an impact force since any point along a curve or geometry is used in the contact接触不同于冲击力，当一个点沿着线或几何体被定义为接触时。Contact simulates friction forces between parts.接触可以在零件间模拟摩擦力Lesson 6: Impact Forces Vs Contact

54、s 冲击力与接触的比较Lesson 6: 3D Contact 3D 接触Surface Representation of parts:零件的特征面Tessellated Geometry 网格几何体Faster but less accurate in certain contact situations like point to surface or multiple contacts 在某些接触条件下速度快，但精度差，例如点对面接触，多重接触。Precise Geometry 准确几何体Longer simulation time but produces accurate resu

55、lts 仿真求解时间长，但结果较准确Lesson 7 Scissor lift剪式提升机Overconstrained model Redundancies may lead to inaccurate solutions. 过约束模型-冗余将导致不准确的求解Lesson 7: Redundancies约束冗余Symmetrically located mates report different force magnitudes.对称的定位约束产生不同的力幅值报告。Soft model Flexible mates with too soft settings may lead to inc

56、orrect solution.柔化模型-柔性配合，柔性设定将不会导致不正确的求解。Lesson 7: Flexible matesModel with optimum stiffness Flexible mates with correct optimum stiffness provide correct dynamic solution.最正确刚度模型-采用正确适宜的柔性配合可输出正确的动力学结果Lesson 7: Flexible mates柔性配合Lesson 8ExcavatorLesson 8Excavator.sldasm定义固定和可动的零件挖土机的练习定义Swing Tow

57、er的运动Parts BranchFind Swing Tower joint to add motion toDouble click on joint common to both parts in Parts branch to modify joint in Constraints branch运动函数: STEP(TIME, 3, 0d, 4, -90d)+ STEP(TIME, 5, 0d, 6, 90d)挖土机的练习Set Motion Type: to DisplacementSet Function: to ExpressionDefine Boom MotionFind r

58、evolute joint between swing tower and boomMotion Function: STEP(TIME, 0, 0d, 1, -20d)+ STEP(TIME, 2, 0d, 3, 35d) + STEP(TIME, 5, 0d, 6, -15d)挖土机的练习Set Motion Type: to DisplacementSet Function: to ExpressionDefine Extended Boom MotionMotion Function: STEP(TIME,0, 0d, 1, 40d)+STEP(TIME,1, 0d, 2.5, -70

59、d)+STEP(TIME,4, 0d, 5, 70d)+STEP(TIME,5, 0d, 6, -40d)挖土机的练习Set Motion Type: to DisplacementSet Function: to ExpressionDefine Bucket MotionMotion Function: STEP(TIME,0, 0d, 1, -20d)+STEP(TIME,1, 0d, 2.5, 90d)+STEP(TIME,4, 0d, 5, -75d)+STEP(TIME,5, 0d, 6, 5d)挖土机的练习Rename Joints with MotionRight click

60、on joint and select PropertiesClick on Properties tab and change nameUnder the Joints branch, new names should appear挖土机的练习Simulation ParametersRun Simulation挖土机的练习Plot Driving Motion Torque Select Rotary Motion Generator as the quantity and Magnitude as the valueDrag joints with motion onto XY Plot