SolidWorks運(yùn)動(dòng)仿真培訓(xùn)

1、Image courtesy of National Optical Astronomy Observatory, operated by the Association of Universities for Research in Astronomy, under cooperative agreement with the National Science Foundation.COSMOSMotion 運(yùn)動(dòng)仿真培訓(xùn)2 2007 SolidWorks Corp. Confidential.About this course關(guān)于本課程 Prerequisites前提條件 Course De

2、sign Philosophy課程設(shè)計(jì)原理 Using this book本書使用方法 A note about files配套光盤說明 Conventions used in this book本書中采用的原理 Class Introductions課程介紹3 2007 SolidWorks Corp. Confidential.COSMOSWorksAdv. ProfessionalProfessionalDesign Validation Products設(shè)計(jì)仿真產(chǎn)品Designer4 2007 SolidWorks Corp. Confidential.What is Motion S

3、imulation 什么是運(yùn)動(dòng)仿真?Study of moving systems or mechanisms運(yùn)動(dòng)系統(tǒng)或機(jī)構(gòu)研究Motion of a system is determined by 運(yùn)動(dòng)系統(tǒng)定義：Mechanical joints connecting the parts 零件的機(jī)械連接The mass and inertia properties of the components 部件的質(zhì)量和慣性特性Applied forces to the system (Dynamics) 系統(tǒng)的作用力（動(dòng)力學(xué)）Driving motions (Motors or Actuators

4、) 驅(qū)動(dòng)運(yùn)動(dòng)（運(yùn)動(dòng)或致動(dòng)器）Time 時(shí)間5 2007 SolidWorks Corp. Confidential.Mechanism types機(jī)構(gòu)類型 Kinematic System運(yùn)動(dòng)學(xué)系統(tǒng)Movement of part(s) under enforced or constrained motion 外加或強(qiáng)制運(yùn)動(dòng)下的部件動(dòng)作Fully controlled and only one possible motion result irrespective of force and mass 不考慮力和質(zhì)量的全約束和單一運(yùn)動(dòng)的結(jié)果Zero degree of freedom 零自由度

5、Dynamic System動(dòng)力學(xué)系統(tǒng)Movement of part(s) under free motion subject to forces 自由運(yùn)動(dòng)物體與力作用下的零件運(yùn)動(dòng)Partially controlled and infinite number of results depending on forces 依賴于力 的部分約束和無限數(shù)量的結(jié)果Greater than zero degrees of freedom 自由度數(shù)大于零6 2007 SolidWorks Corp. Confidential.Understanding Basics運(yùn)動(dòng)基礎(chǔ) Mass and Iner

6、tia質(zhì)量和慣性 Newtons First Law牛頓第一定律 Conservation of momentum動(dòng)力守恒 Degrees of freedom自由度 Rigid body剛性物體 Grounded parts固定零件 Moving parts運(yùn)動(dòng)零件 Constraints約束Restrictions placed on a parts movement in specific degrees of freedom 作用在零件運(yùn)動(dòng)上的特定自由度的限制Mechanical joints are connections that restrict the movement of

7、one part to another 機(jī)械關(guān)節(jié)是約束零件相互運(yùn)動(dòng)的連接 Joint motion運(yùn)動(dòng)副 Gravity重力xyPendulum restrainedto pivot about mountingpoint7 2007 SolidWorks Corp. Confidential. Mapping of SolidWorks assembly mates (constraints) to COSMOSMotion joints. 映射SolidWorks裝配體配合（約束）為COSMOSMotion的運(yùn)動(dòng)副 100+ ways of defining SolidWorks mate

8、s. 100多種定義SolidWorks配合的方法 Basic constraint types are merged to simplified mechanical joints. 基礎(chǔ)約束類型合并為簡化的機(jī)械約束One Orthogonal Concentric mate in SolidWorks becomes a Concentric joint. 一個(gè)正交同軸配合轉(zhuǎn)化為同軸副 One Coincident and One Orthogonal Concentric mates in SolidWorks becomes a Revolute joint. 一個(gè)重合和一個(gè)正交同軸配

9、合轉(zhuǎn)化為一個(gè)轉(zhuǎn)動(dòng)副 One Point to Point coincident mate in SolidWorks becomes a spherical joint 一個(gè)點(diǎn)對(duì)點(diǎn)重合配合轉(zhuǎn)化為一個(gè)球副。Constraint Mapping約束映射8 2007 SolidWorks Corp. Confidential.約束映射 什么是約束映射?是指在2個(gè)指定的零件之間，自動(dòng)地、智能的將裝配關(guān)系轉(zhuǎn)化為最小的機(jī)構(gòu)運(yùn)動(dòng)幅的形式?；镜募s束類型可以合并為簡單的機(jī)構(gòu)運(yùn)動(dòng)幅，例如 e.g. 1 coincident joints becomes a planar joint 2 orthogonal c

10、oincident joints becomes a translational joint 3 orthogonal coincident joints becomes a fixed joint 1 Coincident and 1 orthogonal concentric becomes a revolute joint 所有的裝配約束被映射為連接，包括曲面和曲面的約束 (如： 圓柱面/平面相切、圓柱面/圓柱面相切) 。這些是共有的連接。9 2007 SolidWorks Corp. Confidential.映射的約束SW Geometry SW Geometry 裝配關(guān)系裝配關(guān)系

11、運(yùn)動(dòng)約束運(yùn)動(dòng)約束 Point Point 重合 PointPoint Point Point 距離 PointPointDist Point Line 重合 PointLine Point Line 距離 PointLineDist Point Plane 重合 PointPlaneDist Point Plane 距離 PointPlaneDist Point Cylinder 重合 PointLineDist Point Cylinder 同軸 PointLine Line Line 重合 LineLine Line Line 距離 LineLineDist Line Line 角度 Li

12、neLineAng Line Line 平行 LineLineAng (0 deg.) Line Line 垂直 LineLineAng (90 deg.) 注注:SolidWorks 中中有有100多種零件多種零件約束的方式約束的方式10 2007 SolidWorks Corp. Confidential.LinePlaneCOINCIDENTLinePlaneDistLinePlaneDISTANCELinePlaneDistLinePlanePARALLELLineLineAng (0 deg.)LinePlanePERPENDICULARLineLineAng (90 deg.)Li

13、neCylinderCOINCIDENTLineLineDistLineCylinderTANGENTLineCylTanLineConeCOINCIDENTLineLinePlanePlaneCOINCIDENTPlanePlaneDistPlanePlaneDISTANCEPlanePlaneDistPlanePlaneANGLELineLineAngPlanePlanePARALLELLineLineAng (0 deg.)PlanePlanePERPENDICULARLineLineAng (90 deg.)PlaneCylinderTANGENTPlaneCylTanCylinder

14、CylinderCONCENTRICLineLineCylinderCylinderTANGENTLineCylTanCylinderConeCONCENTRICLineLineConeConeCONCENTRICLineLine11 2007 SolidWorks Corp. Confidential.計(jì)算機(jī)如何進(jìn)行運(yùn)動(dòng)分析？ 程序在每一個(gè)時(shí)間步都應(yīng)用修正的Newton-Raphson迭代法進(jìn)行運(yùn)算 采用很小的時(shí)間步，軟件就會(huì)預(yù)測零件相對(duì)于原始條件或當(dāng)前時(shí)間步的下一個(gè)時(shí)間步的位置 仿真求解必須滿足以下要求： 零件的速度零件的速度 零件間的配合關(guān)系零件間的配合關(guān)系 力和加速度力和加速度 結(jié)果會(huì)

15、一直迭代計(jì)算直到達(dá)到該時(shí)間步上的力和加速度值的結(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值的某一精度為止。某一精度為止。 12 2007 SolidWorks Corp. Confidential.運(yùn)動(dòng)副基礎(chǔ)知識(shí)（1）原點(diǎn)原點(diǎn)方向方向Revolute鉸接副鉸接副約束約束2個(gè)旋轉(zhuǎn)，個(gè)旋轉(zhuǎn)，3個(gè)移動(dòng)自由度個(gè)移動(dòng)自由度構(gòu)件構(gòu)件1構(gòu)件構(gòu)件2Cylindrical圓柱副圓柱副約束約束2個(gè)旋轉(zhuǎn)，個(gè)旋轉(zhuǎn)，2個(gè)移動(dòng)自由度個(gè)移動(dòng)自由度13 2007 SolidWorks Corp. Confidential.運(yùn)動(dòng)副基礎(chǔ)知識(shí)（2）原點(diǎn)原點(diǎn)方向方向原點(diǎn)原點(diǎn)y-axisx-axisz-axisTranslati

16、onal 移動(dòng)副移動(dòng)副Spherical球形副球形副約束約束3個(gè)旋轉(zhuǎn)，個(gè)旋轉(zhuǎn)，2個(gè)移動(dòng)自由度個(gè)移動(dòng)自由度約束約束3個(gè)移動(dòng)自由度個(gè)移動(dòng)自由度14 2007 SolidWorks Corp. Confidential.運(yùn)動(dòng)副基礎(chǔ)知識(shí)（3）連接點(diǎn)連接點(diǎn)軸軸 1軸軸 2原點(diǎn)原點(diǎn)方向方向Planar平面副平面副Universal萬向副萬向副約束約束1個(gè)旋轉(zhuǎn)，個(gè)旋轉(zhuǎn)，3個(gè)移動(dòng)自由度個(gè)移動(dòng)自由度約束約束2個(gè)旋轉(zhuǎn)，個(gè)旋轉(zhuǎn)， 1個(gè)移動(dòng)自由度個(gè)移動(dòng)自由度15 2007 SolidWorks Corp. Confidential.運(yùn)動(dòng)副基礎(chǔ)知識(shí)（4）原點(diǎn)原點(diǎn)Fixed固定副固定副Screw螺旋副螺旋副約束約束3個(gè)旋

17、轉(zhuǎn)，個(gè)旋轉(zhuǎn)，3個(gè)移動(dòng)自由度個(gè)移動(dòng)自由度約束約束1個(gè)自由度個(gè)自由度2個(gè)構(gòu)件可以不平行于移動(dòng)和旋轉(zhuǎn)軸，但個(gè)構(gòu)件可以不平行于移動(dòng)和旋轉(zhuǎn)軸，但2個(gè)構(gòu)件的個(gè)構(gòu)件的Z軸軸應(yīng)該平行且方向一致。應(yīng)該平行且方向一致。移動(dòng)和旋轉(zhuǎn)軸移動(dòng)和旋轉(zhuǎn)軸螺距螺距16 2007 SolidWorks Corp. Confidential.運(yùn)動(dòng)副基礎(chǔ)知識(shí)（5）原點(diǎn)原點(diǎn)方向方向 1st Axis 2nd AxisParallel平行軸平行軸約束構(gòu)件約束構(gòu)件1的的Z軸，始終平行于構(gòu)件軸，始終平行于構(gòu)件2的的Z軸軸即構(gòu)件即構(gòu)件1只能繞構(gòu)件只能繞構(gòu)件2的一個(gè)軸旋轉(zhuǎn)的一個(gè)軸旋轉(zhuǎn)約束約束2個(gè)旋轉(zhuǎn)自由度個(gè)旋轉(zhuǎn)自由度Perpendicular垂

18、直軸垂直軸約束構(gòu)件約束構(gòu)件1的的Z軸，始終垂直于構(gòu)件軸，始終垂直于構(gòu)件2的的Z軸軸即：構(gòu)件即：構(gòu)件1只能繞構(gòu)件只能繞構(gòu)件2的二個(gè)軸旋轉(zhuǎn)的二個(gè)軸旋轉(zhuǎn)約束約束1個(gè)旋轉(zhuǎn)自由度個(gè)旋轉(zhuǎn)自由度17 2007 SolidWorks Corp. Confidential.運(yùn)動(dòng)副基礎(chǔ)知識(shí)（6）連接點(diǎn)連接點(diǎn)方向方向連接點(diǎn)連接點(diǎn)指定指定的面的面X參考軸參考軸In Line點(diǎn)在直線上點(diǎn)在直線上約束構(gòu)件約束構(gòu)件1的連接點(diǎn)，只能沿著構(gòu)件的連接點(diǎn)，只能沿著構(gòu)件2連接點(diǎn)連接點(diǎn)標(biāo)記的標(biāo)記的Z軸運(yùn)動(dòng)軸運(yùn)動(dòng)約束約束2個(gè)移動(dòng)自由度個(gè)移動(dòng)自由度In Plane點(diǎn)在面內(nèi)點(diǎn)在面內(nèi)約束約束3個(gè)旋轉(zhuǎn)自由度個(gè)旋轉(zhuǎn)自由度約束約束2個(gè)構(gòu)件之間的相對(duì)

19、轉(zhuǎn)動(dòng)個(gè)構(gòu)件之間的相對(duì)轉(zhuǎn)動(dòng)18 2007 SolidWorks Corp. Confidential.運(yùn)動(dòng)副基礎(chǔ)知識(shí)（7）Orientation方向方向約束約束3個(gè)旋轉(zhuǎn)自由度個(gè)旋轉(zhuǎn)自由度約束約束2個(gè)構(gòu)件之間的相對(duì)轉(zhuǎn)動(dòng)個(gè)構(gòu)件之間的相對(duì)轉(zhuǎn)動(dòng)19 2007 SolidWorks Corp. Confidential.CosmosMotion機(jī)構(gòu)基礎(chǔ) 剛性實(shí)體： 1、 在Motion中，所有構(gòu)件都被作為理想剛體。意味著零件內(nèi) 部沒有變形，在仿真過程中構(gòu)件不會(huì)變形或改變形狀。一個(gè)剛性構(gòu)件可以是單一的SolidWorks零件或子裝配體。 2、SolidWorks零件或子裝配體的兩種狀態(tài)：固定或靈活。 3、一

20、個(gè)剛性的子裝配體就是指組成子裝配體的獨(dú)立部件被剛性地相互附加（焊接）在一起，如果它們也是單一零件。20 2007 SolidWorks Corp. Confidential.CosmosMotion機(jī)構(gòu)基礎(chǔ) 固定零件 一剛性零件可被當(dāng)作固定構(gòu)件或浮動(dòng)（運(yùn)動(dòng)的）零件。 固定零件就是絕對(duì)靜止。 每一固定的實(shí)體都具有0個(gè)自由度 固定零件承擔(dān)為運(yùn)動(dòng)剛性實(shí)體的參考結(jié)構(gòu) SolidWorks中，裝配體中的固定零件會(huì)自動(dòng)地被處理為固定構(gòu)件，在開始一個(gè)新的機(jī)構(gòu)和映射裝配體約束時(shí)。21 2007 SolidWorks Corp. Confidential.CosmosMotion機(jī)構(gòu)基礎(chǔ) 浮動(dòng)零件 機(jī)構(gòu)中可以運(yùn)

21、動(dòng)的部件被當(dāng)作是活動(dòng)構(gòu)件。每個(gè)活動(dòng)構(gòu)件有六個(gè)自由度。 SolidWorks中，裝配體中的浮動(dòng)零件會(huì)自動(dòng)地被處理為活動(dòng)構(gòu)件，在開始一個(gè)新的機(jī)構(gòu)和映射裝配體約束時(shí)。22 2007 SolidWorks Corp. Confidential.CosmosMotion機(jī)構(gòu)基礎(chǔ) 配合 SolidWorks配合充分定義剛性構(gòu)件如何連接以及它們之間如何相互運(yùn)動(dòng)。配合從零件的連接中移除自由度。 在兩個(gè)剛性構(gòu)件中添加配合，例如同軸配合，就移走了自由度，致使它們相對(duì)于其它構(gòu)件保持定位，即使機(jī)構(gòu)中存在運(yùn)動(dòng)或作用力。23 2007 SolidWorks Corp. Confidential.CosmosMotion機(jī)

22、構(gòu)基礎(chǔ) 電機(jī) 電機(jī)可為零件定義在一個(gè)時(shí)間段內(nèi)的運(yùn)動(dòng)。 電機(jī)可定義位移，速度，或作為時(shí)間函數(shù)的加速度。24 2007 SolidWorks Corp. Confidential.CosmosMotion機(jī)構(gòu)基礎(chǔ) 重力 當(dāng)零件的重量對(duì)運(yùn)動(dòng)仿真有影響時(shí)，重力是一個(gè)非常重要的數(shù)量，例如自由落體。 重力有兩部分組成： 重力矢量方向重力矢量方向 重力加速度的幅值重力加速度的幅值 重力屬性對(duì)話框可以指定方向和重力矢量值，可以在對(duì)應(yīng)的文本框內(nèi)輸入x,y,z方向的值，或通過指定一個(gè)參考平面。幅值必須單獨(dú)輸入。默認(rèn)的重力矢量值為（0，-1，0），幅值為386.22in/s2(或與當(dāng)前激活單位的當(dāng)量值）25 200

23、7 SolidWorks Corp. Confidential.CosmosMotion機(jī)構(gòu)基礎(chǔ) 約束映射概念26 2007 SolidWorks Corp. Confidential.CosmosMotion機(jī)構(gòu)基礎(chǔ) 力 當(dāng)在CosmosMotion中定義各種力時(shí)，必須指定力的位置和方向。這些位置和方向可以從選定的SolidWorks實(shí)體中派生出來。 實(shí)體可以是草圖點(diǎn)，頂點(diǎn)，邊線和面。27 2007 SolidWorks Corp. Confidential.User Interface用戶界面28 2007 SolidWorks Corp. Confidential.總結(jié)Image cou

24、rtesy of National Optical Astronomy Observatory, operated by the Association of Universities for Research in Astronomy, under cooperative agreement with the National Science Foundation.Lesson 1第1課Car Jack汽車千斤頂30 2007 SolidWorks Corp. Confidential.Lesson 1: Topics內(nèi)容 Introduction to the COSMOSMotion F

25、eature Manager COSMOSMotion特征管理器介紹 Understand basic capabilities of COSMOSMotion COSMOSMotion的基本能力 Run a Simulation 運(yùn)行仿真 Create a result plot 創(chuàng)建結(jié)果輸出31 2007 SolidWorks Corp. Confidential.Cosmosmotion界面1、SolidWorks特征樹特征樹2、運(yùn)動(dòng)類型選項(xiàng)框、運(yùn)動(dòng)類型選項(xiàng)框3、Motion特征管理器特征管理器4、動(dòng)畫和特征時(shí)間線、動(dòng)畫和特征時(shí)間線5、MotionManager工具條工具條32 2007

26、 SolidWorks Corp. Confidential.Lesson1:模型說明 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 maintenance can be performed. Car jacks usually use mechanical advantage to allow a human to lift a vehicl

27、e. 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). 機(jī)械千斤頂是提升重型設(shè)備的裝置。最常見的樣式是轎車千斤頂，地板千斤頂、車庫千斤頂，用以提升汽車，以方便維修。轎車千斤頂通常借助機(jī)械優(yōu)勢讓一個(gè)人就可提升汽車。更強(qiáng)大的千斤頂使用液壓動(dòng)力可以提供更遠(yuǎn)距離的舉升。機(jī)械千斤頂通常以最大提升能力分

28、級(jí)（例如1.5噸或3噸等）33 2007 SolidWorks Corp. Confidential.Lesson 1:Simulation Goal 仿真目標(biāo)34 2007 SolidWorks Corp. Confidential.Lesson 1：Analysis Step分析步驟（1）1、 Open the assembly：to open the assembly file Car_Jack.sldasm from the Lesson01 folder. 打開裝配體： Car_Jack.sldasm（ 文件夾Lesson01）2 、Change to the Motion Stud

29、y. 切換到運(yùn)動(dòng)算例3 、Create a Motor that drives the Screw_rod at 5 RPM 創(chuàng)建電機(jī)，驅(qū)動(dòng)絲杠：5rpm.4 、Type of Study 研究類型5 、Run the Animation for 5 seconds. 運(yùn)行一個(gè)5秒的動(dòng)畫6 、Run the Animation for 8 seconds 運(yùn)行一個(gè)8秒的動(dòng)畫7 、Rename the Assembly Simulation study 重命名裝配體算例35 2007 SolidWorks Corp. Confidential.Lesson 1：Analysis Step分析步驟

30、（2）8 Duplicate the Assembly motion study to create a new Motion Study 復(fù)制裝配體算例創(chuàng)建一個(gè)新的運(yùn)動(dòng)算例9 Ensure that COSMOSMotion is added in 啟動(dòng)COSMOSMotion插件10 Select COSMOSMotion as the Type of study 選擇COSMOSMotion作為研究類型11 Apply Gravity to the assembly 應(yīng)用重力到裝配體12 Create a contact condition between SprocketLink3 a

31、nd SprocketLink4. 在SprocketLink3 和 SprocketLink4.間設(shè)定接觸條件13 Create similar contact condition between SprocketLink1 and SprocketLink2. SprocketLink1和 SprocketLink2之間創(chuàng)建一個(gè)同樣的接觸條件14 Create a force of 2000 lbs to simulate the weight of the car on the car jack. 創(chuàng)建一個(gè)2000lbs的力，以模擬汽車重量作用在千斤頂上。36 2007 SolidWor

32、ks Corp. Confidential.Lesson 1：Analysis Step分析步驟（3）15 Run the Simulation for 8 seconds. 運(yùn)行一個(gè)8秒的仿真16 Plot the torque required to lift the weight of the car. 輸出提升汽車重量所需的扭矩17 Plot the power consumed to lift a weight of 2000 lbs. 輸出提升2000lbs重量所需消耗的功率18 Rotate assembly 轉(zhuǎn)動(dòng)裝配體19 Play the animation. 播放動(dòng)畫20

33、Enable View Key Creation. 激活視窗鍵創(chuàng)建21 Create a new view key. 建立一個(gè)新的視窗鍵22 Reorient the view 定位視窗23 Play the animation 播放動(dòng)畫37 2007 SolidWorks Corp. Confidential.Lesson 1：Analysis Step分析步驟24 Save and close assembly. 保存和關(guān)閉裝配體38 2007 SolidWorks Corp. Confidential.Lesson 1: Defining and Simulating a Mechani

34、sm第1課：定義和仿真一個(gè)機(jī)構(gòu) Parts部件 Moving Parts運(yùn)動(dòng)部件 Ground Parts固定部件 Constraints約束 Joints運(yùn)動(dòng)副 Joint Primitives基本副 Cam Constraints凸輪約束 Forces Applied Forces施加力 Flexible Connectors 連接柔性處理 Gravity重力 Results結(jié)果添加電機(jī)添加電機(jī)折疊運(yùn)動(dòng)管理器折疊運(yùn)動(dòng)管理器39 2007 SolidWorks Corp. Confidential.40 2007 SolidWorks Corp. Confidential.添加馬達(dá)41 20

35、07 SolidWorks Corp. Confidential.運(yùn)行一個(gè)8秒的動(dòng)畫計(jì)算按鈕時(shí)間線關(guān)鍵碼42 2007 SolidWorks Corp. Confidential.備注：備注： 運(yùn)動(dòng)算例簡介 運(yùn)動(dòng)算例是裝配體模型運(yùn)動(dòng)的圖形模擬。您可將諸如光源和運(yùn)動(dòng)算例是裝配體模型運(yùn)動(dòng)的圖形模擬。您可將諸如光源和相機(jī)透視圖之類的視覺屬性融合到運(yùn)動(dòng)算例中。運(yùn)動(dòng)算例不更改相機(jī)透視圖之類的視覺屬性融合到運(yùn)動(dòng)算例中。運(yùn)動(dòng)算例不更改裝配體模型或其屬性。它們模擬并動(dòng)作給模型規(guī)定的運(yùn)動(dòng)?？墒寡b配體模型或其屬性。它們模擬并動(dòng)作給模型規(guī)定的運(yùn)動(dòng)。可使用用 SolidWorks 配合配合在您建模運(yùn)動(dòng)時(shí)約束零部件在裝

36、配體中的運(yùn)在您建模運(yùn)動(dòng)時(shí)約束零部件在裝配體中的運(yùn)動(dòng)。動(dòng)?？蓮倪\(yùn)動(dòng)算例使用可從運(yùn)動(dòng)算例使用 MotionManager，此為基于，此為基于時(shí)間線時(shí)間線的界面，的界面，包括有以下運(yùn)動(dòng)模擬工具：包括有以下運(yùn)動(dòng)模擬工具：裝配體運(yùn)動(dòng)裝配體運(yùn)動(dòng)物理模擬物理模擬COSMOSMotion43 2007 SolidWorks Corp. Confidential.比較 裝配體運(yùn)動(dòng)（可在 SolidWorks核心包內(nèi)使用）。您可使用裝配體運(yùn)動(dòng)來動(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)零件的運(yùn)動(dòng)。 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)使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

37、模擬（可在 SolidWorks核心包內(nèi)使用）。您可使用物理模擬在裝配體上模仿馬達(dá)、彈簧、碰撞、以及引力。物理模擬在計(jì)算運(yùn)動(dòng)時(shí)考慮到質(zhì)量。物理模擬計(jì)算相當(dāng)塊，所以您可將之用來生成使用基于物理的模擬的演示性動(dòng)畫。 COSMOSMotion（可在 SolidWorks office premium 中使用。）您可使用 COSMOSMotion 在裝配體上精確模擬和分析模擬單元的效果（包括力、彈簧、阻尼、以及摩擦）。COSMOSMotion 使用計(jì)算能力強(qiáng)大的動(dòng)力求解器，在計(jì)算中考慮到材料屬性和質(zhì)量及慣性。您也可使用 COSMOSMotion 為進(jìn)一步分析標(biāo)繪模擬結(jié)果。44 2007 SolidWo

38、rks Corp. Confidential.決定使用哪種算例類型決定使用哪種算例類型 使用裝配體運(yùn)動(dòng)為不需要考慮到質(zhì)量或引力的運(yùn)動(dòng)生成使用裝配體運(yùn)動(dòng)為不需要考慮到質(zhì)量或引力的運(yùn)動(dòng)生成演示性動(dòng)畫。演示性動(dòng)畫。 使用物理模擬生成考慮到質(zhì)量、碰撞、或引力的運(yùn)動(dòng)的使用物理模擬生成考慮到質(zhì)量、碰撞、或引力的運(yùn)動(dòng)的演示性近似模擬。演示性近似模擬。 使用使用 COSMOSMotion 運(yùn)行考慮到裝配體運(yùn)動(dòng)的物理特運(yùn)行考慮到裝配體運(yùn)動(dòng)的物理特性的計(jì)算能力強(qiáng)大的模擬。該工具為以上三種選項(xiàng)中計(jì)算能性的計(jì)算能力強(qiáng)大的模擬。該工具為以上三種選項(xiàng)中計(jì)算能力最強(qiáng)的。您對(duì)所需的運(yùn)動(dòng)的物理特性理解越深，則您的結(jié)力最強(qiáng)的。您

39、對(duì)所需的運(yùn)動(dòng)的物理特性理解越深，則您的結(jié)果越佳。您可使用果越佳。您可使用 COSMOSMotion 運(yùn)行沖擊分析算例以了運(yùn)行沖擊分析算例以了解零部件對(duì)各種不同力的響應(yīng)解零部件對(duì)各種不同力的響應(yīng)。45 2007 SolidWorks Corp. Confidential.MotionManager 工具工具46 2007 SolidWorks Corp. Confidential.模擬單元47 2007 SolidWorks Corp. Confidential.解算器沒能收斂?？赡茉蚴? 1. 解算器沒能取得指定的精度。松弛 COSMOSMotion 屬性中的精度設(shè)定。 2. 如果模型中的零

40、件快速移動(dòng)，經(jīng)常評(píng)估雅可比值。 3. 機(jī)制可能已鎖定。以不同的初始配置開始模擬或者更改您的馬達(dá)以獲得有效的運(yùn)動(dòng)。 4. 如果在模擬開始時(shí)就出現(xiàn)故障，使用較小的初始積分器步長大小。 5. 嘗試使用一嚴(yán)格解算器，如 WSTIFF。 6. 嘗試在模型中避免激烈斷續(xù)性，如突然運(yùn)動(dòng)變化，力變化或啟用/禁用配合。 7. 您可能在使用速度極高的馬達(dá)。嘗試降低馬達(dá)速度。 8. 確定任何時(shí)候只有一個(gè)馬達(dá)在驅(qū)動(dòng)某一零部件。Image courtesy of National Optical Astronomy Observatory, operated by the Association of Universi

41、ties for Research in Astronomy, under cooperative agreement with the National Science Foundation.Lesson 2第2課Slider Crank Mechanism滑塊曲柄機(jī)構(gòu)滑塊曲柄機(jī)構(gòu)49 2007 SolidWorks Corp. Confidential.Lesson 2: Topics內(nèi)容 Create moving and ground parts 建立運(yùn)動(dòng)和固定部件 Review basic joint types in COSMOSMotion 回顧C(jī)OSMOSMotion中基本運(yùn)動(dòng)

42、副類型 Understand Automatic Constraint mapping 理解自動(dòng)約束映射 Apply motion to a joint 給運(yùn)動(dòng)副添加運(yùn)動(dòng) Create a result plot 創(chuàng)建結(jié)果輸出50 2007 SolidWorks Corp. Confidential.Lesson 2: Constraint Mapping Concept 約束映射概念 1 Coincident and 1 concentric mates becomes a revolute joint 一個(gè)重合和同軸配合轉(zhuǎn)化為轉(zhuǎn)動(dòng)副 1 Concentric mate becomes a

43、cylindrical joint 一個(gè)同軸配合轉(zhuǎn)化為圓柱副 A point on a point coincident mate becomes a spherical joint 一個(gè)點(diǎn)對(duì)點(diǎn)的重合配合轉(zhuǎn)化為球副 A point on an axis coincident mate becomes an Inline Joint 軸上一點(diǎn)的重合配合轉(zhuǎn)化為在線連接51 2007 SolidWorks Corp. Confidential.Lesson 2: Results結(jié)果 Collar-1 not only translates along collar_shaft-1 but also

44、rotates. Collar-1（軸套）不僅沿collar_shaft-1（滑動(dòng)軸）移動(dòng)同時(shí)還繞軸轉(zhuǎn)動(dòng)。 The rotation needs to be prevented 轉(zhuǎn)動(dòng)必須消除52 2007 SolidWorks Corp. Confidential.Lesson 2: Motion on JointsJoint Types運(yùn)動(dòng)副類型運(yùn)動(dòng)副類型Type of motion allowed允許的運(yùn)動(dòng)類型允許的運(yùn)動(dòng)類型 Available options under Motion On list應(yīng)用選項(xiàng)應(yīng)用選項(xiàng)Cylindrical圓柱副Rotation and translatio

45、n in one direction沿同一方向既移動(dòng)又轉(zhuǎn)動(dòng)Rotate Z（轉(zhuǎn)動(dòng)）Translate Z（移動(dòng)）Revolute轉(zhuǎn)動(dòng)副O(jiān)nly Rotation in one direction只允許在同一方向轉(zhuǎn)動(dòng)Rotate Z（轉(zhuǎn)動(dòng)）Translational移動(dòng)副O(jiān)nly Translation in one direction只允許在同一方向移動(dòng)Translate Z（移動(dòng)）Spherical球副Rotations in all directions, No translation所有方向的轉(zhuǎn)動(dòng)，沒有移動(dòng)Rotate X（轉(zhuǎn)動(dòng)）Rotate Y（轉(zhuǎn)動(dòng)）Rotate Z（轉(zhuǎn)動(dòng)）53 20

46、07 SolidWorks Corp. Confidential.Lesson 2: Results結(jié)果Power Consumption in Mechanism機(jī)構(gòu)的能量消耗機(jī)構(gòu)的能量消耗Why is Power Consumption negative in some places?為什么在某些位置能量消耗為負(fù)值？為什么在某些位置能量消耗為負(fù)值？Image courtesy of National Optical Astronomy Observatory, operated by the Association of Universities for Research in Astro

47、nomy, under cooperative agreement with the National Science Foundation.Lesson 3Piston Crankshaft Mechanism活塞曲柄機(jī)構(gòu)活塞曲柄機(jī)構(gòu)55 2007 SolidWorks Corp. Confidential.Lesson 3 Topics內(nèi)容 Review basic joint types in COSMOSMotion COSMOSMotion基本運(yùn)動(dòng)副回顧 Create Mechanical Joints 建立機(jī)械副 Apply motion to a joint 為運(yùn)動(dòng)副添加運(yùn)動(dòng) C

48、reate and review results 創(chuàng)建和瀏覽結(jié)果56 2007 SolidWorks Corp. Confidential.Lesson 3: Basic Joint Types Joints used to constrain the relative motion of a pair of rigid bodies by physically connecting them. 物理連接的一對(duì)剛性體應(yīng)用機(jī)械副約束相對(duì)運(yùn)動(dòng) Joint Primitives used to enforce standard geometric constraints 虛約束應(yīng)用于強(qiáng)化標(biāo)準(zhǔn)幾何約束

49、Image courtesy of National Optical Astronomy Observatory, operated by the Association of Universities for Research in Astronomy, under cooperative agreement with the National Science Foundation.Lesson 4Door Mechanism門開關(guān)機(jī)構(gòu)58 2007 SolidWorks Corp. Confidential.Lesson 4 Topics內(nèi)容 Create springs and damp

50、er entities in COSMOSMotion COSMOSMotion中創(chuàng)建彈簧和阻尼器 Attach different parts together to move them as a single entity 綁定不同部件作為同一實(shí)體運(yùn)動(dòng) Constrain the motion of a cylindrical joint to achieve correct mechanism behavior 約束圓柱副運(yùn)動(dòng)，實(shí)現(xiàn)正確的機(jī)構(gòu)運(yùn)動(dòng) Modify springs and dampers to achieve desired design goals 修改彈簧和阻尼器，實(shí)現(xiàn)設(shè)

51、定的設(shè)計(jì)目標(biāo)59 2007 SolidWorks Corp. Confidential.Lesson 4 Attaching PartsPhysically attach one part to another 物理綁定一個(gè)零件到另一個(gè)零件上Two parts will be welded or rigidly connected to one another. 兩零件被焊接或剛性連接到一起No relative motion between the two parts 消除兩零件間的相對(duì)運(yùn)動(dòng)Initial orientation between the two parts will be l

52、ocked and will be maintained throughout the simulation 鎖定兩零件的原始定位，并在仿真求解中保持定位1#實(shí)體實(shí)體2#實(shí)體實(shí)體60 2007 SolidWorks Corp. Confidential.Lesson 4: Springs彈簧Translational Spring Force（線性彈簧力線性彈簧力） = -k (X - X0)n + F0Where（這里）:k = Spring stiffness coefficient (always 0)彈簧剛度系數(shù)（總是0)X = Current distance between the

53、 spring connection points X0 = Reference length of the spring (Free length) 彈簧參考長度（自由長度）n = Exponent defining spring characteristic彈簧特性定義指數(shù)F0 = Reference force of the spring (preload)參考力（預(yù)緊力）Positive force repels the two parts.正向力分離物體Negative force attracts the two parts.負(fù)向力拉近物體Similar force express

54、ion applies to Torsional Springs近似表達(dá)式可用于扭轉(zhuǎn)彈簧近似表達(dá)式可用于扭轉(zhuǎn)彈簧61 2007 SolidWorks Corp. Confidential.Lesson 4: Dampers緩沖器Translational Damper Force（線性阻尼力）（線性阻尼力） = c*vn Where（此處）:c - Translational damping coefficient 線性阻尼系數(shù)v - Current relative velocity between parts at the attachment points 零件在連接點(diǎn)上的相對(duì)速度n -

55、 Exponent. 指數(shù)Similar force expression applies to Torsional Dampers近似表達(dá)式可用于扭轉(zhuǎn)緩沖器近似表達(dá)式可用于扭轉(zhuǎn)緩沖器62 2007 SolidWorks Corp. Confidential.Lesson 4: Results結(jié)果 gas_piston-1 not only translates along gas_cylinder-1 but also rotates. 活塞沿缸體既移動(dòng)又轉(zhuǎn)動(dòng) The rotation needs to be prevented 消除轉(zhuǎn)動(dòng)63 2007 SolidWorks Corp. Co

56、nfidential.Lesson 4: Results結(jié)果 Velocity goal is satisfied速度目標(biāo)應(yīng)該滿足：速度目標(biāo)應(yīng)該滿足：Door does not stop in 30 seconds門應(yīng)該不在門應(yīng)該不在30秒內(nèi)停下。秒內(nèi)停下。Should we increase or decrease spring stiffness?應(yīng)該減小還是增加彈簧剛度？應(yīng)該減小還是增加彈簧剛度？Spring stiffness 彈簧剛度彈簧剛度: 1 N/mmDamper Co-efficient阻尼系數(shù)阻尼系數(shù): 5 N (sec/mm)64 2007 SolidWorks Corp

57、. Confidential.Lesson 4: Results Velocity goal is satisfiedDoor stops in 30 seconds速度目標(biāo)滿足門在速度目標(biāo)滿足門在30秒內(nèi)停下秒內(nèi)停下Spring stiffness彈簧剛度彈簧剛度: 2 N/mmDamper Co-efficient阻尼系數(shù)阻尼系數(shù): 10 N (sec/mm)Image courtesy of National Optical Astronomy Observatory, operated by the Association of Universities for Research in

58、 Astronomy, under cooperative agreement with the National Science Foundation.Lesson 5Hatchback Mechanism后尾箱開啟機(jī)構(gòu)66 2007 SolidWorks Corp. Confidential.Lesson 5 Topics目標(biāo) Create an Action Only force to simulate 創(chuàng)建一個(gè)單作用力并仿真 Change the mass properties of a part 修改零件的質(zhì)量特性 Use Impact forces to control two p

59、arts from interfering each other 使用沖擊力控制零件間的相互干涉67 2007 SolidWorks Corp. Confidential. Affect the dynamic behavior of a mechanism 模仿機(jī)構(gòu)的動(dòng)力學(xué)行為 Do not prohibit or prescribe motion and so do not add or remove degrees-of-freedom from your model. Force Entities力實(shí)體 Translational and Torsional Springs 直線和扭轉(zhuǎn)

60、彈簧 Translational and Torsional Dampers 直線和扭轉(zhuǎn)阻尼器 Action-Only Forces/Moments 單作用力/力矩 Action-Reaction Forces/Moments 作用-反作用力/力矩 Impact Forces沖擊力 Flexible Connectors柔性連接 Gravity重力Lesson 5: Forces力68 2007 SolidWorks Corp. Confidential. Force Type力類型Whether the loading is a force or a moment. 載荷是力還是力矩 Loc