SOLIDWORKS. SOLIDWORKS Motion. Dassault Systèmes SolidWorks Corporation 175 Wyman Street Waltham, MA U.S.A.

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1 SOLIDWORKS SOLIDWORKS Motion Dassault Systèmes SolidWorks Corporation 175 Wyman Street Waltham, MA U.S.A.

2 , Dassault Systemes SolidWorks Corporation, a Dassault Systèmes SE company, 175 Wyman Street, Waltham, Mass USA. All Rights Reserved. The information and the software discussed in this document are subject to change without notice and are not commitments by Dassault Systemes SolidWorks Corporation (DS SolidWorks). No material may be reproduced or transmitted in any form or by any means, electronically or manually, for any purpose without the express written permission of DS SolidWorks. The software discussed in this document is furnished under a license and may be used or copied only in accordance with the terms of the license. All warranties given by DS SolidWorks as to the software and documentation are set forth in the license agreement, and nothing stated in, or implied by, this document or its contents shall be considered or deemed a modification or amendment of any terms, including warranties, in the license agreement. Patent Notices SOLIDWORKS 3D mechanical CAD and/or Simulation software is protected by U.S. Patents 6,611,725; 6,844,877; 6,898,560; 6,906,712; 7,079,990; 7,477,262; 7,558,705; 7,571,079; 7,590,497; 7,643,027; 7,672,822; 7,688,318; 7,694,238; 7,853,940; 8,305,376; 8,581,902; 8,817,028; 8,910,078; 9,129,083; 9,153,072; 9,262,863; 9,465,894; 9,646,412 and foreign patents, (e.g., EP 1,116,190 B1 and JP 3,517,643). edrawings software is protected by U.S. Patent 7,184,044; U.S. Patent 7,502,027; and Canadian Patent 2,318,706. U.S. and foreign patents pending. Trademarks and Product Names for SOLIDWORKS Products and Services SOLIDWORKS, 3D ContentCentral, 3D PartStream.NET, edrawings, and the edrawings logo are registered trademarks and FeatureManager is a jointly owned registered trademark of DS SolidWorks. CircuitWorks, FloXpress, PhotoView 360, and TolAnalyst are trademarks of DS SolidWorks. FeatureWorks is a registered trademark of HCL Technologies Ltd. SOLIDWORKS 2018, SOLIDWORKS Standard, SOLIDWORKS Professional, SOLIDWORKS Premium, SOLIDWORKS PDM Professional, SOLIDWORKS PDM Standard, SOLIDWORKS Simulation Standard, SOLIDWORKS Simulation Professional, SOLIDWORKS Simulation Premium, SOLIDWORKS Flow Simulation, edrawings Viewer, edrawings Professional, SOLIDWORKS Sustainability, SOLIDWORKS Plastics, SOLIDWORKS Electrical Schematic Standard, SOLIDWORKS Electrical Schematic Professional, SOLIDWORKS Electrical 3D, SOLIDWORKS Electrical Professional, CircuitWorks, SOLIDWORKS Composer, SOLIDWORKS Inspection, SOLIDWORKS MBD, SOLIDWORKS PCB powered by Altium, SOLIDWORKS PCB Connector powered by Altium, and SOLIDWORKS Visualization are product names of DS SolidWorks. Other brand or product names are trademarks or registered trademarks of their respective holders. COMMERCIAL COMPUTER SOFTWARE - PROPRIETARY The Software is a "commercial item" as that term is defined at 48 C.F.R (OCT 1995), consisting of "commercial computer software" and "commercial software documentation" as such terms are used in 48 C.F.R (SEPT 1995) and is provided to the U.S. Government (a) for acquisition by or on behalf of civilian agencies, consistent with the policy set forth in 48 C.F.R ; or (b) for acquisition by or on behalf of units of the Department of Defense, consistent with the policies set forth in 48 C.F.R (JUN 1995) and (JUN 1995) In the event that you receive a request from any agency of the U.S. Government to provide Software with rights beyond those set forth above, you will notify DS SolidWorks of the scope of the request and DS SolidWorks will have five (5) business days to, in its sole discretion, accept or reject such request. Contractor/ Manufacturer: Dassault Systemes SolidWorks Corporation, 175 Wyman Street, Waltham, Massachusetts USA. Copyright Notices for SOLIDWORKS Standard, Premium, Professional, and Education Products Portions of this software Siemens Product Lifecycle Management Software Inc. All rights reserved. This work contains the following software owned by Siemens Industry Software Limited: D-Cubed 2D DCM Siemens Industry Software Limited. All Rights Reserved. D-Cubed 3D DCM Siemens Industry Software Limited. All Rights Reserved. D-Cubed PGM Siemens Industry Software Limited. All Rights Reserved. D-Cubed CDM Siemens Industry Software Limited. All Rights Reserved. D-Cubed AEM Siemens Industry Software Limited. All Rights Reserved. Portions of this software HCL Technologies Ltd. Portions of this software incorporate PhysX by NVIDIA Portions of this software Luxology, LLC. All rights reserved, patents pending. Portions of this software DriveWorks Ltd. 2011, Microsoft Corporation. All rights reserved. Includes Adobe PDF Library technology Copyright Adobe Systems Inc. and its licensors. All rights reserved. Protected by U.S. Patents.5,929,866; 5,943,063; 6,289,364; 6,563,502; 6,639,593; 6,754,382; Patents Pending. Adobe, the Adobe logo, Acrobat, the Adobe PDF logo, Distiller and Reader are registered trademarks or trademarks of Adobe Systems Inc. in the U.S. and other countries. For more DS SolidWorks copyright information, see Help > About SOLIDWORKS. Copyright Notices for SOLIDWORKS Simulation Products Portions of this software 2008 Solversoft Corporation. PCGLSS Computational Applications and System Integration, Inc. All rights reserved. Copyright Notices for SOLIDWORKS PDM Professional Product Outside In Viewer Technology, Oracle 2011, Microsoft Corporation. All rights reserved. Copyright Notices for edrawings Products Portions of this software Tech Soft 3D. Portions of this software Jean-Loup Gailly and Mark Adler. Portions of this software Dconnexion. Portions of this software Open Design Alliance. All rights reserved. Portions of this software Spatial Corporation. The edrawings for Windows software is based in part on the work of the Independent JPEG Group. Portions of edrawings for ipad copyright Silicon Graphics Systems, Inc. Portions of edrawings for ipad copyright Apple Computer Inc. Copyright Notices for SOLIDWORKS PCB Products Portions of this software 2017 Altium Limited. Document Number: PMT1842-ENG

3 Contents Introduction About This Course Prerequisites Course Design Philosophy Using this Book Laboratory Exercises Training Files Windows Conventions Used in this Book Use of Color More SOLIDWORKS Training Resources Local User Groups What is SOLIDWORKS Motion? What is Motion Simulation? Understanding Basics Mass and Inertia Degrees-of- Freedom Constraining Degrees-of- Freedom Motion Analysis How is Motion Analyzed on the Computer? i

4 Contents SOLIDWORKS Simulation Basics of Mechanism Setup in SOLIDWORKS Motion Rigid Body Fixed Parts Floating Parts Mates Motors Gravity Constraint Mapping Concept Forces Summary Lesson 1: Introduction to Motion Simulation and Forces Objectives Basic Motion Analysis Case Study: Car Jack Analysis Problem Description Stages in the Process Driving Motion Gravity Forces Understanding Forces Applied Forces Force Definition Force Direction Case Case Case Results Plot Categories Sub-Categories Resizing Plots Exercise 1: 3D Fourbar Linkage Lesson 2: Building a Motion Model and Post-processing Objectives Creating Local Mates Case Study: Crank Slider Analysis Problem Description Stages in the Process ii

5 SOLIDWORKS Simulation Contents Mates Concentric Mate Hinge Mate Point-to-Point Coincident Mate Lock Mate Two Face-to-Face Coincident Mates Universal Mate Screw Mate Point-on-Axis Coincident Mate Parallel Mate Perpendicular Mate Local Mates Function Builder Importing Data Points Power Alternative Units Plotting Kinematic Results Absolute vs. Relative values Output Coordinate System Angular Displacement Plots Angular Velocity and Acceleration Plots Summary Exercise 2: Piston Exercise 3: Trace Path Lesson 3: Introduction to Contacts, Springs and Dampers Objectives Contact and Friction Case Study: Catapult Problem Description Stages in the Process Interference Detection Contact Contact groups Contact Friction Translational Spring Magnitude of Spring Force Translational Damper Post-processing Analysis with Friction (Optional) Summary Exercise 4: The Bug Exercise 5: Door Closer iii

6 Contents SOLIDWORKS Simulation Lesson 4: Advanced Contact Objectives Contact Forces Case Study: Latching Assembly Problem Description Fixing Motion with Motors Motor Input and Force Input Types Functional Expressions Force Functions STEP Function Contact: Solid Bodies Poisson Model (Restitution Coefficient) Impact Force Model Closing Remarks Geometrical Description of Contacts Tessellated Geometry Precise Geometry Integrators GSTIFF WSTIFF SI Instability Points Modifying Result Plots Closing Force Summary Discussion: References Exercise 6: Hatchback Exercise 7: Conveyor Belt (No Friction) Path Mate Motor Exercise 8: Conveyor Belt (With Friction) Lesson 5: Curve to Curve Contact Objectives Contact Forces Case Study: Geneva Mechanism Problem Description Curve to Curve Contact Solid Bodies vs. Curve to Curve Contact Solid Bodies Contact Solution Summary Exercise 9: Conveyor Belt (Curve to curve contact with friction) iv

7 SOLIDWORKS Simulation Contents Lesson 6: Cam Synthesis Lesson 7: Motion Optimization Lesson 8: Flexible Joints Objectives Cams Case Study: Cam Synthesis Problem Description Stages in the Process Generating a Cam Profile Trace Path Exporting Trace Path Curves Cycle Based Motion Exercise 10: Desmodromic Cam Exercise 11: Rocker Cam Profile Objectives Motion Optimization Case Study: Medical Examination Chair Problem Description Stages in the Process Sensors Design Studies Parameters Optimization Analysis Global Variables Objectives Flexible Joints Case Study: System with Rigid Joints Problem Description Stages in the Process Calculation of Wheel Input Motion Understanding Toe Angles System with Flexible Joints Summary References v

8 Contents SOLIDWORKS Simulation Lesson 9: Redundancies Lesson 10: Export to FEA Objectives Redundancies What are Redundancies? Effects of Redundancies How are Redundancies Removed in the Solver? Case Study: Door Hinges Problem Description Degrees of Freedom Calculation Total Actual and Estimated DOF Using Flexible Joints Option to Remove Redundancies Limitations of Flexible Mates Bushing Properties How to Check For Redundancies Typical Redundant Mechanisms Dual Actuators Driving a Part Parallel Linkages Summary Exercise 12: Dynamic Systems Exercise 13: Dynamic Systems Exercise 14: Kinematic Mechanism Exercise 15: Zero Redundancy Model-Part Exercise 16: Zero Redundancy Model-Part 2 (Optional) Exercise 17: Removing Redundancies with Bushings Exercise 18: Catapult Objectives Exporting Results Case Study: Drive Shaft Project Description Stages in the Process FEA Export Load Bearing Faces Mate Location Export of Loads SOLIDWORKS Simulation Users Only Direct Solution in SOLIDWORKS Motion Summary Exercise 19: Export to FEA vi

9 SOLIDWORKS Simulation Contents Lesson 11: Event Based Simulation Objectives Event Based Simulation Case Study: Sorting Device Problem Description Servo Motors Sensors Task Summary Lesson 12: Design Project (Optional) Objectives Design Project Case Study: Surgical Shear - Part Problem Description Force to Cut the Catheter Self Guided Problem - Part Stages in the Process Self Guided Problem - Part Stages in the Process Problem Solution - Part Creating the Force Function Force to Cut the Catheter Creating the Force Expression Force Expression IF Statement Developing the Expression Case Study: Surgical Shear - Part Stages in the Process Summary vii

10 Contents SOLIDWORKS Simulation Appendix A: Motion Study Convergence Solutions and Advanced Options Convergence Accuracy Integrator Type GSTIFF WSTIFF Stabilized Index Two (SI2) Integrator Settings Maximum Iterations Initial Integrator Step Size Minimum Integrator Step Size Maximum Integrator Step Size Jacobian Re-evaluation Conclusion Appendix B: Mate Friction Mate Friction Concentric (Spherical) Mate Friction Model Coincident Translational Mate Friction Model Concentric Mate Friction Model Coincident Mate (Planar) Friction Model Universal Joint Friction Model Friction Results Reported viii