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Using the CATIA DMU Kinematics Tools – Part 1. R. Lindeke, Ph.D ME 3230. Getting On. The works starts with an Assembly Process Each Link is Designed as a Part Parts are Assembled using Assembly Constraints Anchor the Base Coincidences Offsets & Contacts

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Presentation Transcript
getting on
Getting On
  • The works starts with an Assembly Process
    • Each Link is Designed as a Part
    • Parts are Assembled using Assembly Constraints
      • Anchor the Base
      • Coincidences
      • Offsets & Contacts
      • Used to control the degrees of freedom of the various links

ME 3230

enter the dmu kinematics module
Enter The DMU Kinematics Module
  • The assembly is “re-opened” in the DMU_Kinematics workspace
  • 1st Convert the Assembly Constraints to Kinematic Joints
  • Accept the jointed linkage and self solve to resolve the remaining dof
  • Select the joint to move the part – and how it will be driven then …
  • This Allows Simulation – which can be run and used to generate Reruns and “Movies”
  • Lastly Simulate with “Laws” to generate velocity and acceleration graphs of interesting points and links

ME 3230

our goal
Our Goal:

ME 3230

we start
We Start:

ME 3230

to add links click new part and product name
To Add Links Click New Part and Product Name

This Adds a New Part to the product

ME 3230

slide8
Open the New Part ‘in the tree’ double-clicking on the Part (in orange) opens the part design environment

Click on Z-X plane and Enter Sketcher

ME 3230

set units use tools options make a rectangle to hang the links on
Set Units (use Tools-options) Make a rectangle to hang the links on

Exit the Sketcher

Pad the Plate to 0.25 inch, then reenter the sketcher on the Front surface of the base plate

Add three circles (0.125” diameter) at the positions of the linkage (where link 2; 4 and 6 connect to ground)

ME 3230

leads to this after multi padding the 3 circles
Leads to this after “Multi-padding” the 3 Circles

Multipad is “under” the pad tool Each circle was selected in turn and its specific height entered – Top 2 at 1/4” lower one at 1”

ME 3230

we continue to add the links and coupler plate
We continue to add the Links and Coupler Plate
  • Click New Part Icon in Assembly Workbench
  • Expand Part entry in Product Tree
    • Rt. Click choose properties and name part link x
    • Double Click Part Name to enter Part Design
    • Select Z-X plane to sketch the fundamental shape
  • Each Link in turn and position near the assembly orientation using the same reference system

ME 3230

click no here as a new part is entered
Click No Here! As a new part is entered

After completing a part, I reentered the Assembly Workbench by double-clicking on the Product Name – now highlighted in Orange in product tree Then clicked New Part and the product name to add it!

ME 3230

working with each new link
Working with each new link:
  • It is often easier to Hide (under rt. Click menu on a part name) existing parts while working on new parts
  • Enter Sketcher – set line lengths as constructions make two circles to mark the end of a link
  • Connect circles w/ “Bi-Tangent” line and quick trim the circles between the lines.
  • Add a circle of ‘pin diameter’ at one end
  • Pad the sketch (.25”)
  • Re-enter sketcher on one face and draw a circle (of pin diameter) on opposite end of link construction line
  • Pad circle to form linking pin for next component

ME 3230

1 st construct line to link length then 2 end circles then two b tangent lines then q trim
1st construct line to link length – then 2 “end circles – then two B-Tangent Lines – then Q. Trim

ME 3230

slide18
Here we see the link completed – we continue similarly for all other links – and the coupler plate (only has holes not pins!)

ME 3230

assembling the product
Assembling the Product
  • We use The Compass to position each link were it is closest to desired position (make sure the product is high-lighted before moving part!)
  • We use Coincident constraints for assembling pin-holes between link and plates
  • We use Coincident or Contact constraints to locate surface – all to remove dof’s in the assembly

ME 3230

slide20

Notice the Compass is ‘attached’ to the link and is Green meaning we can move it! (1st doubleclick on Product to turn it orange then blue)

ME 3230

slide21
Using Coincidence constraints for cylinders & Hole – we must get the axis to show before accepting – both parts!

ME 3230

slide22

After Surface coincidence – make sure to “keep orientation” after all constraints are set, we can “update” using the Whirlpool Icon this will move the Parts into their constrained pose

Before updating – it is good practice to anchor the base so we keep fundamental orientation!

ME 3230

slide27
After ok’ing title we had Unresolved pair 7/7 – to clear click Auto Create – if all is ok it will resolve them (0/7!)

Notice that the Product Tree has grown – with application -- Mechanism

ME 3230

if the base wasn t fixed during assembly you can do it now must before simulation
If the base wasn’t fixed during assembly, you can do it now – must before Simulation!

ME 3230

slide32

Alternatively, we can do simulation from the DMU Generic Animation Simulation Icon – looks similar – here we can insert an on demand tool which can generate a “Replay or Video”

ME 3230

slide33

After setting a motion pattern, We click Insert (rt. Box) then we create a simulation for the Product Tree – the playback tools execute the Motion

ME 3230

after generating the simulation
After Generating the Simulation…
  • We can compile the Simulation
    • To a replay for animating a view point
    • To a video file for playing offline
  • Then on to Simulation by “Laws” which we will cover in part two

ME 3230