Before you proceed with the mechanism extension you need to fully understand assemblies and Degrees of Freedom (DoF).  Be careful with your reference selection – generally only choose references from two parts to make a connection.

The mechanism extension allows you to simulate and analyse a mechanism which has sliding and rotating joints.  Once the assembly has been created it can be simply dragged on screen or motors can be attached to the joints which will simulate a controlled movement through an analysis.

Joints can be limited in their range of movement and a motors characteristics need to be carefully considered.  An analysis can then show any interference between parts, trace a curve of the mechanism motion or create a movement envelope.

Note: Some steps are carried out in the standard Assembly environment, some in the Mechanism extension

The fundamental steps are:

  • Assemble and connect/constrain base part as ground
  • Assemble moving parts with Connections, fixed parts with Constraints
  • Set connections limits where needed
  • Move into the Mechanism extension – Applications tab > Mechanism
  • Create Mechanism specific connections – gears etc.
  • Apply and setup Servo Motors to driven Connections
  • Set up Analysis
  • Run Analysis
  • If required – Replay Analysis checking for interference

Tips

  • If you want the base part to move out of the scene, connect it to the assembly csys using the weld connection – this can then be disconnected
  • Be careful how you connect subassemblies – ie. if you have an arm pivoting on a body and then an entity constrained/connected to that arm – if that entity is related to anything other than the arm it may not allow the arm to move
  • Always consider your Limit Settings
  • When defining/editing a Motion Analysis consider how the initial configuration (through the analysis or motor settings) of an entity is controlled – this will stop parts flipping to an inappropriate configuration when the analysis starts
  • Create a ‘start position’ Snapshot

Common Connections and use:

ico.connection.weld Weld  – aligns two coordinate systems – allows disconnection for animation

ico.connection.slider Slider – one axis/edge sliding along another axis/edge with no rotation around the axis/edge.

ico.connection.pin Pin – axis/edges aligned allowing rotation around the axis/edge but no translation along it.

ico.connection.cylinder Cylinder – either – to allow rotation and translation on an axis – rotational and slider motors can be attached to the connection – or – in combination with a separate but parallel pin connection to avoid conflicts.

2100.connection.list

 

Limits

Most connections have the facility to limit the movement of a joint and set a zero and regeneration position, this can be helpful in stopping the mechanism from becoming unstable.

You will need to specify a zero reference on each of the parts to enable this function.

2100.connection.limits

 

Servo Motor Profile

For constant motion in a single direction choose make the Specification = velocity and the Magnitude = constant.

2100.motor.def.linear

 

For a linear movement you may want to consider a reciprocating motion otherwise your part will lock as it reaches its limits or it will travel out of view.

Make the Specification = position and the Magnitude = cosine.  Consider the Graph to determine the effect of variables A, B, C and T.  The start of the graph defines the initial position of the moving part.

2100.motor.def.recip

A = amplitude – the distance the motor will reciprocate through

T = period – time through a full cycle

B = phase – degrees –  offsets the cycle along the time line

C = offset – mm – offsets the cycle along the amplitude line