COSMOSMotion User’s Guide
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REVISION HISTORY First Printing December 2001 Second Printing September 2002 Third Printing August 2003
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Table of Contents
Table of Contents...... i 1 COSMOSMotion...... 1 Why are Mechanisms Important? ...... 1 Benefits of Using COSMOSMotion ...... 2 Product Structure ...... 2 User Interface ...... 3 Steps in Defining and Simulating a Mechanism ...... 6 2 Creating Mechanisms ...... 11 Modeling Procedure...... 11 Automatically Create Parts and Joints ...... 12 Motion Parts...... 14 Rigidly Attached Parts...... 16 Constraints...... 17 Revolute Joint ...... 19 Translational Joint...... 20 Cylindrical Joint...... 21 Spherical Joint ...... 22 Universal Joint ...... 23 Screw Joint ...... 24 Planar Joint ...... 25 Fixed Joint...... 26 Joint Friction...... 27 Understanding Joint Primitives...... 35 Inline JPrim ...... 36 Inplane JPrim ...... 37 Orientation JPrim ...... 38 Parallel Axes JPrim...... 39 Perpendicular JPrim...... 40 Understanding Motions ...... 41 Motion Expression...... 42 Creating Joints, Joint Primitives, and Motions...... 48 Understanding Contact Constraints ...... 55 Creating Contact Constraints ...... 60 Creating 3D Contacts...... 69 Joint Couplers ...... 73 Motion on Parts...... 75 Rigid Bodies...... 78 Forces ...... 81 Creating Applied Forces...... 87 Creating Bushings...... 93 Creating Springs and Dampers...... 95 Creating Impact Forces...... 103
Table of Contents i
Gravity ...... 107 Manipulating Mechanism Entities...... 108 3 Materials ...... 109 Adding Materials ...... 110 Editing Materials ...... 114 4 Mechanism Solution...... 117 Simulation Panel...... 117 Simulating ...... 125 Simulation Troubleshooting ...... 125 5 Reviewing Your Results...... 127 Animating The Mechanism ...... 127 Exporting an AVI movie ...... 131 Exporting Animations to VRML ...... 133 Exporting Results to Excel ...... 134 Exporting Results to a Text File ...... 138 Interference Detection...... 139 Exporting to FEA...... 141 Creating Trace Paths ...... 144 Creating Linear Displacements...... 145 Creating Angular Displacements...... 146 Creating Velocity Vectors...... 147 Creating Acceleration Vectors...... 148 Creating Reaction Forces and Moments...... 149 Exporting Result Object Values ...... 149 6 XY Plotting...... 151 Plot Defaults...... 151 Creating Plots ...... 162 Adding Values to Plots...... 164 Other XY Plot Capabilities ...... 164 Plot Persistence...... 165 7 IntelliMotion Builder ...... 167 IntelliMotion Builder Units Page ...... 167 IntelliMotion Builder Gravity Page...... 169 IntelliMotion Builder Part Page...... 170 IntelliMotion Builder Joint Page...... 174 IntelliMotion Builder Springs Page ...... 175 IntelliMotion Builder Motion Page...... 176 IntelliMotion Builder Simulation Page...... 177 IntelliMotion Builder Interference Page ...... 179 IntelliMotion Builder VRML Page ...... 180 8 Interfacing to MSC.ADAMS...... 181 MSC.ADAMS Dataset File ...... 181 Exporting Your Model to MSC.ADAMS...... 181 ii Table of Contents
9 IntelliMotion Browser...... 183 Activating the Browser ...... 184 Detailed Browser Documentation...... 184 10 MSC.ADAMS Functions ...... 185 Function Expression Basics ...... 185 ABS...... 192 ACCM ...... 193 ACCX...... 194 ACCY ...... 195 ACCZ ...... 196 ACOS...... 197 AINT...... 198 ANINT ...... 199 ASIN...... 200 ATAN ...... 201 ATAN2 ...... 202 AX ...... 203 AY ...... 204 AZ ...... 205 BISTOP...... 206 CHEBY...... 208 COS ...... 210 COSH...... 211 DIM ...... 212 DM ...... 213 DTOR...... 214 DX...... 215 DY...... 216 DZ ...... 217 EXP...... 218 EXP...... 218 FM...... 219 FORCOS...... 220 FORSIN ...... 222 FX ...... 224 FY ...... 225 FZ...... 226 IF...... 227 IMPACT ...... 228 LOG ...... 230 LOG10 ...... 231 MAX ...... 232 MIN ...... 233 MOD...... 234 MOTION...... 235 PHI...... 236 PI...... 237 PITCH ...... 238
Table of Contents iii
POLY ...... 239 PSI ...... 241 ROLL ...... 242 RTOD...... 243 SHF...... 244 SIGN ...... 245 SIN...... 246 SINH ...... 247 SQRT...... 248 STEP ...... 249 STEP5 ...... 251 TAN...... 252 TANH ...... 253 THETA ...... 254 TIME ...... 255 TM...... 256 TX ...... 257 TY ...... 258 TZ ...... 259 VM ...... 260 VR...... 261 VX ...... 262 VY ...... 263 VZ ...... 264 WDTM...... 265 WDTX ...... 266 WDTY ...... 267 WDTZ ...... 268 WM ...... 269 WX ...... 270 WY ...... 271 WZ ...... 272 YAW...... 273 Index...... 275
iv Table of Contents
1 COSMOSMotion
COSMOSMotion is design software for mechanical system simulation. Embedded in the SolidWorks interface, it enables engineers to model 3D mechanical systems as “virtual prototypes”. This chapter provides an overview of the following topics: