Automation, Robotics &

Mechatronics Laboratory

Dynamic Designer ® Tutorial Booklet

(for Solid Edge®)

HIGH SCHOOL DEMO

New Fane High School
By Dr. Venkat Krovi (vkrovi@eng.buffalo.edu)
Rajan Bhatt (rmbhatt@eng.buffalo.edu)
Chin Pei Tang (chintang@eng.buffalo.edu)

Date: October 26, 2002

Venue: 1019 Furnas Hall, University at Buffalo

This booklet is compiled based on material on

http://www.dynamicdesignermotion.com/se/support/
 Functional Virtual Prototyping

Functional Virtual Prototyping refers to virtual testing of functioning of your

mechanical designs without having to build and test physical prototypes.

Dynamic Designer products help test the motions and forces in

your mechanisms before you build them.
§ First, you can create motion models containing constraints,
contacts, forces, and actuators.
§ You will then simulate mechanism motion using the most
powerful simulation engine in the world: ADAMS.
§ Finally, you will review animations, plot engineering data,
and check for interferences

Dynamic Designer simulates the function of your CAD models and

outputs the same performance information typically gathered
physically (e.g. part interference, motor size, cam performance,
gear and linkage layout, etc.). Using Dynamic Designer you will understand the mechanics of your design
before you cut metal or mold plastic, all within the familiar environment of your favorite CAD packages
(SolidWorks or Solid Edge).

The Dynamic Designer product family consists of:

· Motion Professional
· Motion
· Simply Motion

Motion Professional is the complete virtual testing package for designers and engineer. Using animations
and XY plots you will size motors/actuators, determine power consumption, layout linkages, develop
cams, understand gear drives, size springs/dampers, determine how contacting parts behave, generate
operating loads suitable for use by Finite Element Analysis, and much much more. Knowing this
information will help you answer two fundamental engineering questions: "Will it work?" and "Will it
break?". If you are a designer or engineer interested in understanding the performance aspects of your
design before physical prototyping, you need Motion Professional.
(NOTE: Motion Professional is the complete embedded functional virtual prototyping package and contains
all the functionality required to make sure your designs will work before you build them. Motion and
Simply Motion are subsets of Motion Professional used to understand limited aspects of mechanism
motion.)
 What is the “Functionality” we are interested in?

A. Mechanism Animation

You can animate mechanisms based on the assembly constraints, any

additional constraints, and actuators you put in the model using a VCR-type
interface and save it to an AVI (movie) or a VRML (3D animated web
format) file.

As a first step, animations are perfect for getting a basic understanding of

the mechanism and communicating that understanding to others.

B. Moving Interference Detection

You will check for interferences between parts as the mechanism moves through the real
operating range. The motion of many mechanisms results from contacting parts. For example,
consider a sprocket contacting a chain, a latch contacting a hook, a cam driving linkages, and
backlashing gears. Simulating contacting parts is as simple as selecting the two (or more)
contacting parts, specifying the associated materials, and running a simulation. The resulting
output is accurate 3D motion and XY plots of the underlying information.

C. Engineering Data

For more detailed motion analysis, you will visualize animations synchronized
with XY plots of engineering data. The engineering data available in Motion
Professional includes: displacement, velocity, acceleration and reaction
load/moment, computed information like power consumption, kinetic energy,
potential energy, and momentum You will use plots and mechanism motion
together to identify possible system failure, part breakage, and safety issues.

What are the tools available in Dynamic Designer that

we will explore to achieve this “Functionality”?

Mechanisms have parts connected, or constrained, together and move according to the connections.
For example, a pendulum can rotate in a single plane relative to the part to which it is connected.

§ Motion Professional offers a comprehensive list of constraints (or joints) to connect parts
together. Examples include hinge (revolute), slider (translational), universal, ball (spherical)
joints, and many more. Joint friction is available for each joint so that you can accuractely
model the physical reality. Complex cam and gear mechanisms can be incorporated into your
motion simulation using contacts or kinematic cam and gear elements and can help identify
cam liftoff and gear backlash situations.
§ Forces are constantly acting on the mechanisms you build. Motors apply a torque to drive a
mechanism. Friction effects the actuator size required to drive your mechanism. Nonlinear
springs load mechanisms. Dampers stabilize spring loaded parts. Motion Professional helps
you build these forces, and many other, into your virtual prototype. Including these forces
allows you to accurately model the physics of the mechanism.
§ Intellimotion Builder technology helps automate the motion simulation process making it
available to even the most causal user. The Intellimotion builder is a wizard that helps you
quickly build motion models. It logically takes you through each step, asking key questions
and gathering information as it generates the motion model. The resulting model is ready to
put into motion and see the results.
Frequently Asked Questions
http://www.dynamicdesignermotion.com/se/support/faq/index.htm

The following links should provide answers to most basic Dynamic Designer questions that you may have.

· Installation
Resolve basic installation issues such as what operating systems and versions of Solid Edge Dynamic Designer
can be installed on.

· Evaluation
Find out how to obtain evaluation copies of Dynamic Designer and other evaluation options.

· Licensing
Discover the different licensing options you have to choose from and how they work.

· Features and Definitions

Answer your questions regarding Dynamic Designer features as well as an explanation of terminology used in
the software.

· Functionality
Investigate how to take advantage of all the functionality that Dynamic Designer has to offer.

· Results
Learn how to study the results of your simulation through plots and FEA analysis.

· Applications
View a list of industries and applications where Dynamic Designer can be used.

· Tutorials and Training

Find out what type of training is available to users as well as information on tutorial models.
For example: DYNAMIC DESIGNER FEATURES AND DEFINITIONS
http://www.dynamicdesignermotion.com/se/support/faq/features.htm

“ So what is the minimum amount of terminology I will need ?”

What is the difference between a Kinematic and Dynamic motion simulation?

A Kinematic system is one in which the movement of parts is enforced or under constrained motion.
Furthermore, there are ZERO degrees of freedom and there is only one possible motion.

A Dynamic system is one which is free to move unless forces act upon it. A Dynamic system is only
partially controlled and it has an infinite number of possible results depending on the forces applied.
There are more than zero degrees of freedom.

What are degrees of freedom?

Put simply, degrees of freedom are the directions an object can move in. There are six degrees of
freedom- 3 rotational and 3 translational.

An object can rotate about the x, y, and z axis (3 degrees of freedom) and an object can translate in
the x, y, and z direction (3 more degrees of freedom-total= 6)

How do joints effect the degrees of freedom on a part?

Joints (or constraints) restrict specific degrees of freedom between parts. In doing this, they limit the
directions the parts are free to move with respect to each other. Take the example of a revolute joint.
This joint only allows rotation about a single axis (the joint z-axis) between the parts it connects. It is
locking all the other degrees of freedom (Translation in the x, y, and z-axis directions, and rotation
about the x and y-axis).

For Example: APPLICATIONS

http://www.dynamicdesignermotion.com/se/support/faq/apps.htm

“ So how will this benefit my FIRST Robotics project?”

· Size motors and actuators.
If you use motors, you have probably experienced problems such as underestimating peak motor torque,
failure to account for dynamic structural loading during machine operation, the inability to predict the
performance of non-linear systems, and long/expensive workout periods for prototype machinery. Dynamic
Designer will solve these problems.

· Determine power consumption.

Determining actuator power consumption is immediately available in an XY plot. Power consumption is a
quantity calculation from the motion simulation results.

· Friction.
See how friction will increase power requirements and actuators size.

· Force Transmission.
Understand how forces are transmitted through a mechanical system.

· Spring and Damper Stiffness.

You can see the effect of spring/damper systems on system motion, quickly experiment with spring/damper
rates, and model non-linear spring/damper effects.

Dynamic Designer has been used by hundreds of companies in hundreds of different applications. You will find a
sampling of some Dynamic Designer application areas and models at:
http://www.dynamicdesignermotion.com/se/support/faq/apps.htm
For Example: TUTORIALS AND TRAINING
http://www.dynamicdesignermotion.com/se/support/faq/tutorials.htm

“ So how do I get started?”

Are there tutorials materials that come with the software?

Yes. When you install Dynamic Designer, 3 tutorial models are installed under the DD
installation directory. The online help (HELP - HELP ON DYNAMIC DESIGNER MOTION)
provides step-by-step instructions on each of these exercises

What do the online training materials include?

Tutorials and online training materials can be found at:

http://www.dynamicdesignermotion.com/se/support.htm

The online training includes several downloadable models as well as step by step
instructions that will aid you in putting each model in motion. The models demonstrate
many features and capabilities of Dynamic Designer and should be fairly easy to complete.

Example Models

The following example models have been created as a learning tool that apply the use of Dynamic
Designer functionality to practical mechanisms. Each mechanism file includes all part files and the
assembly file. The step-by-step instructions are included in Microsoft Word files. To see how each
mechanism should move, view the AVI files located the right column.

· Fourbar
The fourbar linkage is introduces basic constraint-mapping, joint
motion, and plotting results.

· Governor
Springs, dampers, and function building is explored in the
governor example.

· Actuator Clamp
Advanced motion generation, forces, and constraint mapping are
used the actuator clamp mechanism.

· Actuator Clamp (contact)

The actuator clamp with contact focuses on using curve-curve
contact instead of joint constraints to model part interaction.

· Electro-mechanical switch
The electro-mechanical switch provides an excellent example
using an impact force.

How long do the tutorials take to complete?

Each tutorial should take about 5-10 minutes to finish.

 “So where do I start?”

Download the following sets of files:

1. Dynamic Designer Motion Professional Manual (For Solid Edge):

http://www.dynamicdesignermotion.com/download/service_packs/DDMSE01R1-01.pdf

2. Download the Quick Start File (also called Motion Tutor):

http://www.dynamicdesignermotion.com/se/support/tutor/

Starting with the basics, find out how to analyze your mechanism by applying motions, forces, and
contacts. Through brief explanations on each topic, along with short movie clips (if you visit the
Website: http://www.dynamicdesignermotion.com/se/support/tutor/), you will be a Dynamic
Designer Professional in no time! ·

3. Download Dynamic Designer Web-Based Training Course (For Solid Works)

http://www.dynamicdesignermotion.com/download/service_packs/Dynamic%20Designer%20Web
%20Training.zip
 Motion Tutor

STEP 1: DEFINE A MECHANISM

How do I get to the Dynamic Designer motion environment?

To switch from the Solid Edge construction environment to the Dynamic

Designer motion environment, click on the Environment pull down option and
select Motion.

Note: Be sure to have the Dynamic Designer add-in active and an opened DDtab.avi
assembly.

How do I define a mechanism from my assembly?

After you enter the Dynamic Designer motion environment, joints are mapped
from Solid Edge by defining moving and ground parts. To define the parts as
moving or ground, right click on each part and select "moving" or "ground"
(you can also make multiple selections by using the shift key, control key, or
by dragging a selection window around the parts with the mouse). Once the
parts are defined, they will appear under the appropriate parts branches
(Moving or Ground). Joints are automatically created based on the Solid Edge
constraints (constraint mapping) existing between the parts placed in the
moving or grounded parts groups.
DefineMech.avi

What if I want to create joints myself-how do I do that?

In addition to constraint mapped joints, you can manually define joints. Right
click on the Constraints or Joints branch and then select the desired joint to
create. When prompted to select part components use any of the moving or
grounded parts that have been defined. For location and orientation of the
joint, any Solid Edge geometry that is appropriate (edge face, vertex, etc.)
can be used.

ManualJoint.avi
STEP 2: APPLY MOTIONS, FORCES, SPRINGS, AND CONTACTS

Once my assembly is properly constrained, how do get it to move?

There are two options to choose from with regard to adding motion to a
mechanism. The most common type of motion is that which is applied to
joints, but you can also apply motion to parts. Motions are used to
represent motors or actuators. Joint motion is the preferred method as the
joints already define the directions in which a part can move. You can
simulate a variety of motions using built in functions, equations, or external JointMotion.avi
data.

To apply motion on a joint, right click on it, and select Properties. Once the
properties dialogue box appears, select the joint directions to control, type
of motion (displacement, velocity, and acceleration), and function type.

To apply motion to a part, right click on the part, and select Add Motion on
Part. A motion dialogue will appear where you must define the motion
orientation. Select the motion directions to control, types of motion
(displacement, velocity, and acceleration), and function types.

PartMotion.avi

How do I add friction to a joint in my mechanism?

To add friction to a joint in your mechanism, right click on the joint with the
friction and select Properties. Once the dialogue box opens, click on the
Friction tab. Inside this dialogue, you have the option to use the material
properties to define your friction force or you can specify the coefficient of
friction. Furthermore, you must specify the size of your joint that the friction
is acting upon.

Friction.avi

How do I apply a force or moment to a part?

There are two options to choose from if you want to apply a force or
moment on a part. The first option is to apply an action-only force or
moment, and the second option is to apply an action-reaction force or
moment. An action-only force or moment is applied at a single point on a
rigid body, and no reaction forces are calculated. The action-reaction force
and moment are applied between two points. The force or moment is
applied to the first rigid body and an equal but opposite reaction force or ActionOnly.avi
moment is applied to the second rigid boy.

To add an action-only or action-reaction force, right click on the Forces

branch and select the desired force or moment. Use the dialogue box to
guide you through the process of defining the force or moment. Once you
have defined the force or moment, click on the Function tab to express the
magnitude of the force or moment.
ActionReaction.avi
How do I create a spring and/or damper?

Creating a spring involves the exact same process as creating a damper

aside from setting the parameters of each entity. To create a spring or
damper, right click on the Forces branch and select either option. Next, use
the dialogue box to choose the attachment points and dynamic properties of
the spring or damper.

Note: To create a non-linear spring, choose an action-reaction force and use Spring.avi
the expression option in the Function tab.

How do I model collisions?

As there are many possible options to choose from when adding forces to
your mechanism, the same is true when it comes to collisions. In Dynamic
Designer, you have the ability to add 3D-contact, 2D curve-curve contact,
and impact forces between any two parts.

3D contact should be used where the geometry is more complex and 2D

contact is not sufficient. To add 3D contact, right click on the Contact 3DContact.avi
branch and select 3D contact.

On the other hand, curve-curve contact may be a better contact option

because solve time is much quicker. For example, if two parts are colliding
and the geometry to define the contact is a side face, then curve-curve
contact is an excellent option. To add curve-curve contact, right click on the
Contact branch and select add curve/curve contact. Once again, use the
dialogue box as a guide to define the contact. (TIP: When selecting a curve
to define the contact, you can select the face that the curve lies in and that
will select the entire curve for you.) CurveContact.avi

Using an impact force is another efficient method of modeling collisions.

Impact forces are used to model contact between two points, one each
object. Typically, a sphere impacting another sphere is a good example of
when to use an impact force. To create an impact force, right click on the
Forces branch and select Impact Force. Define the geometric points of
impact and the distance at which the objects will collide. You can also adjust
the impact parameters depending on the type of material you have in your
mechanism.
ImpactForce.avi
STEP 3: SIMULATE A MECHANISM

How do I control the duration of the mechanism simulation?

To control the duration of the mechanism simulation, you must open the
simulation parameters dialogue box. To do so, right click on the motion
model branch at the top of the motion browser and select simulation
parameters. The top half of the dialogue box displays the time parameters.
The period of a simulation is controlled by the number of frames and a time
increment (number of frames per second), or the simulation time is
controlled by duration (number of seconds) where you specify the number
seconds a simulation will last.
Time.avi

How do I decide on the number of frames for a simulation?

The number of frames that is used for a simulation depends on user need. In
general, the more frames used, the more refined or clearer the results will
be. The number of frames used in a simulation is analogous to a sampling
rate for data acquisition-too few frames may give a very rough sketch and
poor result data. Using too many frames is excessive and a misuse of time.
Furthermore, the more frames used, the smoother the animation of the
simulation will be. For example, if you have a part rotating one revolution,
20-60 frames would give reasonable results. 4 frames would be insufficient, Frames.avi
and 1000 frames would be too many.

To define the number of frames in a simulation, right click on the motion

model branch and select simulation parameters. From this dialogue, you can
set the number of frames.

How do I improve the time it takes to solve a simulation?

There are two major ways to improve the solve time of a simulation. By
turning off the animation while solving is the first method that will decrease
the simulation time for any mechanism. The second way to reduce solve time
only applies to larger assemblies. By using stored mass properties of parts
instead of updating the mass of each part when simulating can reduce solve
time significantly. To take advantage of these time saving tips, right click on
motion model and select simulation parameters. There are two check boxes
Solve.avi
in the dialogue box-animate during simulation and use mass properties
stored with Parts if available. Activate or deactivate each box as needed.

Note: Do not check the Use mass properties option if you are changing part
properties between simulations as the new mass properties will not be taken
into account.
STEP 4: ANALYZE RESULTS

How can I easily review a simulation?

Dynamic Designer has a tool for viewing simulations after solve-the motion-
simulation panel. This panel has VCR controls and the option to skip to a
specific frame or time in the simulation. There are buttons that enable
access to the simulation settings dialogue, for deleting results, and running
the simulation. To access the motion-simulation control panel, click on the
simulation panel toolbox icon.

SimulatePanel.avi

How do I check for interference between parts?

To check for parts that interfere, right click on motion model AFTER
SIMULATING your mechanism and select interference check. The
interference dialogue box will appear and you must select the parts that are
to be checked for interference. You also have the option of selecting the
bounds of the interference check. Click find now to begin the check and the
lower windowpane will display all instances of interference.

InterfereChk.avi

How do I create plots of simulation results?

After a simulation is complete, the behavior of the mechanism can be

evaluated by plotting forces, velocities, positions, etc. of parts, joints, and
springs. By right clicking on an entity in the motion browser, relevant result
options will appear. Select the desired result and it will be plotted in the
graphics window. Part results are measured at the center of mass or origin
of the selected part. All force results are measured in the global coordinate
system of the assembly.

Plots.avi

How do I customize plots?

To adjust plot properties such as labels, axis format, etc., right click in the
feature area of the plot and select the appropriate option. To be able to plot
results, you must have the results loaded-the delete results icon at the
bottom of the motion browser denotes this . You can also access plot
options from the IntelliMotion Browser. Expand the XY plots branch, select
the plot you wish to modify and right click to select the desired option you
wish to customize.
CustomPlots.avi
How do I export results to an AVI, VRML, ADAMS, and FEA?

Export options are available through the motion pull down menu or by right
clicking on motion model in the motion browser. Dialogue boxes for each
option will open with the appropriate control options.

FEA.avi

ADAMS.avi

AVI.avi VRML.avi