CosmosWork Motion Essential

COSMOSMotion Essentials Training
COSMOSMotion 2007
Image courtesy of National Optical Astronomy

Observatory, operated by the Association of Universities
for Research in Astronomy, under cooperative
agreement with the National Science Foundation.
About this course

Prerequisites
Course Design Philosophy
Using this book
A note about files
Conventions used in this book

Class Introductions
2007 SolidWorks Corp. Confidential.
Design Validation Products

COSMOSWorks
Adv. Professional
COSMOSFloWorks
Flow Simulation
Professional
Designer
Drop Test
Static
Vibration
& Buckling
Fatigue
Nonlinear
Thermal
Optimization
Post-dynamics
COSMOSEMS
Electromagnetic
COSMOSMotion
What is Motion Simulation ?
Study of moving systems or mechanisms
Motion of a system is determined by
Mechanical joints connecting the parts

The mass and inertia properties of the components
Applied forces to the system (Dynamics)
Driving motions (Motors or Actuators)
Time
Mechanism types
Kinematic System
Movement of part(s) under enforced or
constrained motion
Fully controlled and only one possible
motion result irrespective of force and
mass
Zero degree of freedom
Dynamic System
Movement of part(s) under free motion
subject to forces
Partially controlled and infinite number
of results depending on forces
Greater than zero degrees of freedom
Understanding Basics
Mass and Inertia
Newtons First Law
Conservation of momentum
Degrees of freedom
Rigid body
Grounded parts
Moving parts
Constraints
Restrictions placed on a parts
movement in specific degrees of
freedom
Mechanical joints are connections that
restrict the movement of one part to
another
Pendulum restrained
to pivot about mounting
point
y
x
Joint motion
Gravity
Constraint Mapping
Mapping of SolidWorks assembly
mates (constraints) to
COSMOSMotion joints.
100+ ways of defining SolidWorks

mates.
Basic constraint types are merged to
simplified mechanical joints.
One Orthogonal Concentric mate in
SolidWorks becomes a Concentric joint.
One Coincident and One Orthogonal
Concentric mates in SolidWorks becomes
a Revolute joint.
One Point to Point coincident mate in
SolidWorks becomes a spherical joint
User Interface
Motion toolbar
Pull down menu

Intellimotion browser
Intellimotion builder
User Interface
Motion toolbar
Pull down menu

Intellimotion browser
Intellimotion builder
Lesson 1
Governor Mechanism

Lesson 1: Topics
Introduction to the COSMOSMotion Feature Manager
Understand basic capabilities of COSMOSMotion
Run a Simulation
Create a result plot
11
Lesson 1: Defining and Simulating a Mechanism

Parts
Moving Parts
Ground Parts
Constraints
Joints
Joint Primitives
Cam Constraints
Forces
Applied Forces
Flexible Connectors
Gravity
Results
Translational Distance
Collar and Slider.
Initial Distance :
Slider Distance:
Minumium Distance :
345 mm
323 mm
22 mm
12
Lesson 2
Crankslider Mechanism

Lesson 2: Topics
Create moving and ground parts
Review basic joint types in COSMOSMotion
Understand Automatic Constraint mapping
Apply motion to a joint
Create a result plot
14
Lesson 2: Constraint Mapping Concept

1 Coincident and 1 concentric
mates becomes a revolute joint
1 Concentric mate becomes a
cylindrical joint
A point on a point coincident mate
becomes a spherical joint
A point on an axis coincident mate
becomes an Inline Joint
15
Lesson 2: Results
Collar-1 not only translates

along collar_shaft-1 but also
rotates.
The rotation needs to be
prevented
16
Lesson 2: Motion on Joints

Joint Types
Type of motion allowed
Available options
under Motion On
list
Cylindrical
Rotation and translation in one

direction
Rotate Z
Translate Z
Revolute
Only Rotation in one direction
Rotate Z
Translational
Only Translation in one direction
Translate Z
Spherical
Rotations in all directions, No

translation
Rotate X
Rotate Y
Rotate Z
17
Lesson 2: Results
Power Consumption in Mechanism
Conversion:
Pound_force foot/sec to Watt
Pound_force foot/sec to HP
Why is Power Consumption negative

in some places?
1 Pound_force foot/sec =
1 Pound_force foot/sec =
1 ft =
1.3558 W
0.00134 HP
12 in
4 pound_force foot/sec =
4 pound_force foot/sec =
0.451933 W
0.000447 HP
18
Lesson 3
Piston Crankshaft Mechanism

Lesson 3 Topics
Review basic joint types in COSMOSMotion
Create Mechanical Joints
Apply motion to a joint
Create and review results
20
Lesson 3: Basic Joint Types

Joints used to constrain the relative motion of a pair
of rigid bodies by physically connecting them.
Joint Primitives used to enforce standard geometric
constraints
21
Lesson 3: Joint definition

Location
Direction
22
Lesson 3 Results
Torque required to drive the mechanism
23
Lesson 4
Coupler

Lesson 4 Topics
Simulate motion of gears using joint couplers
Joint coupler to associate the movement of one joint
with another
Modeling gear-mate from SolidWorks model
Conversion
Convert RPM to deg/s
1 RPM =
1 min =
100 RPM =
360 degree
60 s
600 deg/s
25
Lesson 4: Couplers
Any one of the following joint combinations will create
a coupler:
Revolute-Revolute
Revolute-Translational
Revolute-Cylindrical
Translational-Cylindrical
Translational-Translational
Cylindrical-Cylindrical
Only motion transfer. No load transfer
26
Lesson 4: Coupler Definition
27
Lesson 4: Gear Mate in SolidWorks

Simulate Couplers using Gear Mate in SolidWorks
28
Lesson 5
Door Mechanism

Lesson 5 Topics
Create springs and damper entities in COSMOSMotion
Attach different parts together to move them as a single entity
Constrain the motion of a cylindrical joint to achieve correct
mechanism behavior
Modify springs and dampers to achieve desired design goals
30
Lesson 5 Attaching Parts

Physically attach one part to another
Two parts will be welded or rigidly connected to one
another.
No relative motion between the two parts
Initial orientation between the two parts will be locked and
will be maintained throughout the simulation
31
Lesson 5: Springs
Translational Spring Force = -k (X - X0)n + F0
Where:
k = Spring stiffness coefficient (always > 0)
X = Current distance between the spring connection points
X0 = Reference length of the spring (Free length)

n = Exponent defining spring characteristic
F0 = Reference force of the spring (preload)

Positive force repels the two parts.
Negative force attracts the two parts.
Similar force expression applies to Torsional Springs

32
Lesson 5: Dampers
Translational Damper Force = c*vn
Where:
c - Translational damping coefficient
v - Current relative velocity between parts at the
attachment points
n - Exponent.
Similar force expression applies to Torsional Dampers

33
Lesson 5: Results
gas_piston-1 not only translates

along gas_cylinder-1 but also
rotates.
The rotation needs to be
prevented
34
Lesson 5: Results
Spring stiffness: 1 N/mm
Damper Co-efficient: 5 N (sec/mm)
Velocity goal is satisfied

Door does not stop in 30 seconds
Should we increase or decrease spring stiffness?

35
Lesson 5: Results
Spring stiffness: 2 N/mm
Damper Co-efficient: 10 N (sec/mm)
Velocity goal is satisfied

Door stops in 30 seconds
36
Lesson 6
Hatchback Mechanism

Lesson 6 Topics
Create an Action Only force to simulate an
Change the mass properties of a part
Use Impact forces to control two parts from interfering each other
38
Lesson 6: Forces
Affect the dynamic behavior of a mechanism
Do not prohibit or prescribe motion and so do not add or

remove degrees-of-freedom from your model.
Force Entities
Translational and Torsional Springs

Translational and Torsional Dampers
Action-Only Forces/Moments
Action-Reaction Forces/Moments
Impact Forces
Flexible Connectors
Gravity
39
Lesson 6: Force Definition

Force Type
Whether the loading is a force or
a moment.
Location
Direction
Along an axis defined by an
edge, plane or cylindrical surface.
Along the line-of-sight between
two points
Magnitude
Enter a pre-defined function
expression (step, harmonic,
spline).
Enter an equation directly into the
Function Expression field using
the library of built-in
COSMOSMotion functions.
Cylinder Component
Bore Diameter:
Bore Radius :
Area:
Pressure :
Force:
0.49 in
0.245 in
0.19 sq. in
500 Psi
94.30 Lbs
40
Lesson 6: Action Only Force
41
Lesson 6: Material Properties

Adding Materials
Modifying Material Properties
42
Lesson 6: Results
43
Lesson 6: Impact Forces

Intermittent force that is dependent on relative distance
between two components).
Impact forces are used to simulate the collision between two
parts.
As two parts approach within a specified distance, the
impact force becomes active, and a force specified by the
impact parameters is applied to both of the colliding parts.
The collision is dependent on the materials and geometry of
the bodies colliding.
44
Lesson 6: Impact Parameters

Impact Force = Spring Force + Damping Force
Stiffness: Depends on material properties and
curvature of interacting surfaces
Exponent: Determines impact force characteristic

Max Damping: Simulates energy loss in collision
Penetration: Depth at which maximum damping
occurs.
Length: distance at which the impact force is activated
(parts contact)
45
Lesson 6: Impact Parameters

Good numbers for impact parameters:
Stiffness:
10000 lb/in
10000 N/mm
Exponent:
1.1-1.3
1.1-1.3
Damping:
0.1-100 lb-s/in
1-100
Penetration:
0.0001 in
0.01 mm
Height of Piston:
0.95 in
Impact Distance
1
0.95
0.9
0.85
1.3
in
in
in
in
in
Clearance Distance
0.05
0
-0.05
-0.15
0.35
in
in
in
in
in
Components interfere
This values are linearly proportionaly due to the exponent input.
d cannot be specified as 0
46
Lesson 6: Results
Translational displacement of the concentric joint
between the piston and cylinder parts
Notice that the displacement is held at 8 inches

which means that the impact force does not
allow further translation between the parts
47
Lesson 6: Results
Magnitude of the impact force applied
48
Lesson 7
Contacts

Lesson 7 Topics
Apply Point to curve contact
Apply Curve to curve contact
Apply 3D Contact
50
Lesson 7: Understanding Contacts

Point-curve - Restricts a point on one rigid
body to lie on a curve on a second rigid body.
Curve-curve - Constrains one curve to
remain in contact with a second curve.
Intermittent curve-curve - Applies a force
to prevent curves from penetrating each
other. Only active if the parts are touching
3D Contact Applies a force to prevent
bodies from penetrating each other. Only
active if the parts are touching
51
Lesson 7: Impact Forces Vs Contacts

Contact is similar to an impact force in that the material properties
of the parts are used to define the contact parameters.
Contact differs from an impact force since any point along a curve
or geometry is used in the contact
Contact simulates friction forces between parts.
52
Lesson 7: 3D Contact
Surface Representation of parts:
Tessellated Geometry
Faster but less accurate in certain
contact situations like point to surface or
multiple contacts
Precise Geometry
Longer simulation time but produces
accurate results
Contact Containers
53
Lesson 8
Railcar Mechanism

Lesson 8: Topics
Apply Gravity force to the mechanism
Create an Action-Reaction force to accelerate the railcar
Learn some advanced plotting techniques in COSMOSMotion
55
Lesson 8: Action Reaction Force
56
Lesson 8: Results
Probing translational velocity plot of body-1
57
Lesson 8: Results
Plotting multiple plots in the same XY graph
58
Lesson 8: Results
Replacing X axis time scale with a desired results
quantity
59
Lesson 9
Floor Jack Mechanism

Lesson 9 Topics
Apply motion to a part
Use different types of motion functions

Make a design change and study mechanical advantage
61
Lesson 9: Part Motion
62
Lesson 9: Function Types

Constant
Step Function
d0 = Initial value of displacement
d1 = Final value of displacement
t0 = Start step time
t1 = Final step time
Harmonic
Amplitude; Frequency; Time
Offset; Phase Shift; Average
63
Lesson 9: Function Types

Spline
You can use your own motion data to
control your mechanism by importing
data points.
To import data points, they must be in
a .TXT or .CSV file format.
You may import an unlimited number of
data points.
100
80
Data Points
60
40
20
0
0
100
80
Overshoot
60
40
20
0
-20
0
64
Lesson 9: Results
Translational Displacement of the
cylinder joint connecting the
piston and cylinder
Force on handle
Force to move the piston. A very

small force is required to push the
handle. This gets amplified
internally at the piston cylinder
area
65

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COSMOSMotion Essentials Training

Image courtesy of National Optical Astronomy

About this course

Conventions used in this book

2007 SolidWorks Corp. Confidential.

Design Validation Products

2007 SolidWorks Corp. Confidential.

What is Motion Simulation ?

Study of moving systems or mechanisms

Motion of a system is determined by

Mechanical joints connecting the parts

2007 SolidWorks Corp. Confidential.

2007 SolidWorks Corp. Confidential.

100+ ways of defining SolidWorks

Pull down menu

Pull down menu

Image courtesy of National Optical Astronomy

2007 SolidWorks Corp. Confidential.

Lesson 1: Defining and Simulating a Mechanism

2007 SolidWorks Corp. Confidential.

Image courtesy of National Optical Astronomy

2007 SolidWorks Corp. Confidential.

Lesson 2: Constraint Mapping Concept

Collar-1 not only translates

2007 SolidWorks Corp. Confidential.

Lesson 2: Motion on Joints

Type of motion allowed

Rotation and translation in one

Only Rotation in one direction

Only Translation in one direction

Rotations in all directions, No

2007 SolidWorks Corp. Confidential.

Why is Power Consumption negative

Image courtesy of National Optical Astronomy

Create and review results

2007 SolidWorks Corp. Confidential.

Lesson 3: Basic Joint Types

2007 SolidWorks Corp. Confidential.

Lesson 3: Joint definition

2007 SolidWorks Corp. Confidential.

Torque required to drive the mechanism

2007 SolidWorks Corp. Confidential.

Image courtesy of National Optical Astronomy

2007 SolidWorks Corp. Confidential.

Only motion transfer. No load transfer

2007 SolidWorks Corp. Confidential.

Lesson 4: Coupler Definition

2007 SolidWorks Corp. Confidential.

Lesson 4: Gear Mate in SolidWorks

2007 SolidWorks Corp. Confidential.

Image courtesy of National Optical Astronomy

2007 SolidWorks Corp. Confidential.

Lesson 5 Attaching Parts

2007 SolidWorks Corp. Confidential.

X0 = Reference length of the spring (Free length)

F0 = Reference force of the spring (preload)

Similar force expression applies to Torsional Springs

Similar force expression applies to Torsional Dampers

gas_piston-1 not only translates

2007 SolidWorks Corp. Confidential.

Damper Co-efficient: 5 N (sec/mm)

Velocity goal is satisfied

Should we increase or decrease spring stiffness?

Damper Co-efficient: 10 N (sec/mm)