SolidWorks Motion Tutorial 2013

IntroductiontoSolidModelingUsingSolidWorks2013
SolidWorksMotionTutorial
Page1
Inthistutorial,wewilllearnthebasicsofperformingmotionanalysisusingSolidWorksMotion.
AlthoughthetutorialcanbecompletedbyanyonewithabasicknowledgeofSolidWorkspartsand
assemblies,wehaveprovidedenoughdetailsothatstudentswithanunderstandingofthephysicsof
mechanicswillbeabletorelatetheresultstothoseobtainedbyhandcalculations.
Wewillbelookingatthreedifferentanalyses:
1. Rotationofawheel,inwhichwewilllearnhowtosetupamotionanalysisandseetheeffectsof
changingthemassmomentofinertiaonangularacceleration.
2. Fourbarlinkage,inwhichwewillseehowplottingaquantitysuchasaccelerationovera
mechanismsfullrangeofmotionallowsustoidentifytheextremevaluesofthequantity.
3. Rolleronaramp,inwhichtheeffectsoffrictionwillbeevaluated.
1. RotationofaWheel
Beginbycreatingthethreepartmodelsdetailedbelow,orbydownloadingthepartsfromthebooks
website.Theeightholepatternoneachwheelisaddedtohelpvisualizationoftherotationofthepart.
Page2
Ifyoudownloadedthepartfiles,thematerialsforthe
partsaredefined.Ifyoucreatedthemyourself,thenfor
eachpart,definethematerialbyrightclickingMaterial
intheFeatureManagerandselectingEditMaterial.The
MaterialEditorwillappear,asshownhere.SelectAlloy
SteelfromthelistofsteelsintheSolidWorksmaterials
library.ClickApplyandthenClose.
Tobegin,wewillanalyzeasimplemodelofawheel
subjectedtoatorque.FromNewtonsSecondLaw,we
knowthatthesumoftheforcesactingonabodyequals
themassofthebodytimestheaccelerationofthebody,or
1
Theaboveequationappliestobodiesundergoinglinearacceleration.Forrotatingbodies,Newtons
SecondLawcanbewrittenas:
2
Where isthesumofthemomentsaboutanaxispassingthroughthebodyscenterofmass, isthe
massmomentofinertiaofthebodyaboutthataxis,and istheangularaccelerationofthebody.The
momentofinertiaaboutanaxisisdefinedas:
3
where istheradialdistancefromtheaxis.Forsimpleshapes,themomentofinertiaisrelativelyeasy
tocalculate,asformulasfor ofbasicshapesaretabulatedinmanyreferencebooks.However,for
morecomplexcomponents,calculationof canbedifficult.SolidWorksallowsmassproperties,
includingmomentsofinertia,tobedeterminedeasily.
OpenthepartWheel1.Fromthemainmenu,selectTools:MassProperties.
Themasspropertiesofthewheelarereportedinthepopupbox.Forthispart,themassis15.29
pounds,andthemomentofinertiaaboutthezaxis(labeledasLzzinSolidWorks)is105.36lbin2.
Notethatifyoucenteredthepartabouttheorigin,thentheproperties,labeledTakenatthecenterof
massandalignedwiththeoutputcoordinatesystemwillbeidenticaltothoselabeledPrincipal
moments...takenatthecenterofmass.Notethattheunitsofmassusedareactuallypoundsmass,
thatis,apartthatweighsonepoundhasamassofonepoundmass.Whenwemakeourcalculations
later,wewillhavetoconvertourvaluessothatweuseunitsofmassthatareconsistentwiththeother
unitsthatweareusing.
Page3
ClosetheMassPropertieswindow.OpenthepartWheel2.Fromthemainmenu,selectTools:Mass
Properties.
Notethatalthoughthemassof15.45isalmostthesameasthatofWheel1,Wheel2smomentof
inertiais146.54lbin2,whichisalmost40%greaterthanthatofWheel1.Thereasonforthedifference
isthatmorematerialinWheel2isplacedneartheouterrim.Inthedefinitionofthemomentofinertia
shownasEqn.3,thecontributionofeachparticleofmassonthevalueof dependsonitsdistancefrom
theaxissquared.Therefore,addingmassneartheouterrimofthewheelincreasesitsmomentof
inertiagreatly.
Openanewassembly.InsertthecomponentBase.
Sincethefirstcomponentinsertedintoanassemblyisfixed,itislogicaltoinsertthecomponent
representingthestationarycomponent(theframeorgroundcomponent)first.
InsertthepartWheel1intotheassembly.SelecttheMateTool.Addaconcentricmatebetween
thecenterholeofthewheelandtheholeinthebase.Besuretoselectthecylindricalfacesforthe
mateandnotedges.Addacoincidentmatebetweenthebackfaceofthewheelandthefrontfaceof
thebase.
Youshouldnowbeabletoclickanddragthewheel,withrotationabouttheaxisofthematedholesthe
onlymotionallowedbythemates.Theadditionofthesetwomateshasaddedarevolutejointtothe
assembly.Arevolutejointissimilartoahingeinthatitallowsonlyonedegreeoffreedom.
ClickontheMotionStudy1tabnearthelowerleft
corner,whichopenstheMotionManageracrossthe
lowerportionofthescreen.
Page4
TheMotionManagercanbeusedtocreatesimulationsofvariouscomplexities:
Animationallowsthesimulationofthemotionwhenvirtualmotorsareappliedtodriveoneor
moreofthecomponentsatspecifiedvelocities,
BasicMotionallowstheadditionofgravityandsprings,aswellascontactbetweencomponents,
tothemodel,and
MotionAnalysis(SolidWorksMotion)allowsforthecalculationofvelocities,accelerations,and
forcesforcomponentsduringthemotion.Italsoallowsforforcestobeappliedtothemodel.
ThefirsttwooptionsarealwaysavailableinSolidWorks.SolidWorksMotionisanaddinprogram,and
mustbeactivatedbeforeitcanbeused.
Fromthemainmenu,chooseTools:AddIns.Inthelistof
availableaddins,clickthecheckboxbesideSolidWorksMotion
toactivateit.ClickOK.
Page5
SelectMotionAnalysisfromthesimulation
optionspulldownmenu.
SelecttheForceTool.
Wewillapplyatorque(moment)tothewheel.Wewill
setthetorquetohaveaconstantvalueof5inlb,and
willapplyitforadurationoftwoseconds.
IntheForcePropertyManager,selectTorqueandthenclickonthefrontfaceofthewheel.
Notethatthearrowshowsthatthetorquewillbeappliedinthecounterclockwisedirectionrelativeto
theZaxis(wesaythatthistorquesdirectionis+Z).Thearrowsdirectlybelowthefaceselectionbox
canbeusedtoreversethedirectionofthetorque,ifdesired.
ScrolldownintheForcePropertyManagerandsetthevalueto5inlb.
ScrollbacktothetopofthePropertyManagerandclickthecheck
marktoapplythetorque.
Page6
IntheMotionManager,clickanddragthediamondshapedicon(termedakey)fromthedefaultfive
secondstothedesiredtwoseconds(00:00:02).SelecttheMotionStudyPropertiesTool,andchange
thecalculationratefromthedefaultof25to100framespersecond.Clickthecheckmark.
Usingalargernumberofframespersecondwillresultinsmootherplots,butwillrequiremore
calculationtime.
ClicktheCalculatorIcontoperformthesimulation.
Theanimationofthesimulationcanbeplayedbackwithoutrepeating
thecalculationsbyclickingthePlayfromStartkey.Thespeedofthe
playbackcanbecontrolledfromthepulldownmenubesidethePlay
controls.
Asnotedearlier,SolidWorksMotionprovidesquantitativeanalysis
resultsinadditiontoqualitativeanimationsofmotionmodels.Wewillcreateplotsoftheangular
accelerationandangularvelocityofthewheel.
SelecttheResultsandPlotsTool.InthePropertyManager,usethepulldownmenustoselect
Displacement/Velocity/Acceleration:AngularAcceleration:ZComponent.Clickonthefrontfaceof
thewheel,andclickthecheckmark.
Page7
Aplotwillbecreatedoftheangularacceleration
versustime.Theplotcanbedraggedaroundthe
screenandresized.Itcanalsobeeditedbyright
clickingtheplotentitytobemodified,similartothe
editingofaMicrosoftExcelplot.
Weseethattheaccelerationisaconstantvalue,
about1050degreespersecondsquared.Sincethe
appliedtorqueisconstant,itmakessensethatthe
angularaccelerationisalsoconstant.Wecancheck
thevaluewithhandcalculations.Notethatwhilewe
canperformverycomplexanalyseswithSolidWorksMotion,checkingamodelbyapplyingsimpleloads
ormotionsandcheckingresultsbyhandisgoodpracticeandcanpreventmanyerrors.
Weearlierfoundthemassmomentofinertiatobe105.36lbin2.Sincethepoundisactuallyaunitof
force,notmass,weneedtoconvertweighttomassbydividingbythegravitationalacceleration(
.Sinceweareusinginchesasourunitsoflength,wewilluseavalueof386.1in/s2:
105.36 lb in
in
386.1
s
0.2729 lb in s 4
Sincethetorqueisequaltothemassmomentofinertiatimestheangularacceleration,wecanfindthe
angularaccelerationas:
5 in lb
0.2729 lb in s
18.323
rad
5
s
Noticethatthenondimensionalquantityradiansappearsinouranswer.Sincewewantouranswerin
termsofdegrees,wemustmakeonemoreconversion:
18.323
rad 180 deg

rad
s
1050
deg
6
s
ThisvalueagreeswithourSolidWorksMotionresult.
SelecttheResultsandPlotsTool.InthePropertyManager,usethepulldownmenustoselect
Displacement/Velocity/Acceleration:AngularVelocity:ZComponent.Clickonthefrontfaceofthe
wheel,andclickthecheckmark.Resizeandmovetheplotsothatbothplotscanbeseen,andformat
theplotasdesired.
Page8
Asexpected,sincetheaccelerationisconstant,thevelocityincreaseslinearly.Thevelocityattheendof
twosecondsisseentobeabout2100degreespersecond.Thisresultcanbeverifiedwithasimplehand
calculation:
1050
deg
s
2 s
2100
deg
7
s
Often,theangularvelocityisexpressedinrevolutionsperminute(rpm),commonlydenotedbythe
symbol :
2100
deg
s
1 rev
360 deg
60 s
1 min
350 rpm 8
Wewillnowexperimentwithvariationsofthesimulation.
Movetheplotsoutoftheway,butdonotclosethem.Clickanddragthekeyatthetopofthe
simulationtreefrom2secondstofour,sothatthesimulationwillnowlastforfourseconds.Placethe
cursoronthelinecorrespondingtotheappliedtorque(Torque1)atthe2secondmark.(Ifdesired,you
canclickthe+andsignsattherightendofthetimelinetoscalethetimeline.)Rightclickandselect
Off.
Anewkeywillbeplacedatthatlocation.Thetorquewillnowbeappliedfortwoseconds,butthe
simulationwillcontinueforthefourseconds.
Page9
PresstheCalculatoricontoperformthesimulation.
Theplotswillbeautomaticallyupdated.Notethattheangularaccelerationnowdropstozeroattwo
seconds,whiletheangularvelocitywillbeconstantaftertwoseconds.Sincethereisnofrictioninthe
model,thewheelwillcontinuetospinataconstantvelocitywithoutanytorqueapplied.
Intheprevioussimulations,thetorquewasappliedasaconstantvalue.Thatmeansthatthechangeof
theaccelerationrelativetotime(commonlyreferredtoasjerk)isinfiniteattime=0andattime=2
seconds.Amorerealisticapproximationistoassumethatthetorquebuildsupoversomeperiodof
time,andalsorampsdowngradually.Forexample,wewillassumethatittakestwosecondstoreach
thefullvalueoftorqueandtwosecondstorampdown.
Rightclickthekeyaddedtothetorqueattime=2secondsanddeleteit.Movethekeydefiningthe
durationofthesimulationtosixseconds.
Movethetimebarbacktozero.RightclickonTorque1andselectEditFeature.
ScrolldowninthePropertyManager,andselect
SegmentsasthetypeofForceFunction.Enterthethree
rowsasshownhere,withCubicastheSegmentType.
Page10
Twographsaredisplayed:thetorqueasafunctionoftimeandthe
derivativeofthetorque.Youcanexperimentwithdifferentsegment
typestoseehowtheyaffectthetorque,butthecubiccurvewillwork
fineforthisexample.
ClickOKandthenthecheckmarktoapplythetorque.Calculatethe
simulation.
Notethattheangularaccelerationcurveissmooth,andpeaksat1050deg/s2.Attheendofthesix
seconds,thewheelwillbeturningatabout4,200deg/s(700rpm).
NowletsseetheeffectofreplacingtheWheel1componentwithWheel2,whichhasahighermass
momentofinertia.Ofcourse,wecouldstartwithanewassembly,butitiseasiertoreplacethe
componentintheexistingassembly.Thiswillallowustoretainmostoftheassemblymatesand
simulationentities.
Clickthemodeltabatthebottomofthescreen.ClickonWheel1intheFeatureManagertoselectit.
Fromthemainmenu,selectFile:Replace.BrowsetofindWheel2.InthePropertyManager,clickthe
checkmarktoacceptthereplacementoffacesintheexistingmateswiththoseofthenewpart.Click
thecheckmarktomakethereplacement.
Page11
Dependingonhowyoumodeledtheparts,itispossiblethaterrorswillbeencounteredwhenthe
programattemptstoreapplythemates.Ifthishappens,closetheerrormessages,deletebothmates,
andapplynewmatesmanually.
SwitchtotheMotionStudy.Rightclickeachtorque,selectEditFeature,andclickonthefrontfaceof
thewheeltodefinethedirection.Inthesimulationtree,rightclickoneachplot,andclickonthefront
faceofthewheeltodefinethecomponentforwhichvelocity/accelerationistobeplotted.Calculate
thesimulation.
Page12
Notethatthemaximumangularaccelerationisabout755deg/s2,whichissignificantlylessthatofthe
simulationwiththeearlierwheel.Thisvaluecanbeverifiedfromtheratio:
9
105.36
deg
1050
146.54
s
755
deg
10
s
2. FourBarLinkage
Inthisexercise,wewillmodela4barlinkagesimilartothatofChapter11ofthetext.Inthetext,we
wereabletoqualitativelysimulatethemotionofthesimulationwhendrivenbyaconstantspeed
motor.Inthisexercise,wewilladdaforceandalsoexploremoreofthequantitativeanalysistools
availablewithSolidWorksMotion.
Downloadorconstructthecomponentsofthelinkageshownonthenextpage,andassemblethemas
detailedinChapter11ofthetext.ThematerialshouldbeAlloySteelforalloftheparts.TheFramelink
shouldbeplacedintheassemblyfirst,sothatitisthefixedlink.
YoushouldbeabletoclickanddragtheCranklinkaroundafull360degreerotation.
NotethattheConnectorlinkhasthreeholes.Themotionofthethirdholecanfollowmanypaths,
dependingonthegeometryofthelinksandthepositionofthehole.
Page13
Beforebeginningthesimulation,wewillsetthelinkstoapreciseorientation.Thiswillallowusto
compareourresultstohandcalculationsmoreeasily.
Addaperpendicularmatebetweenthetwofacesshownhere.
ExpandtheMatesgroupofthe
FeatureManager,andrightclickonthe
perpendicularmatejustadded.Select
Suppress.
Theperpendicularmatealignsthecranklinkatapreciselocation.However,
wewantthecranktobeabletorotate,sowehavesuppressedthemate.Wecouldhavedeletedthe
mate,butifweneedtorealignthecranklater,wecansimplyunsuppressthemateratherthan
recreatingit.
Page14
SwitchtotheFrontView.Zoomoutsothattheviewlookssimilartotheoneshownhere.
TheMotionManagerusesthelastview/zoomofthemodelasthestartingviewforthesimulation.
MakesurethattheSolidWorksMotionaddinisactive.ClicktheMotionManagertab.
SetthetypeofanalysistoMotionAnalysis.SelecttheMotoricon.Inthe
PropertyManager,setthevelocityto60rpm.Clickonthefrontfaceofthe
Cranktoapplythemotor,andclickthecheckmark.
Page15
Clickanddragthesimulationkeyfromthedefault
fivesecondstoonesecond(0:00:01).
Sincewesetthemotorsvelocityto60rpm,aone
secondsimulationwillincludeonefullrevolutionof
theCrank.
ClicktheMotionStudyPropertiesTool.UndertheSolidWorksMotiontab,set
thenumberofframesto100(framespersecond),andclickthecheckmark.
Thissettingwillproduceasmoothsimulation.
ChooseSolidWorksMotionfromthepull
downmenu,andpresstheCalculatoriconto
runthesimulation.
ClicktheResultsandPlotsTools.InthePropertyManager,setthetypeoftheresulttoDisplacement/
Velocity/Acceleration:TracePath.ClickontheedgeoftheopenholeoftheConnector.
Playbackthesimulationtoseetheopenholespathoverthefull
revolutionoftheCrank.
Ifdesired,youcanaddpathsfor
theothertwojointsthatundergo
motion.
Page16
Thefourbarlinkagecanbedesignedtoproduceavarietyofmotionpaths,asillustratedbelow.
Wewillnowaddaforcetotheopenhole.
SelecttheForceTool.InthePropertyManager,thehighlightedboxpromptsyouforthelocationofthe
force.Clickontheedgeoftheopenhole,andtheforcewillbeappliedatthecenterofthehole.
Thedirectionboxisnowhighlighted.Rotateandzoominsothatyoucanselectthetopfaceofthe
Framepart.Theforcewillbeappliednormaltothisforce.Asyoucansee,theforceactsupwards.
Clickthearrowstoreversethedirectionof
theforce.
Page17
ScrolldowninthePropertyManagerandsetthemagnitudeofthe
forceto20pounds.Clickthecheckmarktoapplytheforce.
Runthesimulation.
Wewillnowplotthetorqueofthemotorthatisrequiredtoproduce
the60rpmmotionwiththe20lbloadapplied.
SelectResultsandPlots.Inthe
PropertyManager,specifyForces:Applied
Torque:ZComponent.Clickonthe
RotaryMotorintheMotionManagertoselect
it,andclickthecheckmarkinthe
PropertyManager.
Formattheresultingplotasdesired.
Notethattheappliedtorquepeaksatabout51inlb.Att=0,thetorqueappearstobeabout30inlb
(thenegativesignsindicatesthedirectionisabouttheZaxis,orclockwisewhenviewedfromtheFront
View).Inordertogetamoreexactvalue,wecanexportthenumericalvaluestoaCSV(comma
separatedvalues)filethatcanbereadinWordorExcel.
RightclickinthegraphandchooseExportCSV.Savethefiletoa
convenientlocation,andopenitinExcel.
Page18
Attime=0,weseethatthemotortorqueis29.2
inlb.
Handcalculationsforastaticanalysisofthe
mechanismareattached,whichshowavalueof
29.4inlb.
Itisimportantwhencomparingthesevaluesto
recognizetheassumptionsthatarepresentinthe
handcalculations:
1. Theweightsofthememberswerenot
includedintheforces,and
2. Theaccelerationsofthememberswereneglected.
Thefirstassumptioniscommoninmachinedesign,astheweightsofthemembersareusuallysmallin
comparisontotheappliedloads.Incivilengineering,thisisusuallynotthecase,astheweightsof
structuressuchasbuildingandbridgesareoftengreaterthantheappliedforces.
Thesecondassumptionwillbevalidonlyiftheaccelerationsarerelativelylow.Inourcase,theangular
velocityofthecrank(60rpm,oronerevolutionpersecond)producesaccelerationsinthemembersthat
aresmallenoughtobeignored.Letsaddgravitytothesimulationtoseeitseffect.
ClickontheGravityicon.InthePropertyManager,selectYasthedirection.Therewillbeanarrow
pointingdowninthelowerrightcornerofthegraphicsarea,showingthatthedirectioniscorrect.
Clickthecheckmark.Runthesimulation.
Thetorqueplotisalmostunchanged,withthepeak
torqueincreasingbyonlyoneinlb.Therefore,omittinggravityhadverylittleeffectonthecalculations.
Nowwewillincreasethevelocityofthemotortoseetheeffectonthetorque.
Page19
Dragthekeyattheendofthetopbarinthe
MotionManagerfrom1secondto0.1second.Usethe
ZoomInToolinthelowerrightcornerofthe
MotionManagertospreadoutthetime
line,ifdesired.
Dragthesliderbarshowingthetimewithinthesimulation
backtozero.
Thisisanimportantstepbeforeeditingexistingmodel
items,aschangescanbeappliedatdifferenttimesteps.
Becausewewantthemotorsspeedtobechangedfrom
thebeginningofthesimulation,itisimportanttosetthe
simulationtimeatzero.
RightclickontheRotaryMotorintheMotionManager.Inthe
PropertyManager,setthespeedto600rpm.Clickthecheckmark.
Sinceafullrevolutionwilloccurinonly0.1seconds,weneedtoincrease
theframerateofthesimulationtoachieveasmoothplot.
SelecttheMotionStudyProperties.InthePropertyManager,settheSolidWorksMotionframerateto
1000frames/second.Clickthecheckmark.
Runthesimulation.(ClickNoifyoureceiveamessageaskingifyouwant
toincreasethesimulationtime.)
Page20
Thepeaktorquehasincreasedfrom51to180inlb,
demonstratingthatasthespeedisincreased,the
accelerationsofthemembersarethecriticalfactors
affectingthetorque.
Youcanverifythisconclusionfurtherbysuppressing
bothgravityandtheapplied20lbloadandrepeating
thesimulation.Thepeaktorqueisdecreasedonly
from180to151inlb,evenwithnoexternalloads
applied.
Toperformhandcalculationswiththeaccelerationsincluded,itisnecessarytofirstperformakinematic
analysistodeterminethetranslationalandangularaccelerationsofthemembers.Youcanthendraw
freebodydiagramsofthethreemovingmembersandapplythreeequationsofmotiontoeach:
F
ma F
ma M
Theresultisnineequationsthatmustbesolvedsimultaneouslytofindthenineunknownquantities(the
appliedtorqueandthetwocomponentsofforceateachofthefourpinjoints).
Theresultsapplytoonlyasinglepointintime.Thisisamajoradvantageofusingasimulationprogram
suchasSolidWorksMotion:sinceitisnotevidentatwhatpointinthemotionthattheforcesare
maximized,ouranalysisevaluatestheforcesoverthecompleterangeofthemechanismsmotionand
allowsustoidentifythecriticalconfiguration.
Page21
3.RolleronaRamp
Inthisexercise,wewilladdcontactbetweentwobodies,andexperimentwithfrictionbetweenthe
bodies.Wewillbeginbycreatingtwonewpartsarampandaroller(skipthesestepsifyouhave
downloadedtheparts).
Openanewpart.IntheFrontPlane,sketchanddimensionthetriangleshownhere.
Extrudethetriangleusingthemidplaneoption,withathicknessof1.2inches.
IntheTopPlane,usingtheCorner
RectangleTool,drawarectangle.
Addamidpointrelationbetweenthe
leftedgeoftherectangleandthe
origin.Addthetwodimensions
shown,andextrudetherectangle
down0.5inches.
Modifythematerial/appearanceasdesired(shownhereas
Pine).SavethispartwiththenameRamp.
Openanewpart.Sketchanddimensiona
oneinchdiametercircleintheFrontPlane.
Extrudethecirclewiththemidplaneoption,
toatotalthicknessofoneinch.Setthe
materialofthepartasPVCRigid.Modify
thecolorofthepartasdesired(overriding
thedefaultcolorofthematerialselected).
Page22
Openanewsketchonthefrontfaceofthecylinder.
Addanddimensionthecirclesandlinesasshownhere
(thepartisshowninwireframemodeforclarity).The
twodiagonallinesaresymmetricaboutthevertical
centerline.
ExtrudeacutwiththeThroughAlloption,withthesketchcontoursshownselected.Ifdesired,change
thecolorofthecutfeature.
Createacircularpatternoftheextrudedcutfeatures,withfive
equallyspacedcuts.SavethepartwiththenameRoller.
Openanewassembly.Inserttherampfirst,andplaceitattheoriginoftheassembly.Insertthe
Roller.
Page23
Addtwomatesbetweentherampandtheroller.MatetheRightPlanesofbothparts,andadda
tangentmatebetweenthecylindricalsurfaceoftherollerandthesurfaceoftheramp.
Thebestwaytosetthecorrectheightoftherollerontherampisto
addamatedefiningthepositionoftheaxisoftheroller.
FromtheHeadsUpViewToolbar,selectView:TemporaryAxes.
Thiscommandturnsonthedisplayofaxesthatareassociatedwith
cylindricalfeatures.
Addadistancematebetweentherollersaxisandtheflat
surfaceatthebottomoftheramp.Setthedistanceas6.5
inches.
Sincetheradiusoftherolleris0.5
inches,theaxiswillbe0.5inches
abovetheflatsurfacewhenthe
surfaceoftherollercontactsthat
surface.Therefore,thevertical
distancetraveledbytherollerwill
be6.0inches.Also,notethatthe
distancetravelleddowntheramp
willbe12inches(6inchesdivided
bythesineoftherampangle,30
degrees).
Page24
Turnoffthetemporaryaxisdisplay.SwitchtotheMotionStudy.SelectSolidWorksSimulationasthe
typeofanalysis.Addgravityintheydirection.
SelecttheContactTool.InthePropertyManager,youwillbepromptedto
selectthebodiesforwhichcontactcanoccur.Clickoneachofthetwo
parts.ClearthecheckboxeslabeledMaterialandFriction.Leavethe
otherpropertiesastheirdefaults.
Wewilladdfrictionlater,butourinitialsimulationwillbeeasiertoverifywithoutfriction.IntheElastic
Propertiessection,notethatthedefaultissetasImpact,withseveralotherproperties(stiffness,
exponent,etc.)specified.Ateachtimestep,theprogramwillcheckforinterferencebetweenthe
selectedbodies.Ifthereisinterference,thenthespecifiedparametersdefineanonlinearspringthat
actstopushthebodiesapart.Contactsaddconsiderablecomplexitytoasimulation.Ifthetimesteps
aretoolarge,thenthecontactmaynotberecognizedandthebodieswillbeallowedtopassthrough
eachother,oranumericalerrormayresult.
SelecttheMotionStudiesPropertyTool.Settheframerateto500andchecktheboxlabeledUse
PreciseContact.Clickthecheckmark.
Forsomesimulations,itmaybenecessarytolowerthesolutiontoleranceinordertogetthesimulation
torun.Forthisexample,thedefaulttoleranceshouldbefine.
Thematesthatweaddedbetweenthepartstopreciselylocatetherollerontherampwillprevent
motionoftheroller.Ratherthandeletethesemates,wecansuppressthemintheMotionManager.
RightclickoneachofthematesintheMotionManagerandselectSuppress.Runthesimulation.
Youwillseethattherollerreachesthebottomoftherampquickly.
Changethedurationofthesimulationto0.5seconds,andrunthesimulationagain.Createaplotof
themagnitudeofthelinearvelocityoftherollervs.time.
Therollerreachesthebottomoftherampinabout0.35seconds,andthevelocityatthebottomofthe
rampisabout68in/s.Thesevaluesagreewiththosecalculatedintheattachmentattheendofthis
document.
Page25
Nowletsaddfriction.
Movethetimelineofthesimulationbacktozero.RightclickonthecontactintheMotionManager
tree,andselectEditFeature.ChecktheFrictionbox,andsetthecoefficientoffrictionto0.25.
Calculatethesimulation.
Theresultingvelocityplotshowsthevelocityatthebottomoftheramptobeabout54in/s.Thisvalue
agreeswiththatofthecalculationsshownintheattachment.
Toconfirmthattherollerisnotslipping,wecantrace
thepositionofasinglepointontheroller.
SelecttheResultsandPlotsTool.Definetheplotas
Displacement/Velocity/Acceleration:TracePath.
Clickonapointneartheouterrimoftheroller(not
onaface,butonasinglepoint).Clickthecheck
mark.
Thetracepathshowssharpcuspswherethe
pointsvelocityapproacheszero(itwillnot
becomeexactlyzerounlessthepointisonthe
outersurfaceoftheroller).Forcomparison,
repeattheanalysiswithalowerfriction
coefficient.
Page26
Changethefrictioncoefficientto0.15andrecalculatethesimulation.
Thistime,thetracepathsshowssmoothcurves
whenthepointisneartherampssurface,
indicatingthatslidingandrollingaretaking
placesimultaneously.
Intheattachment,itisshownthatthe
coefficientoffrictionrequiretopreventslipping
isabout0.21.
Itisinterestingtonotethatthefrictioncoefficienttopreventslippingandthetimerequiredtoreachthe
bottomoftheramparebothfunctionsoftheratioofthemomentofinertiatothemassoftheroller.(A
parametercalledtheradiusofgyrationisdefinedasthesquarerootofthemassmomentofinertia
dividedbythemass,andisafunctiononlyofthepartsgeometry.)Youcanconfirmthisbychangingthe
materialoftherollerandseeingthattheresultsofthesimulationareunchanged.However,ifyou
changethegeometryoftheroller(theeasiestwayisbysuppressingthecutoutregions),thenthe
resultswillchange.
Page27
ATTACHMENT:VERIFICATIONCALCULATIONS
STATICANALYSISOFFOURBARLINKAGESUBJECTEDTO20LBAPPLIEDFORCE
FreebodydiagramofConnector:
NotethatmemberCDisa2forcemember,andsotheforceattheendisalignedalongthemembers
axis.
Applyequilibriumequations:
M
5.714 in
sin 75.09
5.522 in
1.832 in
cos 75.09
0.4714 in
5.993 in
228.5 in lb
228.5 in lb
228.5 in lb
5.993 in
38.13 lb
38.13 lb cos 75.09

9.812 lb
11.427 in 20 lb
Page28
38.13 lb sin 75.09
20 lb
16.85 lb
FreebodydiagramofCrank:
NotethatBxandByareshowninoppositedirectionsasinConnectorFBD.
SummomentsaboutA:
M
3 in
3 in 9.812 lb
0
29.4 in lb
Page29
ROLLERCALCULATIONS
NoFriction:
Freebodydiagram:
W sin
W cos
Whereistherampangle(30degrees)
Sincetheweightisequalthemassmtimesthegravitationalaccelerationg,theaccelerationinthex
direction x willbe:
g sin
x
Theaccelerationisintegratedwithrespecttotimetofindthevelocityinthexdirection:
g sin d
g sin
vxo
Wherevxo istheinitialvelocityinthexdirection.Thevelocityisintegratedtofindthedistancetravelled
inthexdirection:
g
g sin
v d
sin
v
x
2
Wherex0 istheinitialposition.Ifwemeasurexfromthestartingposition,thenx0 iszero.Iftheblockis

initiallyatrest,thenvxo isalsozero.Inoursimulation,theblockwillslideadistanceof12inchesbefore
contactingthebottomoftheramp(seethefigureonpage23).
Knowingthedistancetravelledinthexdirection,andenteringthenumericalvaluesofgas386.1in/s2
andofsin of0.5(sinof30o),wecanfindthetimeittakestheblocktoslidetothebottom:
12 in
or
386.1 ins
2
0.5
Page30
0.353 s
SubstitutingthisvalueintoEquation4,wefindthevelocityatthebottomoftheramp:
in
in
386.1 2 0.5 0.353 s
68.1
x
s
s
Thisvelocitycanalsobefoundbyequatingthepotentialenergywhentherollerisatthetopoftheramp
(heightabovethedatumequals6inches)tothekineticenergywhentherollerisatthebottomofthe
ramp:
1
2
2
2 386.1
in
6 in
s
68.1
in

s
FrictionIncluded:
FreeBodyDiagram:
Whiletherollerwithoutfrictionslidesandcanbetreatedasaparticle,therollerwithfriction
experiencesrigidbodyrotation.Theequationsofequilibriumare:
F
W sin
N
M
W cos
r
Page31
Ifthereisnoslipping,thentherelativevelocityoftheroller
relativetotherampiszeroatthepointwherethetwo
bodiesareincontact(pointO).Sincetherampis
stationary,thisleadstotheobservationthatthevelocityof
pointOisalsozero.
SincepointOisthecenterofrotationoftheroller,the
tangentialaccelerationofthecenteroftheroller x can
bewrittenas:
r
x
Substitutingthisexpressionintothefirstequilibriumequationandsolvingforthefrictionforce,
W sin mr
Substitutingthisexpressionintothethirdequilibriumequationandsolvingfortheangularacceleration
,
W sin mr r Io
W sin r I
mr
W sin r
I
mr
ThemassandthemomentofintertiaI canbeobtainedfromSolidWorks.Fortheroller,thevaluesare:
m 0. 017163 lb

0.002515 lb in
I
Sincepoundsareunitsofweight,notmass,theyquantitiesabovemustbedividedbygtoobtainthe
quantitiesinconsistentunits:
m
0. 017163 lb
386.1 in/s
0.002515 lb in
386.1 in/s
4.4453 X 10

lb s
in
6.5139 X 10 lb in s
Thevalueoftheangularaccelerationcannowbefound:
W sin r
I
mr
0. 017163 lb sin 30

6.5139e
6 lb in s
4.4453
0.5 in
lb s
5
in
243.4
0.5 in
rad
Page32
Therefore,thelinearaccelerationinthexdirectionis:
r
0.5 in
243.4
rad
121. 7
s2
Integratingtoobtainthevelocityandpositionatanytime:
1
2
vxo
v
121. 7
in
s2
in
s2
60.85
in

s
Fortherollertotravel12inchesinthe direction,thetimerequiredis
12 in

60.85 ins
Andthevelocityatthebottomoftherampis:
121. 7
Wecanalsocalculatethefrictionforce:
W sin
mr
in
0.444 s
2
0. 017163 lb sin 30
0.444 s
54.0
4.4453 e
in
s
lb s
in
0.5
243.4
rad
s
0.00318 lb
Fromthesecondequilibriumequation,thenormalforceis:
N
W cos
0. 017163 lb cos 30
0.1486 lb
Sincethemaximumfrictionforceisthecoefficientoffriction timesthenormalforce,thecoefficientof
frictionmustbeatleast:
0.00318 lb
0.1486 lb
0.21
Thisistheminimumcoefficientoffrictionrequiredfortherollertorollwithoutslipping.

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IntroductiontoSolidModelingUsingSolidWorks2013

rad 180 deg

38.13 lb cos 75.09

38.13 lb sin 75.09

Wherex0 istheinitialposition.Ifwemeasurexfromthestartingposition,thenx0 iszero.Iftheblockis

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