DMU官方教程二.docx
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DMU官方教程二.docx
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DMU官方教程二
DMUKinematicsSimulator
DetailedSteps
TableofContents
STEP03
OpentheToyplane3
STEP14
CreateFirstRigidJoints4
CreatetheSecondRigidJoint5
CreatethethirdRigidJoint6
CreatethefourthRigidJoint7
CreatethefirstRevoluteJoint8
CreatetheLawthatdrivesthefirstCommand9
STEP212
ConvertAssemblyConstraints12
EditTheNewJoint12
CreateaNewLaw13
STEP316
SimulatetheMechanism16
STEP417
GenerateanAnimation17
CompileaSimulation18
DisplayaReplay19
STEP521
ComputeaSweptVolume21
ComputeaTrace22
STEP0
OpentheToyplane
1.Use"File"->"Open"andselectCATKIN_Plane_Step1.CATProduct
STEP1
CreateFirstRigidJoints
1.Positionthemodelasshownonthepicturebelow
2.ClickontheRigidJointIcon
∙TheJointCreationwindowappears
3.ClickonNewMechanismbutton
4.Giveitaname
5.Selectthe2elementstofixtogetherasshownonthepicturebelow
∙Yougetthefollowingwindow
6.ClickOKtoconfirmRigidJointCreation
CreatetheSecondRigidJoint
7.ClickontheRigidJointIconinordertocreatethesecondJoint
8.Selectthe2Elementstofixtogetherasshownbelow
∙YougettheJointCreationwindowasshownbelow
9.ClickOKtoconfirmRigidJointCreation
CreatethethirdRigidJoint
10.ClickontheRigidJointIconinordertocreatetheThirdJoint
11.Selectthe2Elementstofixtogetherasshownbelow
∙YougettheJointCreationwindowasshownbelow
CreatethefourthRigidJoint
12.ClickontheRigidJointIconinordertocreatethethirdJoint
13.Selectthe2Elementstofixtogetherasshownbelow
∙YougettheJointCreationwindowasshownbelow
14.ClickOKtoconfirmtheRigidJointCreation
CreatethefirstRevoluteJoint
15.SelecttheRootProductandswapallelementsin“DesignMode”thankstothecontextualmenu
16.Positiontheplaneasshownbelow
17.ClickontheRevoluteJointIcon
18.SelectthecoincidenceaxisasShownbelow,betweenthepropellerandthepropelleraxis
19.SelecttheOffsetoptionintheJointCreationwindow
20.Selectthe2planesasshownbelow
21.SettheAngleDrivenasshowninthepictureabove
22.ClickOKtoconfirmthejointCreation
∙Youshouldhavenowthetreeasshownbelow
CreatetheLawthatdrivesthefirstCommand
23.SelectLawsinthetreeasshownabove
24.ClickontheFormulaIcon
∙TheFormulaswindowappears
25.DoubleClickonthefirstCommandasshownbelow
∙TheFormulaEditorWindowappears
26.TypetheFormulaasshownabove(checkthatunitsarethesame)
(wecouldalsodothisusingwizardwhichdisplaysallvariables)
27.ClickOKtoconfirmtheformula
∙InthelineconcerningCommand1,youcanseetheformuladisplayed
28.ClickOKtoconfirm
∙TheLawisdisplayedinthetreeasshownbelow
STEP2
ConvertAssemblyConstraints
1.Clickon
∙TheAssemblyConstraintsConversionWindowAppears
2.ClickonAutoCreatebutton
3.ClickonOK
(Anewrevolutejointhasbeencreatedasshownbelow)
EditTheNewJoint
4.DoubleClickonthenewjointtoeditit
5.SettheAngleDriven
6.SettheJointLimitsat–180degand180degasshowabove
AnInformationwindowisdisplayedandshowsyouthatthemechanismcouldbesimulated
CreateaNewLaw
7.ClickonLaw
8.Clickon
∙TheFormulaswindowaredisplayedinthecontextoftheMechanism
9.DoubleClickonthenewCommandasshownabove
∙TheFormulaeditorwindowappears
10.Typetheformulaasshownabove
(WecouldalsousetheWizard,inordertocreatetheformula)
11.ClickOKintheFormulaEditorbox
12.ClickOKintheFormulaswindow
∙Thelawsaredisplayedasshownbelow
STEP3
SimulatetheMechanism
1.ClickonSimulationwithLawsicon
∙TheKinematicSimulationwindowappears
2.ChecktheActivateSensorsoptionasshownbabove
3.SelectthetoRevolutejointstobeobservedasshownbelow
4.UsetheVCRinterfacetosimulatetheMechanismwithlaw
5.SeetheInstantaneousvaluesandHistoryofthejointsduringsimulation
STEP4
GenerateanAnimation
1.ClickontheSimulationIcon
∙TheKinematicSimulationWindowandtheEditSimulationwindowappear
2.SelecttheLawtabintheKinematicSimulationwindow
3.Clickon
4.Select5asNumberofSteps
5.ClickontheDeleteButton,intheEditSimulationwindow
6.ClickontheAutomaticInsertCheckBoxasshownbelow
7.Clickon
intheKinematicSimulationWindow
∙Thestepsareinsertedautomatically
8.ClickOKtoconfirmthesimulation
CompileaSimulation
9.ClickontheCompileSimulationIcon
10.Select0.1astimestep
11.ClickOKtoconfirm
TheReplayisdisplayedinthetree
DisplayaReplay
12.DoubleclickontheReplayinthetree
13.UsetheVCRinterfacetoseetheMechanismmoving
STEP5
ComputeaSweptVolume
1.Clickon
tocreateaSweptVolume
∙TheWeptVolumeInterfaceappears
2.Clickon
toSelecttheproducttosweep
3.Select“PROPELLER.1”andclickonOK
4.CheckApplyWrappingandchangethegrainto2mm
5.ClickonPreviewtocompute
6.ClickonCancel.
ComputeaTrace
7.Clickon
∙TheTracewindowappears
8.SelecttheRootproductasReference
9.Selectanextremumpointfromthepropellerasshownonthepicturebelow
10.ClickontheOKbuttontocomputethetraceaccordingtotheReplayanditstimestep
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