DMU官方教程二.docx

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