DMU官方教程二.docx

1、DMU官方教程二DMU Kinematics SimulatorDetailed StepsTable of ContentsSTEP 0 3Open the Toy plane 3STEP 1 4Create First Rigid Joints 4Create the Second Rigid Joint 5Create the third Rigid Joint 6Create the fourth Rigid Joint 7Create the first Revolute Joint 8Create the Law that drives the first Command 9STE

2、P 2 12Convert Assembly Constraints 12Edit The New Joint 12Create a New Law 13STEP 3 16Simulate the Mechanism 16STEP 4 17Generate an Animation 17Compile a Simulation 18Display a Replay 19STEP 5 21Compute a Swept Volume 21Compute a Trace 22STEP 0Open the Toy plane1. Use File - Open and select CATKIN_P

3、lane_Step1.CATProductSTEP 1Create First Rigid Joints1. Position the model as shown on the picture below2. Click on the Rigid Joint Icon The Joint Creation window appears3. Click on New Mechanism button4. Give it a name5. Select the 2 elements to fix together as shown on the picture below You get the

4、 following window6. Click OK to confirm Rigid Joint CreationCreate the Second Rigid Joint7. Click on the Rigid Joint Icon in order to create the second Joint8. Select the 2 Elements to fix together as shown below You get the Joint Creation window as shown below9. Click OK to confirm Rigid Joint Crea

5、tionCreate the third Rigid Joint10. Click on the Rigid Joint Icon in order to create the Third Joint11. Select the 2 Elements to fix together as shown below You get the Joint Creation window as shown belowCreate the fourth Rigid Joint12. Click on the Rigid Joint Icon in order to create the third Joi

6、nt13. Select the 2 Elements to fix together as shown below You get the Joint Creation window as shown below14. Click OK to confirm the Rigid Joint CreationCreate the first Revolute Joint15. Select the Root Product and swap all elements in “Design Mode” thanks to the contextual menu16. Position the p

7、lane as shown below17. Click on the Revolute Joint Icon 18. Select the coincidence axis as Shown below, between the propeller and the propeller axis19. Select the Offset option in the Joint Creation window20. Select the 2 planes as shown below21. Set the Angle Driven as shown in the picture above22.

8、 Click OK to confirm the joint Creation You should have now the tree as shown belowCreate the Law that drives the first Command23. Select Laws in the tree as shown above24. Click on the Formula Icon The Formulas window appears25. Double Click on the first Command as shown below The Formula Editor Wi

9、ndow appears26. Type the Formula as shown above (check that units are the same)(we could also do this using wizard which displays all variables)27. Click OK to confirm the formula In the line concerning Command1, you can see the formula displayed28. Click OK to confirm The Law is displayed in the tr

10、ee as shown belowSTEP 2Convert Assembly Constraints1. Click on The Assembly Constraints Conversion Window Appears2. Click on Auto Create button3. Click on OK(A new revolute joint has been created as shown below)Edit The New Joint4. Double Click on the new joint to edit it5. Set the Angle Driven6. Se

11、t the Joint Limits at 180deg and 180 deg as show aboveAn Information window is displayed and shows you that the mechanism could be simulatedCreate a New Law7. Click on Law8. Click on The Formulas window are displayed in the context of the Mechanism9. Double Click on the new Command as shown above Th

12、e Formula editor window appears10. Type the formula as shown above(We could also use the Wizard, in order to create the formula)11. Click OK in the Formula Editor box12. Click OK in the Formulas window The laws are displayed as shown belowSTEP 3Simulate the Mechanism1. Click on Simulation with Laws

13、icon The Kinematic Simulation window appears2. Check the Activate Sensors option as shown b above3. Select the to Revolute joints to be observed as shown below4. Use the VCR interface to simulate the Mechanism with law5. See the Instantaneous values and History of the joints during simulationSTEP 4G

14、enerate an Animation1. Click on the Simulation Icon The Kinematic Simulation Window and the Edit Simulation window appear2. Select the Law tab in the Kinematic Simulation window3. Click on 4. Select 5 as Number of Steps5. Click on the Delete Button, in the Edit Simulation window6. Click on the Autom

15、atic Insert Check Box as shown below7. Click on in the Kinematic Simulation Window The steps are inserted automatically8. Click OK to confirm the simulationCompile a Simulation9. Click on the Compile Simulation Icon 10. Select 0.1 as time step11. Click OK to confirmThe Replay is displayed in the tre

16、eDisplay a Replay12. Double click on the Replay in the tree13. Use the VCR interface to see the Mechanism movingSTEP 5Compute a Swept Volume1. Click on to create a Swept Volume The Wept Volume Interface appears2. Click on to Select the product to sweep3. Select “PROPELLER.1” and click on OK4. Check

17、Apply Wrapping and change the grain to 2mm5. Click on Preview to compute 6. Click on Cancel.Compute a Trace7. Click on The Trace window appears8. Select the Root product as Reference9. Select an extremum point from the propeller as shown on the picture below10. Click on the OK button to compute the trace according to the Replay and its time step