Transcription

Fitting Simulation& KinematicsNATIONAL INSTITUTE FOR AVIATION RESEARCHWichita State UniversityRevision 5.14Copyright 2005. All rights reserved.www.cadcamlab.org

None of this material may be reproduced, used or disclosed, in part or in whole, without the expressed written permission of:National Institute for Aviation ResearchWichita State UniversityWichita, KSCopyright 2005. All rights reserved.www.cadcamlab.org

CATIA KinematicsCATIA V5R14TABLE OF CONTENTSIntroduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1Fitting Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2Pull Down Menus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3Insert . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4Analyze . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Fitting Simulation Workbench . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6Manipulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Recorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Player . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Bottom Toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Viewing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Fitting Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Creating Tracks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Compass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Color Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Visibility Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22Sequences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Shuttles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28Creating a Sequence from Explode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39Modifying Tracks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41Reordering Shots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41Reusing Shots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43Shot Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45Adding, Deleting and Modifying Shots . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47Advanced Tracks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49Mirroring Tracks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50Reversing Tracks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55Joining Tracks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60Clash Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63Path Finder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67Smooth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71Angle Validation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74Advanced Sequences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77Advanced Shuttles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77Gantt Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85Generating a Replay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88Generating a Video . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89Clash Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90Distance Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97Analysis with Sequences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102Swept Volumes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106Experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109Other Tracks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 Wichita State UniversityTable of Contents, Page i

CATIA KinematicsCATIA V5R14Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117Kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118Pull Down Menus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119Insert . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121Analyze . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122Kinematics Workbench . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123Player . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124Bottom Toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125Viewing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125Kinematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127Joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127Revolute - Null Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128Revolute - Centered . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134Prismatic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137Cylindrical - Angle and Length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140Cylindrical - Length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143Cylindrical - Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145Screw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147Spherical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150Planar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152Rigid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154Point Curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156Slide Curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158Roll Curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160Point Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163Universal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166Constant Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174Rack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181Joints using Axis Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183Assembly Constraints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187Auto Create . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187Advanced . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189Simulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195Compiling the simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198Replay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199Simulation player . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200Sequences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202Generate Replay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205Generate Video . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206Knowledgeware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208Laws . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212Table of Contents, Page ii Wichita State University

CATIA KinematicsCATIA V5R14Path Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216Traces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216Swept Volumes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225Speed and Acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231Clash and Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235Joint Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241Mechanism Dressup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243Mechanism Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247Tracks and Simulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251Problem #1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251Problem #2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252Problem #3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253Problem #4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254Problem #5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255Problem #6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256Appendix A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259Digital Mockup - DMU Fitting - DMU Fitting . . . . . . . . . . . . . . . . . . . . . . . . . . . 259Digital Mockup - DMU Fitting - DMU Manipulation . . . . . . . . . . . . . . . . . . . . . . 260 Wichita State UniversityTable of Contents, Page iii

CATIA KinematicsTable of Contents, Page ivCATIA V5R14 Wichita State University

CATIA Fitting SimulationCATIA V5R14Advanced TracksSometimes creating each individual track is unnecessary. There are a number of operationsthat can be applied to tracks that will hasten the simulation process.Open the Advanced Tracks document located in the Advanced Tracks directory. Wichita State UniversityFitting Simulation - Advanced Tracks, Page 49

CATIA Fitting SimulationCATIA V5R14Mirroring TracksTo mirror a track, all you have to do is place the compass on the mirror plane, with the baseof the compass (the XY plane) on the mirror plane. The ZX primary plane for the propellerwill work just fine.Unhide the ZX plane in the Propeller. Just expand out the tree for the propeller, and thenunhide the ZX plane.Select the track icon. Select the right landing pad as shown above. The right landingpad will be labeled 1x8 Thin Block.1. You will probably want to modify the parameters forcompass manipulation to have a 0 inch Translation increment for Along W. This will allowfor smaller movements in the W direction.Create the following track. This track will be created with the Interpolater set to Linear.Do not worry about moving the pad front to back, only along the YZ plane.Fitting Simulation - Advanced Tracks, Page 50 Wichita State University

CATIA Fitting SimulationCATIA V5R14Change the Interpolater to Composite spline. If you remember, before when you changedthe Interpolater to a composite spline, the only thing that seemed to happen is the objectslowed down as it went around a corner. Notice what happens this time.What is really happening with a composite spline is, the points that are close together areconverted to a spline, where as the longer stretches are left as lines. This makes for morefluid and smooth motions as the track progresses.Select OK when done. That has one track done. Now, the other pad needs to have theexact same track applied, but in a mirrored fashion.Drag the compass and place it on the Propeller plane. This may be a bit of a trick. Makesure that you are zoomed in on the plane. To drag the compass, select the large red dot onthe center of the base of the compass, and then drag it to one of the edges of the plane. Youwill have to drag it to the edge before it will stick to the plane. The result should looksomething like this. Wichita State UniversityFitting Simulation - Advanced Tracks, Page 51

CATIA Fitting SimulationCATIA V5R14Now it is time to mirror the track so that it can be used for the other helicopter pad.With the third mouse button, select on the track just created, and then select the trackobject. Notice there are a series of operations that can be applied to the track.DefinitionTakes you back to the definition of the trackReverse timeReverses the track and make it run backwardsJoinJoins two different tracks togetherSplitSpits a track into different segmentsMirror trackMirrors a track around the base plane of the compassUpdateUpdates the track if changes have occurredBreak linkErases the history of a track, making it a stand-alone trackSelect Mirror track.This mirrors the track around the base plane of the compass. Itis mandatory that the compass be in a proper location before trying to mirror the track.Now that you have the track in place, you need to associate it to the other landing pad.Fitting Simulation - Advanced Tracks, Page 52 Wichita State University

CATIA Fitting SimulationCATIA V5R14Notice the new track. The new track has a long line of sub branches. Take a quick look atthe various sub branches.The first sub branch is the Mirror track branch. It shows what operation has beenperformed. The next branch down is the Track.1 1x8 Thin Block.1 branch, the track thatwas mirrored. The Parameters branch is the parameters of the mirror. This defines whatthe track was mirrored around, and other various information about the mirroring of thetrack.Double select the new track. This should be Track.2 1x8 Thin Block.1, but just know it isthe second track. This will take you back to the definition of the first track.Select the Object field. This will bring up the Track Positioning window. Last time youtold it to not keep the positioning of the track. Since the mirrored track is in the correctplace as it is, then you will want to keep the positioning.Select Keep Positioning from the Track Positioning window. Now the track will notmove, but will still work with the second block.Select the 1x8 Thin Block (1x8 Thin Block.2). You may have to select it from the tree.The original block will lay on top of the second one, making it difficult to select graphically.Select OK when you are done, then select the reset position icon.ready to replay the two of them to see how they look.Select the player icon and then the first track.Now you areThe Player toolbar appears.Select the skip to begin icon and then the play forward icon. The block moves downand to the right.Select the second track and play it. The block moves down and to the left.Close the Player toolbar. You can close the window by selecting the X in the upper rightcorner or you can select the player icon again. You are going to make a modification to thefirst track. Wichita State UniversityFitting Simulation - Advanced Tracks, Page 53

CATIA Fitting SimulationCATIA V5R14Double select on the first track. You have to select the player icon to turn it off.Otherwise, the player will change back to the first track, waiting for you to replay it.Move the landing pad straight forward, and inward as shown below. Select OK whendone. Do not worry about the Z movements, Just assume everything is along the XY plane.Notice the other track did not change as you thought it might. You are going to remove theold track and then mirror the track again.Select the player icon and select Track.2 1x8 Thin Block.2.appears.The Player toolbarSelect the skip to begin icon and close the Player toolbar. This will locate that block atthe original position.Delete Track.2. You are going to create a new track by mirroring the modified one.Drag the compass and position it on the plane again. You must define a mirror planewith the compass.Press the third mouse button while on Track.1 1x8 Thin Block.1, select the object nameand s