This textbook is intended to cover the fundamentals of Design of Mechanisms using the SolidWorks Motion Analysis® and MATLABTM/SimulinkTM/SimscapeTM. It is written primary for the engineering students, engineers, technologists and practitioners who have no or a little work experience with SolidWorks and MATLABTM/SimulinkTM/SimscapeTM. It is assumed that the readers are familiar with the fundamentals of the Statics and Dynamics offered at introductory level courses in a typical undergraduate mechanical engineering program. However, the basic theories and formulas are included within this text as well. The textbook can be also used as a reference text for an introductory level course in the motion system design and design of mechanisms areas, offered to the students in mechatronics and robotics programs.

Chapter 1 of this textbook deals mostly with the fundamental terms and concepts used in the process of the design of mechanism. Several examples of commonly used planar mechanisms are offered, including: slider-crank, four bar, Scotch-Yoke, quick return, ratchet, indexing, and cam-follower mechanisms. The concept of the mass moment of inertia is reviewed and the application of SolidWorks to find the area and mass properties of a rigid body, relative to a desired coordinate frame, is shown. The rigid bodies’ transformation and kinematics of a rigid body are presented and the governing equations are obtained.

Chapter 2 includes the graphical and analytical kinematic approaches for a planar mechanism, alongside an introduction to the concept of velocity and acceleration images. Several examples are solved using MATLAB/Simulink to demonstrate how a computational software is used to solve the equations obtained by the analytical kinematic approach.  

Chapter 3 of this textbook introduces SolidWorks Motion Analysis with all available motion elements such as motors, force, contact, gravity, spring, and dampers. Further, both motion study properties and SolidWorks motion analysis post processing tools are presented.

Chapter 4 of this textbook presents both the static and dynamic force analysis using the graphical approach. A systematic approach is introduced to learn how to use a CAD software, in particular SolidWorks, to perform both static and dynamic force analysis. The main parameters to size and select an actuator based on required loading and inertia are discussed. The load and inertia calculation for commonly used transmission systems such as gearboxes, lead screws, racks and pinions, pulleys, belt-driven, and conveyor systems are also presented.

In chapter 5, Simscape software and several Simscape libraries are introduced to simulate mechanical motion systems such as robots and mechanisms.


Chapter 6 of this textbook shows a systematic approach is to define the position and orientation of various frames in space using MATLAB/Simulink/ Robotic System Toolbox. The Forward kinematic of serial robots is covered. This chapter ends with an introduction to the inverse kinematic of a serial robot.