Mechanism 2019

Design of Mechanisms with SolidWorks Motion Analysis and MATLAB/Simscape

Author:  Cyrus Raoufi, Ph.D., P.Eng.

ISBN: 9781-0-9919498-6-1

Pages: 240

Binding: Perfect Paperback


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Mechanism BOOK CAD FILES 2019

Description and Table of Contents:

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.


Table of Contents

Chapter 1 Fundamentals of Mechanism

Basic Terminology1-1







Planar versus Spatial Motion1-2

Synthesis of Mechanisms1-3

Analysis of Mechanisms1-3

Design of Mechanisms1-3



Mechanical Joints1-3


System of Units1-7

Examples of Mechanisms 1-8

Slider Crank Mechanism1-8

Slider Crank Mechanism with Offset1-9

Four Bar Mechanism1-10

Scotch-Yoke Mechanism1-11

Quick Return Mechanism1-12

Ratchets Mechanism1-13

Indexing Mechanism1-14

Cam and Follower Mechanism1-15

Mass Moment of Inertia 1-16

Determining the Area (A), Moment of Inertia (I), Polar Moment of Cross Section (J) and     Mass Moment of Inertia using SolidWorks 1-19

Rigid Body Transformation in the Plane 1-22

Kinematics of Rigid Bodies1-25

Kinetics of Rigid Bodies1-28



Chapter 2 Planar Mechanisms Kinematic Analysis2-1

Graphical Kinematic Analysis Approach2-2

Velocity Image 2-3

Acceleration Image 2-4

Example 2.1 2-5

Example 2.2 2-8

Example 2.3 2-11

Analytical Kinematic Analysis Approach2-14

Loop Closure Equation2-14

Example 2.4 2-16

Example 2.5 2-21

Exercises 2-26


Chapter 3 Planar Kinematic Analysis with SolidWorks Motion Analysis 3-1

Standard Mates3-2

Advanced Mates3-3

Profile Center Mate3-3

Symmetric Mate3-4

Width Mate 3-5

Path Mate3-6

Linear/linear Coupler Mate 3-7

Limit Mate3-8

Mechanical Mates3-9

Cam Mate3-9

Slot Mate3-10

Hinge Mate 3-11

Gear Mate3-12

Rack and Pinion Mate 3-13

Screw Mate 3-14

Universal Joint Mate 3-15

SolidWorks Motion Manager3-16

SolidWorks Motion Analysis Environment3-17

Motion Study Element3-18

Motion Type (Motor)3-19

Constant Speed3-19




Data Points3-23


Load Function from file3-28

Servo Motor3-28

Path Mate Motor3-28



Force and Torque3-33



Poisson Model (Restitution Coefficient)3-36

Impact Force Model3-36

Contact Friction3-37

Contact Resolution3-38

Tessellated Geometry 3-38

Precise Geometry3-38

Solid Bodies versus Curves Contact Type3-39

Solid Bodies Contact Type3-39

Curves Contact Type3-39

Motion Study Properties3-40

Frames per Second3-40


Integrator Type3-41

Integrator Setting3-41

SolidWorks Motion Analysis Post-Processing3-42

Plots Coordinate Systems3-42

Create a New Plot/Add to Existing Plots3-44

Tutorial 3.13-45

Tutorial 3.23-49



Chapter 4 Force Analysis and Actuator Sizing4-1

Static Force Analysis- Graphical Approach-4-2

Free  Body Diagram4-2

Two Force Members4-3

Three Force Members4-3

Member with Two Force and a Torque 4-4

Example 4.14-5

Example 4.24-7

Dynamic Force analysis – Graphical Approach- 4-11

Example 4.34-12

Actuator Sizing4-16

Transmission Ratio 4-16

Motion Profile4-16

Trapezoidal Velocity Motion Profile 4-16

S-curve Velocity Motion Profile4-18

Coordinate Motion 4-21

Sequential Motion Approach4-21

Simple Motion Approach4-22

Interpolated Motion Approach4-22

Load and Inertia Calculation for Gearbox Transmission System4-23

Acceleration Torque4-25

Running Torque4-25

Deceleration Torque4-25

Dwell Torque4-26

Load and Inertia Calculation for Lead Screw Transmission System4-27

Load Calculation4-27

Inertia Calculation4-28

Load and Inertia Calculation for Rack and Pinion Transmission System4-29

Load Calculation4-29

Inertia Calculation4-29

Load and Inertia Calculation for Pulley and Belt Transmission System4-30

Load Calculation4-30

Inertia Calculation4-30

Load and Inertia Calculation for Belt-Drive Transmission System4-31

Load Calculation4-31

Inertia Calculation4-31

Load and Inertia Calculation for Conveyor Transmission System4-32

Load Calculation4-32

Inertia Calculation4-32

Inertia Ratio 4-33

Position and Velocity Accuracy 4-34

Example 4.4 4-35

Example 4.54-39


Chapter 5 Dynamic Simulation with SolidWorks and Simulink/Simscape5-1

Simscape Fundamental Library5-2

Simscape Utilities Library5-2

Simscape Foundation Mechanical Library5-2

Mechanical Sensors Blocks5-3

Mechanical Sources Blocks5-3

Mechanisms Blocks5-4

Rotational Element Blocks5-4

Translational Blocks5-5

Tutorial 5.15-6

Simscape Multibody Blocks5-8

Belt and Cable Blocks5-8

Flexible Body and Variable Mass5-8

Curves and Surfaces Blocks5-9

Constraints Blocks5-9

Forces and Torques Blocks5-9

Frames and Transmission Blocks5-10

Gear Blocks5-10

Joint Blocks5-11

Frames 5-12

Primitive Revolute and Prismatic Joints5-14

State Target5-14

Internal Mechanics5-15



Export CAD Assembly from SolidWorks to Simscape5-17

Supported Mates and Mate Entities by Simscape Multibody5-20

Joint Blocks in Simscape Multibody5-21

Constraints Blocks in Simscape Multibody5-22

Special Mate Mapping Cases5-23

SolidWorks Subassemblies Mapping into Simscape Multibody5-23

Tutorial 5.25-24

Tutorial 5.35-25

Tutorial 5.45-36


Chapter 6 Introduction to Industrial Robots6-1

Rigid Body Rotation in Three Dimensions6-2

Example 6.16-3

Composition of Successive Rotations with respect to the Current Frame6-3

Example 6.26-4

Composition of Successive Rotations with respect to the Fixed Frame6-5

Example 6.36-5

Roll Pitch Yaw Angles6-6

Example 6.46-6

Euler Angles ZYZ6-7

Example 6.56-7

Homogenous Transformation in Three Dimensions6-8

Pure Homogenous Rotation6-9

Homogenous Transformation6-9

Composition of Successive Transformation6-10

Example 6.66-11

Example 6.76-11

Forward Kinematics using the Denavit-Hartenberg Convention6-12

Example 6.86-16

Example 6.96-17

Inverse Kinematics6-19

Example 6.106-20