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Fachgebiet Maschinenbauinformatik - Bergische Universitt Wuppertal

CAD knowledge base 2011 1 NX Motion Simulator






Fachgebiet Maschinenbauinformatik





Modeling and Kinematic Simulation of the
linkage Ko-U-02







Christian Bartschies
Matrikelnummer 824570

Translated by Narendra Komarla
Matriculation number 950763
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CAD knowledge base 2011 2 NX Motion Simulator



Contents

1. Objective ....................................................................................... 03

2. Basics of handling NX 7.5 ........................................................... 04

3. Modeling of the components
3.1. Modeling Base-plate ...................................................... 05
3.2. Modeling 50mm Link ..................................................... 08
3.3. Modeling 75mm Link ..................................................... 08
3.4. Modeling 100mm Link ................................................... 09
3.5. Modeling Slotted bar, 200mm ........................................ 11
3.6. Modeling Rod ................................................................ 13

4. Creating the assembly ................................................................. 14

5. Kinematic Simulation The motion simulator
5.1. Creating the Kinematic-Simulation ................................... 17
5.2. Creating graph plots ......................................................... 26
5.3. Dynamic distance and angle measurement ...................... 29
5.4. Interference check ............................................................ 32
5.5. Tracing the simulation ...................................................... 33
5.6. Recording the simulation .................................................. 35

6. List of NX functions used ............................................................ 36

























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1. Objective

The following Documentation describes the creation of the individual components,
assembly and the Kinematic-motion simulation of the linkage Ko-U-02 with the help
of various commands in NX. The document is a detailed report explaining the
commands and the options used in the software.


















































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2. Basics of handling NX 7.5

Before the Kinematic - Motion Simulation could be started, the following settings
have to be made in advance.

For complete menus to be available throughout the work, a role with Advanced with
full menus has to be activated. This can be achieved from the Roles menu
available in the home page of NX. The menu and toolbar customization will be
overwritten once this option has been used.

















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3. Modeling of the components

3.1 Modeling Base-plate
In order to create new components, New has to be selected from the main
menu. The window as seen in the figure below is opened. The template Model is
selected from this window. The component name and the path are then confirmed
with the OK button.




There are several possibilities for creating a new part. The first method is based in
the fundamental approach of constructing a sketch. The base plate is constructed in
this approach. A new sketch can be created by selecting Sketch from the icons,
or can be inserted from the main menu (Insert > Sketch). In this example, the YZ
plane is selected. Once the plane is selected, it is displayed in the sketch window.
The selected plane is highlighted in blue and the view is isometrically oriented at this
point of time.
Simple and quick sketches can be sketched in this orientation itself. However, when
the sketches are a bit more complex, it is recommended to be sketched in the
orthogonal orientation. This can be achieved using the Open in sketch task
environment icon. There are additional options available for the sketch. Other
orientations can also be achieved using the orient option as seen in the picture below
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The base plate is created by creating a rectangle in the first step. The Rectangle
button give further options (by two points, three points or by the center) to create
one on the sketch plane. The Two points option is selected as it is the most
common method. The sketch created is dimensioned automatically. However, it is
better to right click on the dimension and convert it to a Driving dimension. These
dimensions are adjusted accordingly. The edges of the plate are rounded using the
Fillet option. Two lines have to be selected to create a fillet between them. The
radius of the fillet is dimensioned automatically, but however, they are converted into
driving dimensions later. The sketch looks as seen in the picture below. The radii are
then adjusted to the required value by a double mouse click on the dimension.


Once all the dimensions have been adjusted the button Finish sketch
will exit the sketch dialog.

To create a volume model, the Extrude option is selected (which can be found in
the Feature menu). The extrude window opens.

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The new sketch is created on the top surface of the base plate. Once this sketch is
created and constrained completely, it is ready for the subtract operation. The
Extrude command is again used for this. The additional feature created should
be subtracted from the first solid by using the Boolean operation Subtract . The
material removing technique is analogous to the manufacturing procedure.

The first part is completed with this operation.









Under the menu, Section the
sketch which has to be extruded
is selected. The direction of
extrusion can be selected from
the Direction option. In this
example, the default values are
retained.
The thickness of the base-plate
is 8mm. This is input under the
Limits menu. The window is
then exited by the OK button.
The volume model now appears
on our screen.
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3.2 Modeling 50mm Link

The next part to be modeled is a link with two holes.


A rough sketch is made using the Profile command by drawing a horizontal line.
For creating the round, we can change the Object type from Line to Arc. The
object type is again changed to line to draw another horizontal line and changed back
to arc finally, to complete the profile.



The holes are sketched in the same sketch using two circles



The default option of creating a circle with Center and diameter is used in this case.
The feature allows the user to specify a point, which would be its center and then
create a circle with the require diameter. When the mouse is held at an approximate
point near the center, the actual center of the required circle is automatically
detected. The diameter of the circle can be adjusted and converted into a driving
dimension later. Once the sketch is finalized, it is extruded similar to the first model,
but with a thickness of 5mm.

3.3 Modeling 75mm Link

The next component is a similar link, with a different overall length. An alternative
way of modeling this component is presented here.
A rectangle is created in the first step, using a rectangle command, which is
already familiar to the user. The dimensions of the rectangle are fixed. Once the
sketch is extruded to the required thickness, the edges are blended using the Edge
blend option. The window seen below opens for edge blend.

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The radius is input and the edges are selected. In this example, all four edges are
selected and the radius is input as 10mm. NX preview enables the user to visualize
how the model looks once the operation is completed.


The two holes are then created in similar fashion as before.


3.4 Modeling 100mm Link

The next model is another link with a different length. This gives an opportunity to
model this component in another style, which is demonstrated here. Volume
elements can be created in NX without creating sketches, this can be found under
Insert > Design Feature > ..
For creating this link, a block is used. This block feature prompts the user to input
parameters as seen in the picture below.

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The edges are blended similar to the previous model.
The holes are created using Hole feature. The window seen below opens for
the hole feature.


As Type, the default option of
Origin and Edge Lengths is used.
The Origin of the block is the
origin of the co-ordinate system
(WCS) by default.
However, this option can also be
changed as per requirement.
In this window, the user has the possibility
to create holes in different styles. The
default Type, which is a Central hole, is
used in this example. It is required to fix a
position for the hole on the surface of the
solid.


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3.5 Modeling Slotted bar, 200mm

The 200mm lever is again identical to the previous three parts. In the process of
creating this part, geometric constraints, which can be used to create fully
constrained sketched are demonstrated.

Once a new sketch is inserted in a selected datum plane, it is oriented orthogonal to
the viewing place using Open in sketch task environment The options exclusive
to a sketch are activated with this. The Automatic dimensioning is turned off in
this example. The first step is to construct a Rectangle .The rectangle has to be
so placed, that its center point should be located at the origin of the co-ordinate
system. This is done by using the option Symmetry . Once the symmetry option
is selected, the following window opens:

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Once the rectangle is rendered symmetric about the co-ordinate axis, a Circle
with three points is constructed. The center of the circle must lie on the horizontal
axis. The circle is constructed approximately at the first instance. To ensure that the
circle lies exactly on the line, a constraint has to be specified. The user has to click
on the icon Constraints (alternatively also the key c on the keyboard). Once
the Constraints button is clicked, the form of the cursor changes (Cursor with
constraint form). The user is required to click on the center of the circle now, which
opens a small Constraints window, indicating the possibilities of constraining that
circle. The horizontal axis of the co-ordinate system is now selected. On selection,
the Constrains automatically change, with new entries, such as Point On Curve,
Midpoint, etc. In this example, the Point On Curve option is chosen.


The step is repeated with for all three circles. As before, the Continuous automatic
dimensioning was turned off. The other dimensions are specified manually. The
dimensions of the holes have to be specified as 8mm. This is done using the
Inferred Dimensions option.

The specific dimensions (Like horizontal, vertical, parallel) can be used directly, from
the small drop down arrow present in the Inferred Dimensions icon. These are used
only when it is not possible to dimension directly using the Inferred Dimensions.
Once the hole is dimensioned, the sketch is fully constrained. It can be extruded into
a volume body, as illustrated in the previous examples.






Under the menu Primary object, the
first horizontal line of the rectangle is
selected. In the Secondary object, the
second horizontal line (The line below)
is selected. As the Symmetry center
line, the horizontal axis which is located
at the center is selected. This would
make the two horizontal lines symmetric
about the axis. The same is repeated for
the vertical lines too.
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3.6 Modeling Rod

This component is created using a sketch.













The sketch is extruded to a thickness of 6mm. A hole at the center,
with a diameter of 8mm is created. The hole can also be included
in the sketch.


Note: The modeled components may be colored differently for
better clarity. This can be done by Edit (Right mouse click)
(The whole component must be selected.
QuickPick can be used).

For precise selection, the QuickPick Menu can be used.
When the user waits for 2-3 seconds before the mouse click,
the cursor changes its form (three dots precede the cursor).
Upon a mouse click now, a new window appears with a list if
selection possibilities for the user. Precise selection may be
made through this list.

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4. Creating the assembly

To create the required assembly, the individual components are loaded into a new
environment, where they are assembled. The assembly module is available through
the main menu. A new Assembly is created as seen below.




The assembly data can be named appropriately. The window is closed by confirming
OK.

A new window opens at this stage. Using the options in this window, all parts which
are supposed to be a part of this assembly can be selected.

A mouse click on Open browses through the computer storage, from which the
individual components are selected and loaded into the new environment. The
window is closed with the OK button

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The components of the assembly must be positioned appropriately. This can be done
by selecting one of the planes in the co-ordinate system. Then, the window is
confirmed and closed through OK. It is now seen that all the components of the
assembly lie in one plane. To distinguish these parts and to move them in space, the
command Move Components is used.
Subsequently, more components may be added using the Add Components
command.
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The assembly is constrained using the Assembly constraints . The completed
assembly looks as seen in the picture below:




The Move components window
allows the user to select the
component to be moved. When the
Transform Motion option is set to
Dynamic, the components can be
moved with respect to the selected co-
ordinate system.
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5. Kinematic-Simulation The motion simulator

5.1 Creating the Kinematic-Simulation

Some pre-settings have to be done before the kinematic-simulation could be started.
The assembly, which was created in the previous steps, is loaded first. The
environment is changed to kinematics through the main menu, Start.






The kinematics module in NX is called
Motion Simulation

The user has to Right click on the loaded
assembly and select a New Simulation. A
new window Environment now opens.

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At this point of time, the Motion Joint Wizard will prompt the user if the constrains
have to be transferred from the assembly. For the purpose of getting familiar with this
workbench, it is recommended to cancel this operation. The constraints can now be
redefined.









A new simulation motion_1 is
thus created as seen in the
picture besides

The analysis type is selected in this
window as Dynamic. The dynamic
analysis type is confirmed with the
OK button.
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As the first step in motion analysis, the Links must be defined. Defining the
links allows the user to set which parts of the assembly should have movement. This
is one of the important requirements to construct the motion model.




Three more links are now defined. The part link_75mm is defined as the second link
and the part link_100mm is defined as the third link, with appropriate names. The
model tree now looks as seen below:



The subsequent step is to define Joints , which simulates a rotating motion in
between these links. A joint describes the relative movement of bodies, relative to the
other. A mouse click on the Joint button opens a new window, which looks as seen
in the picture below.
A click on Link option opens a
new window as seen in the picture
besides. The user can select one or
more objects from the assembly. If
more than one component is
selected as a link, they always move
together in the simulation.

In this example, the base_plate
and the link_50mm are selected.
The selection can be made by a
direct mouse click on the
component, or through the model
tree. A meaningful name is given to
the created link, to facilitate further
changes, which are in-evitable. A
mouse click on OK would confirm
the actions and the link appears in
the model tree.

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Under the Menu Base, the base link has to be selected. The base link has to be
connected with the Joint, which is created in the first step. The appropriate link is
selected, which is Link_100mm. The same is step is repeated for the other links
too. Hence four joints are created, which appear in the model tree, as seen in the
picture below.


Under the Type, the type of joint is
selected, in the first instance; a
Revolute joint is defined.

Under Action menu, the connecting
body movements have to be defined.
The body has to be selected as a
whole. It is in our example, the edge of
the hole left by the component
link_50mm.

For precise selection, the
QuickPick Menu can be used.
When the user waits for 2-3 seconds
before the mouse click, the cursor
changes its form (three dots precede
the cursor). Upon a mouse click
now, a new window appears with a
list if selection possibilities for the
user. Precise selection may be made
through this list.

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If the visual appearance (symbol) of the joints is very small, the scale can be
increased through Preferences > Motion, where the value of the Icon scale can be
increased from the default value of 1.00 to 5.00 (as an example)


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It is recommended to save the simulation at this stage using the Save
command.

Once the links and the joints have been defined, the system must be informed as to
which parts should remain stationary (fixed). In this example, the
Base_plate_link_50mm is fixed by a right mouse click on the link, and selecting Fix
the link.



The motion simulator now requires a Drive. Gravity can be a driver at the first
instance. The acceleration due to gravity can be simulated and for this purpose, the
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direction of the gravity must be input. This is done as follows:

Preferences > Motion > Gravitational constants and input the value Gz = -9806.65,
for defining the acceleration due to gravity in the negative Z direction.

The button Solution (Which is a command in the motion menu) is clicked upon.
The following information window opens:





With the command (button) Solve the entries are calculated. An information
window appears indicating the redundant degrees of freedom (or constraints). A
redundant constraint means that the degree of freedom of the system is over-
determined. The over-determination of complex assemblies can lead to conflicts. To
make sure that we arrive at a conflict-free solution, these provisions are eliminated
automatically by the motion analyzer.

As solution type, the Normal Run is
selected and as the Analysis type,
Kinematics/Dynamics is chosen.

As an example, the Time is input as
2 seconds and the number of Steps
is defined as 100. All parameters are
confirmed with OK. The motion
navigator in the model tree will now
have a new entry Solution_1, with
relevant sub-entries.
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Changes may be made for the simulation. Right mouse click > Edit , the joint
type for J003 is changed from Revolute to Spherical . The joint type of
J004 from Revolute to Cylindrical . After this change, the system must be
re-calculated (Solve ).

The simulation cannot be started with the Play button at this stage, since the
system still does not have a driver (excluding gravity), it just oscillates under gravity.
The animation can be stopped using Finish animation . Right mouse click on
motion_1, Information > Motion Connections provides information relevant to this
simulation. One of the important information listed here is the number of degrees of
freedom. In this example, the system should have one degree of freedom, which is
rotation. The animation shows clearly that the mechanism can rotate around the axis.
A driver has to be added for the mechanism for complete rotation. This is done by
right click on the first joint, J001 and edit. The tab Driver in the menu is selected.
At this point of time, the driver is None. The dropdown menu has other options,
where Constant is selected.



The system has to be calculated with the new parameters using Solve ). The
animation can be started with Play . Our animation is controlled using the
Animation Control menu, as seen below.

The Initial velocity is set to 360
deg/sec.

The Constant rotation executes a
simulation with constant motion and
acceleration with respect to time.

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If the animation ends too quickly, the Animation button has options, where it
could be controlled. To slow down the animation velocity, a higher value (for
example 50) for the Animation delay could be given. Other options include Play
once , which would run the simulation only once. The option Loop allows the
user to view an endless animation and the option Retrace runs the simulation
once forwards and once backwards respectively. Once the settings are entered as
required, they are confirmed and the window is closed with OK. The animation can
now be started with the Play button in Animation Control as discussed before.
Once the simulation meets all requirements as desired, it can be terminated with
Finish Animation




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5.2 Creating graph plots

A useful tool in Kinematic simulation is the creation of graphs. The advantage of
graphical notation is that the designer can get a quick overview and make necessary
changes.
The function Graphs will now be demonstrated using the angular variation of
Joints.




The Graphing icon can be found in the
Animation pull- down menu . A mouse
click on the option Graphing , opens the
graphing window.

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The window is closed and parameters are confirmed, with the OK button. We
immediately get a graph, which looks as seen in the picture below.
The user would be prompted to select
an object, which is Joint-J004 in our
case. In the request field,
Displacement is selected. Under
component, Euler Angle 1 is
selected. The option is set to
Relative. The parameters chosen
are input using the Add on curve
option.
(The Relative option allows the
change in viewing angle. The
Absolute option is based on the co-
ordinate system in the joint


Optionally several Joints can be
supplemented with different
settings
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The user can leave the Graphing module using, Return to Model
There is a possibility to re-use the function Play . It is difficult to clearly spot the
displacement with respect to a particular time instance. To read the values clearly
from the graph, the Probing Mode could be used, additionally the option Peak-
Probing Mode could also be used, where the extreme values could be read
easily. If the measurement of the data was successful, the graphing environment is
abandoned through the option, Return To Model . However, the data can be
accessed through the model tree at any instance. On using the function Return To
Model , it is sometimes observed that the previous animation does not work
anymore. When the Play button is pressed, we get the following information
window:










When the animation is not active in
the model tree, or when there is no
animation created, the warning
message as seen besides is
displayed. This situation can be set
right by double mouse click on the
Animation in the model tree
(in this example Solution_1) this
opens a window, which can be directly
closed with OK. The animation
works normally now (as before).

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5.3 Dynamic distance and angle measurement

Often, it is useful to measure the dynamic change in distance or the angle of the
linkage. This may be of special interest during a collision. The following description
demonstrates the usage of this option.



The command Measure (NOTE: Not to be mistaken with Measure distance
) opens a new window. The Measure command may be found in the
Interference menu




The solution which was created in the
previous steps is now revised. Double
mouse click on the Solution_1 in the
Motion-Navigator opens the solution
window as seen in the figure besides.
A new value for Time is keyed in as
1, and the value for Steps to 360.
The window is closed with OK and
the solution is re-calculated using
Solve .

Alternatively the user can retain the
previously selected values, but the
resulting numerical values may be
inaccurate.
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The Type is chosen as Minimum distance. The function Angle can be chosen
when we need the dynamic measurement of an angle. We must now select two
objects, between which the measurement has to be made. As seen in the figure, for
this example, each of the lateral surfaces of two holes for the First set the lower-left
and for the Second set the upper right area. (Order of selection does not influence
the result). For dynamic measurements to be visible, it has to be activated in the
Animation. It can be seen in the picture below that Measure has been activated.
The dynamic distance between the selected holes is seen in the other picture. A ruler
appears on the screen, which aids the user. In case of dynamic angular
measurement, a protractor appears on the screen. The dynamic measurement
created is automatically located in the Motion navigator. The name is Me001 in
our case, which is a default first name for a new measurement.



If two such points should be considered, which cannot be detected through the
existing geometry, they must be added subsequently to a measurement that can lead
to (eg: Marker ). The user should have set the type to Spot, and then the
edges, which should be observed must be selected.

Under Settings the user can enter a different value for Threshold, example a value
of 50. The Measure condition to less than and the tolerance to 0.01. With these
settings, the simulation can be automatically stopped when the threshold is reached.
The Pause On Event option is activated in the Animation (at the bottom of the
window).



The window is closed with OK. The animation is started using the Play . An
example, where the simulation stops at a threshold of 50, gives the message as seen
in the picture above. If new dynamic measurements have to be created, the first
measurement Me001 can be de-activated, or deleted from the Motion Navigator.
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5.4 Interference check

UGS NX 7.5 has extra features, which allows the user to determine interference
between two components. Interference can be analyzed using the dynamic distance
and angle measurement as illustrated in the previous section. However, detection
using the dynamic distance measurement is not the best way to ensure it. Therefore,
for our present analysis, an additional protruding cylinder is modeled to demonstrate
this feature.
In the function Animation the option Interference had to be activated. Once
the solution has been re-calculated (Solve ), the animation is started as in the
previous examples with the Play button. It can be viewed that the animation
flashes, during collision. Optionally, the user can check animation by Stop on
collision option too. When this option is activated, the following information is
displayed in case of collision.
Another possibility to demonstrate collision is using the Section curve option.




In this option, the border lines of the intersecting parts are highlighted in red.
This option required the Pause on event option to be activated in Animation .
With a double click on the interference entry In001, in the model tree, this option
can be selected. The other options remain the same. Playing the animation using
Play would now highlight the areas of intersection in red color.

The third alternative to check for interference is by creating an interference solid
Create interference solid . The following simulation now indicates the volume
to be cut. It should be noted that the appropriate components are selected in the
First Set and the Second Set. If the user notices that the wrong parts have been
selected, the generated volume will be deleted. The cursor must be kept on the
volume until it changes (with three preceding dots). When the cursor is clicked now,
the QuickPick menu opens as seen in the picture below.
With the function Interference
we have a new window, which can
analyze the interference, if present.
The type Highlight is chosen.
Under First and second Sets the
components which have to be
analyzed have to be selected. In this
example, the Cylinder (which is
purposely modeled on the base-
plate) and Link_200mm are
chosen. The window is closed with
OK.
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5.5 Tracing the simulation

Siemens NX 7.5 has possibilities to generate images at each step of the simulation.
(Generates images of one or more components of the assembly).This option can be
loaded into the design environment by the user, where they are processed further. To
use this function, the button Trace is used. In the newly opened window, one or
more objects can be selected, whose path has to be traced. In this example, the
Link_200mm is selected. The result of this function can be represented. The trace
function must be activated in Trace under Animation (other picks can be
removed). A mouse click on Play starts the simulation creating solid body
trace. It is suitable for reduce the increment of Solution_1, In the model tree from
360 to around 50. The linkage is solved again (Solve ) which is necessary.
Once complete, the trace of the link appears as seen in the picture below:


The Construction objects option is selected, followed
with a right mouse click, so that the whole group is selected.
The group can be deleted.
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To return to the original presentation, we must use the QuickPick Menu again. We
can right-mouse click on the group and Hide can be used to hide the whole group.
Alternatively, the entire application can be undone. This is easily done by pressing on
the Undo button, or Strg+z using the keyboard.








By changing the construction environment,
these newly produced solids are processed. As
before, the entire group can be selected (By right
mouse click) and using the QuickPick
menu and Copy is selected. Subsequently,
a new Model can be created to Paste the
result there. The new model represents the trace
of Link_200mm in our case.
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CAD knowledge base 2011 35 NX Motion Simulator
5.6 Recording the simulation

In this chapter it is demonstrated how generated simulations could be combined into
one video. With the right-click on the created simulation, motion_1 > Export >
Mpeg , a new window is opened.




Sometimes, it is more advantageous to record movie files as desired. The work area
is directly recorded in this case, and the user has complete control. The following is
the process for such recording:
Tools > Movie > Settings



In the field Capture area, Desktop in chosen and a desired value for Speed is
also specified. The window is closed with the OK button.
The recording can now be started with the shortcut Alt+F5 or Tools > Movie >
Record .
A new window opens, which prompts the user to specify the path. The save path is
confirmed with OK. The Desktop-recording thus begins and the video will be
added at every step. All desired steps can be included. With the Shortcut Alt+F7 or
Tools > Movie > Stop , the recording can be stopped at any instance.
In the new window the file name is
entered in Specify File Name and
the location for saving the file is
specified. Subsequently, the window
is closed with OK, and
subsequently, the video is saved in
the specified location. A useful tip
during recording a video is to fit the
assembly into the screen and then
record.
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CAD knowledge base 2011 36 NX Motion Simulator


6. List of NX Functions used

Function
Page
No.
"New"
05
"Sketch"
05
"Orient" 06
"Open in sketch task environment"
06
"Rectangle"
06
"Fillet"
06
"Finish sketch"
06
"Extrude"
06
"Extrude" (Boolean Operation)
07
"Profile"
08
"Circle"
08
"Rectangle"
08
"Edge Blend"
08
Design feature "Block" 09
"Hole"
10
"automatic dimensioning"
11
"Make symmetric"
11
"Constraints"
12
"Inferred Dimensions"
12
"Point on Curve" 12
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CAD knowledge base 2011 37 NX Motion Simulator
"Edit Display"
13
"Move Component"
15
"Add Components"

15
"Assembly Constraints"
16
Kinematics:
Start >Motion Simulation (Functions only, when the assembly
module had been started).
17
"Link"
19
"Joint"
19
"Revolute"
20
"QuickPick"- Menu 20
"Icon Scale" 21
"Save"
22
"Fix the link"
22
"Solution"
23
"Solve"
23
"Edit"
24
"Spherical"
24
"Cylindrical"
24
"Finish Animation"
24
"Animation"
25
"Play once"
25
"Loop"
25
"Retrace"
25
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CAD knowledge base 2011 38 NX Motion Simulator
"Graphing"
26
"Add one curve"
27
"Probing mode"
28
"Peak Probing Mode"
28
"Return to Model"
28
"Measure"
29
"Measure Distance"
29
"Marker"
31
"Interference"
32
"Highlight" 32
"Show Intersection Curve"
32
"Create Solid"
32
"Construction Objects" 33
"Trace"
33
"Undo"
34
"Export"
35
"Mpeg"
35
"Settiings" (Movie)
35
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CAD knowledge base 2011 39 NX Motion Simulator
"Record" 35
"Stop"
35

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