PTC Global Services For University Use Only - Commercial Use Prohibited - Mechanism Design and Analysis Release 2001 T-889-320-01 Copyright Mechanism Design and Analysis Copyright © 2001 Parametric Technology Corporation All Rights Reserved This Mechanism Design and Analysis Training Guide may not be copied, reproduced, disclosed, transferred, or reduced to any form, including electronic medium or machine-readable form, or transmitted or publicly performed by any means, electronic or otherwise, unless Parametric Technology Corporation (PTC) consents in writing in advance User and training documentation from Parametric Technology Corporation (PTC) is subject to the copyright laws of the United States and other countries and is provided under a license agreement that restricts copying, disclosure, and use of such documentation PTC hereby grants to the licensed user the right to make copies in printed form of this documentation if provided on software media, but only for internal/personal use and in accordance with the license agreement under which the applicable software is licensed Any copy made shall include the PTC copyright notice and any other proprietary notice provided by PTC This documentation may not be disclosed, transferred, modified, or reduced to any form, including electronic media, or transmitted or made publicly available by any means without the prior written consent of PTC and no authorization is granted to make copies for such purposes Information described herein is furnished for general information only, is subject to change without notice, and should not be construed as a warranty or commitment by PTC PTC assumes no responsibility or liability for any errors or inaccuracies that may appear in this document The software described in this document is provided under written license agreement, contains valuable trade secrets and proprietary information, and is protected by the copyright laws of the United States and other countries UNAUTHORIZED USE OF SOFTWARE OR ITS DOCUMENTATION CAN RESULT IN CIVIL DAMAGES AND CRIMINAL PROSECUTION Registered Trademarks of Parametric Technology Corporation or a Subsidiary: Advanced Surface Design, CADDS, CADDShade, Computervision, Computervision Services, Electronic Product Definition, EPD, HARNESSDESIGN, Info*Engine, InPart, MEDUSA, Optegra, Parametric Technology, Parametric Technology Corporation, Pro/ENGINEER, Pro/HELP, Pro/INTRALINK, Pro/MECHANICA, Pro/TOOLKIT, PTC, PT/Products, Windchill, and the InPart logo Trademarks of Parametric Technology Corporation or a Subsidiary 3DPAINT, Associative Topology Bus, Behavioral Modeler, BOMBOT, CDRS, CounterPart, CV, CVact, CVaec, CVdesign, CV-DORS, CVMAC, CVNC, CVToolmaker, DesignSuite, DIMENSION III, DIVISION, DVS, DVSAFEWORK, EDE, e/ENGINEER, Electrical Design Entry, e-Series, Expert Machinist, Expert Toolmaker, Flexible Engineering, ICEM, Import Data Doctor, Information for Innovation, i-Series, ISSM, MEDEA, ModelCHECK, NC Builder, Nitidus, PARTBOT, PartSpeak, Pro/ANIMATE, Pro/ASSEMBLY, Pro/CABLING, Pro/CASTING, Pro/CDT, Pro/CMM, Pro/COMPOSITE, Pro/CONVERT, Pro/DATA for PDGS, Pro/DESIGNER, Pro/DESKTOP, Pro/DETAIL, Pro/DIAGRAM, Pro/DIEFACE, Pro/DRAW, Pro/ECAD, Pro/ENGINE, Pro/FEATURE, Pro/FEM-POST, Pro/FLY-THROUGH, Pro/HARNESS-MFG, Pro/INTERFACE, Pro/LANGUAGE, Pro/LEGACY, Pro/LIBRARYACCESS, Pro/MESH, Pro/Model.View, Pro/MOLDESIGN,Pro/NC-ADVANCED, Pro/NC-CHECK, Pro/NC-MILL, Pro/NCPOST, Pro/NC-SHEETMETAL, Pro/NC-TURN, Pro/NC-WEDM, Pro/NC-Wire EDM, Pro/NETWORK ANIMATOR, Pro/NOTEBOOK, Pro/PDM, Pro/PHOTORENDER, Pro/PHOTORENDER TEXTURE LIBRARY, Pro/PIPING, Pro/PLASTIC ADVISOR, Pro/PLOT, Pro/POWER DESIGN, Pro/PROCESS, Pro/REPORT, Pro/REVIEW, Pro/SCAN-TOOLS, Pro/SHEETMETAL, Pro/SURFACE, Pro/VERIFY, Pro/Web.Link, Pro/Web.Publish, Pro/WELDING, Product Structure Navigator, PTC i-Series, Shaping Innovation, Shrinkwrap, The Product Development Company, Virtual Design Environment, Windchill e-Catalog, Windchill e-Series, Windchill ProjectLink, CV-Computervision logo, DIVISION logo, and ICEM logo For University Use Only - Commercial Use Prohibited - Copyright Third-Party Trademarks Oracle is a registered trademark of Oracle Corporation Windows and Windows NT are registered trademarks of Microsoft Corporation Java and all Java based marks are trademarks or registered trademarks of Sun Microsystems, Inc Adobe is a registered trademark of Adobe Systems Metaphase is a registered trademark of Metaphase Technology Inc Baan is a registered trademark of Baan Company Unigraphics is a registered trademark of EDS Corp I-DEAS is a registered trademark of SDRC SolidWorks is a registered trademark of Solidworks Corp Matrix One is a trademark of Matrix One Software SHERPA is a registered trademark of Inso Corp AutoCAD is a registered trademark of Autodesk, Inc CADAM and CATIA are registered trademarks of Dassault Systems Helix is a trademark of Microcadam, Inc IRIX is a registered trademark of Silicon Graphics, Inc PDGS is a registered trademark of Ford Motor Company SAP and R/3 are registered trademarks of SAP AG Germany FLEXlm is a registered trademark of GLOBEtrotter Software, Inc Rational Rose 2000E, is copyrighted software of Rational Software Corporation RetrievalWare is copyrighted software of Excalibur Technologies Corporation VisualCafé is copyrighted software of WebGain, Inc VisTools library is copyrighted software of Visual Kinematics, Inc (VKI) containing confidential trade secret information belonging to VKI HOOPS graphics system is a proprietary software product of, and is copyrighted by, Tech Soft America, Inc All other brand or product names are trademarks or registered trademarks of their respective holders.UNITED STATES GOVERNMENT RESTRICTED RIGHTS LEGEND This document and the software described herein are Commercial Computer Documentation and Software, pursuant to FAR 12.212(a)-(b) or DFARS 227.7202-1(a) and 227.7202-3(a), and are provided to the Government under a limited commercial license only For procurements predating the above clauses, use, duplication, or disclosure by the Government is subject to the restrictions set forth in subparagraph (c)(1)(ii) of the Rights in Technical Data and Computer Software Clause at DFARS 252.227-7013 or Commercial Computer Software-Restricted Rights at FAR 52.227-19, as applicable Parametric Technology Corporation, 140 Kendrick Street, Needham, Massachusetts 02494 USA © 2001 Parametric Technology Corporation Unpublished – all rights reserved under the copyright laws of the United States PRINTING HISTORY Document No Date Description PU-889-320-01 05/16//01 Initial Printing of Pro/USER: Mechanism Design and Analysis for Release 2001 T-889-320-01 09/06//01 Initial Printing of Mechanism Design and Analysis for Release 2001 Order Number T-889-320-EN Printed in U.S.A For University Use Only - Commercial Use Prohibited - For University Use Only - Commercial Use Prohibited - Training Agenda Mechanism Design and Analysis Day One Module 1: Introduction to Mechanism Design Module 2: Creating and Analyzing Mechanisms Module 3: Configuring Joint Axis Settings Module 4: Defining Drivers and Motion Module 5: Working with Motion Analysis Results Module 6: Creating Cam and Slot Connections Module 7: Optimizing Mechanism Designs For University Use Only - Commercial Use Prohibited - PTC Telephone and Fax Numbers The following is a list of telephone and fax numbers you may find useful: Education Services Registration in North America Tel: (888)-782-3773 Fax: (781) 370-5553 Technical Support (Monday - Friday) Tel: (800) 477-6435 (U.S.) (781) 370-5332 or (781) 370-5523 (outside U.S.) Fax: (781) 370-5650 License Management Tel: (800) 216-8945 (U.S.) (781) 370-5559 (outside U.S.) Fax: (781) 370-5795 Contracts Tel: (800) 791-9966 (U.S.) (781) 370-5700 (outside U.S.) In addition, you can find the PTC home page on the World Wide Web can be found at: http://www.ptc.com The Web site contains the latest training schedules, registration information, directions to training facilities, and course descriptions, as well as information on PTC, the Pro/ENGINEER product line, Consulting Services, Customer Support, and Pro/PARTNERS For University Use Only - Commercial Use Prohibited - Table of Contents Mechanism Design and Analysis INTRODUCTION TO MECHANISM DESIGN 1-1 OVERVIEW .1-2 IMPLEMENTING MECHANISM DESIGN EXTENSION 1-2 Mechanism Design without Cam and Slot Connections 1-2 Mechanism Design with Cam and Slot Connections 1-4 MECHANISM DESIGN INTERFACE .1-4 Using Mechanism Design Icons 1-4 Accessing the Object Sensitive Menu 1-5 CREATING AND ANALYZING MECHANISMS 2-1 CREATING MECHANISM ASSEMBLIES .2-2 Comparing Connections to Constraints 2-2 Selecting Connection Types 2-2 Calculating Mechanism Degrees of Freedom 2-7 Working with the Body 2-8 Redefining Assemblies as Mechanisms 2-9 SIMULATING MOTION 2-9 Dragging Assembly Components 2-10 Adding Controls when Dragging 2-11 Recording Configurations with Snapshots 2-13 Other Commands 2-14 LABORATORY PRACTICAL 2-15 EXERCISE 1: Creating a Crane Assembly 2-15 EXERCISE 2: Creating Reciprocating Saw Components 2-20 CONFIGURING JOINT AXIS SETTINGS 3-1 JOINT AXIS SETTINGS 3-2 Defining the Zero References 3-2 Setting the Range of Motion 3-4 Setting the Regeneration Configuration 3-4 LABORATORY PRACTICAL 3-5 EXERCISE 1: Configuring Joint Axis Settings 3-5 For University Use Only - Commercial Use Prohibited - DEFINING DRIVERS AND MOTION 4-1 DRIVERS AND MOTION 4-2 Selecting a Driver .4-2 Configuring Driver Profiles 4-5 DEFINING MOTIONS 4-7 Configuring Time Domain Settings 4-8 Selecting Active Drivers 4-8 Running Motion Definitions .4-9 LABORATORY PRACTICAL 4-10 EXERCISE 1: Creating Standard Joint Axis Drivers .4-10 EXERCISE 2: Creating Table Joint Axis Drivers 4-13 EXERCISE 3: Creating Geometric Drivers .4-16 WORKING WITH MOTION ANALYSIS RESULTS 5-1 REVIEWING MECHANISM ANALYSIS RESULTS 5-2 Viewing Playback Results 5-2 Generating Movie and Image Files 5-2 Checking Motion Interference 5-3 Evaluating Motion Envelopes 5-4 Capturing Measurements and Show Plots 5-5 Evaluating Trace and Cam Synthesis Curves .5-6 LABORATORY PRACTICAL 5-8 EXERCISE 1: Viewing Motion Playbacks and Creating Trace Curves 5-8 EXERCISE 2: Creating Measures 5-10 EXERCISE 3: Checking for Interference .5-13 CREATING CAM AND SLOT CONNECTIONS 6-1 CREATING CAM-FOLLOWER CONNECTIONS 6-2 Creating Cam Surfaces .6-2 CREATING SLOT-FOLLOWER CONNECTIONS 6-4 LABORATORY PRACTICAL 6-6 EXERCISE 1: Creating Geneva Cam Mechanisms 6-6 EXERCISE 2: Synthesizing Cam Profiles .6-12 EXERCISE 3: Creating Slot Connections 6-21 OPTIMIZING MECHANISM DESIGNS 7-1 BEHAVIORAL MODELING EXTENSION 7-2 Pro/ENGINEER Analysis 7-2 Datum Analysis Features 7-5 For University Use Only - Commercial Use Prohibited - OPTIMIZING MECHANISM DESIGNS 7-9 Integrating MDX and BMX 7-9 Optimizing Designs 7-9 LABORATORY PRACTICAL 7-10 EXERCISE 1: Creating Motion Definitions in MDX 7-10 EXERCISE 2: Creating Analysis Features in BMX 7-14 EXERCISE 3: Performing Sensitivity Analyses 7-17 EXERCISE 4: Optimizing the Hand Pump 7-19 SUMMARY 7-21 USING PTC HELP A-1 DEFINING THE PTC HELP FEATURES .A-2 USING THE Pro/ENGINEER ONLINE HELP A-2 Defining the PTC Help Table of Contents A-8 TECHNICAL SUPPORT B-1 Locating the Technical Support Web Page B-2 Opening Technical Support Calls via E-Mail B-2 Opening Technical Support Calls via Telephone B-3 Opening Technical Support Calls via the Web B-3 Sending Data Files to PTC Technical Support B-3 Routing Your Technical Support Calls B-4 Technical Support Call Priorities B-5 Software Performance Report Priorities B-5 Registering for On-Line Support B-5 Using the Online Services B-6 Finding Answers in the Knowledge Base B-7 CONTACT INFORMATION B-9 Technical Support Worldwide Electronic Services B-9 Technical Support Customer Feedback Line B-9 TELEPHONE AND FAX INFORMATION B-10 North America Telephone Information B-10 Europe Telephone Information B-11 Asia and Pacific Rim Telephone Information B-15 ELECTRONIC SERVICES B-18 For University Use Only - Commercial Use Prohibited - For University Use Only - Commercial Use Prohibited - NOTES Routing Your Technical Support Calls Call Customer question Telephone Call Web Call Tech SupportEngineer creates a call in the database Investigation Call is automatically created in the database Call Back and Investigation Support Engineer solves issue or reports it to Development (SPR) SPR Software Performance Report SPR fixed from Development Software Performance Report (SPR) SPR Verification through Tech Support Engineer Update CD to customer For University Use Only - Commercial Use Prohibited Pag e B-4 Append ix B NOTES Technical Support Call Priorities • Extremely Critical • Critical – Work severely impacted • Urgent – Work impacted • Non Critical • General Information – Work stopped Software Performance Report Priorities • Top Priority • High • Medium – Highly critical software issue that is causing a work stoppage – Critical software issue that affects immediate work and a practical alternative technique is not available – Software issue that does not affect immediate work or a practical alternative technique is available Registering for On-Line Support To open a registration form, go to www.ptc.com/support, click Sign-up Online, then enter your CONFIGURATION ID To find your CONFIGURATION ID, click Help > About Pro/ENGINEER Complete the information needed to identify yourself as a user Note your username and password for future reference For University Use Only - Commercial Use Prohibited T e c h n i c a l Su p p o rt In f o rm at i o n Pag e B- NOTES Using the Online Services After you have registered, you will have full access to the online tools For University Use Only - Commercial Use Prohibited Pag e B-6 Append ix B NOTES Finding Answers in the Knowledge Base The Technical Support KNOWLEDGE BASE contains over 18,000 documents Technical Application Notes (TANs), Technical Point of Interest (TPIs), Frequently Asked Questions (FAQs), and Suggested Techniques offer up-todate information about all relevant software areas For University Use Only - Commercial Use Prohibited T e c h n i c a l Su p p o rt In f o rm at i o n Pag e B- NOTES Terminology Used by Technical Support – A Technical Application Note provides information about SPRs that may affect more than just the customer originally reporting an issue TANs also may provide alternative techniques to allow a user to continue working TAN – A Technical Point of Interest provides additional technical information about a software product TPIs are created by Technical Support to document the resolution of common issues reported in actual customer calls TPIs are similar to TANs, but not reference an SPR TPI – Provides step-by-step instructions including screen snapshots, on how to use PTC software to complete common tasks Suggested Techniques – Frequently Asked Questions provides answers to many of the most commonly asked questions compiled from the PTC Technical Support database FAQ FAQs and Suggested Techniques are available in English, French, and German Getting Up-To-Date Information To subscribe to our KNOWLEDGE BASE MONITOR e-mail service, go to www.ptc.com/support, and click Technical Support > Online Support Applications > Knowledge Base Monitor You will receive daily e-mail with the latest information on your product Figure 1: Knowledge Base Monitor Sign Up For University Use Only - Commercial Use Prohibited Pag e B- Append ix B NOTES CONTACT INFORMATION Technical Support Worldwide Electronic Services The following services are available 24 / 7: • Web www.ptc.com/support/index.htm (Support) www.ptc.com/company/contacts/edserv.htm (Education) • E-mail cs_ptc@ptc.com (for opening calls and sending data) cs-webmaster@ptc.com (for suggestions about the Customer Service web site) • FTP • ftp.ptc.com (for transferring files to PTC Technical Support) Technical Support Customer Feedback Line The Customer Feedback Line is intended for general customer service concerns that are not technical product issues • E-mail cs-feedback@ptc.com • Telephone www.ptc.com/cs/doc/feedback_nums.htm For University Use Only - Commercial Use Prohibited T e c h n i c a l Su p p o rt In f o rm at i o n Pag e B- NOTES TELEPHONE AND FAX INFORMATION For assistance with technical issues, contact the Electronic Services noted in the previous section, or the Technical Support line as listed in the Telephone and Fax Information sections below PTC has nine integrated Technical Support Call Centers in North America, Europe, and Asia Our worldwide coverage ensures telephone access to Technical Support for customers in all time zones and in local languages North America Telephone Information Customer Services (including Technical Support, License Management, and Documentation Requests): • Within the United States and Canada • 800-477-6435 Outside the United States and Canada: 781-370-5332 • 781-370-5513 Maintenance • 888-782-3774 Education 888-782-3773 For University Use Only - Commercial Use Prohibited Pag e B-10 Append ix B NOTES Europe Telephone Information Technical Support Telephone Numbers • Austria • 0800 29 7542 Belgium 0800-15-241 (French) • 0800-72567 (Dutch) Denmark • 08001-5593 Finland 0800-117092 • France • 0800-14-19-52 Germany 0180-2245132 49-89-32106-111 (for Pro/MECHANICAđ outside of Germany) Ireland 1-800-409-1622 • Israel 1-800-945-42-95 (All languages including Hebrew) 77-150-21-34 (English only) • Italy • 0800-79-05-33 Luxembourg 0800-23-50 For University Use Only - Commercial Use Prohibited Techni cal Suppo rt Info rm at ion Pag e B-11 NOTES • Netherlands • 0800022-4519 Norway • 8001-1872 Portugal • 05-05-33-73-69 South Africa 0800-991068 • Spain • 900-95-33-39 Sweden • 020-791484 Switzerland 0800-55-38-33 (French) 0800-83-75-58 (Italian) • 0800-552428 (German) United Kingdom 0800-318677 License Management Telephone Numbers • Belgium • 0800-75376 Denmark • 8001-5593 Finland • 0800-117-092 Eastern Europe 44 1252 817 078 • France • 0800-14-19-52 Germany 49 (0) 89-32106-0 For University Use Only - Commercial Use Prohibited - Pag e B- 12 Append ix B NOTES • Ireland 1-800-409-1622 • Italy • 39 (0) 39-65651 Netherlands • 0800-022-0543 Norway • 8001-1872 Portugal 05-05-33-73-69 • Russia 44 1252 817 078 • Spain • 900-95-33-39 Sweden • 020-791484 Switzerland • 41 (0) 1-8-24-34-44 United Kingdom 0800-31-8677 For University Use Only - Commercial Use Prohibited Techni cal Suppo rt Info rm at ion Pag e B-13 NOTES Education Services Telephone Numbers • Benelux 31-73-644-2705 • France • 33-1-69-33-65-50 Germany 49 (0) 89-32106-325 • Italy 39-039-65-65-652 • 39-039-6565-1 Spain/Portugal • 34-91-452-01-00 Sweden 46-8-590-956-00 (Malmo) • 46-8-590-956-46 (Upplands Vasby) Switzerland • 41 (0) 1-820-00-80 United Kingdom 44-0800-212-565 (toll free within UK) 44-1252-817-140 For University Use Only - Commercial Use Prohibited Pag e B- 14 Append ix B NOTES Asia and Pacific Rim Telephone Information Technical Support Telephone Numbers • Australia 1800-553-565 • China* 10800-650-8185 (international toll free) • 108-657 (manual toll free) Hong Kong 800-933309 • India* • 000-6517 Indonesia 001-803-65-7250 7-2-48-55-00-35 • Japan • 120-20-9023 Malaysia • 1-800-80-1026 New Zealand • 0800-44-4376 Philippines • 1800-1-651-0176 Singapore 65-830-9899 • South Korea 00798-65-1-7078 (international toll free) 080-3469-001 (domestic toll free) For University Use Only - Commercial Use Prohibited Techni cal Suppo rt Info rm at ion Pag e B-15 NOTES • Taiwan 0080-65-1256 (international toll free) • 080-013069 (domestic toll free) Thailand 001-800-65-6213 Callers dialing from India or China must provide the operator with the respective string: • China MTF8309729 • India MTF8309752 The operator will then connect you to the Singapore Technical Support Center License Management Telephone Numbers • Japan • 81 (0) 3-3346-8280 Hong Kong (852) 2802-8982 Education Services Telephone Numbers • Australia 61 9955 2833 (Sydney) 61 9561 4111 (Melbourne) • China 86-20-87554426 (GuangZhou) 86-21-62785080 (Shanghai) • 86-10-65908699 (Beijing) Hong Kong 852-28028982 • India For University Use Only - Commercial Use Prohibited - Pag e B- 16 Append ix B NOTES 91-80-2267272 Ext.#306 (Bangalore) 91-11-6474701 (New Delhi) 91-226513152 (Mumbai) • Japan • 81-3-3346-8268 Malaysia 03-754 8198 For University Use Only - Commercial Use Prohibited Techni cal Suppo rt Info rm at ion Pag e B-17 NOTES • Singapore • 65-8309866 South Korea 82-2-3469-1080 • Taiwan 886-2-758-8600 (Taipei) 886-4-3103311 (Taichung) 886-7-3323211 (Kaohsiung) ELECTRONIC SERVICES Up-to-Date + Information Worldwide ISO 9000 Certification Quality Control System = Maximum Productivity with PTC Products For University Use Only - Commercial Use Prohibited Pag e B- 18 Append ix B ... Table of Contents Mechanism Design and Analysis INTRODUCTION TO MECHANISM DESIGN 1-1 OVERVIEW .1-2 IMPLEMENTING MECHANISM DESIGN EXTENSION 1-2 Mechanism Design without Cam... Using Mechanism Design Icons You can perform Mechanism Design tasks using icons located on top of the graphic pane The following table lists the available Mechanism Design icons Table 1: Mechanism. .. Commercial Use Prohibited - Training Agenda Mechanism Design and Analysis Day One Module 1: Introduction to Mechanism Design Module 2: Creating and Analyzing Mechanisms Module 3: Configuring Joint