# ME Week 11 Introduction to Dynamic Simulation

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1 The purpose of this introduction to dynamic simulation project is to explorer the dynamic simulation environment of Autodesk Inventor Professional. This environment allows you to perform rigid body dynamic simulations of designs. This is type of simulation is used on assemblies to simulation time varying behavior of a system. To assist the learning of the Dynamic Simulation environment of Autodesk Inventor several key points are outlined below and can be used for reference throughout the projects. Joint Coordinate System Each joint has coordinate systems that define the joint. Visually they are different from the standard Autodesk Inventor coordinate system icon. The image below shows the axis location for the symbol. There are several different joint types within Autodesk Inventor Professional. Each of the joint types have different behaviors. The chart below shows each of the available joint types and some general information about them. ME Introduction to CAD/CAE Tools Page 1 of 31

2 Standard Joints Dynamic Simulation Joints D.O.F. No Translation Revolution 1 Rotation around the Z Axis Translation along the Z Axis Prismatic 1 No Rotation Translation along the Z Axis Cylindrical 2 Rotation around the Z Axis No Translation Spherical 3 Rotation along all 3 Axis Planar Translation along the X and Z Axis 3 Rotation about the Y Axis Translation along the Z axis Point - Line 4 Rotation around all 3 Axis Line - Plane Point - Plane Translation along the X and Z Axis Rotation about the Y Axis Translation along the X and Z Axis Rotation around all 3 Axis Translation along all 3 Axis Spatial 6 Rotation about all 3 Axis Welding No Translation 0 No Rotation 3 5 ME Introduction to CAD/CAE Tools Page 2 of 31

3 Rolling Joints Dynamic Simulation Joints RI Cylinder on Plane RI Cylinder on Cylinder RI Cylinder in Cylinder This allows motion between a cylinder and plane This allows motion between two primitive cylindrical components in opposite directions. This allows motion between a rotating cylinder inside another non rotating cylinder. D.O.F. RI Cylinder Curve This allows motion between a rotating cylinder and a rotating CAM. Belt This creates motion of two cylinders with the same speed. RI Cone on Plane RI Cone in Cone Screw Worm Gear This allows motion between a conical face and a planar face. This allows motion of a rotating conical component within a stationary conical component. This is the same as a cylindrical component but allows the user to specify pitch. This allows motion between a worm gear component and a helical gear component. ME Introduction to CAD/CAE Tools Page 3 of 31

4 Sliding Joints Dynamic Simulation Joints SI Cylinder on Plane SI Cylinder on Cylinder SI Cylinder in Cylinder This allows sliding between a nonrotating cylinder and plane. This allows sliding between two primitive cylindrical components of which one cylinder is nonrotating. This allows sliding between a nonrotating cylinder inside another nonrotating cylinder. D.O.F. SI Cylinder Curve This allows motion between a nonrotating cylinder and a rotating cam. SI Point Curve This creates motion of a point on one component to stay on a curve. Additional Joints Dynamic Simulation Joints 2D Contact This allows motion between the curve of a component and the curve of another component. D.O.F. 3D Contact Spring / Damper / Jack This allows you to create contact between two components. This allows too create springs, dampers, and jacks. ME Introduction to CAD/CAE Tools Page 4 of 31

5 1.1 Project 1 Cam and Valve Simulation In this project, you run a simulation of a cam valve assembly that has already been setup to determine the torque required to rotate the cam to overcome the spring resistance. During the simulation you will compare the results with friction and without friction on the rotating cam. 1. Open CamValve.iam Autodesk Inventor assembly file in Autodesk Inventor. 2. Click Environments tab Begin panel Dynamic Simulation. This will active the Dynamic Simulation environment. 3. If required, click No to close the message for beginning a tutorial. ME Introduction to CAD/CAE Tools Page 5 of 31

6 4. Review the Dynamic Simulation Browser and see how the three components are listed under the Grounded group node. Also an external load for gravity has been added in the negative Y Axis direction. 5. Orbit the model into a viewing position similar to the image shown below. 6. Click Dynamic Simulation tab Joint panel Insert Joint to begin the process of creating a standard mechanical joint. ME Introduction to CAD/CAE Tools Page 6 of 31

7 7. Select Revolution as the joint type. This will create a joint that has one (1) Degree of Freedom (DOF) allowing the parts to rotate in the Z Axis. 8. For the Component 1 Z Axis selection pick the cylindrical surface on the Support part as shown below. Notice the origin placement by default is in the center of the cylinder. 9. ME Introduction to CAD/CAE Tools Page 7 of 31

8 10. Pick the Component 1 Origin select button then select the back surface as shown below for the origin plane. This will move the joint coordinate system for the Support part back surface while still staying aligned to the center of the hole. 11. Now select the Component 2 Z Axis selection button and pick the outer edge of the Cam part as shown below. ME Introduction to CAD/CAE Tools Page 8 of 31

9 12. Notice the two joint coordinate systems that will define the joint are not aligned. The Z Axis and X Axis are pointing in different directions. 13. To fix the coordinate systems alignments click the Component 2 Flip Z Axis button. ME Introduction to CAD/CAE Tools Page 9 of 31

10 14. Notice now the two joint coordinate systems are aligned. This is a key element to creating joints and one of the most important items to review as you create joints. Click OK to complete creating the Revolution joint. 15. Now that the joint is created the two parts will snap together by aligning the coordinate systems. ME Introduction to CAD/CAE Tools Page 10 of 31

11 16. Orbit the assemble into a viewing position similar to the image shown below. 17. Click Dynamic Simulation tab Joint panel Insert Joint to begin the process of creating a standard mechanical joint. 18. Select Prismatic as the joint type. This will create a joint that has one (1) Degree of Freedom (DOF) allowing the parts to translation along the Z Axis. ME Introduction to CAD/CAE Tools Page 11 of 31

12 19. Select the Component 1 Z Axis select button and pick the bottom circular edge on the Support part as shown below. 20. Click the Flip Z Axis button for Component 1 to align the coordinate system like the image below. 21. Click the select Z Axis for Component 2 and pick the bottom circular edge of the Value part as shown below. ME Introduction to CAD/CAE Tools Page 12 of 31

13 22. The two coordinate systems are aligned so click OK to complete creating the joint. 23. The Value part moves into position to align the two coordinate systems as shown below. 24. Review the Dynamic Simulation Browser and notice the two joints that were created are now listed under the Standards Joints node. Also notice that the two parts that now are linked to the Support part are listed under Mobile Groups. 25. Select the Prismatic:2 joint in the Browser and Right-Click and select Properties. ME Introduction to CAD/CAE Tools Page 13 of 31

14 26. Within the Prismatic:2 dialog box complete the following items to change the initial position of the Value part. Click the dof 1 (T) tab. The T in the tab name indicates this is translational information. Select the Edit Initial Conditions button. This will control the starting position of the component. Enter 20mm as the Position value Click OK 27. Review the assembly and notice the coordinate systems for the Prismatic joint now moved apart by 20 mm. ME Introduction to CAD/CAE Tools Page 14 of 31

15 28. Click Insert Joint in the Joint panel to open the Insert Joint dialog. Then select Spring / Damper / Jack for the joint type. 29. This joint will allow us to create a spring object between two components. Select the bottom inner circle edge of the Support part as shown below for the Component 1 selection. ME Introduction to CAD/CAE Tools Page 15 of 31

16 30. Select the bottom edge of the Value part as shown below for Component 2. Click OK to complete creating the joint. 31. Select the Spring force in the Browser and Right-Click and select Properties. 32. Enter a value of 1 N/mm for the Stiffness and 50 mm for the Free Length of the spring. This will adjust the properties and size of the spring. ME Introduction to CAD/CAE Tools Page 16 of 31

17 33. Click the >> expand button in the Spring dialog. Enter 11 mm for the Radius Dimension and click OK to complete creating the spring. 34. Notice the spring object that is now displayed to represent the joint that was created. This spring will push the Value part up into the Cam part. 35. Now Double-Click on the Cam part to active the part model. ME Introduction to CAD/CAE Tools Page 17 of 31

18 36. To provide a path for the Value part to contact the Cam part we will create a 2D sketch. Click Model tab Sketch panel Create 2D Sketch to start creating a new sketch and select the Work Plane 2 that is already down the middle of the Cam part. 37. With the sketch active click Sketch tab Draw panel Project Geometry. Then select the four (4) outer edges of the Cam part as shown below. 38. Click Finish Sketch on the Exit panel to complete creating the sketch. 39. Click Return on the Return panel to exit editing the Cam part. 40. Click Dynamic Simulation tab Joint panel Insert Joint to start creating a new joint. ME Introduction to CAD/CAE Tools Page 18 of 31

19 41. Select 2D Contact as the joint type. 42. Select the new created sketch on the Cam part as the Curve for Loop 1 as shown below. 43. Select the already existing sketch that is at the top of the Value part as shown below for Loop 2. ME Introduction to CAD/CAE Tools Page 19 of 31

20 44. Click OK to complete the creation of the joint. The model will look like the image below. 45. Now we will adjust the properties of the 2D contact joint. Right Click on the 2D Contact:4 joint in the Browser and select Properties that is under the Contact Joints node. Change the Friction value to be 0 and keep the Restitution value at 0.8. Keeping the Restitution value at 0.8 will make the Value want to bounce off the Cam part during contact. Be sure that the arrows are showing the right directions as shown above. Click invert button if necessary. Click OK to continue. 46. Now we will setup the rotation motion on the Cam part. Select the Revolution:1 joint from the Browser and right-click to select Properties. ME Introduction to CAD/CAE Tools Page 20 of 31

21 ME Introduction to CAD/CAE Tools Page 21 of 31

22 47. Within the Revolution:1 dialog complete the following items: Select Edit Imposed Motion Check the Enable Imposed Motion checkbox Select Velocity for the Driving option Enter 360 deg/s as the value as a Constant Value. This will make the Cam part rotate one full time for each second of the simulation. Click OK 48. On the Simulation Player, click Run or Replay the Simulation. This will cycle the simulation one time and stay at the end position. ME Introduction to CAD/CAE Tools Page 22 of 31

23 49. Click the Rewind button to bring the simulation back to the initial beginning. 50. Click the Run button again to watch the simulation an additional time. You will notice that the beginning that the valve part is bouncing. We will correct this issue later in the project. 51. On the Simulation Player, click Construction Mode. This will exit the run mode and allow you to make changes to the simulation. 52. In the Dynamic Simulation Browser, expand Contact Joints. Right-click 2D Contact:4 (Cam:1, Valve:1). Click Properties. ME Introduction to CAD/CAE Tools Page 23 of 31

24 53. In the 2D Contact:4 (Cam:1, Valve:1) dialog box, for Restitution, enter 0. Setting the Restitution to 0 makes the contact between the two parts inelastic with no normal rebound. This value can be set between 0 and 1 and it is a ratio of the normal velocity between the two components after contact. Having the setting at 1 makes it elastic so it will bounce directly off. Click OK to continue. 54. On the Simulation Player, click Run and notice the valve part does not bounce now after contact. 55. On the Results panel, click Output Grapher. Then under the Revolution:1 joint expand the Driving Force folder and select U_imposed. This will display the Torque on the Cam rotation joint. ME Introduction to CAD/CAE Tools Page 24 of 31

25 56. Resize the Output Grapher and zoom and pan in the CamValve assembly model in the graphics window so you can see both. 57. In the Output Grapher, double-click the dashed line at 0.25 (1). The timeline (2) is displayed, and the cam position (3) is updated to show its position at that point of the simulation. ME Introduction to CAD/CAE Tools Page 25 of 31

26 58. To cycle through the simulation, use the right and left arrow keys on the keyboard to step forward and backward in the simulation. Cycle through the simulation to 1.00 to show the cam at the end of the simulation. 59. In the Output Grapher, click Save Simulation. Save the file as CamValve.iaa. This will save the current simulation run results to a file that can be later imported back into the Output Grapher. 60. On the Simulation Player, click Construction Mode. ME Introduction to CAD/CAE Tools Page 26 of 31

27 61. The following steps describe how to add a coefficient of friction to calculate the effect on the torque that is required to rotate the cam and overcome the spring force and friction force. In the Dynamic Simulation Browser, under Contact Joints, right-click 2D Contact:4 (Cam:1, Valve:1). Click Properties. In the 2D Contact:4 (Cam:1, Valve:1) dialog box, for Friction, enter This enters a coefficient of friction value that will assign a force that resists the motion of the two bodies in relation to another. The most common values range from 0 1 with Autodesk Inventor supporting values from 1 2 also for unique cases. Click OK. 62. On the Simulation Player, click Run or Replay the Simulation. The Output Grapher is still open, so you see the graph being generated as the simulation is running. In the next step, you change the color of the newly generated curve. When you compare the saved graph curve with this new one, you can distinguish between the two of them. ME Introduction to CAD/CAE Tools Page 27 of 31

28 63. In the Output Grapher, right-click the U_imposed[1]/N mm column heading. Click Curve Properties. 64. In the Dynamic Simulation - Properties dialog box, click the color box. 65. In the Color dialog box, click the Red color swatch. Click OK. ME Introduction to CAD/CAE Tools Page 28 of 31

29 66. In the Dynamic Simulation - Properties dialog box, click OK. The graph changes to red. 67. On the Output Grapher toolbar, click Import Simulation. This will allow you to load the past simulation run results we saved so they can be viewed with the current results. 68. In the Dynamic Simulation - Load file dialog box, select CamValve.iaa. Click Open. ME Introduction to CAD/CAE Tools Page 29 of 31

30 69. Review the Dynamic Simulation Browser. The CamValve.iaa element is added to the Output Grapher. 70. In the Output Grapher, expand CamValve.iaa. Expand Revolution:1 (Support:1, Cam:1). Expand Driving Force and select the U_imposed [1] check box. ME Introduction to CAD/CAE Tools Page 30 of 31

31 71. The Output Grapher displays the graphs of the torque required to rotate the cam without friction (magenta) and with friction (red). Also, a new column is added in the time-steps pane for the numerical values of each force. Notice that the maximum torque required with friction is 200 N and without friction it is around 150 N. 72. Close the file. Do not save changes. ME Introduction to CAD/CAE Tools Page 31 of 31

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