Rajeevlochana C.G.M.S. (Research)

Member ofAutodesk Developer

Network (ADN)

February 18, 2013

Mechanical Engineering DepartmentIndian Institute of Technology Delhi

New Delhi, India

Getting Started with Dynamic Simulation in Autodesk Inventor

A Session on “We Learn Dynamics” (WeLD)

Contents

2

IntroductionMechanismsKinematicsDynamics

Autodesk InventorPart ModelingAssembly ModelingDynamic Simulation Module

Use in ResearchResources

Mechanisms (Machines)

3

Moving PartsJointsDegrees of Freedom (DOF)

Kinematics

4

Forward Kinematics

Unique and straight forward solution

Inverse Kinematics

Multiple solutions.

Solving is comparatively complex

Study of motion of links without considering the forces

Join

t Val

ue

Part

Con

fig.Forward Kinematics

Inverse Kinematics

Dynamics

5

Forward Dynamics

Inversion of Matrix

Simulation requires ODE solution

Inverse DynamicsStudy of forces and moments causing the motion of links

Inverse Dynamics

Join

t Acc

l.

Forward Dynamics

Join

t Fo

rce

Straight forward

Autodesk Inventor

6

3D Mechanical CAD Software (1999 V1- 2013)Developed by Autodesk Inc. (USA)Similar Software:

SolidWorks (Dassault)SolidEdge (Seimens PLM)

Features:Part ModelingAssembly ModelingDynamic SimulationStress Analysis…

Part Modeling

7

Create SketchFeature Based Modeling:

ExtrudeRevolve Sweep…

Result: 3D SolidMassInertiaCenter of Mass

Assembly Modeling

8

Place (Import) PartsDefine Assembly Constraints (Geometric):

MateSurfaces

PlanarCylindricalSpherical

GeometryEdge (Linear/ Circular)Point

Insert (Revolute): Circular EdgesTangent : SurfacesAngle: (Surfaces/Edges)

Dynamic Simulation Module

9

Fully IntegratedConverts Constraints to Joints (Mechanical)

Verify

Motion (Kinematic) SimulationDefine Joint Rotation: SimulatePlots

Dynamic SimulationDefine Gravity: SimulateFree-fall: Simulate

Examples

10

Demos

Other Features

11

Export Graph Plots to MS Excel, CSVRecord Video

Use in Research (Mechatronics Lab)

12

CAD Modeling: Haptic Device RP Model

Design of 6DOF Motion Platform

Video

Majid Koul and Dmitri Rabinowitz(Rice Univ. USA)

Raghav Bhagat and Siddharth Choudhury (BTP)

Use in Research (Mechatronics Lab)

13

CAD Modeling: Exo-Skeleton

Prof. S. Mukherjee and Team

Use in Research (Mechatronics Lab)

14

Application Programming Interface (API)Extraction of DH Parameters of Serial Robot

Video

Rajeevlochana C.G., M.S (Research)

Addin inside Autodesk Inventor RoboAnalyzer (http://www.roboanalyzer.com

Video

Use in Research (Mechatronics Lab)

15

Application Programming Interface (API)Collision Detection of Cylinders

Video Rajeevlochana C.G., M.S (Research)

Resources

16

Software: Free for Academic Use*http://students.autodesk.com

TutorialsYoutube and http://students.autodesk.com

Inventor Assembly Modelshttp://www.ar-cad.com/in-motion/examples.html

General CAD Models (Must See!!!)http://www.GrabCAD.com

Inventor API Tutorialshttp://www.smallguru.com

*Please review License Agreement Carefully

Thank You

17

Autodesk India Pvt. LtdFree ‘ADN’ Membership

Members of Mechatronics LabMutual help in learning Autodesk Inventor

Prof. S.K. Saha and WeLD TeamFor giving this opportunity