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Page 1: Getting Started with Dynamic Simulation M.S.  · PDF fileGetting Started with Dynamic Simulation . ...   ` Tutorials ` Youtube and   ` Inventor Assembly Models `

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)

Page 2: Getting Started with Dynamic Simulation M.S.  · PDF fileGetting Started with Dynamic Simulation . ...   ` Tutorials ` Youtube and   ` Inventor Assembly Models `

Contents

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IntroductionMechanismsKinematicsDynamics

Autodesk InventorPart ModelingAssembly ModelingDynamic Simulation Module

Use in ResearchResources

Page 3: Getting Started with Dynamic Simulation M.S.  · PDF fileGetting Started with Dynamic Simulation . ...   ` Tutorials ` Youtube and   ` Inventor Assembly Models `

Mechanisms (Machines)

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Moving PartsJointsDegrees of Freedom (DOF)

Page 4: Getting Started with Dynamic Simulation M.S.  · PDF fileGetting Started with Dynamic Simulation . ...   ` Tutorials ` Youtube and   ` Inventor Assembly Models `

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

Page 5: Getting Started with Dynamic Simulation M.S.  · PDF fileGetting Started with Dynamic Simulation . ...   ` Tutorials ` Youtube and   ` Inventor Assembly Models `

Dynamics

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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

Page 6: Getting Started with Dynamic Simulation M.S.  · PDF fileGetting Started with Dynamic Simulation . ...   ` Tutorials ` Youtube and   ` Inventor Assembly Models `

Autodesk Inventor

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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…

Page 7: Getting Started with Dynamic Simulation M.S.  · PDF fileGetting Started with Dynamic Simulation . ...   ` Tutorials ` Youtube and   ` Inventor Assembly Models `

Part Modeling

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Create SketchFeature Based Modeling:

ExtrudeRevolve Sweep…

Result: 3D SolidMassInertiaCenter of Mass

Page 8: Getting Started with Dynamic Simulation M.S.  · PDF fileGetting Started with Dynamic Simulation . ...   ` Tutorials ` Youtube and   ` Inventor Assembly Models `

Assembly Modeling

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Place (Import) PartsDefine Assembly Constraints (Geometric):

MateSurfaces

PlanarCylindricalSpherical

GeometryEdge (Linear/ Circular)Point

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

Page 9: Getting Started with Dynamic Simulation M.S.  · PDF fileGetting Started with Dynamic Simulation . ...   ` Tutorials ` Youtube and   ` Inventor Assembly Models `

Dynamic Simulation Module

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Fully IntegratedConverts Constraints to Joints (Mechanical)

Verify

Motion (Kinematic) SimulationDefine Joint Rotation: SimulatePlots

Dynamic SimulationDefine Gravity: SimulateFree-fall: Simulate

Page 10: Getting Started with Dynamic Simulation M.S.  · PDF fileGetting Started with Dynamic Simulation . ...   ` Tutorials ` Youtube and   ` Inventor Assembly Models `

Examples

10

Demos

Page 11: Getting Started with Dynamic Simulation M.S.  · PDF fileGetting Started with Dynamic Simulation . ...   ` Tutorials ` Youtube and   ` Inventor Assembly Models `

Other Features

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Export Graph Plots to MS Excel, CSVRecord Video

Page 12: Getting Started with Dynamic Simulation M.S.  · PDF fileGetting Started with Dynamic Simulation . ...   ` Tutorials ` Youtube and   ` Inventor Assembly Models `

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)

Page 13: Getting Started with Dynamic Simulation M.S.  · PDF fileGetting Started with Dynamic Simulation . ...   ` Tutorials ` Youtube and   ` Inventor Assembly Models `

Use in Research (Mechatronics Lab)

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CAD Modeling: Exo-Skeleton

Prof. S. Mukherjee and Team

Page 14: Getting Started with Dynamic Simulation M.S.  · PDF fileGetting Started with Dynamic Simulation . ...   ` Tutorials ` Youtube and   ` Inventor Assembly Models `

Use in Research (Mechatronics Lab)

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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

Page 15: Getting Started with Dynamic Simulation M.S.  · PDF fileGetting Started with Dynamic Simulation . ...   ` Tutorials ` Youtube and   ` Inventor Assembly Models `

Use in Research (Mechatronics Lab)

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Application Programming Interface (API)Collision Detection of Cylinders

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

Page 16: Getting Started with Dynamic Simulation M.S.  · PDF fileGetting Started with Dynamic Simulation . ...   ` Tutorials ` Youtube and   ` Inventor Assembly Models `

Resources

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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

Page 17: Getting Started with Dynamic Simulation M.S.  · PDF fileGetting Started with Dynamic Simulation . ...   ` Tutorials ` Youtube and   ` Inventor Assembly Models `

Thank You

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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