freeCAD: 3D CAD with Motion Simulation by askoh.com Assembly Notes (Text string: 'Copyright (C) 2000-2004, A-S Koh, All Rights Reserved.The Tree View is on the left.The Graphics View is on the right.The Selection View is at the bottom left.The XYZ axes are colored Red Green Blue (RGB). The default world axes are one meter long (about 40 inches).Units are SI units. Angles are in radians unless stated to be in degrees.A rectangular beam is connected to ground with a revolute (pin) joint which allows rotation in the XY plane. A motion is applied to the joint to rotate the beam with constant angular velocity. A similar beam is made to rotate in a plane parallel to the YZ plane. Units are SI units. Angles are in radians.To load the example for a quick look:Click/File/Open/Assembly/ to get a dialog. Enter *.asm for a list of assemblies. Select circular.asm. Click/OK. The projectiles should appear on the screen.Click /Edit/Marker Size/ to set a suitable length for the marker axes.Click ''Wireframe'' and ''Solid'' to switch between wireframe and rendered views.Click ''TiltRotate'' to show all. Drag on the handles to orientate the assembly in 3D. Tilt means tilting away from the line from the eye to the handle.Click ''ZoomIn'' and drag a rectangle over the region of interest to zoom in.Click ''Animation'' to get a dialog. Click Play to animate.Click ''TiltRotate'' to show all or ''ZoomOut'' to see more.You can use any of the View menu items during animation to change you view.Click Stop to stop the animation.To create the assembly from scratch:Click/File/New/Assembly/ to create an empty assembly. A dialog allows you to specify a unique name (Assembly1).To create the first beam:Click on (Assembly1) in the Tree View if it is not already selected.Click/Select/Plane/x=X y=Y/ to select the XY plane of the assembly.Click/Insert/Part/New/ to insert a part on the selected plane. A dialog allows you to specify a unique name (Part1).Click/Insert/Sketch/ to insert a sketch on the new part. A dialog allows you to specify a unique name (Sketch1).Click/Draw/Rectangle/ to select the rectangle tool. In the drawing area, click and drag toward the positive quadrant (increasing x and y) to create a rectangle. Click inside the rectangle if three black handles are not visible, RightClick/Position/Angle/ to get a dialog to specify the rectangle position (0.0d, 0.0d), angle (0.0d) and size (2.0d, 0.2d) precisely.Click/Insert/Feature/Extrusion/ to extrude the drawing perpendicular to the sketch plane. A dialog allows you to specify the z coordinates for extrusion (0.0d, 0.1d).Click ''WireFrame'' to make mass marker visible. Click the mass marker, RightClick/Position/Direction/ to get a dialog to specify its mass and inertias precisely. Click/''Apply Uniform Density''. Enter the density (10.0d).To connect the beam to the assembly with a revolute (pin) joint:To mark the joint attachment point on the assembly:Drag the beam to the upper right to clear up the area near the origin.Select Assembly1 from the Tree View.Click/Select/Plane/x=X y=Y/ to select the XY plane of the assembly.Click/Insert/Marker/. A dialog allows you to specify a unique name (Marker1). A RedGreenBlue (RGB) marker representing the xyz axes appears at the assembly origin.To mark the joint attachment point on the beam:Click on the wide face of the beam to hightlight it.Click/Insert/Marker/. A dialog allows you to specify a unique name (Marker1). A RedGreenBlue (RGB) marker representing the xyz axes appears at the face origin. The marker is referenced to the face which becomes the marker''s guide frame.RightClick/Position/Direction/ over the marker to get a dialog to specify the exact placement of the marker on the part. Enter the coordinates of the marker origin relative to the guide frame. (0.1d, 0.1d, 0.0d). No need to change the other values.To create the joint:Click/Kinematic/Joint/RevoluteZ/ to select the revolute (pin) joint tool. Click on the assembly marker, drag to the part marker, and release the button. A dialog allows you to specify a unique name (Joint1). A rubber band connects the ''i'' and ''j'' markers with an label ''rev'' to denote the revolute joint. A revolute joint constraints the origins of ''i'' and ''j'' to be coincident and the z axes of ''i'' and ''j'' to be colinear. Only one rotational degree of freedom exists between ''i'' and ''j''.To apply a motion to the joint:Click/Kinematic/Motion/RotationZ/ to select the z rotation tool. Click on a revolute joint rubber band. A dialog allows you to specify a unique name (Motion1). A second dialog allows you to specify a function of time describing the angle of the ''j'' x-axis relative to the ''i'' x-axis. Enter 2.0d*pi*time. Click/OK. Another rubber band is superposed on the joint but the new label is ''rmo''. If you want to change the function, click the ''rmo'' label. The superposition of the rubber bands can make it difficult to select the desired item. This problem can be overcomed by selecting the desired item directly from the Tree View.You have just learned the basics of creating markers, connections and prescribed motions.To simulate:Click/Simulation/Transient/ to start a simulation. Click/''current state'' for the desired input state. In the next dialog, set the desired end time (1.0d) and output time step (0.01d) of the simulation. The other default parameters should be acceptable.Click/OK to start the simulation. The simulation progress is shown in the Transcript window and animated in the drawing. You can use any of the View menu items during the simulation. Let the simulation run to completion or Click/Simulation/Stop/ to terminate the simulation anytime.To animate:Click ''Animation'' for a animation control window to play the animation, step frame by frame, jump to the specified current frame. You can also use any of the View menu items during the animation. Click/Stop to stop the animation.To plot marker data:If a suitable marker is not available, insert a marker anywhere on the part. Click on the marker, RightClick/Plot/, a new plot window appears. Click/Plot/Select/ to get a dialog to specify the data for the x and y axes. Multiply select with shift-click or control-click for the y-axis. Click/OK to get the plots. You can export the plot data in tabular form: Click/Plot/Export/ to specify an output filename. The file can be imported into a spreadsheet for further analysis.To plot joint or motion data:Select a joint or motion from the Tree or Graphic Views. RightClick/Plot/ and follow the same procedure for marker data.To add the second beam:Since the second beam is the same as the first, we will reuse.Select \Assembly1\Part1 in the Tree View. Expand the tree as necessary to reach Part1.Click/File/Save As/Part to save the selected part to file. Enter a filename with .prt extension (Part1.prt).Select Assembly1 in the Tree ViewClick/Select/Plane/x=X y=Y/ to select the XY plane of the assembly.Click/Insert/Part/File/ to insert a part from file. A dialog allows you to specify a unique name (Part2). Another dialog allows you to select the file Part1.prt. The second beam is inserted at the assembly origin.To connect the second beam to the assembly with a revolute (pin) joint:To mark the second joint attachment point on the assembly:Select Assembly1 in the Tree ViewClick/Select/Plane/x=X y=Y/ to select the XY plane of the assembly.Click/Insert/Marker/. A dialog allows you to specify a unique name (Marker2). A RedGreenBlue (RGB) marker representing the xyz axes appears at the assembly origin. Drag the handle to move the new marker away from the origin.Click on the marker if it does not have a black handle, RightClick/Position/Direction/ to get a dialog to specify the exact placement of the marker in the assembly. Enter the coordinates of the marker origin relative to the assembly (3.0d, 0.0d, 0.0d). Orient the z-axis to (-1.0d, 0.0d, 0.0d). Orient the x-axis to (0.0d, 0.0d, 1.0d). To mark the joint attachment point on the second beam:The marker on the second beam is ready for attachment. Drag, tilt and rotate the second beam so the the markers for joint attachment are nearby and nearly parallel. This will help the solver find the exact answer.To create the second joint:Click/Kinematic/Joint/RevoluteZ/ to select the revolute (pin) joint tool. Click on \Assembly1\Marker2, drag to the \Assembly1\Part2\Marker1, and release the button. A dialog allows you to specify a unique name (Joint2). A rubber band connects the ''i'' and ''j'' markers with an label ''rev'' to denote the revolute joint.To apply a motion to the second joint:Click/Kinematic/Motion/RotationZ/ to select the z rotation tool. Click on a revolute joint rubber band (Joint2). A dialog allows you to specify a unique name (Motion2). A second dialog allows you to specify a function of time describing the angle of the ''j'' x-axis relative to the ''i'' x-axis. Enter 4.0d*pi*time to make the motion twice as fast as the first one. Click/OK. Another rubber band is superposed on the joint but the new label is ''rmo''. If you want to change the function, click the ''rmo'' label. The superposition of the rubber bands can make it difficult to select the desired item. This problem can be overcomed by selecting the desired item directly from the Tree View.To simulate:Click/Simulation/Transient/ to start a simulation. Click/''current state'' for the desired input state. In the next dialog, set the desired end time (1.0d) and output time step (0.01d) of the simulation. The other default parameters should be acceptable.Click/OK to start the simulation. The simulation progress is shown in the Transcript window and animated in the drawing. You can use any of the View menu items during the simulation. Let the simulation run to completion or Click/Simulation/Stop/ to terminate the simulation anytime.To animate:Click ''Animation'' for a animation control window to play the animation, step frame by frame, jump to the specified current frame. You can also use any of the View menu items during the animation. Click/Stop to stop the animation. Close the window when done.' runs: (Core.RunArray runs: #(654 37 1 25 63 12 3 8 53 18 54 9 7 5 57 10 141 6 70 9 19 10 20 10 18 7 38 4 55 4 25 36 1 24 89 25 70 27 41 22 95 20 93 21 208 26 114 31 144 9 55 30 61 29 31 64 1 51 109 27 41 20 145 47 54 20 217 30 221 20 1 32 47 1 225 118 68 31 1 33 272 8 314 89 2 12 1 27 24 21 183 8 215 22 39 11 6 12 141 4 34 10 25 20 99 16 29 18 125 8 65 18 99 29 58 16 49 23 151 23 121 27 41 23 192 71 1 58 35 27 41 20 261 30 255 54 216 27 1 32 286 38 1 33 331 8 314 12 1 27 24 21 183 8 136 4 75 22 39 11 6 12 179 10 54) values: #(nil #(#bold #large) nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #(#bold #large) nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #underline nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil #bold nil))) Name Circular Position3D 0.0 0.0 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Velocity3D 0.0 0.0 0.0 Omega3D 0.0 0.0 0.0 RefPoints RefPoint Position3D 0.0 0.0 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Markers Marker Name Marker1 Position3D 0.0 0.0 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 RefPoint Position3D 0.0 0.0 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Markers Marker Name Marker2 Position3D 3.0 0.0 0.0 RotationMatrix 0.0 0.0 -1.0 0.0 1.0 0.0 1.0 0.0 0.0 RefCurves RefSurfaces Parts Part Name Part1 Position3D -0.1 -0.1 -0.1 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Velocity3D 0.62831853071796 -0.62831853071796 0.0 Omega3D 0.0 0.0 6.2831853071796 FeatureOrder Extrusion zStart 0.0 zEnd 0.1 Sketch Name Sketch1 Position3D 0.0 0.0 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Graphics Rectangle Position2D 0.0 0.0 Angle 0.0 xLength 2.0 yLength 0.2 PrincipalMassMarker Name MassMarker Position3D 1.0 0.1 0.05 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Mass 0.4 MomentOfInertias 0.0016666666666667 0.13366666666667 0.13466666666667 Density 10.0 RefPoints RefPoint Position3D 0.0 0.0 0.1 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Markers Marker Name Marker1 Position3D 0.1 0.1 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 RefCurves RefSurfaces Part Name Part2 Position3D 3.1 -0.1 -0.1 RotationMatrix 0.0 0.0 -1.0 0.0 1.0 0.0 1.0 0.0 0.0 Velocity3D 0.0 -1.2566370614359 1.2566370614359 Omega3D -12.566370614359 0.0 0.0 FeatureOrder Extrusion zStart 0.0 zEnd 0.1 Sketch Name Sketch1 Position3D 0.0 0.0 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Graphics Rectangle Position2D 0.0 0.0 Angle 0.0 xLength 2.0 yLength 0.2 PrincipalMassMarker Name MassMarker Position3D 1.0 0.1 0.05 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Mass 0.4 MomentOfInertias 0.0016666666666667 0.13366666666667 0.13466666666667 Density 10.0 RefPoints RefPoint Position3D 0.0 0.0 0.1 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Markers Marker Name Marker1 Position3D 0.1 0.1 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 RefCurves RefSurfaces KinematicIJs ConstraintSets Joints RevoluteJoint Name Joint1 MarkerI /Circular/Marker1 MarkerJ /Circular/Part1/Marker1 RevoluteJoint Name Joint2 MarkerI /Circular/Marker2 MarkerJ /Circular/Part2/Marker1 Motions RotationalMotion Name Motion1 MotionJoint /Circular/Joint1 RotationZ 2.0d*pi*time RotationalMotion Name Motion2 MotionJoint /Circular/Joint2 RotationZ 4.0d*pi*time GeneralConstraintSets ForceTorques ConstantGravity 0.0 -9.81 0.0 SimulationParameters tstart 0.0 tend 1.0 hmin 1.0e-9 hmax 1.0 hout 0.01 errorTol 1.0e-6 AnimationParameters nframe 101 icurrent 1 istart 1 iend 101 isForward true framesPerSecond 30 TimeSeries Number Input 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 Time Input 0.0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1 0.11 0.12 0.13 0.14 0.15 0.16 0.17 0.18 0.19 0.2 0.21 0.22 0.23 0.24 0.25 0.26 0.27 0.28 0.29 0.3 0.31 0.32 0.33 0.34 0.35 0.36 0.37 0.38 0.39 0.4 0.41 0.42 0.43 0.44 0.45 0.46 0.47 0.48 0.49 0.5 0.51 0.52 0.53 0.54 0.55 0.56 0.57 0.58 0.59 0.6 0.61 0.62 0.63 0.64 0.65 0.66 0.67 0.68 0.69 0.7 0.71 0.72 0.73 0.74 0.75 0.76 0.77 0.78 0.79 0.8 0.81 0.82 0.83 0.84 0.85 0.86 0.87 0.88 0.89 0.9 0.91 0.92 0.93 0.94 0.95 0.96 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