C H A P T E R 7

Building a Model

Objectives In this exercise you will learn to

• Build and assemble a model.

• Use meters to characterize the performance of the model.

Software [Link] 4D or [Link] Motion

Support Files None

This exercise shows you how to create constraints and assemble bodies in
[Link] Desktop and how to access data from the simulation
through meters. The target model is a simple piston engine consisting of a
crankshaft, a connecting rod, and a piston. The engine has a skewed
7-2 Chapter 7—Building a Model

crankshaft (i.e., the rotation axis is not orthogonal to the translation axis of
the piston); therefore, the model can be illustrated only in a three-
dimensional simulator.

In a conventional internal combustion engine, a gas explosion in the

cylinder pushes down the piston to drive the crankshaft. For simplicity, this
tutorial exercise creates a mechanism that is driven by rotating a crankshaft
with a motor; you can think of the model as a rudimentary compressor, or a
piston engine being started by a crank motor.

In the initial steps that follow, you will adjust the animation frame rate and
the unit system in the [Link] Desktop file. The unit system
adjustment is to accommodate small mechanisms such as a piston engine.
The default unit system employs the SI unit system (where distance is
measured in meters). You will change the distance unit to millimeters, while
leaving all other units (such as time and mass) intact.

Establish the Modeling Parameters

Set Up the Animation Frame Rate

1. Launch [Link] Desktop.

2. Choose Simulation Settings in the World menu and click Integration

in the Simulation Settings window.

3. Enter 200 in the Rate field.

4. Click Close.

Set Up the Units

1. Choose Display Settings in the World menu and click Units in the
Display Settings menu.

The Units page of the Settings window appears. By default, the SI

(degrees) unit system is chosen.
 Establish the Modeling Parameters 7-3

Figure 7-1
Display Settings Window
(Units Page)

2. Set the distance units to millimeters (mm).

3. Click the X in the top right corner to close the window.

All distance measurements in this document will now be in millimeters.

Set Up the Edit Grid

You will modify the size of the Edit Grid and zoom rate of the document so
that they are appropriate for the dimensions of the components you will
create.

1. Choose Grid in the View menu. Next, choose Show Grid in the Grid
submenu. The Edit Grid appears in the modelling window.

2. Choose Grid in the View menu. Then choose Grid Settings in the
Grid submenu.

3. Click Grid to view the Grid page of the Display Settings dialog.
7-4 Chapter 7—Building a Model

Figure 7-2
Display Settings Window
(Grid Page)

4. Deselect Automatic sizes. Type 200 in the Extents field and 10 in

Snap field.

5. Close the Display Settings dialog.

NOTE: The units in the dialog are based on millimeters. [Link]

Desktop automatically scales the document window to accommodate the
smaller Edit Grid.

6. Click the Zoom In/Out tool on the View toolbar.

The Zoom tool allows you to zoom into the document with a
particular focus. The first mouse click becomes your focus for zooming.

7. Click the global coordinate origin, hold down the mouse button, and
drag the mouse downward to zoom in. Note that if you move the mouse
in the other direction, you can zoom out.

8. Release the mouse button when the Edit Grid fills a reasonable portion
of your document window. You can repeat the previous step to zoom
in further.

If your Edit Grid does not appear to be quite centered, use the Pan
tool to shift the view laterally.
 Create a Piston Model 7-5

9. Choose Wireframe from the View menu.

Create a Piston Model

Create the Crankshaft

In this exercise, the crankshaft is modeled as a single disk. You will later
attach a connecting rod from the piston to this disk so that the phase will be
offset by 180°.

You will specify the geometry and position of the body using the Properties
window.

1. Click the Cylinder tool on the Sketch toolbar.

You can select the toolbars that you wish to display in

[Link] Desktop. Choose Toolbars from the View menu.
Then select the toolbar(s) to display and click OK.

2. Click once anywhere on the Edit Grid, then press the Enter key on your
keyboard. A small cylinder appears where you clicked.

3. Double-click the cylinder in the document window or the Object List to

display its Properties window.

4. Click the Pos tab to view the Position page.

Figure 7-3
Properties Window
(Position Page) for the Cylinder

5. Enter the position:(x, y, z) = (0, 0, 0).

6. Click the Cylinder tab.

7-6 Chapter 7—Building a Model

Figure 7-4
Properties Window
(Cylinder Page)

7. Enter Radius = 25, Height = 10. Note that all the numbers are
interpreted in millimeters.

You can use the tab key to move from one field to another.

8. Close the Properties window. The cylinder is accordingly sized and

positioned on the screen as shown in the following figure.

Figure 7-5
Crankshaft Sized and
Positioned

Currently, the crankshaft is oriented so that it lies flat on the xy plane. You
will reorient the crankshaft so that it is slightly skewed.

9. Double-click the crankshaft cylinder in the document window or the

Object List.
 Create a Piston Model 7-7

10. In the Properties window, click the Position (Pos) tab.

Figure 7-6
Properties Window
(Position Page)

Enter orientation here.

11. Enter the orientation of the cylinder: (Rx, Ry, Rz) = (0, 35, 0).

The crankshaft is reoriented as soon as you tab out of the Ry field. You do
not need to close the Properties window to have the changes take effect.

Assign a Name to the Crankshaft

As you create bodies in a document, [Link] Desktop

automatically assigns a variable name (such as body[3], body[4]...) to each
of them. Although not necessary for this exercise, you will name each body
so that you can easily identify them later.

1. Click the Appearance tab at the top of the Properties window.

Figure 7-7
Properties Window
(Appearance Page)

Type the name

(crankshaft) here

2. In the Name field of the window, type crankshaft in the edit box. Press
the Enter key on your keyboard.
7-8 Chapter 7—Building a Model

To see how the custom name helps you in identifying bodies, simply “hover”
the mouse over the crankshaft cylinder. The body’s variable name is
displayed at the location of the mouse pointer. The status bar in the bottom
left corner of the modeling window also identifies the body with the variable
name (body[n]) as well as the custom name you have just assigned. See
Figure 7-8 for an example.

Figure 7-8
Status Bar Identifying Object

Status Bar Identification

The custom name for this body also appears in the Object List.

Attach a Motor to the Crankshaft

You will now join the crankshaft to the background.

1. Select the crankshaft, if it is not already selected.

2. Click the Create Constraint button in the Edit toolbar, or choose

Constraint from the Insert menu.

Figure 7-9
Create Constraint Window

Constraint
Type

3. In the Create Constraint window, choose Revolute Motor in the list

of constraint types.

The Create Constraint window is best understood when you read the first
few lines of the window as a complete sentence. In our case, the dialog
reads:
 Create a Piston Model 7-9

Create a motor from a new coord on crankshaft to a new coord

on the background.

Therefore, the dialog is set up to create a motor between the crankshaft and
the background.

The bottom half of the window provides only one option, which reads:

Join crankshaft in place (at center of crankshaft)

The option indicates that the motor will be attached to the crankshaft at its
center and that the crankshaft will not move—the body will be joined “in
place.”

[Link] Desktop provides a range of options

depending on the constraint type and objects you select before creating
constraints. Please refer to the Online Help for more information.

4. Click the Create button in the window.

The Create Constraint window closes.

Note that a motor icon appears at the center of the cylinder. Also, notice
that:

• The motor icon has a green cube around it (when it is selected) with an
axis that shows the plane in which the motor allows rotation.
• [Link] Desktop created a red disk-shaped object called a
Coord. The model actually has two Coords at the same global position,
where one is attached to the crankshaft and the other to the
background. (Figure 7-10 displays only one of them, because the two
Coords for the motor are overlapped at this point.)
You may wish to zoom in further to gain a better view of these symbols.

WHAT IS A COORD? Coords are basic objects to construct

constraints in [Link] Desktop. Coord is an abbreviation for
Cartesian Coordinate system. A Coord consists of a point — the origin of
the coordinate system and three coordinate axes (linear) x, y, and z —
along which measurements are calculated. Therefore, a Coord has position
and orientation. To visualize a Coord, simply click the red circle around the
7-10 Chapter 7—Building a Model

motor icon. Notice that a set of coordinate axes appear and that the red
circle is a representation of the xy-plane of the Coord. You may wish to use
the Zoom tool to get a closer look.

Figure 7-10
Coord and Motor

Coord Symbol

All constraints (except for external forces and torques) in

[Link] Desktop consist of a pair of Coords, each of which are
attached to a body or the background. In essence, a Coord serves as an
intermediary between a body and the constraint, as illustrated in Figure 7-
11.

Figure 7-11
Concept: Construction of a
Constraint

Body Constraint Body

Coord Coord
 Create a Piston Model 7-11

For some constraints such as translational spring/dampers, ropes, and

separators, the two Coords associated with the constraint are endpoints.
For other kinds of constraints, such as a revolute motor, [Link]
Desktop uses both the position and the orientation of each Coord
associated with the constraint.

5. Double-click the motor icon located at the center of the crankshaft or in

the Object List. The Properties window appears.

6. Click the Constraint tab in the Properties window.

Figure 7-12
Properties Window (Constraint
Page)

Indicates the rotation axis.

As Figure 7-12 illustrates, each constraint shows you the free rotational or
translational directions. In the case of this motor, the Properties window
shows that the motor allows rotation about the z-axis.

7. Click the Motor tab in the Properties window.

Figure 7-13
Properties Window
(Motor Page)
Specify angular velocity
here.

Formula Editor button

Specification is expressed
in the z-axis of the Coord
on Ground.

Figure 7-13 illustrates that the angular velocity specification uses the z-axis
of the Coord on Ground, one of the two Coords associated with the motor.
7-12 Chapter 7—Building a Model

NOTE: By modifying the position and the orientation of Coords, you can
create a full range of constraints. For more information, please see the
Online Help.

Specify the Motor Function

You will specify the motor’s performance characteristics in its Properties

window.

1. On the Motor page of the Properties window, select Angular Velocity

and type 40 in the value field.

This specification results in a motor that rotates at 40 degrees per second.

When you run the simulation, [Link] Desktop will provide as
much torque as necessary to maintain the specified angular velocity.

2. Close the Properties window.

3. Click the Run button in the Tape Player Control.

Note that the crankshaft rotates counterclockwise (if seen from the positive
z). Also, note that the frame indicator at the bottom shows the current frame
being calculated.

4. After several frames, click the Reset button.

Before constructing the rest of the model, we will modify the motor function
so that it only generates some torque at the beginning of the motion, just like
a starter motor would.

5. Double-click the motor icon. The Properties window shows the motor
characteristics.

6. Under the Motor tab, select Torque as Motor Type, and click the
Formula button.

The Formula Editor dialog appears as shown in Figure 7-14.

 Create a Piston Model 7-13

Figure 7-14
Entering an Expression in the
Formula Editor Dialog

Type the expression

7. Type the following expression in the Formula field, as shown in Figure

7-14:

if(time < 0.3, 5.0, 0)

[Link] Desktop will automatically apply the unit system in

which you are working.

8. Click OK. The expression with units appears in the Value text region
as shown in Figure 7-15.

Figure 7-15
Specifying Motor Properties
Select Torque as the
motor specification.

Click to type
the expression.

The expression is an example of [Link] Desktop Formula

Language, and this expression is interpreted as follows:

If the elapsed time is less than 0.3 seconds, apply the torque
of 5.0 N-mm; otherwise, apply no torque.

For more information on the formula language, please refer to the Online
Help.
7-14 Chapter 7—Building a Model

9. Close the Properties window.

Create the Connecting Rod

Next you will attach a connecting rod to the crankshaft. (Before doing so,
you may wish to zoom out so that the bulk of the Edit Grid is visible in your
document window.)

1. Click the Box tool in the Sketch toolbar.

2. Click once anywhere on the Edit Grid and press the Enter key on the
keyboard.

3. Open the Properties window by double-clicking the box.

4. Click the Position (Pos) tab.

5. Type the position as (x, y, z) = (0, 0, 30).

6. Click the Box tab.

7. Enter the dimensions: (Width, Length, Height) = (5, 70, 5).

The connecting rod is sized and positioned accordingly, as shown in Figure

7-16.

Figure 7-16
Connecting Rod
Connecting Rod

As with the crankshaft, you will assign a custom name to this body as well.

8. Click the Appearance tab of the Properties window.

 Create a Piston Model 7-15

9. In the name field type the name con_rod and press Enter.

Again, notice how the hoover tool and status bar identify the connecting rod
and the crankshaft as you move the mouse over the bodies.

Create Attachment Coords

To attach the connecting rod to the crankshaft, you need to create a Coord
on the connecting rod, a Coord on the crankshaft, and then create a
constraint between the two newly constructed Coords.

You will create one Coord on the crankshaft, another Coord on the
connecting rod, and create a spherical joint based on these two Coords.

1. Click the Coord tool on the Sketch toolbar.

2. Click anywhere on the top surface of the crankshaft; you will position
the Coord precisely in the later steps.

A Coord appears with a red circle and the coordinate axes.

3. Double-click the Coord to view its Properties window.

4. Click the Position (Pos) tab.

Figure 7-17
Properties Window
(Position Page)

Type the relative position

here.

Indicates Attachment to the crankshaft.

5. In the region labeled Position and Orientation, enter position at (x, y,

z) = (25, 0, 5).

This specification positions the Coord at the edge of the crankshaft.

6. Close the Properties window.

7. Click the Coord tool on the Sketch toolbar.

7-16 Chapter 7—Building a Model

8. Click anywhere on the connecting rod. (You will position the Coord
precisely in the later steps.)

9. Double-click the Coord and click the Pos tab of the Properties window.

10. In the region labeled Position and Orientation, enter position (x, y, z)
= (0, 35, 0), and orientation (Rx, Ry, Rz) = (-90, 0, 0).

This specification (relative to the body) positions the Coord at the right end
of the connecting rod. This time we are specifying the position as well as
orientation because the Coord may have attached to the side surface of the
connecting rod and not have the correct orientation.

11. Close the Properties window.

Create a Spherical Joint

You will attach the connecting rod to the crankshaft with a spherical joint.

1. Select the Coord on the connecting rod (if it is not already selected).

2. While pressing the Control key, select the Coord located at the
perimeter of the crankshaft.

Both Coords are selected.

3. Click the Join/Create Constraint button on the Edit toolbar.

The Create Constraint window appears, as shown in Figure 7-18. Note

that the body names appear as previously customized in the window, so
that you can easily verify the bodies and Coords you are attaching are
correct.

Figure 7-18
Create Constraint Window

4. Choose Spherical Joint as the constraint type.

 Create a Piston Model 7-17

As discussed earlier, you should read the first few lines of the window as a
complete sentence: “Create a spherical joint from coord[x] on con_rod to
coord[x] on crankshaft.” [Link] Desktop automatically selects
the remaining options depending on the objects you selected.

5. Click the option Join (move con_rod to crankshaft). See Figure 7-18.

6. Click the Create button in the window.

The Create Constraint window closes. The connecting rod is moved to the
crankshaft, and a spherical joint icon appears at the attachment point, as
shown in Figure 7-19.

Figure 7-19
Bodies Connected with a
Spherical Joint

The spherical joint

Test Your Model

As you create a simulation model, you should periodically check to ensure
that the model’s components are working properly.

So far, you have completed the following:

• Attached a crankshaft to the background with a motor at a skewed

angle
• Attached a connecting rod to an edge of the crankshaft with a spherical
joint.
To test your model, simply run the simulation and visually verify the motion
of the connecting rod.
7-18 Chapter 7—Building a Model

1. Click the Run button in the Tape Player Control.

After the simulation runs for a while, the connecting rod swings out as the
crankshaft rotates, as shown in Figure 7-20.

Figure 7-20
Connecting Rod Swung Out by
the Crankshaft

2. After running for a dozen frames or so, click the Reset button in the
Tape Player Control.

If the model did not behave as discussed, you should review your model. A
few hints are:

• If the motor is not rotating, you may have forgotten to specify the
motor’s property. Review the section Attach a Motor to the
Crankshaft.
• If the connecting rod is falling downward, you probably have failed to
attach it to the crankshaft. Review Create Attachment Coords.
Validating a large model is not always an easy task. As discussed in this
section, you should periodically verify your model’s assembly before
proceeding.

Create the Piston

You will now create a piston and fix it in space with a slot joint.

1. Click the cylinder tool on the Sketch toolbar.

2. Click once on the Edit Grid, then press the Enter key on the keyboard.

3. Double-click the cylinder in the document window or the Object List.

4. Click the Position (Pos) tab. Enter the position (x, y, z) = (0, 0, 60).

5. Click the Cylinder tab. Enter the geometry (Radius, Height) = (20, 25).
 Create a Piston Model 7-19

The piston is sized accordingly and positioned on the screen (see Figure 7-
21).

Figure 7-21
Piston Sized and Positioned

If the piston appears cut off at the top of your document window, click the
Pan tool to shift the view.

Next, you will assign a custom name to the piston.

6. Click the Appearance tab.

7. In the name field, type piston.

8. Close the Properties window.

Attach the Piston to the Background

The piston’s motion is restricted to the vertical axis. You will attach the
piston to the background using a rigid joint on slot.

1. Select the piston, if it is not already selected.

2. From the Insert menu, select Constraint.

The Create Constraint dialog appears, as shown in Figure 7-22.

3. Choose Rigid Joint on Slot as the constraint type.

The window presents a single option: Join piston in place (at center of
piston).
7-20 Chapter 7—Building a Model

Figure 7-22
Create Constraint Window

Since you selected a single body (you did not select Coords),
[Link] Desktop presents the only reasonable join option.
[Link] Desktop will create two Coords (one attached to the
piston, the other attached to the background), and create a rigid joint on slot
to connect the body to the background. One of the Coords will be attached
to the body at its origin (coordinate origin).

4. Click the Create button in the window.

A rigid joint on slot icon appears at the center of the piston (see Figure 7-
23). You may want to zoom in with the zoom tool to obtain a better view.

Figure 7-23
Rigid Joint on Slot Created

The small green line segment

indicates the translation axis.

Note that the small green line segment indicates that this slot joint allows
single degree of freedom (translation in the z direction). The piston can slide
“up-and-down;” this is the desired behavior.

Create an Attachment Coord on the Connecting Rod

1. Use the Rotate Around tool so that you can see the free end of the
connecting rod, as shown in Figure 7-24.
 Create a Piston Model 7-21

Figure 7-24
Attaching a Coord
to the Connecting Rod

Attach Coord here

2. Click the Coord tool on the Sketch toolbar.

3. Click at the free end of the connecting rod.

If you attached the Coord on a side surface of the connecting rod, do not be
alarmed; you will correct it in the next step.

4. Double-click the Coord to view its Properties window.

5. Click the Position (Pos) tab, and verify that the Coord is attached to the
connecting rod, and the configuration is given as (X, Y, Z) = (0, -35, 0),
and (Rx, Ry, Rz) = (90, 0, 0). Correct any values that are different.

Figure 7-25
Properties for Coord Attached
to the Connecting Rod

Enter this configuration,

if different from
what is shown here.

Indicates that the Coord is attached

to the con_rod.
7-22 Chapter 7—Building a Model

6. Close the Properties window.

Create an Attachment Coord on the Piston

To connect the connecting rod with the piston, you will also create an
attachment Coord on the piston.

1. Use the Rotate Around tool to position the piston so that its bottom
surface is facing you.

2. Click the Coord tool on the Sketch toolbar.

3. Click at the bottom surface of the piston, near the center.

Do not worry if you attached the Coord on a side surface of the piston; you
will correct it in the next step.

4. Double-click the Coord to display its Properties window.

5. Click the Position (Pos) tab, and verify that the Coord is attached to the
piston, and the configuration is given as (X, Y, Z) = (0, 0, -12.5), and
(Rx, Ry, Rz) = (0, 180, 0). If any values are different, correct them.

6. Close the Properties window.

Create a Spherical Joint

To put together the two Coords, one attached to the connecting rod and the
other to the piston:

1. Select the Coord attached to the connecting rod.

2. Hold down the Control key, and select the Coord attached to the
piston.

If you have trouble selecting these Coords in the modeling window, try
selecting them in the Object List.

3. Click the Join/Create Constraint button on the Edit toolbar. The

Create Constraint dialog appears (Figure 7-26).
 Create a Piston Model 7-23

Figure 7-26
Create Constraint Window

4. Select Spherical Joint as the constraint type, and click the option
labeled Split constraint (Don’t move anything).

You can assign the constraint and leave the bodies intact this way. You will
assemble the joint in a later step.

5. Click the Create button in the window.

A line appears between the two Coords, and a split spherical joint icon
appears in the Object List. At this point, the constraint is defined, but the
bodies are not assembled.

6. With the new constraint is selected, right-click and select Join.

A dialog appears that offers you the choice of moving the bodies to satisfy
the constraints or adjusting the coord location without moving the bodies, as
shown in Figure 7-27.

Figure 7-27
Join Options Dialog

7. Click the Assemble radio button. Click OK.

[Link] Desktop will attempt to assemble the bodies using its

quick kinematic assembly algorithm, but at times, the relationships are too
complex. When this occurs, [Link] Desktop presents an
Assembly Error dialog and you have the option of using a slower, dynamic
assembly algorithm.
7-24 Chapter 7—Building a Model

Kinematic Assembly Failure

When the Assembly Error dialog appears, you can choose which method
you want to use to resolve the problem:

• Click the Retry button to attempt assembly using a dynamic assembly

algorithm.
• Click Cancel to close the dialog, then use the Move tool to position the
coords that you want to join closer together.

Use the Dynamic Assembly Algorithm

Click the Retry button in the Assembly Error dialog to have
[Link] Desktop assemble the bodies using a slower, iterative,
dynamic assembly algorithm.

A progress dialog appears to show the assembly is in process, as shown in

Figure 7-28. At the same time, the bodies in the model undergo motion to
show you the assembly process.

NOTE: If you do not see the progress dialog, you may have accidentally split
another constraint by mistake. In that case, choose Select All in the Edit
menu, and click the Join/Create Constraint button in the Edit toolbar.
[Link] Desktop will attempt to resolve all constraints
simultaneously.

In the Join process, [Link] Desktop is solving the configuration

to find the converging solution to satisfy all the constraints. Bodies may
appear to move away from their respective constraints at first, but
[Link] Desktop soon finds a converging solution that satisfies
all the constraint conditions.
 Kinematic Assembly Failure 7-25

Figure 7-28
Joining Process

After a short while, the progress bar reaches the completion, and the
progress dialog disappears. At this point the model is fully assembled, as
shown in Figure 7-29, and you are ready to run the simulation.

Move the Coords Closer Together

Another approach to dealing with assembly errors is to use the Move tool
to position the Coords that you want to join closer together. Follow these
steps to resolve the assembly problem using this method:

1. Click the Undo tool. This returns the spherical joint to its split state.

2. Select the Move tool on the Edit toolbar.

3. Drag the connecting rod to reposition it so that the Coord on its end is
near the Coord on the piston.

4. With the new constraint is selected, right-click and select Join.

5. Click the Assemble radio button. Click OK.

[Link] Desktop attempts to assemble the bodies again using

its quick assembly algorithm. If the Assembly Error dialog appears again,
click the Retry button to use the dynamic assembly algorithm.
7-26 Chapter 7—Building a Model

Figure 7-29
Fully Assembled Piston Engine

Run the Simulation

1. Click the Run button in the Tape Player Control.

The simulation starts, showing the motion of the piston engine mechanism.
Note that the Tape Player Control located near the bottom of the modeling
window shows the current frame number.

2. Let it run for 40 frames or so, and click the Reset button on the toolbar.

Use the Pan, Zoom, and Rotate tools to obtain different view angles and
repeat the simulation. Note that the simulation runs much faster the second
time around, because [Link] Desktop stores the simulation
time history after the first calculations. The history remains in memory until
you change the initial conditions.

Take Measurements
The simulation model you have just created serves as a powerful
visualization tool to observe the general motion of your mechanism.
[Link] Desktop allows you to take numerical measurements
on various aspects of your simulation.

In this section, you will create a meter to measure the angular velocity of the
crankshaft cylinder as well as the forces on the joint between the piston and
the connecting rod.

Now, you will create a meter to measure the angular velocity of the
crankshaft:
 Take Measurements 7-27

1. Select the crankshaft cylinder in the document window or the Object

List.

2. Choose Meter in the Insert menu and then choose Angular Velocity
in the submenu.

A meter with the title Angular Velocity of crankshaft appears as a

separate window, as shown in Figure 7-30.

3. In the Tiling Options dialog, select Tile Vertically and then click OK.

Figure 7-30
Angular Velocity Meter

Note that when the meter window is active, the toolbar icons for tools which
do not apply to meters are disabled (appear grayed out).

By default, the angular velocity meter shows plots for angular

velocities in x-, y-, and z-axes as well as the magnitude.

In this simulation, the crankshaft rotates with its z-axis fixed, so you are only
interested in observing wz, or the z-component of the angular velocity.

4. Double-click the meter in the graph area. The Properties window for
the meter is displayed, as shown in Figure 7-31.

5. Click the Formulas tab if not already selected.

7-28 Chapter 7—Building a Model

Figure 7-31
Properties Window for Meter

6. Delete Wx, Wy, and |W| from the Label column.

As you remove items from the Label column, the formula is also deleted, as
shown in Figure 7-32.

Figure 7-32
Properties Window for Meter
after Removal of Unwanted
Plots

7. Close the Properties window.

You will now create another meter to measure the forces on the spherical
joint between the piston and the connecting rod.

8. Select the spherical joint between the connecting rod and the piston in
the Object List.

When a spherical joint is selected, it shows a green cube with short lines to
show the allowable rotations.

9. Choose Meter in the Insert menu and then choose Constraint

Force... in the submenu.

A dialog appears as shown in Figure 7-33.

 Improve the Model 7-29

Figure 7-33
Meter Dialog for Constraint
Force

10. Select the options as above and click OK.

11. In the Tiling Options dialog, select Tile Vertically and then click OK.
Another meter window appears.

You are now ready to run the simulation to take measurements.

To run the simulation:

12. Click the Run button in the Tape Player Control.

The simulation begins to show the model in motion and the meters display
the data. Note that the meters rescale the graph axes automatically as the
data grows in magnitude.

13. Run the simulation until several rotation cycles are completed, then
click the Reset button on the toolbar.

14. Repeat the simulation.

Note that the simulation runs faster during the playback; observe the “jerky”
rotation of the crankshaft due to gravity.

Improve the Model

As the mechanism completes the cycle, note that the force exerted by the
spherical joint shows a huge spike, especially when the crankshaft reaches
the lowest point. In addition, the angular velocity of the crankshaft motor
(about the z-axis) varies rather dramatically.

To visualize the spike in the joint reaction force:

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1. Select the force meter. Then choose Properties in the Edit menu (or
double-click the force meter window).

The Properties window displays the meter’s attributes.

2. Click the Meter tab, then choose the Graph radio button.

The digital meter changes to the graph format (if not already in graph
format) to show the history. Note the series of spikes seen in the force
meter, as shown in Figure 7-34.

Figure 7-34
Force Meter and History

To avoid excessive wear and tear on the components, suppose you would
like to put a simple control system on the crankshaft motor to smooth the
rotation.

3. Double-click the motor icon located at the center of the crankshaft. The
Properties window appears to show the motor specification.

4. Click the Motor tab, if it is not already selected.

5. Choose the Angular Velocity radio button, then enter the following
expression in the Value field.

0.2*(3600 deg/s-body[1].w.z)

The expression implements a rudimentary proportional control system

which monitors the angular velocity of the crankshaft (represented as
body[1] in the formula). Note that, according to this expression, the motor is
capable of applying torque in either direction.

6. Close the window.

7. Click the Run button in the Tape Player Control.

Note that the force curve on the spherical joint is much smoother.

8. Run the simulation until several rotation cycles are completed, then
click the Reset button in the Tape Player Control.
 Improve the Model 7-31

You can export the meter data to a text file for further analysis by
another application program. For more information, please see the Online
Help.
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