Defining Kinematics Automatically

You can automatically define kinematics for given classes of mechanisms.

Manually defining each joint and setting up the kinematic chain in the correct order can be a time-consuming process, and the repetitive tasks involved lend this method to be more prone to making mistakes that require correction. Kinematics Wizard provides a way to define kinematics automatically and speed up the device definition.

Template mechanisms are provided that allow you to fill in details to define the joints of a predefined kinematic chain. New templates can be added as necessary to customize the list of supported kinematics classes.

This task shows you how to:

Create a New Template from an Existing Mechanism

You can save the kinematics from an existing mechanism as a template that can later be used to easily define the joints of predefined kinematic chains.

  1. Open an existing mechanism that has kinematics defined.


  2. From the Kinematics section of the action bar, click Kinematics Wizard .

    The Automatic Kinematics Definition dialog box appears.

    • Selection displays the name of the current selected object.
    • Resource converts the selected product into a tool equipment resource with a controller. If the selection is already a resource, Resource is automatically selected and disabled. If certain options (such as kinematic relations) require a resource type, Resource is automatically selected and disabled.
    • Template is automatically set to Custom.
    • The Part Grouping tab and the Joint Types in the Joints/Commands tab are populated from the existing kinematics.



    Note: The default color for each group name can be customized by clicking the color swatch next to the group name.

  3. In the Part Grouping tab, select a group in the Group Name column.

    The parts that are included in the selected group appear in the Selected Group's Parts list.

    Click Add to select a part in the work area or tree to add it to the current group.

    Click Clear Selection to remove a selected part from the current group.

    Click Remove to remove the entire group.

  4. Click the Joints/Commands tab to view and edit the current defined kinematic relationships and axis definitions.

    For each defined joint:

    • You can select the type of joint from the Joint Type list.

    • Joint Axis specifies the axis for the joint.

    • Group 1 and Group 2 specify the respective group from the list of defined groups.

    • Axis 1 and Axis 2 allows you to select from the defined axis systems of parts directly added to the current group.

      Click to define a new axis system for the current group.

      Click to edit the axis system that is currently selected.

    • Joint Name displays the name of each joint. A joint name is required when defining joint relations. You can edit the name directly in the respective field.

    • The Command column lists the defined commands and their respective names. Selecting a joint as a command requires a name for the command. Clearing the selection deletes the command and clears the name.

  5. Click the Relations tab.

    This tab facilitates the management of joint relations. It lists all non-command joints and displays any relations that are defined on them.

    Click Add/Edit to launch the Define Joint Kinematic Relations dialog box and manage a relation for a selected joint.

    Click Remove to remove a selected relation.

  6. When the kinematics are defined as needed, click Save Template to save the current kinematics settings as a template that can be applied to other products.

    The Save Template dialog box appears, and prompts you to name the template.

    Templates location is set by default to the KinematicsTemplates folder under your user Documents folder. The default location can be customized in Me > Preferences > Simulation > Digital Manufacturing Apps Common Services > Device Analysis > Kinematics Wizard > Templates location.



  7. Click Save to save the template.

    When you subsequently open data that has no kinematics defined, the saved template appears for future use in the Template list.



Create a Mechanism from a Template

You can select a template mechanism and easily fill in its details to define the joints of the predefined kinematic chain.

Template mechanisms are provided that allow you to fill in details to define the joints of a predefined kinematic chain. The system supports fully-specified data (where all joint axis systems are already defined on the geometry) and partially-specified data and raw geometry (where additional input is required to define the axis systems).

New templates can be added as necessary to customize the list of supported kinematics classes.

  1. Open a product that does not have kinematics defined.


  2. From the Kinematics section of the action bar, click Kinematics Wizard .

    The Automatic Kinematics Definition dialog box appears.



  3. From the Template list, select a template for the class of kinematics to be created.

    When a template is selected, The Part Grouping tab and the Joint Types in the Joints/Commands tab are populated from the kinematic definitions defined in the template.



  4. Click OK to create the mechanism.
  5. Click Update to update the constraints and shape representations.
  6. From the Motion Controller section of the action bar, click Jog Mechanism and select the mechanism to jog it.