Mechanism Simulation With Working Model

Shih-Liang Wang
Department of Mechanical Engineering
North Carolina A&T State University
Greensboro, NC 27411

Introduction motors). With a click of the mouse, WM uses its

simulation engine to put the model in motion.
Kinematics is a study of motion and force of WM applies Newton’s law along with physical
linkages, gear trains and cams. To many students, constraints and external forces to calculate the internal
visualizing the motion of a mechanism is very forces and acceleration of each rigid body. Using
challenging. Physical models can be built to illustrate the numerical integration, the velocity and position of each
motion, and modular models using Tinkertoy or Lego are body can be calculated. Since no closed form formula is
also effective. However, the link lengths of these models used in WM for the animation, students can use WM to
are fixed to some extent, and the physical models can not verify answers obtained from using loop closure
represent many problems closely. Many software equations. For a complex control problem, WM can
packages are available for linkage animation and establish real-time links with Excel, MATLAB, or other
analysis. Nevertheless few can easily promote an active programs that support Windows DDE to carry out
learning environment. calculations.
Felder and Silverman [1] have synthesized five WM can import drawings with AutoCAD DXF
categories of learning style models: sensing/intuitive, format. Alternatively AutoMotion, developed by WM's
visual/verbal, inductive/deductive, active/reflective, and vendor Knowledge Revolution, can be used within
sequential/global. Most textbooks and classroom teaching AutoCAD to create each part’s geometry and assign
are intuitive, verbal, deductive and sequential, and this physical property to the geometry. AutoMotion can also
environment can not meet the needs of the second tier create and attach WM constraints to AutoCAD geometry.
students [2,3] who are sensing, visual, inductive, active, All this information can be exported directly to Working
and global learners. This paper presents the author’s Model at the click of one button.
effort to develop a learning environment to reach this Once a mechanism is constructed and run in
group of students based on an easy to use, powerful, and WM, a user can play "what if" scenarios by using the
robust software Working Model [4]. Smart Editor to manipulate objects on screen and change
Many PC programs for kinematics developed in the property and appearance of each body. This flexibility
the past are written in FORTRAN or BASIC languages. gives an active learner a virtual prototyping tool.
They have limited graphics capability by using sticks
(line segments) to model links, and this representation is A Learning Environment for Kinematics
often too abstract for some mechanisms. For example,
each part of the compound snips in Figure1 is difficult to A companion software for a kinematics textbook
be visualized as a stick. Another drawback of traditional by Robert Norton [5] is developed as a learning
programs is that animation and analysis are limited to environment for kinematics. This software includes many
four links and can not be extended to a sixbar linkage, helpful animation and analysis programs for linkages,
like the quick return mechanism shown in Figure 2. gear trains, and cams so that students can visualize their
Advanced motion analysis software like DADS motion with realistic model. The software should
or ADAMS is run on mainframes and workstations. promote students' interests in kinematics, and should
These software packages are expensive and their motivate them to learn Working Model that can later be
procedures are complex. They are good for research and used in other class projects as a design tool.
industrial environment but not ideal for an active In the linkage program shown in Figure 3, a
learning environment in undergraduate education fourbar linkage is constructed and can be animated. The
Working Model (WM) is a powerful engineering lengths of links and the orientation of the ground link
analysis and motion simulation software on PC. A user can be modified from input boxes. Changing the link
can sketch a problem using a variety of simple geometric lengths, a linkage can be transformed from a Grashof to
primitives. Then sketch additional constraints (joints, non-Grashof linkage and vice versa. These dimensions
springs, and dampers) and actuators (cylinders and can also be changed from property boxes. The velocity
and acceleration of any point or link can be displayed by Animated Mechanism Library
using output boxes.
Figure 2 (similar to Figure 3-14 in [5]) shows a In addition to the learning environment, a
quick return mechanism. In the animated version, a user related effort using WM is to compile a library of
can visualize that the return stroke is faster than the animated mechanisms. This library will be a useful
forward stroke, and therefore can understand the resource for students working on design projects and for
meaning of "quick-return." practicing engineers to develop new products. Text files
Figure 4 (similar to Figure 2-15 in [5]) shows can be linked to the Working Model using Visual BASIC
four inversions of a Grashof fourbar linkage. Kinematics to provide features and detail information of each
inversions are obtained by grounding different links of a mechanism.
linkage, and some students have trouble visualizing the One completed module is compound shears that
difference, especially visualizing the Grashof double can provide a large mechanical advantage as compared to
rocker. Clicking the run button in WM, one can visualize simple shears. These problems have been introduced as
all four inversions in motion simultaneously, and the statics problems [6,7], or kinematics problem [8]. For a
contrast becomes obvious. This animated program is design engineer, the stroke and the mechanical
easily constructed in WM but will be a fairly large advantage over its motion range are important. WM can
programming task in FORTRAN. Figure 5 (similar to provide the analysis and animation of these mechanisms
Figure 2-13 in [5]) shows four inversions of a crank- as shown in Figure 11 to Figure 14. A user can play
slider mechanism. “what if” scenarios to modify these hand tools. A
The velocity instant center of a linkage is designer may want to adapt this type of mechanism in
another difficult concept to grasp and visualize. An applications requiring a high mechanical advantage.
instant center is a point common to two bodies having Modules to be developed in the future include
the same velocity at the instant. In Figure 6, a WM mechanisms used in automobiles, robot grippers, and
program shows the location of instant centers and the labeling machines.
instant center's velocity vector during animation. In
Figure 7, two fixed points are specified in two different Summary
bodies. In the animation process, a user can observe that
only at the instant center location, the velocities of these The WM programs presented in this paper will
two points are identical. eliminate the frustrations some inexperienced WM users
Planetary gear trains are sometimes difficult for faced when building sophisticated models in the
some students to visualize because there are four beginning. They can start running these programs right
components (sun gear, planet gear, ring gear, and the away and then learn to use the Smart Editor as their
arm) in a gear train. In a WM program shown in Figure interests grow. Although this companion software is
8 (similar to Figure 10-30 in [5]), all components are intended for [5], the software is generic enough that
shown in different colors and rotated at different speeds. students using other textbooks can also benefit.
The mechanism has two degrees of freedom, and two Educational discounts for multiple copies of
input boxes are used to modify the velocity of the sun WM make it affordable. Student edition of Working
gear and the arm. Output velocities of the planet gear and Model [9] is sold at a very reasonable price if a student
ring gear are also shown in boxes. prefers his or her own copy. Addison Wesley also
Most PC based cam programs can plot cam includes WM into AutoDesk Collection Plus for
profiles very accurately, but can not show the coordinated collegiate users.
motion between a cam and its cam-follower. The All figures in this paper are generated by WM.
animation of a cam system (a cam with its cam-follower Animated versions of these figures are also included in
and return spring) is important for the second tier the Proceeding CD with the same figure numbers and
students and can be easily accomplished by WM. captions.
Working Model can create cams of force or form closure
(as shown in Figure 9), and cam followers can be
modeled with a roller or a flat face (as shown in Figure
Acknowledgments
10). The cam profile can be inputted from a spreadsheet
WM programs illustrated in this paper are
file. The spring constant can be specified using the Smart
developed by Zhidong Liao, Fan Mo, Maja Jankov, Amir
Editor.
Naghshineh-Pour, and other former students in my
MEEN 440 and MEEN 565 classes.
References

1. Felder and Silverman “How Students Learn: Adapting

Teaching Styles to Learning Styles,” Proceedings of
Frontiers in Education Conference. ASEE/IEEE, Santa
Barbara, CA., p. 489, 1988.
2. Felder, R.M. “Reaching the Second Tier- Learning
and Teaching Styles in College Science Education,”
Journal of College Science, 23(5), 286-290, 1993.
3. Tobias, S., They Are Not Dumb, Thet Are Different:
Reaching the Second Tier, Tucson Research Corporation, Figure 2 The Quick Return Shaper
1988.
4. Working Model User’s Manual, Knowledge
Revolution, San Mateo, CA, 1995.
5. Norton, R., Design of Machinery, McGraw-Hill, 1992.
6. Riley, W.F., and Sturges, L.D., Engineering
Mechanics- Statics 2nd ed., Prentice Hall, 1996.
th
7. Hibbeler, R.C., Engineering Mechanics- Statics 7
ed., Prentice Hall, 1995.
8. Erdman and Sandor Mechanism Design: Analysis and
nd
Synthesis, 2 ed. Prentice Hall, 1991.
9. Rubin, Tutorial Manual for The Student Edition of
Working Model, Addison Wesley, 1995

Figure 4 Four Inversions of aGrashof Fourbar Linkage

Figure 1 Compound Snips

Figure 5 Four Inversions of a Crank-Slider Mechanism

Figure 3 A Fourbar Linkage Figure 6 The Location of Instant Centers

Figure 7 Two Points Away From Instant Center Location

Figure 11 Compound Shears

Figure 8 A Planetary Gear Train

Figure 12 A Bolt Cutter

Figure 9 A Cam of Form Closure

Figure 13 Toggle Pliers

Figure 10 A Cam With a Flat-Faced Follower

Figure 14 Compound Pliers

Links to animations with demonstrations :

Figure 1
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Figure 11
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Figure 14