TRUONG TICH THIEN - NGUYEN NGOC TRUNG MO PHONG CO'HE BANG ie ne i 7 eeTRUGNG TICH THIEN - NGUYEN NGQC TRUNG MO PHONG CO HE BANG Working Model MO DHONG CO He PHANG NHA XUAT BAN KHOA HQC VA KY THUATLOL NOI DAU Ca hoc 1a nganh khea hoc co 84 quan trong cho mhiéu chuyén nganh hac trong ky thudt. Do 6 kit thie vé ea hoc la khong thé thiéu trong vige gidi moi bai todn ky thuat nhami nhan eae két qua chi tiet va chinh xac nhif mong dai Ca hoe, néi chung, 1A mén khaa hoc khio sat ting xii cua ee vat thé didi su tuong tic n nhau trén ea sit xac dinh duge ecic quy luat chung trong, ( tuong tae nay. Hay néi each khite, vide xae dink ee méi quan he dn qua gida tAc nhan tuong tie vai ting xii cua cae vat thé chinh déng gop chinh eda ea hoe wrong qua trink phat trién cua Toi nputs a su ‘Tit true dén tan thai gian gan day, ching ta ludn phai tidu tén rat nhiéu thoi gian va cong stic doi vi vige truyén dat cing nbu giai quyét cde vain dé phiic tap trong ca hoc, Hon nia, céc két qua tot nhat thu duge cho ede bai ton phic tap lai ¢6 tinh gén dung, vi mo, rai rae va eritu tugng? May man thay, véi ay phat tridn ctia tin hoc, ey hoc ic mot cong cu hé trg dic luc dé khdc phye ede didm yéu trén, Dé la ky thuat mo phong trén may tinh! Ky thuat mo phong gidp viée gidi cde bai toan ec hoe dat tinh chinh xde cao, vi mé, lién tue va true quan. Mat khac, mé phong ce hé bang may tinh sé mang lai hiéu qua kinh té va nhanh chong hon so vdi thyc nghiém. Trong link vue dio tao ky thuat, cong ey mo phong gitip hoc vién va ky sti nam bat duse ede kién thie mot each chu ding va p host hon de Ichi ap dung vito thue té cong vie ¢6 thé d8 dang tei ut cho phi hop. Gén day, da c6 nhiéu phan mém md phéng hé trg vige giai cdc bai tosn 6 hoc thie té va mot trong cdc phan mém loai nay la Working Model Day la b6 phdn mém chuyén dung dép ung day dui ede tink nang cdn thiét clia mot bd phan mém mé phong. Working Model duige ding dé mo phong phan tich kat cau tinh hoac c6 thé phan tich dong Iue hoc eho eae hé thong ea hoc. Bo phén mém nay cé kha nang ma phéng cv he gém cae vat thé khong nhimg trong khong gian hai chiéu (2D) ma con ca trong Khéng gian ba chiéw (3D). Tai ligu nay nham cung cap cho céc ky su mat cong cu mé phéng ung x ca eae hé théng eo hoc day hiéu qua. Ngoai ra, tai igs cing 6 ¥ dink hé théng cae kién thie co ban cua ea hoc ly thuyét va img dung ching trong vige giai cdc bai ton c6 ¥ nghia thye té cao, Do dé, gido trinh naysé hd tro dic lye trong vige dao tao ky su ciia cde nganh Co Ky Thuat, Co Khi, Ky Thuat Giao Thong, Ky Thust Xay Dung: Trong qué trinh bién soan tai ligu nay, céc tée gid dA nhan duge sy hd tra va gop ¥ cia t&t cd cde thay cd trong bé mon Co K¥ Thudt, trusng Dai Hoc Bach Khoa, Dai Hoc Quéc Gia TP. H8 Chi Minh, Ching toi chan thanh c4m gn nhing sy gitp 43 quy bau nay. Cudi cing xin tran trong cam on Nha Xudt Ban Khoa Hoc va Ky Thuat da bién tap cudin séch va tao moi diéu kién thudn loi dé cudin sch duge ra mat phuc vy ban doc. ‘Voi st chi quan cia ngudi viét, gido trinh nay khong thé trénh khéi nhiing thigu s6t. Ching toi rat mong sy déng gop cia quy déng nghiép va ede ban doc quan tam, Moi déng gép xin vui long chuyén dén: Bé Mén Co Ky Thust hose Phong Tinh Totin Co Hoc 106 By, Trung Dai Hoc Béch Khoa TP. Hé Chi Minh 268 Ly Thudng Kiét, P14, Q10, TP. Hé Chi Minh Tel : 84-8-8.660.568 hodc 84-8-8.651.211 Fax ; 84-8-8.651.211 Email: bmcokythuat@hemut.edu.vn Nha Xuat Ban Khoa Hoc va Kj Thudt 28 Déng Khdi - 12 Hé Hugin Nghiép, Ql, TP. Hé Chi Minh Tel: 84-8-8.225.062 ~ 84-8-8.296.628 — 84-8-8.290.228 ‘TP, Hé Chi Minh, thang 12 nam 2004 Che tae gitMUC LUC LI NOI DAU......... myc Luc PHAN I: PHAN MEM WORKING MODEL... Chuong 1: GIGI THIEU PHAN MEM WORKING MODEL 1.1. Git thigu 1.2. Huéng dan cai dét phn mém Working Model, 1.3, Khéi dong va lam quen vai giao dién Working Model. . . 1.4. Tim hiéu cach thée lam viée cia Working Model... 1.5. Hé théng tro glap - Help... Chuang 2: THAO TAC TRONG WORKING MODEL. 2.1.Vat thé (Body) 2.2.Rang bude va khép néi (Constraint and Joint) 2.3.Lue va ngdu (Forces and Torques) .. 2.4.ThIét tap ce théng of mol truing mé phéng (World) .. 2.8.Bo dec cac dai Inung (Meters) 2.6.Mé6 phéng (Simulation). 2.7.Soan thio (Script) va ng6n ngé lap trinh Working Model Basic... Chusng 3: CAC THI DY MO PHONG DON GIAN 3.1. Thi dy 1: Qud céu niy trén mit ban ....... 3.2. Thi dy 2: Con ki 3.3. Thi dy 3: Sy truyt trén mat nghieng ..3.4, Thi dy 4: Phi dan. 3.5. Thi du Va cham . 3.6. Thi du 6: Ném bong PHAN II: MO PHONG CC HE PHANG... Chuang 4: TINH HOC CG HE 4.1. Co sé ly thuyét tinh hoc....... 4.2. Bai ton xée dinh phan Ie 4.3. Bai todn hé dan... 4.4, Bai togn ma sét 4.5. Céc dang toan khéc. Chuang 5: BONG HOC CO HE 5.1. Dong hoe diém 8.2. Dong hoe vat rin 5.9. Mot sé co edu truyén dong cd bin 5.4. Ce bai mo phéng.. Chuong 6: DONG LUC HOC CG HE 6.1. Dic trung hinh hoc Ehéi ciia co hé .. 6.2. Che dinh If téng quét dong lye hoe 6.9. Nguyen ly d’Atembert 6.4. Nguyén ly cong do 6.5. Dong Ive hoc hé nbiéu bic ty do . 6.6. Céc bai vi du mé phéng .. TAI LIEU THAM KHAO...PHAN I: PHAN MEM WORKING MODEL Chuang 1: GIGI THIEU PHAN MEM WORKING MODEL 1.1. Gigi tien. 1.2, Hudng din cai ait phin mém Working Model. 1.3. Khdi dng va lim quen vél giao dién Working Model. 1.4. Tim hiéu céch thie fam viée cia Working Model. 1.5. Hé théng tra ghip - Help. Chucng 2: THAO TAC TRONG WORKING MODEL 2.1.Vat thé (Rody) 2 Rang buéc va khép né% (Constraint and Joind). 2.3.Lue va ngiu (Forces and Torques). 2.4. Thiet lap che thong 56 méi trudug m6 phéng (World). 2.6.Do dac céc dai lugng (Meters). 2 M6 phéng (Simutation). 2.7.Soan thio (Script vi ngén ngit lip trinh Working Modet Basic. Chueng 3: CAC THI DY MO PHONG BON GIAN 3.1. Thi du 1: Qua céu nay trén mat ban. 3.2. Thi dy 2: Con Ike. 3.3, Thi dy 3: Sy truyt trén mat nghiéng. 3.4, Thi dy 4: Phi dan. 3.5. Thi du 5: Va cham. 3.6. Thi du 6: Ném bong.Chucng 1 GIGI THIEU PHAN MEM WORKING MODEL Li. Giéi thigu. 1.2. Hu6ng din cai dat phin mém Working Model. 1.3, Khéi dong va lam quen véi giao din Working Model. 1.4, Tim hiéu céch thie lam viée cia Working Model. 1.8. Hé thong tro giup - Help. 1.1. GIGI THIED Phén mém mé phéng Phan mém mé phéng (simutlation software) ngay cng duge dig nhigu trong cng nghiép. Ngoai ra viée sit dung phdn mém ma phong dé bd tra cho phuong ph4p gidng day truyén théng cing 1a mot xu huéng tai cde truéng dai hoc chau Au va Bac My. Cac ly do dé ngay cing nhigu ngudi quan tam dén cde phan mém mo phong bao gém - Mét la, mé phéng mét hé thong bang may tinh s@ mang lai sy an toan va higu qua kinh t& hon so vai thye nghigm. ~ Hai la, cong cy md phéng gitip hoc vin va ky su ndm bat duige ede khai niém chung mét cach cha dong va linh hoat hon dé khi Ap dung vao thye t& cong viée c6 thé dé dang hiéu chinh cdc thong 80 cho phir hop. ~ Ba 1a, trong giang day, phdn mém m® phéng gitip gid lén lép ctia gidng vién sinh dong va hiéu qua hon thong qua cde vi du mo phéng. Phén mém mé phéng Working Mode! Working Model la b6 phn mém chuyén dung théa man day di céc tinh nang can thiét eda mot bo phan mém md phéng. Working Model duge ding dé mé phéng cdc hé théng ca hoc. Hé théing mé phéng e6 thé don gidn la mot qué trinh phan tich két cau tinh hoke 6 thé 1a mot hé 3MO PHONG CO HE PHANG BANG WORKING MODEL théng dong luc ‘age. BO phdn mém nay co kha nang mo phéng che gém cée vat thé khong nhting trong khong gian hai chiéu (2D) ma cn ca trong khong gian ba chiéu (3D), Hinh 1.1, Mo hink dong ca ednk quat may bay. Working Model due danh gia la bo phan mém’md phéng ban chay nhat tren toan thé gidi nh vao tinh nang gidp nguei su dung trong qua trinh thiét ké san phdém hay hé théng va xem xét edc két qua thiét ké nhanh chong thong qua viée thye hién mo phéng mt edeh nhanh chong, cling ed nhing két qua cia cae céng cy gidi tich o6 didn. Nhiing tinh nang néi bat cdia Working Model Working Model 1a b9 phan mém mo phéng vdi nhing cong ex hd tro manh mé cho phép nguvi sit dung x4y dyng va phan tich dong lye hoc co hé trén may tinh mot céch nhanh ¢héng va d& dang. Ngoai ra Working Model con cung cap cae cong cu giip kiém tra- thiét ké - kiém tra lai thiét ké trude khi tao méu hay san xudt that mot san phdm. + Gidp ngudi thiét ké thir nghiém ede phién ban thiét ké khac hau * ‘Thye hign nhanh chéng chu trinh “Thye thi - Phén*tich - Higu chinh” gidp t0i uu ede thiét ké trudge khi sn xuat thit + Gidim chi phi tao mau sin pI + Tang tinh chi dong khi m6 phéng sn phém trong ede diéu kign lam viée khde nhau * .Giup nhanh chéng xay dyng, thyc hién va hiéu chinh qua trinh m6 phéng véi nhuing cong cu vé déi tugng va cde rang bude cho trude.CHUONG 1. GIG THIEU PHAN MEM WORKING MODEL + Thue thi, dimg, higu chinh va khai béo lai qué trinh m6 phéng tai bat ky thei diém nao trong hic m6 phéng. + Phan tich thiét ké bang céch do dae cde gid tri luc, moment, gia We. cia bit ky chi tiét nao trong hé théng. © Xem két qua xi it ra duGi dang vector, gia tri so hay d6 thi trong ede h@ don vj khée nhau, * C6 thé giao tiép va nhép dit liéu tir AutoCAD. + Thong s6 dau vao cho qua trinh mo phéng 6 thé nhap bang nhiéu nguén: tis thanh trugt, tir 6 nhap ligu, tit bang tinh Exeed hay tir Matlab + Cung cap cde dang lién két phong phd: lién két khép quay, ranh trugt, motor, ld xo, gidm chi + Tao céc vat thé va khai bdo ede dae tring kh6i lugng, chi dinh van t6c, trudng tinh dién, + C6 thé mo phéng qué trinh’tiép xc, va cham va ma sat, + Phan tich két edu tinh va'cho két qua bidu dé noi lye. + Soan thao cée m6 hinh bang ngén ngi Basie duéi ee dang file script, giép ngu®i sit dyng can thiép séu hon trong qué trinh m6 phéng eda phan mém, + Tgo cde hinh anh dong, doan phim ngéin AVI, dé thi cho viée trinh dién, néi chuyén hdi thao, Hinh 1.2. Mo phong qua trink va dap ctia 6t6 bang mé hink hai chiéu. Working Model trang bi nhiing cong cy gitip xAy dying vA m6 ta ede dac trung ciia hé théng. Khi mo hinh da duge xy ding xong, chuong trinh cho phép tac dung tai thong qua mot s6 loai lye. Céc Ive nay e6 thé 1a luc tap trung, trong Iie hay ngdu,... Md hinh nhu vy sé duge xAy dung trong moi truéng thyc, ¢6 lye trong trutg thing ditng va e6 cé lve ma sat, 5MO PHONG CO HE PHANG BANG WoRKING MODEL Ngoai cdc m6 hinh két cu rdn véi nhing hinh dang khée nhau, phan mém con cung cap mOt 6 loai edu kién, chi tiét, lién két thutng gap gidp cho viée xay dying chinh xde nh&t mé hinh thuc té. Cée chi nay bao gdm: ~ Ld xo thang, 1d xo xodn; hé thing 1d xo - gidm chan. - Gidm chan thang va xodn. 2 Tei ~ Day edp. - Lién két thanh. - Banh rang - Co edu chip hanh, ~ Dong co. Hinh 1) M6 hinh gave xtc Céc phan ti thuting duge lien két véi nhau bang khép xoay, tien két cing hoge ranh trugt. Géi phdn mém nay eung eéip nhiéu dinh dang cho 6CCHUONG 1. GIO1 THIEU PHAN MEM WORKING MODEL vide biéu didn két qua tinh todn, 6 thé bang hinh anh ¢6 thé 1a 46 thi dong cap nhat théng 86 trong qué trinh mé phéng. Working Model hé tt¢ viec gidng day cac mén Co ly thuyét, Dong Ive hoe may, ... Cac mén Co I§ thuyét, Co hoe, Dong lue koe méy,.. dige day rong rai tai ede trubng ky thuat. Chuong trinh hoe va ede dang bai tap thude noi dung nay duge trinh bay kha d4y di va chi tiét trong nhiéu gido trinh lién quan, Bén canh cde gido trinh, Working Model cing duce sit dung trong vige gidng day nho kha nang giai quyét phan In cae dang bai tap 6 nhiing mon hoc nay. Hinh 1.4. M6 hink phan tich diéu kign can bang trong baé todn tinh, Ngoai ra Working Model con gidp hoc vién quan sit true quan cée eg céiu, hoat dong eiia nhiing chi tiét trong hé thong phate tap, Working Mode! hé tr qué trinh thiét ké, thir nghiém do Trong cong nghiép, viée thiét ké san pham mdi, hoan chinh day chuyén san xuat,.. la nhimg doi héi thuing xuyén, thiét thye vA mang tinh sdng con ctia mOi hang xudng. Véi nhitng tinh nang vugt tri cia minh, Working Model da duge gidi ky nghé danh gia cao va duge sit dung rong rai trong cong vie thiét ké. Nhd co phdn mém nay, cong viée thiét ké duge thue hién mot cach higu qui hon cd vé mat thi gian thuc hién cang nh Igi fch kinh t6 mang lai. Khong chi trong cong nghiép, Working Model cbn duge cae nha khoa hoe thude inh vue ty ddng héa va hang khong khong gian sti dungMO PHONG CO HE PHANG BANG WORKING MODEL trong vide ché tao va mo phéng hoat dong ciia cde sn phém “eao cap” nhuf robot, thiét bj khao sat ty hanh, Dé két thie phan gidi thiéu vé Working Model, dudi day la mot sé mo hinh duye thuc hién tai cde cong ty, don vj néi tiéng thé gist inh 1.5. Mo phong hoat déng eta robot.CCHUONG 1. GIOUTHIEU PHAN MEM WORKING MODEL Hinh 1.8, Mau thiét ké phéu chia bi but bi cia hang Gillete. Hinb 1.7. Mo phiong Igt ngang xe nang chuyén dung 1.2, HUGNG DAN CAI DAT PHAN MEM WORKING MODEL Source phén mém Phién bin chay thi (Demo) cia Working Model 2D V5.2 c6 thé download tit Internet & dia chi http:sivaww.workingmodel ¢ eda phién ban ehinh thie Working Model 2D 5.2 om Duéi day la bang gi (Professional):(MO PHONG CO HE PHANG BANG WoRKING MODEL Working Modet® 20 5:2 (in diing cho Windows) Phién bin thang OM 2002 86 lugng ‘86 ligng tai lieu Gia tién (cD) hutong dn sit dung (usp) 1 1 $2.495, 6 $10,795 10 $17,995 20 $24,995 30 $31.995 50 $45,995 Yéu céu céu hinh may tinh. - He diéu hanh MS Windows 95/98/Me/2000/XP/NT4.0 + TOi thiéu 16MB RAM. > Man hinh va card man hinh hé tre t6i thiéu ché 49 mau 16bits: Cac bude cai dat Sau khi download tit Internet vé va gidi nén (unzip) ta e6 duge phién ban Demo cia Working Model. | nue con Install, click dip vao file Setup.exe. is B ] Tir thi muc chia géi phan mém Working Model 2D, vao thu - Théng béo tén Welcome chao mitng va canh bao hién ra nhu hinh dusi day, bam chon Next dé tip tye cai dat. a op nam ony en faa cored Rowse 0, pope am gi oer tna tearm omescrna Mee | toe Hinh 1.8, Thong bao Welcome. - Mt hop thoai khac (Registration Information) hién lén héi thong tin cha ngu@i sit dung (Name, Company) va ma s6 cai dat cia toCHUONG 1. GIO! THIEU PHAN MEM WORKING MODEL phan mém (Serial). Voi phién bin chinh thie (professional) khi mua nguéi str dung sé duge cung cp ma sé nay va ding dé nhap vao 6 Serial. Con d6i véi phién ban chay tht (demo), trong 6 Serial ta chi edn don gidn nhap vito DEMO. Hinh 1.9. Thong bdo Registration Information. - Hop thoai Registration Confirmation yéu cfu ngubi sit dung khang dinh cac thong tin dang nh4p trube dé. Néu cdc thong tin da chin xae, bam vao nut Yes dé tiép tue qué trinh cai dat. @ o Hinh 1.10. a) Hop thoai Registration Confirmation 6) Cita sé Choose Folder - Cite s6 Choose Folder cho phép thay déi dia chi cai dat khée wi dia chi mac dinh la C:\Program Files\WorkingModel. Néu khong cd thay d6i dia chi mae dinh, click OK.MO PHONG COE PHANG BANG WORKING MODEL Liie nay chung trinh bit ddu cai dat vao may tinh v6i nhang thong tin d@ hai bo. Qué trinh cdi dat hoan thanh duge thong bao bang hOp thoai Setup Complete. Bdm Finish dé hoan tat thi tue cai dat Hinh 111, Cée chi th titn do cai dat phdn mom. Hinh 1.12. Thong bdo Setup Complete. Lie nay nguvi str dung e6 thé bat ddu lam quen-véi Working Mode! va “thudng thie” cée tinh nang tuyét vai cia bo phan’ mém mo phéng manh mé nay. 1.3. KHOI DONG VA LAM QUEN VGI GIAO DIRN WORKING MODEL Khdi dong phén mém Working Model - Céch 1: Tir biéu tugng Working Model trén man binh nén (Desktop),CHUONG 1. GIOLTHIEU PHAN EM WORKING MODEL Click chon. vao biéu tugng eda phan mém Working Model | trén man hinh nén. Biéu tugng nay xudt hién nhu hinh ben. | WORKING | mapet 20. Céeh 2: Vs Start menu. Click chon muc Programs trong Start menu, Trong danh s&ch dé xudng, chon Working Model 2D. BH Windows Update 1) New Otice Docaere Open Ofce Document BBD Viekey 2000 3 oxavannz FS Laurchlevemet Expleter Browser “Yahoo! Messenger @ ica 2D wiz if P = Doouments i Setinge BY Search & Hep Dan & shtdom. ‘icrarft SOL Server [ie DOM SOO wows Hinh 1.13, i dong Working Model ti Start menu. - Céich 3: Tit file thy thi chuong trinh WM.ere trong thu muc cai dat. Khi cai dat, Working Model s@ duge luu tri’ mae dinh trong thi mue a6 dia chi: C:\Program Fites\Working Model 2D [ Pyexn | File thye thi chuong trinh (WM.exe) nim trong thu mue eon | Ore Program theo dia chi: ‘vf | C:\Program Files\Working Model 2D\Program\WM.exe WM.exe | va 06 biéu tuong nhy hinh bén. _MO PHONG CO HE PHANG BANG WORKING MODEL Lam quen véi giae dién Working Mode! Sau khi khéi dong, giao dign cia Working Model xuat hién nhu sau: Pe) ca wld Var Chet fare Han Sa rn DisiGl s/ee) 218) Pe OLALALA|| me son no L2Joleielel2 Lababa! Hinh 1.14. Giao dign eva phén mém Working Model. Vé ca bain, giao dién Working Model bao gém nhing phan ehinh sau Thanh tiéu dé (Title bar) ‘Thanh tiéu dé nam trén cung cia cita sé Working Model, Thanh tiéu dé la noi thé hign tigu dé cia bai mo phéng khi da duge dat ton va [Untitled] khi bai mo phéng chua duge dat tén. RIES ix) Hinh 1.15. Thanh tieu dé (Title bar). ‘Thanh thye dun (Menu bar) Thanh thye don bao gém mQt he thdng cde menu gidng nhu trong moi ‘ing dung quen thude chay trén nén Windows. World View Object Define Measure Setipt Window Help Finh 1.16. Thanh thye don (Menu bar).CHUNG 1. GIGI THIEU PHAN MEM WORKING MODEL Bang 1.1. H¢ thong trink dun (Menu bar) Convert Objects Angular Momentum Total Force Total Torque Gravity Force Electrostatic Force Air Force Force Field Kinetic Energy Gravity Potential [Fite Edit World View New Undo Gravity Workspace. Open out Air Resistance. Grid Snap Close Copy Electrostaties. Object Snop Save Poste Force Field, System Center of Mass Save As... | Delete Bun Lock Points i | Prints Setect Au | Reset Lock Controle Import Duplicate | Start Here Numbers ond Unit. Esport Reshape | Ship Frames View Size | voces | Player Mode | Tracking Backgrovond Color... | (anh sich AutoBrase Track | New Reference Frumes° cde bai nt Brase Track Delete Reference Frane | hang da Retrain Meter Values | Honve eel Erase Meter Values day) a Accuracy. . Pause Control... a Preferences. : L i Object Define ‘Measure i ‘doin Vectors Time 1 Split No Vectors Position i | Move to Front Vector Display Velocity Send to Back Vector Lengths ‘Acceleration Collide Now Menu Button | PY:A Do Not Collide New Controt Conter of Mass Pos. Font New Application Center of Mass Vel. Attach Picture Interface Center of Mass Accel, Attach to Body MomentumMO PHONG COME PHANG BANG WORKING MODEL Bang 1.1. He chdng trink don (tiép theo). Script Window [Help [run Properties Contents Editor Appearance Search for help on. Optimize Geometry Using Help Create Constraint Cascade About Working Model 20. | Document Model Tite | Zoom to Extent Arrange Icons Measure Between Points Flip Polygon (Dank sich c&e Multiple Run Fite bai mo phong Bin Frietion dang ma) Shear & Bending Momest Hé théng toolbar Toolbars gitip ngudi sit dung thye thi mOt céch nhanh chéng nhimng lénh thong dung. Dudi day Ia lit ké ede edng cu trén nhing hé thong toolbar c6 trong moi trusng Working Model. Bang 1.2. Standard toolbar. ‘Standard Toolbar New Ma méi mot bai md phong Working Model véi cae thiét lap mae dinh hign hanh )) | [| open | ata mot bat mo phone Working Model da tao ra trade 46 [EA | Save | tas vi mo phing hi han | [2] Cae clinton ‘d6i tugng chon ra khéi mo hinh va dua vio [ [Ral | copy | Cony che a6 wag chon vi dia vio Clipboard | [OQ] | Paste | Dan noi dung ws Clipboard vio bai mb pling [BB] | erine | tn mo ninh, ‘Ll Help | Truy xuat nhdng tinh ning hd trg cba Working Model.CCHUONG 1. GIGUTHIEU PHAN MEM WORKING MODEL Bang 1.3. Edit toolbar PRT] “222 | ca cna ot to a yng tn hi | PER] erate ce ap quay ast evong quan kh Che do nhap van ban trye tip vito ving lam vige. In__| twicliok chubt. Zoom | Ché 4 thu nhd mot nif hink anh trong vong chi diah tai vi Out _| tri click hut fl [Bl] tomer | EH iw av SAF ne vn Ah wi al Bang 1.4. Run control toolbar. Run Control Toolbar Rund]| Run | Tidn hanh qua trinh md phing. J stopal) stop | Ding qua trinh mo phéng eset] never | TH DA 8 whinge dd vw eT ROH u.gud eh 8 | [phon Bang 1.5. Body toolbar. ofa! EG) oie! Body Toolbar Circle | Tao d6i tugng hinh tri e6 Khoi. lugng, Square | Tao di tuyng hinh vubng 66 kh6i luyng, Polygon _| Tyo di tuyng hinh da gise cb Khoi lugng. Curved Polygon ids Rectangle | Tao dBi tugng binh chi nhit e6 khéi lwong. ‘Tao 46 tugng hinh da gide canh cong o6 Khoi lyng. Epo aae Anchor _| Ding dé khéa chuyén dong cia ede 46% tugng 06 khoi Luong.MO PHONG CO HE PHANG BANG WORKING MODEL Bang 1.6. Join/ Split toolbar. se Joinisplit Toolbar [Joind] | Join Dang 4 square point, va slot elements). ign két hai phan tf (phdn wif e6 thé 1A points, Split Ding a tam thoi téels rat hai chi eit lien at Bang 1.7. Point toolbar. Point Toolbar El Point Dung dé tao mOt phéin ti diém phye vu cho viee tao ° — Tiga két ho&e xae dinh vi tri do dac cde dai lung Blement rap phing: - es Dang dé tao mot phn ti diém vubng phye vu cho Led | Samare Point | ego tin ket cing hose KE hop v8 phan Wao | ment | gé tao lien két ranh trugt =] nee Ding dé tgo phan tit Fan trugt ngang, CH | Vephiea! St | Dang a6 to phd tr ran trast dmg [A] | Cwreet Slot | pang aé tao phn tr ranh trust cong [ey | Core | ang a tn pn ih it hep in Construction Toolbar Bang 1.8. Construction toolbar. RS] | Rotational [Ding aé gol xoxedn.CHUONG 1. GIO! THIEU PHAN MEM WORKING MODEL Ding dé tao ld xo thang, Ding dé tao gid chain xodn. Ding dé tao giim chain thang Ding dé tao biinh rang. Dung 46 tao he 10 xo - gidm chain thang, Rod a Ding dé tée dung mot ngdu lén mo hioh._ I Dong dé te dung mot ye lon mo hin S| | motor | Dang dé tao dong oa 1 Ee] | Actwator | Dung dé tao edu chap hanh MA | Rope —_| Ding dé tg0 lien ket day AE] | Separator | Ding dé wo khe hé Bf | Puney | Ding dé tao he thong wi — Dung dé tao ra Tien két than, Bang 1.9. Joint toolbar. Joint Toolbar Pin Joint Ding d@ tgo khop xoay giaw hai val thé dat ching lén hau hay gid mot wat thé vi mat dat Dang 4é tao lien két eting gida hai vat thé dat chong len Rigid Joint | sau hay gia mot vit thé vA mac dit Horizontal . StorcToine_| Din dé 90 li KEL rioh rr xoay nim aging Horizontal | Keyed Slot | Dung 4é to lién két ranh trugt khong xoay nim ngang Joint Vertical 5 Stor Joine | DME AE to Ui KEL rnb tru xoay thing ding Vertical Keyed Stot | Dung dé to lign kit ranh trugt khong xoay thang dung. Joint _| Curved Stot | Dung dé tao lién két rinh truyt xoay cong.MO PHONG CONE PHANG BANG WORKING MODEL Joint Closed Fe | corse sot | Dong a eg en bt aah tap sony can HD in Thanh trang thai (Status bar) ‘Thanh trang thai (Status bar) nim phia duéi man hinh mé phéng cia Working Model. Thanh trang théi tich hop cée théng tin bao gém: thanh tga d9 (Coordinates bar), thanh thye thi mé phéng (Play bar) va thanh trugt ngang (Horizontal bar). Hinh 1.17, Thank trang thai (Status bar) x20 mya mbsf om BOO Hinh 1.18. Thanh toa d6 (Coordinates bar), Thanh toa d9 (Coordinates bar) nim é phfa duéi man hinh mo phong cia bai tinh, N6 hién thj cdc toa dé (toa dd Descartes va e6 thé ca toa 46 cuc) cia vat thé duge chon. Yori Hinh 1.19, Thanh thie thi md phdng (Play bar) ‘Thanh thye thi mo phéng (Play bar) nim & phia duéi man hinh m6 phéng va dudi cd thanh toa do. Play bar mang céc chite nang diéu whién cia mot “may quay thu va phat hinh” (Tape Player controls). V6i thanh thye thi md phéng ndy ngubi sit dung e6 thé bat dau, két thic, tré_nguge mét bai mé phong, . 1.4. TIM HIZU CACH THUC LAM VIRC CUA WORKING MODEL Thao tac véi cae adi tudng trong Working Model ‘Thao tae v6i céic d6i tugng trong Working Model chi yéu duge thue hién vGi chudt. Dudi day liét ké cae dang thao tac ding cho nhing lénh khée nhau:CHUONG 1, GIGI THIEU PHAN MEM WORKING MODEL Bang 1.10, Cae thao tae trong Working Model. (_Thaotae | SY nghia 1 | Point Ghi diém (Pointing) la thao tic dva con tro din vi tri vit (Chi diém) _| thé trén man hinh : | Click Nhéip chudt (Clicking) Ja thao te biim phanh vi nha not (hap chug) | bam tri cua chupt tai vi tri con eré ma khong di chuyén hue. Double-click | Nhip dip chugt Double clicking) 1A thao tde bm nhaah | avhap dap | hai lin vi nha nit bam erdi cia chudt tai vi eri con tré mi chust lehéng di chuyén chubt, Thao tée nay Ja mot veh hign thi noi dung cda mot biéy tuyng (icon) hay mot tai lieu document) bay bat déu mt ehuong trinh mé phong. _| Shift-click | Thao tée click chudt va ding thui git phim Shift (Shift clicking) duge dig 48 chon déng thoi nhidu doi wong khong nim gan nhau. Hold down | Thao tde bdm va gic) wit bam chudt trai (Holding down) thu hign tren mot bigu tusng nhim lam biéu tang sing len hoge Wap tue thé hig cée myc trong moe menu dé Ld gui aut dung 6 thé xem, Drag ‘Thao tic kéo ré (Dragging) cho phép ngusi sl dung di (Kéo ré chupt) | chuyén mot vat thé tron min hinh bing cdch bim gic not bam trai va di chuyén chub. Working Mode! la méi truding soan thée théng minh (smart editon Smart Editor la mét chide nang cia Working Model cho phép nguti sit dyng chudt thao tac voi mé hinh ma khéng pha va hode vi pham cde lién két va rang bude giifa cdc di tugng. Mé hinh cé thé dé dang kéo ré va dich chuyén trong ving \am viée cla Working Model. Moi trutng soan thao théng minh (smart editor) duge thiét ké phue vu cho viée thie hién cae thao tac bing cach click va drag chudt 6 mute nhiéu nhat c6 thé. Sau day 1a mét sé quy tae khi thuc hién cdc thao téc vai smart editor: Quy tée #1: Cée rang bude khong bi pha vd trong qua trinh soan thao. Vi du, néu kéo ré (drag) mét hinh chir nhat lién két véi mot hinh tron thi hinh tron sé di chuyén theo. Quy tic #2 Cée diém cudi (endpoints) cia rang bude khéng thé di chuyén trén d6i tuong ma n6 gin vac. Nhung diém xac dinh lien két khong di chuyén tuong d6i so véi vat ma né cb én két, Lien két phai nam yen tai vi tri cia né.MO PHONG CONE PHANG BANG WORKING MODEL Quy tae #3: Khi chon déng thoi nhiéu ati tugng va thyc hién thao téc kéo ré hay phép quay Working Model s8 xem chung nhul mot khéi rain duy nhat va do 46 vi tri tuong déi cla ching sé duige bdo toan Quy tue #4: Su va cham duge bé qua trong qué trinh soan théo Quy tie #5: Khong lien két nao quay trong qué trinh soan thao trif phi 6 mét 6 rang bude quy dinh lien két phai thu hién diéu a6. CGch thc fam viée cha Working Mode! Tat cd chuyén dong duge tao ra trong Working Model déu da trén céc nguyén ly dong lue hoc co ban Dinh luat If Newton (Newton's 2nd Law) Fema va T= la Cae phuong trinh dong hoe (Kinematic Equations) vedsidt a= dvidt @=d@dt a= daldt Ngoai ra, Working Model con thiét lap mot sé’ md hinh ma sat va cae két gud thuc nghiem mé ta ede img xit bat dan héi va va cham Vai cae nguyén ly nay, cde phuang trinh dién ta chuyén dong ciia cae 6i tugng trong hé théng dutge thiét lap. Ngoai ra cdn c6 cde rang bude hinh hoc duge dua vao khéng ché chuyén dong hoac duy tri hinh ding cua co hé, Hinh hgc vat thé (ody’s geometry) sé kiém tra xde dinh su giao cat mhau gida cac Adi tugng. Néu sy giao cit hay dim xuyén gidta bai d6i tugng bi han ché theo sy xc djnh trong thude tinh eva ching thi tye phat sinh cin tra sy dam xuyén duge tinh toan va tae dung len cde vat thé tiong ing. Gia tée va van téc thu duge tif syf va cham cing duge tinh toan va ap dit len cde Adi tugng, Toan bé cae tinh toan xac dinh chuyén dong ké tiép duge thye hién béi cde phuong phap sé: Phuong phap Euler (Euler Method): MO phdng nhanh chéng va don gidn vdi busc thii gian déu (uniform time steps) Phuong phap Kutta Merson: Mé phéng chinh x4c hon véi bude thei gian bién déi (variable time steps). Dir phuang phap s6 sit dyng thujc loai nao thi nguyén ly lam viée chung van nby nhau: 1) Cae didu kién eda hé thong phai duge biét tai thei diém bat ddu ciia bai tinh,CCHUONG 1. GIOLTHEU PHAN MEM WORKING MODEL 2) Chon bude thdi gian Af (dime steps) rat nhé, tich phan cde phuong trinh déng luc hoc nham xdc dinh cae diéu kien ké tiép ca hé théng sau bute thoi gian nhé nay. 3) Két qua chuyén dong duge danh gis dé xac dinh xem chuyén dong nay cd vi pham ce rang budc hay khong. Néu e6, chong trinh sé can. thiép dé duy tri cae rang bude 4) Qué trinh lap di lap lai dya vio két qua cua bude truée dé cho dén Kkhi toan b6 chuyén dong cia he théng cd thé duge mé ta dong (animated) tai mot thoi diém. Bang cach hién thi tun ty toan bd qua trinh trong ede bude trén, hé théng cdc déi tugng dé hoa xudit hién va di chuyén trén man hinh tao ra cdc hinh anh mé phéng cia mo hinh. 1.5. HE THONG TRG GIUP - HELP He théng tro giup eda Working Model bao gém nhiing dink nghia ede 6i tugng va cde hudng din thao téc trong moi truting md phéng cia phan mém duge trinh bay dudi dang cde chi diém lién he (Related Topics) trong menu Help. Ngoai ra, Ichi sit dung phién ban chinh thie, nha cung caip con gitip dé nguai sk dung ede bai tap méu (tutorial) hay tai liu huéng din sii dung (manual)Chugng 2 THAO TAC TRONG WORKING MODEL 2.1, Vat thé (Body). 2.2. Rang bude va khép néi (Constraint and Joint). 2.3. Late va ngiu (Forces and Torques). 2.4, Thiét lap cfc théng sé méi truéng mé phéng (World). Do dac céc dai lugng (Meters). ‘M6 phéng (Simulation). Sogn thio (Script) va ngén ngit lap trinh Working Model Basic. Working Model cung cap mot. ving lam viée 46 hoa cho phép nguti sit dung chon va tao ra nim loai doi tugng trong mo hinh va cdc doi tu¢ng nay c6 thé lap ghép véi nhau 4é hinh thanh nhang hé thong khae nhau bao gdm nhing chi tiét riéng re. Bang cach tao cdc déi twyng mdi, dinh nghta va két hgp ching voi nhau nhu nhiing phan riéng Ié trong mot hé thong, neuti sit dung c6 thé tao ra v6 80 nhiing mo hinh dong lye hoe khée nhau. Hinh 2.1. Cac cong cu tao déi tuyng trong Working Model. Nam loai adi tuong nay gém e6: Rody-d6i tuong 1A cde vat thé, Point - d6i tugng la cae diém, Constraint - d6i tugng 1a cdc rang bude, lién két, Input - d6i tugng nhip, Output - Abi tuong xudt. 25MO PHONG CO HE PHANG BANG WORKING MODEL Bang 2.1. Nam loai doi tuong trong Working Model [_WM Object 1D_| Mé ta Bodyl#| Déi tugng e6 khdi ligng (Mass Object) iWat thé) Ding dé m6 phéng nhimg vat thé cé hinh dang vi khéi Ivong vi dy nhu hinh tron, da gide, hinh Pointit (Diem) Dimg dé xc dinb cée diém riéng bigt hay cde diém cudi ctia cdc loai rang bude nhy khép néi, diem cudi cia lien két day hoac lien két thanh 7 hay diém vét di chuyén. Constraintt#| Déi tugng rang buge (Constraint Object) (Rang bude) Dung dé md ta cach thie mot vat thé git mot vat thé Khde nlww thé nao, Logi déi tuong nay bao gé:m: khép néi (joints), 10 x0 (springs), day a (ropes), rnh trust (slots), tai (pulleys). Output|#) Déi tvong xudt (Output Object) (DBi tugng xust) | Dung 46 hé trg vige xudt két qua mé phéng mot céch trye quan théng qua cde cong cu hién thi déng hé (meters) va cde 43 thi (graphic) cho | phep biéu dién gid tri ciia lye (force), vi tri (position), van te (velocity), gia tae L (acceleration), thei gian (ime), goc tangle) [Inputl) Déi tugng nhdp Umput Object) | (Bdi tueng whap) | Ding dé gidp ngudi si dung dé dang thay déi | edi thong s6 mot each dé dang. Bai tuong nay c6 | cde dang: thanh trugt (sliders), hép nhap da ligu ext boxes), va mit bara (buttons). Ky higu # trong mye Object ID bidu thi mse gid tri nguyen duge OB Jao béi Working Model va la gid tri ritng bist déi vai mdi déi tong duge tao ra. 21. VAT THE (BODY) Voi cdc céng cy tao nhiing dang hinh hoc don gidn san co trén hé théng toolbar, nguai sur dung c6 thé tao ra nhiing Body (vat thé) dién ta mét cach da dang cée adi tugng mo phéng. M@i Body déu c6 nhiing tham sé xé¢ dinh «ing xit trong qué trinh mo phéng. Khi khdi tao Body, ede tham s6 nay nhan nhing gid tri mac 26[CHUONG 2. HAO TAC TRONG WORKING MODEL dinh (default volues). Ngubi sit dung c6 thé thay déi cae gid tri nay, hiéu chinh hinb thie thé hién va thém cdc rang bude cho Body. OB 2.1.1, Tao e&e dang vat thé quen thudc Ngwdi sit dung 06 thé tao ra m6t s6 dang hinh thé cia Body trong mo hinh nhy hinh tron (Cirele), hinh cha nhat (Rectangle), hinh vung (Square), da gic (Polygon) va da gidc canh cong (Curved Polygon), Dud day ligt ké cée chife nang trén toolbar dung 48 tao cée Body. Tao hinh tron A Cong ey tao 46 tugng Wa hinh tron, - Chon cdng cy Cirele trén Toolbar. Bém chon vao ving lam vige va ré chudt dé tao hinh tron. Tao hinh chit nhat a Cong cy tao 46i tugng 1a hinh hat, Rectangle | COM“ t#0 401 tugng chat nha - Chon cong cu Rectangle tren Toolbar. Bam chon vao ving lam vigc va ré chudt dé tao hinh cha nhat, Tao hink oubng | @ | Square Cong cy tao Adi tugng 1a hinh vudng. Chon cong cu Square trén Toolbar. Baim chon vao ving lam vige va ré.chudt dé tao hinh vudng. Tao hinh da giae Cong cy tao doi tuyng 1a hinh da gide aMO PHONG CO HE PHANG BANG WORKING MuDEL | Curved | Cong cu ta0 46i tugng 18 hinh da giée 6 canh cong. Polygon | Chon cong cu Polygon/Curved Polygon trén toolbar. - Bam chon vao ving lam vige dé tao dinh thi nhat cia hinh da gide. Tiép tuc bam chon ede dinh khée va két thie viée tao da gide bang cdch bam chon vao dinh dau tién hoe elick dip chudt tai vi trf dinh audi cing. Méi vat thé c6 nhiing thong s0 (thude tinh) xae dinh each ting xit khi mé phéng, Céc thong sO nay nhan nhung gid tri mac din (default values) khi vat thé mdi duge tao ra, Nguvi sit dung 6 thé dé dang thay d6i cae thong s6 thudc tinh hoac gan vao vat thé cae rang bude (constraints) tai nhiing vi tri nhat dinh. OB 2.1.2. Thay d6i thudc tinh (Properties) clia vat thé. Vige thay déi thudc tinh cia vat thé trong moi truig lam vide cba Working Model duge thye hién thong qua cita s6 Properties, Cita 86 Properties lun hién thi nhang thuge tinh ciia vat thé duge chon. Hinh 2.2. Cita 6 Properties.CHUOING 2. THAO TAC TRONG WORKING MODEL Cae ndi dung va thao tac thay déi twang ung duge ligt ké duéi day: Bam chon vat thé edn thay 46i ede gid tri thuge tinh. - Chon muc Properties trong menu Window ho&e click dip chugt vao vat thé. - Nhép gié tri mdi vao 6 x, y hote 4 trong ciia 26 Properties 48 thay 46i vi tri (position) cia vat thé duge chon, Néu ding chudt ré kéo di chuyén vat thé trong ving lam vige ta sé thiy gid tri tai ede 6 nay thay 48i theo. Gif trj ella géc ¢ xée dinh hung (orientation) cua vat thé. Khi thay 46i gid tri nay vat thé s8 quay quanh trong tam cia né Ia m6t diém of dinh trong hé toa do téng thé (World frame). Vj triihuéng ban déu (initial positionlorientation) Vi tri va hudng ban déu ctia vét thé cé thé thay déi bang cdch kéo ré ut thé trén man hinh, Dé quay vét thé, ta sit dung cong cu Rotator hoge nhap vao ede 6 trén thank toa dé (Coordinates bar) ode trong cita sé Properties. x (horizontal value - gid tri theo phuong ngang) ¥y (vertical value - gid tri theo phuong dilng) # (angle of rotation - gid tri géc quay) - Nhap vao gid tri s6' trong 6 van ttc dé thay déi van tée ban ddu (initial velocity) cia vat thé md phdng. Thanh phan toa do chi van té¢ géc ban dau cia vat thé trong chuyén déng quay quanh khoi tam. Van tée déu (initial velocity) hi bdt ddu qua trinh mo phéng, van tée déu la gid tri van toe ma ut thé bat déu chuyén dong truie khi chiu tde dung cla cée luc téc dung khée (vi dy nhut trong tc). Nguoi st dung c6 thé dinh gid tri ugn téc déu ctia kh6i tam tit cita 36 Properties. Mé menu dé xudng Material va chon loai vat chat cén mo phong. Khi thay déi vat ligu, cde thuge tinh cla vat thé cing thay 4éi tuong ting bao gdm céc dai lugng: khéi lueng riéng (density), kh6i lugng (mass), moment quén tinh (moment), hé 86 ma sat (friction coefficients), module dan Wi (elasticity) vA dign tich (charge). Ngoai ra ngudi sir dung cing c6 thé diéu chinh thy ¥ ede thong 36 nay cho phi: hgp v6i bai mo phéng ma khéng nhat thiét phai phu thode vao loai vat ligu cb sin trong danh séch a8 xudng. aMO PHONG COME PHANG BANG WORKING MODEL Modulus dan héi (elasticity) Modulus dan héi lé tink chdt cia vat libu biéu thi do thay déi hink dang cita vét thé khi c6 luc gay bién dang téc dung lén vit thé hoac biéu thi mite do phye hdi hink déng ban ddu khi go b8 i, Trong Working Model, modulus dan héi con la m6t dae tinh xée dinh su va cham. Véi va cham dan héi (elasticity = 1), udn t6e cde gt thé vdn gitr nguyen dé 1én nung phutong eiia ching déi nguoe Igi. Voi va cham khong dan héi (elasticity = 0), ede udt thé dink chat vao ahaw. Néu hai vdi thé va cham c6 gid tri modulus dan hdi khée nhau, 4 tri mhé hon 58 duge sit dung mo phéng su va cham. Nang lugng (energy) Nang lugng la mot tink chét ciia uét thé thé hién kha nang sink cong. Ma sét (friction) Ma sét la hign tuong céin tai chuyén déng (hoge xu huéng chuyén dong trugt, quay tuong déi) cia udt thé hay giita cdc loai vat ligu figp wie nhau. Trong Working Model, cé hai logi ma sdt: ma sét tink vit ma sat dong. Néu hai vat thé tiép mic va khong chuyén dong, qué trink mé phéng Idy gid tri ma sdt tink, nguoc lai néu vdt thé chuyén dong thi gid tri ma sdt d6ng 8 duge sit dung. Néu hai vét thé tiép xiic c6 ede gid tri ma st Rhéc nhau thi qué trink mé phdng sé si dung gid tri ma sét nhé hon. Tam hinh hoe (geometric center) Tam cia hinh tron la giao cila hai bén kink, tam hink hoc cia inh cha what (hay hink vudng) la giao diém eiia hai duing chéo. Tam hink hge cila da gide duge xée dink mét cdch phe tap dua vio toa dé cde dink 2.1.3. Thay déi hinh thie thé hién cia vot thé (body's appearance) Ngudi sit dung c6 thé thay déi hinh thie thé hién (appearance) cia timg vat thé trong bai mo phéng bao gém: mau sc, vé vét di chuyén va dan nhan cho vat thé dé mé hinh trd nén dé hiéu va “hap dan” hon. Vige thay déi hink thie thé hign eda vat thé duge thyc hién théng qua cifa 86 Appearance. 40CHUONG 2, THAO TAC TRONG WORKING MODEL Cita sé Appearance Cita sé Appearance cho phép nguiti sit dung thay di céich thé hien ctia u@t thé trong qué trink mo phing. Vige thay déi bao gém mau sde vgt thé, nhan ten u@t thé, bat/tdt vige hién thi ede rang bube vd v8 vét di chuyén trong qué trinh mé phdng. Cita sé Appearance chnta dc thong sd'vé vide thé hifn cia udt thé duuge chons Hinh 2.3. Cita 86 Appearance. - Bam chon vat thé can thay déi cdc gia tri thudc tinh. - Chon mue Appearance trong menu Window. - Baim chon vao bang é hang Frame edt Color 4é chon mau se va ct Pattern chon bé day duting nét. - Bam chon vao bang 6 hang Fill e6t Color dé chon mau sc va cot Pattern chon mau t6. - Bam vao 6 kiém tra (checkboxes) 48 chon cach vé vét di chuyén cho vat thé. Track center of mass sé v8 nhiing diém di chuyén cia ‘tam vat thé. Track connect s® n6i nhiing diém di chuyén Iai véi nhau. Track oubline 28 vé vét etia duong bao vat thé. Dé kich hoat ché dO vé vét di chuyén, thye hién vige chon mye Tracking trong menu World. Vét di chuyén (tracking) Vet di chuyén gid lai hinh anh cua cée Adi tutyng chuyén dong chi d6i vdi v6t thé va rang bude - trong khodng thai gian tay ¥. V6t di chuyén 6 thé luu lai hinh bao ea déi tupng, Rh! tam hay vector nhdm gitip nguibi sit dung quan sat vd ndm bét qué trink ‘mé phang. Nguibi sit dung kiém”sodt vige vé ctic vét di chuyén thong qua cde lenk Tracking trong menu World va edc tity chon Tracking trong cita 86 Appearance. - Go ten cba vat thé vao 0 textbox, - Bam chon dé dénh dau X vao 6 Show Name (néu da danh dau ta bd qua bute nay)MO PHONG CO HE PHANG BANG WORKING MODEL RE 2.1.4. Thay déi théng 6 hinh hoc vat thé (body's geometry) Nguoi str dung o6 thé hiéu chinh vi tri, géc dinh hudng va kich thude (chiéu rng, chiéu cao, ban kinh) cia vat thé mot cach nhanh chong bing eae each khde nhau, Ding thanh toa 46 (Coordinates bar): Hinh 2.4. Thanh toa 6 (Coordinates bar). Thanh toa dé (Coordinates bar) Thanh toa d6 (Coordinates bar) ném é phia dutii man hinh mo hong ciia bai tinh. No hién thi cde toa d6 (toa do Descartes va c6 thé cd toa d6 cuc) ctla vdt thé duge chon. Néu abi tugng chon la ‘mot cong cu thi khi di chuyén con tré trong ving lam vite, thanh toa dé thé hign gid tri toa d6 tai ddu mai cila cong cu. - Bam chon vat thé, - Chon cde 6 mong muén thay déi trén thanh toa do. - Nhép vao gid tri méi va nhan phim Enter. Dang ctfa sé hinh hoc (Geometry window! Ctia 86 hinh hoc (Geometry window) Cita sé hinh hoc cho phép ngudi sit dung higu chink kich thuée eiia vat thé da duge tao ra trube dé, Ngodi ra nguoi sit dung con €6 thé thay déi vi tri Kh6i tam Rhde di s0 vdi vi trt mae dink la trong tém ctla vgt thé. Bam chon vat thé Chon muc Geometry trong menu Window. - Nhap gid tri vao 6 mudn thay déi - Bam chon vao 6 x-offset néu muén thay déi vi'tri khéi tam (Center of Mass-COM) cia vat thé duge chon. Nhap vao gia tri méi va nhdn phisn Enter. (B6 qua buge nay néu mun git gid tr) mac dinh COM).CHUONG 2. THAD TAC TRONG WORKING MODEL Hinh 2.5. Cita sd Geometry. Khéi tam (center of mass-COM) Dé xée dink ung wi ctia vit thé dudi téc dung luc, ta gid thit toa b6 khéi luong tap trang tai khdi tam. Trong Working Model, mde dinh tt cd ede vgt thé duge tao ra cé Kh6i tam COM dat tai trong tam ciia vGt thé. Nguisi sit dung 6 thé thay d6i vj tri khOi tam khde véi trong tam bang cach sit dung eta s6 Geometry trong menu Window. Dien tich (chadge) Dign tich trong m6t vt thé xée dink etch ting xit khi dat vat thé trong mét trudng tink dign. Higu tng nay cht xdy ra trong qué trinh m6 phéng khi dac tinh Electrostatics duge bt len trong menu World. Trong Working Model, dién tich xem nhut duge dat tap trung tai trong tam ctia vdt thé (COM). 7 Chon cach hién thi toa 49 dang shape hay toa do toan thé (world coordinates) néu vat thé duge chon la da gic. Dung ede diéu khién nhap (input controls) - Baim chon vat thé. - Chon mue New Control trong menu Define sau a6 chon dang diéu khién hinh hoe (geometric control) tuong tng véi sy thay déi, 3MO PHONG CO HE PHANG BANG WoRKING MODEL - Dinh gia tri thay déi thong qua input control (bang céch nhép gia tri s6 hoac ndm kéo con trugt) dé thay 46i hinh hoc vat thé. ow inh 2.7. (a) Menu con New Control eda menu Define (©) Input control Diéu khién (control) Mot diéu khién (control) cho phép ngubi sit dung higu chink ede thong 56 m6 phing trude va trang qué trink thyc hign mé phéng. Control ta mot than trugt (slider) theo mac dink, hoac la mét text box, hay mét mit bd, Ngoai ra ngutsi si? dung cb thé diung control dé nhdp ait ligu tic file text. oe 2.1.8. Quay vat thé Nguvi sit dung c6 thé quay mot vat thé trong mo hinh bang céch sit dung cong cu Rotate theo céc bude sau: ~ Baim chon vao vat thé mud quay. Chon cong cy Rotate trén toolbar.HUONG 2. THAD TAC TRONG WORKING MODEL - Bam va kéo ré con tré tai vj tri tam quay. Tam quay c6 thé i COM cia vat thé, co thé 1a diém c6 toa dO (0,0) hoe c6 thé 1a mot diém bat ky thude vat. Bay giv’ ta c6 thé dinh huéng cho vat thé theo bat ky mot gia tri goe quay mong moén nao. VA 24 Neo vat thé Neo - ngam (anchor vat thé Working Model cung cap chute nang neo vat thé (anchor) nhim lién két cting vat thé voi mat dat dé vat thé khong di chuyén trong qua trinh mé phéng. Nhing vat thé khong dich chuyén trong qué trinh mé phéng bao gém mat ban, tran nha, Neo (anchor) Neo (anchor) la cong cu ding dé “c6t chat” gt thé véo mat dat dé ugt thé khong thé di chuyén trong suét qué trink m6 phéng. Neo 6 chite nang git vdt thé d yén tai vj tri ctia n6, ngoai ra cée rang bube khée cing 66 thé duge sit dung déng thai vdi neo. Khi khong mudi thdy biéu tugng neo trong mé hinh, ta cé thé thye hitn vige dn gidu no nhu 46i v6i ede loai rang bude ki 2. Cong ew neo vat thé. Cae bude thy hién neo mot vat thé bao gém:* - Chon céng ey Anchor trén toolbar. - Bam chon vao mién bén trong vat thé dé neo vat thé véi eng cu Anchor. Vat thé Ide nay sé gidt nguyén vj tri cho dén khi ngudi sit dung di chuyén dén vj tri mdi hoge go bd neo. Bé neo cho vat thé Vat thé neo duge lién két emg vao mat dat va do 46 khong di chuyén trong suét qué trinh mo phéng. Khi higu chinh m0 hin, ngudi sit dung 35MO PRONG -Co Hg PHANG BANG WORKING MODEL ©6 thé ga bd neo (anchor) cho vat thé dé vat thé c6 thé tu do di chuyén, ~ Chon biéu tugng neo trén vat thé - Nhéan phim Delete. ~ Van thé le nay 06 thé taf do di chuyén. oe 2.1.7. Thay a6i vj tri kh6i tam edie vat thé (body's COM) ‘Theo mac dinh, moi vat thé trong Working Model eb kh6i tam (COM) tring vdi vi tri cda trong tam. O ché dé Auto mode, COM dugc tinh todn ty dong khi vat thé thay déi hinh dang dé dam bao tring voi trong tam vat thé. Khoi tam ciia vat thé co thé duge hiéu chinh bang cach thay Adi gid tri trong cde 6 x-offset va y-offeet tit eita 86 Geometry. - Bam chon vao vat thé can thay d6i vi trf khoi tam. = Chon mue Geometry trong menu Window. - Név mudn dich chuyén vj tri kh6i tam theo phuong x: bam chon 6 tron ké bén myc x-offeet. Nhap vao gid tri xdc dinh vi tri méi cia khoi tam. Lam tong ty khi mdn thay déi vi tri theo phuong y. Oe 2.1.8. Diéu khién su va cham (collision) gitta cdc vat thé ‘Theo mac dinh, ec vat thé khong lién két trong Working Modelicé thé va cham (collide) vo nhau trong qué trinh mo phéng. Khi vat thé khong va cham thi ching s® dam xuyén (penetrate) vao nhau. Ngudi sit dung c6 thé thay déi mac dinh nay bling cach thiét lap ché d9 Do Not Collide trang menu Object Hinh 2.8. Muc Do Not Collide trong menu Object. 36CHUONG 2. THAO TAC TRONG WORKING MODEL - Chon hai vat thé ma ta khOng muGn ching va cham vao nhow Gitt phim Shift 4é chon nhiéu hon mét vat thé. - Chon muc Do Not Collide trong menu Object. Mot d&u chon s& xudt hién k€ bén mue Do Not Collide trong menue Object. ‘Tinh chat va cham nay xéc dinh trén nhing cap vat thé nhat dinh, ‘Trong bai m6 phéng ¢6 thé c6 nhiing cap vat thé va cham nhau va cing c6 nhing cap vat thé dam xuyén nhau. 2.2. RANG BUOC VA KHGP NOI (CONSTRAINT AND JOINT) ‘Trong Working Model, mot rang budc tae dung mét lye (hoge mot ngdu) len céc vat thé tai mot hoae nhiéu diém. Khong gidng voi vat thé, céc rang bugc khong cé khéi lugng hay thé tich. Ngo&ira ede rang bude nay khong va cham vao nhau cing nhu khong va cham vac cfc vat thé trong qué trinh mo phéng. Rang bude (constraint) Rang bude la mbt loai dei tuong trong Working Model duge ding adn vao mbt hodc nhidu vét thé (hay mat dat). Mdi rang bube c6 ‘mOt dae trung riéng nhdm xéc dinh phan luc (moment) lien két tac dung tai diém rang bude. Hinh 2.9. Céc logi rang bude trong Working Model. Working Model cung cép nhiéu dang rang bude cho qué trinh mo. phéng nhu 1d xo (spring), day (rope), thanh (rod), tai (pulley), va bénh rang Gear), Cac rang bude nay c6 thé duge tao ra nhy vao cdc cong cy khéc nhau trén toolbar. 7MO PHONG COE PHANG BANG WORKING MODEL Re 2.2.1. Ta0 cde rang bude (constrainn @) Tao lién két day (rope), 1d xo (spring), lién két thanh (rod), va tien két khe hé (separator Lién két day (rope), 10 xo (spring), thanh (rod), va khe hé (separator) la nhung logi rang bude tuung ty va duge goi chung 1a logi rang bude tuyén tinh (linear constraints). Cac rang bude nay gay mot phan luc tuyén tinh tai didm lién ket. Tao lién két déy (rope) Lien két day (rope) Lien két day c6 chue nang khdng ché khodng cach gita hai vat thé. No khong sinh phn luc lign két khi day ching va. sink luc cang day t6i da khi day bj kéo cang. Qué trinh chuyén tit day ching sang day cang gidng nhu c6 su “oa cham” ma “do néy” duige quyét dink béi thude tinh dan héi (elasticity property). Chiéu dai celia day trong lién két day duoc thiét lgp va higu chink trong cita 36 Properties. - Chon cong cu Rope trén toolbar, - Bam chon vao diém lién két thi nhat (first endpoint) va diém lien két this hai (second endpoint). Tao 10 xo thdng (spring) Lo xo thang (spring) Lé xo phét sinh mOt Ive phy thuge vdo khoding each gitla hai diém cudi. Lo xo khang phat sink lite khi khoing cach nay bing chiéu dai tu nhién cia 16 x0. Cée thuge tinh ctia ld xo nhu chidu dai te nhién (rest length), do citng (spring constant) va logi 10 x0 cé thé duige higu chink trong eita 86 Properties. | @ | Spring Cong cu tao adi tugng Kien két 1d xo thing. - Chon cong cy Spring trén toolbar. ryCHUONG 2, THAO TAC TRONG WORKING MODEL Bam chon vao diém lién két thir nhét (firstiendpoint) va diém lin két thi hai (second endpoint) Tao lién két thanh (rod) Lien két thgnh (rod) Litn két thanh phat sinh luc tai cde diém cudi dé dam bio chiéu dai thanh thong déi. Chiéu dai nay c6 thé duge higu chink trong cita sé Properties. Khi thay déi gid tri chiéu dai cia litn két thank, totin b6 mo hink s@ thay déi thich ung theo gid trj moi cia chibu dai nay. a Cong eu tao déi tugng lién két than. Rod - Chon cong ey Rod trén toolbar. : - Bam chon vao diém lién két thit nhat (first endpoint) va diém lien két thit hai (second endpoint). Tao lién két khe hd (separator) Lién két khe ha (separator) Khe ha 6 tng xit gidng vii lien két day nhung vdi chiéu nguge Iai. Khe ho gitt khodng cach gita cde didm cui nhé hon mot gid tri nhdt dink. Khe ha khong gay nén phan lye khi khodng cach gilta ede diém cudi lan hon gid tri chi dink. Cac thuge tink cia lien két khe hi nh khodng ech khe hd (separator’s length), Khodng cach thye (current length) va hé sb dan hdi (elasticity) co thé duoc thiét lap va higu chinh trong ewta s6 Properties. Cong cy tao di tugng lién két khe hé. Separator - Chon cong cu Separator trén toolbar. - Bém chon vao diém lién két thi nhat (first endpoint) va diém lign két thet hai (second endpoint). 'b) Tao gidm chén (dampen, hé ld xo - giém chéin (damped spring), va e¢ edu chéip hanh (actuaton Gim chain (damper), he 1 xo - gidm chéin (damped spring), va co edu chap hanh (actuator) 1A nhing loai rang bude tuyén tinh. Nhang rang bude nay gay nén ede lye tuyén tinh tai nhiing diém lién két. 30MO PHONG COME PHANG BANG WORKING MODEL Tao gidm chéin thang (damper) Gidm chan thang (damper) Gidm chén thdng sinh ra lue phy thuge vas su sai bigt vén tée elia edie diém cubi. Khi hai diém cuéi e6 ebng van téc gid. tri luc s8 béing khong. Gidm chdn thang c6 thé ding trong mb,phéng bd chong s8¢ (shock absorber) ctta xe hoi, Tit ca so Properties ngudi si? dung c6 thé thay Si hé 86 gidm chan (damper constant) vé loai idm chéin (damper type). Mot gidm chan c6 he 86 gidm ehdn ln edn tro chuyén dong nhiéu han so vdi gidm chdn ed he 86 gidm chdn nhé. $$ a Cong cu tao 46i wong gidm chdn thang. Damper ~ Chon edng cu Damper trén toolbar. - Bam chon vao diém lién két thi nhat (first endpoint) va diém lien két thit hai (second endpoint) Tao hé Id xo - gidm chdn thdng (damped spring) Hg ld xo - gidm chdin (damped spring) He 10 x0 - gidm ehdn la sy Rét hgp ctla mot 16 xo thdng vd mot gidm chan thang. Luc sinh ra béi hé ld x0 - gidm chan la ting cdc thanh phdn lye pay ra bdi 1d x0 vd gidm chdn. Trong eta sé Properties, nguvi sit dung ¢6 thé thay dO cing 1d xo (spring constant), chiéu dai ty nhién [6 xo (rest length), ud hé sd gidm chain (damping constant). a Damped | Cong cu tao 46i tugng he 1d xo - gidim chéin. Spring | - Chon cdng cy Damped Spring trén toolbar. - Bam chon vao diém lién két thi nhét (first endpoint) va diém lién két thi’ hai (second endpoint). Tao co edu chap hanh (actuator) | WT cong ey tno tt tapag iavcredu'cnep antas naa | ta0 déi tuong la a effu chap hank. “Acttor | COE oY 190 ng Ia eo effu chp 40CHUONG 2. THAO TAC TRONG WORKING MODEL Co eéiu chp hank (actuator) Co cdu chép hank la mot dang rang bude da muc dich (multipurpose constraint). Co edu chdp hanh sinh ra mot dang luc bdt kj mhdm duy tri nhitng dac tinh rang bude duge dink trude C6 b6n logi ca edu chap hanh: force - ca edu chp hanh ttc (mae din), length - co cdu chdp hanh chiéu dai, velocity - co cau chap hanh vdn t6e, ‘vd acceleration - eo edu chp hanh gia t6c. Dae tinh cia co cu chdp hank duge thiét ldp va thay déi trong cia so Properties. - Chon cong cu Actuator trén toolbar. - Bam chon vao diém lién két thir nhat (first endpoint) va diém ie in két thtt hai (second endpoint) ©) Tao dong 6 (mofon, lé xo xodn (rotational spring) va gidm chéin xodn (rotational dampen Dong co (motor), 19 xo xodn (rotational spring) va gidm chan xodn (rotational damper) thuge dang rang bude xoan, cdc loai rang bude nay sinh ngdu (torque) tai vi tri lién két. Tao déng co (motor) Dong eo (motor) Dong co la mot dang rang buge da myc dich (multipurpose constraint). Dong co sinh ra ngdu cn thiét dé duy tri suf tuomg téc quay gitta ede vdt thé. Mot déng ca bao gém hai diém dat ching Jen nhaw vd mot khdp ban 1é ndi. C6 b6n loai dong ca: torque motor - dong co diéu khién mgd téc dung, rotation motor - dong co dibu Rhién gée quay, velocity motor» dong ca diéu khién van tée quay va acceleration motor - dong co diéu khién gia te quay. Dae tink vd logi dong co dugc thiét lap va thay d6i trong cia sé Properties, Motor Cong cy tao dong-eo. - Chon céng cy Motor trén toolbar. - Bam chon vao vi tri mudn dat rang bude. 4aMO PHONG COE PHANG BANG WoRKING MODEL Tao 16 xo xodn (rotgtional spring) La xo xodn (rotational spring) Lb x0 xodn sinh ngdu phu thuge véo khde biet v8 suv quay ciia hai vat thé adn vdo hai diém cudi eda lo xo xodn. Mot 10 x0 xodn bao gém hai diém dat chéng len nhau vd mot khdp bin 18 noi. BO eiing (spring constant) va loai 10 xo (spring type) duige thiét Igp va thay déi trong cita 86 Properties. sprin, - Chon céng cy Rotational Spring trén toolbar. - B&m chon vao vi tri muGn dat rang bude Tao gidm chdn xodn (rotational damper) Gidm chéin xodn (rotational damper) Gidm chén xodn sinh ngdu phy thube vio hdc bigt vé st quay ctia hai vdt thé gdn vao cde diém cudi. Mot gidm chdn xodn bac gém hai diém dat chéng len nhau va mot khop ban 1é noi. He 36 gidm chéin K (damper constant) vé logi giém chin (damper type) duge thiét lap va thay déi trong cita 86 Properties Rotational | Cong cu tao di tugng gidm chain xodn. __damper - Chon cong cy Rotational Damper trén toolbar. Bam chon vao vi tri muén dat rang bude. Tao 160i (pulley) Toi (pulley) Toi ung xit nhut mot soi day bdt qua nhibu diém o6 dinh ve e6 hai diém cudi. Chiu dai soi day khong déi nhung khodng edch gia hai diém cudi cé thé thay déi va Wwe tie dung vao hai déw nay 1a nlut nhau. Cita sd Properties cho phép ngubi st dung thay d6i tong chiéu dai, khodng céch gitta cde diém va he s6 dan héi cia toi. aCHUONG 2. THAD TACTRONG WORKING MODEL | a Puls g cu tao toi + Chon cong cu Pulley trén toolbar. - Véi cong cu Pulley, click len mot vat thé dé tao diém bat dau cilia twi va tiép tue bam chon tai céc vi tri khde dé tgo nhiing diém thude tai. Két thie viée tao cée diém mae day cia tii bling cach click Aap chudt tai diém cubi hose bam mot phim bat ky. Tao banh réng (gean Banh rang (gear) Banh rang la mot rang bude giata hai vgt thé sao cho chuyén dong quay gitta ching la phy thude tin nhau. Mac dink, cong cu Gear cung edp su truyén dong bank rang dn khdp ngoui gita cde vat thé. Dui day 14 hinh minh hoa cach si dung bénh rang trong Working Model vdi bsi bénh rang tiép xic 6 bén kin khéc nhay. Mot banh rang duge dan dong béi dong co.trong khi banh rang con lai n6i dat bang mot khép xoay. V6i thi dy nay ti sO truyén duge tinh bing ti s6 gitta céc ban kinh. oe) eS Hinh 2.10. Minh hoa vide sit dung loai rang bude bank rang. Banh rang duge tao ra nh’ yao cOng cu Gear trén toolbar. Cong cu Gear m6 phdng hai vat thé e rang budc an khép vao nhau. Ban than Gear chia dung mét lién két thanh va do d6 rét higu quad khi mo phéng banh rang hanh tinh, eo cu vi sai. Trong clfa 6 Properties ngubi sit dung 6 thé thay 46i ti so truy3n (gear ratio), tt mo vige sit dung lién két thanh va thay déi tir an kl ép ngoai (external gear) thanh ‘an khép trong (internal gear). aMO PHONG COHE PHANG BANG WORKING MODEL H Cong cy tao bénh rang. Gia 1g cu tar ng. - Tao hai vat thé sé ain khép nhau trong ving lam viée va gén mot wat thé vao mat dat bang lién ket khdp,xoay (pin joint). Thong thuong hai vat thé nay la hai hinh tron tiép xc nhau. - Bam chon cong & Gear trén toolbar. Click vao vat thé thit nhét va sau d6 ré chudt dén vat thé thi hai. Sau khi tao xong cde bénh rang ngudi sit dung 6, thé thay d6i cde thude tinh banh rang trong cifa s6 Properties. oe 2.2.2. Ia0 cdc khép néi Goin Working Model cung cp cho ngudi sii dung mt s6 loai khép néi bao gém: khép ban 1é (pin joint), lién két cing (rigid joint) va ranh trugt (slot joint). Khép noi Goint) Khép ndi Goint) ta noi ma hai v@t thé (hode mot vat thé va mat dt) lién két voi hau. C6 loai khdp néi cho phép v@l thé di chuytn (of dy nhuc lidn k6t Rhop ban té > pin joint va tien Rét rank trugt - slot joint) va e6 logi khdp n6i khong cho phép vat thé di chuyén (vi du lien ket cuing - rigid joint). Ngudi sit dung e6 thé dai vi tri ctia khép néi tron vat thé tit cita 86 Properties. Khép ban 1é cho phép hai vat thé dat chéng lén nhau quay quanh lién két. Lien két caing khéa,ciing hai vat vao nhav. Lién két ranh trugt léng mét diém trén mot vat thé vao mot ranh trugt trén mot vat thé khée (hoae trén mat dst). Ranh trugt 06 thé & dang thang hoac cong. Dé thue hién vide lién két cn phai c6 cde vat thé duge tao ra truée. Hinh 2.11. Céc Logi khdp ndi trong Working Model. 44‘CHUONG 2. THAD TAC TRONG WORKING MODEL Tao khép ban Ié (pin joint, Khap van lé (pin joint) Khdp bin lé cho phép hai vdt thé dat.chéng lén nhau quay quanh dim lion két. Vj tri cia dim lidn két 6 thé duge higu chink trong cita s6 Properties. Pin | Cong cy tao lién két khép ban 16 joint - Dat chéng lén nhau cdc vat thé sé lién két. - Chon cong cy Pin Joint trén toolbar. ~ Bam chon vao ede vat thé dat chéng a€ dinh vj diém lien két. Néw e6 nhiéu hon hai vat thé chéng nhau thi chi hai vat nim trén cing sé lién két nhau. Thanh toa 46 (Coordinates bar) hién thi gid tri toa do x, y tai vi tri diém dat lién két (Base Point: - diém nam trén layer thit hai hose trén mat dat va Top Point - 4iém nim trén layer trén cing). Tao lién két ting (rigid join Lién két cting (rigid joint) Lien, két cung khéa chat hai vat thé vdo mhau, Nguoi sit dung 06 thé thay di vi trl diém lien Rét va chi dink tay chon cho aiém lign két la optimized hay measurable trong cita s6 Properties. Cong cy tao lién két cing, fe Dat chéng lén nhau ede vat thé sé lién két. Chon cong cu Rigid Joint trén toolbar Bam chon vao cfc vat thé dat chéng dé dinh vi diém lién két. Néu c6 nhiéu hon hai vat thé chéng nhau thi chi hai y4t nim trén cing sé lién két nhau. Thanh toa 46 (Coordinates bar) hién thi gid tr] toa do x, y tai vi tri didm dat lign két (Base Point - digm nim trén layer thi hai hose trén mat dit va Top Point - diém nm trén layer trén cing). 4sMO PHONG CO HE PHANG BANG WORKING MODEL Tao lién két ranh trugt (slot joint) Lien két rank trugt (slot joint) Cong cu Slot diing dé tgo ra mbt 86 logi lién két ranh trugt. Logi “pinned” slot joint cho phép vat thé “vita trugt vita quay” trong khi *heyed” slot joint chi cho phép vat thé “trugt” di vdi vgt thé méné lien két Tao lién két ranh trugt thang (straight slot joint) cy tao lién két ranh trugt thang. Slot - Dat chéng lén nhau céc vat thé sé lién két. Dé ¥ ring rénh trugt phai thude vat thé nim ¢ dudi cing (hay nim trén mat dat). ~ Chon mot loai eng cu Straight Joint trén toolbar. Ranh trust ©6 thé 1a loai “vita xoay vita trugt” (pin slot joint) hoge loai “chi trugt” (keyed slot joint), duge dat theo phuong thang ding (vertical) hoae theo phuong ngang (horizontal). Ranh trugt quay - pin slot joint (e6 diém cudi tron) cho phép vat thé quay quanh ranh trugt. Ranh trugt din hutng - keyed slot joint (c6 aiém cud vudng) khit moi chuyén dong quay. - Bam chon vao cac vat thé dat chéng dé dinh vi diém lién két. Néu 6 nhiéu hon hai vat thé chéng nhau thi chi hai vat nim trén cing sé lién két nhau. Phan tif ranh trugt (slot element) duge gan trén vat thé niim duéi hoac c6 thé n&im trén mat dat, Thanh toa dd (Coordinates bar) hién thi gia tri toa d0 x, y tai vi tri diém dat lién két (Base Point - diém nim trén layer thi hai hoge trén mat dat va Top Point - diém nm trén layer trén cing), Tao lién két rainh trugt cong (curved slot joint) - Chon cong cu Curved Slot Joint trén toolbar. - Bam chon vat thé sé di chuyén doe theo ranh trugt tai vi tri dat lien két. Click tai nhitng vi tri dat diém kiém sodt (control point) vi s6 lugng tity ¥ va két thie bang céch click dip chudt tai diém cudi cing 4é tao ranh trugt e6 dang cong lugn theo nhtng diém kiém sodt. Ranh trugt xoay s8 gén vao diém thi nhit va edng la(CHUONG 2, THAO TAC TRONG WORKING MODEL diém kiém sodt thi nhét cia duéng cong ranh trugt. Thong thutng ta hay gap dang ranh trugt gan voi mat dat. Oe 2.2.3. Tao khép néi tit nhing phan tiéng biét Thay vi dang cong cy Joint trén toolbar, ta e6 thé thiét lap cde khdp néi tif cdc thanh phdn eo ban va sau a6 ding chite nang Join gan moi thi lai véi nau. Tgo lién két ndi la khép xoay hode lién két cing Cong cy tao Adi tugng diém tron, Square | Cong eu tao d6i tugng diém vudng. Point _| Phan tit diém (point element) Phdn tt diém (point element) la mgt thanh phén edu tao (building blocks”) dé hints thanh nen edc lién ket. - Dung cong cy Point tgo whiing diém trén hai vat thé sé lien két hoge trén mot vat thé va mat dat. Sir dung cdng eu Square Point 46 tao lién két citing hoac cong cu Round Point dé tao lién két xoay, Git phim Shift dé chon hai diém vita tao ra. Bam vao nut Join trén toolbar dé hai vat ty di chuyén lai gan xép chéng lén nhau tai vi tri cia cdc diém chon. aa | ‘Céng cu lién két ede vat thé. Join Tao lién két ndi la cde ranh trupt (slot joint) a7MO PHONG CO HE PHANG BANG WORKING MODEL Phén tit ranh trugt (slot element) Cac phdn tit rank trugt (slot elements) lar nhitng thank phén edu tao (“building blocks”) dé hinh thanh nén lien két rank truot. Khi tao lién két rank truat, phén ti rank trugt duge 32 dung cing véi phdn ti diém. Vi dy, tao mot phan tit rank trut tren mat dat va ‘én mot phan ta diém tren vat thé réi ndi ching lai vdi nhau ta 6 duuge mt lign két rank truat. ~ Sif dung cong ey Point tao ra mot diém (point) trén mot trong hai vat thé. Dimg cing ey Square Point cho loai keyed slot Joint va ebng cu Round Point cho logi pinned slot joint. - Click chen cong cu Slot mong mudn tuong ing trén toolbar. Chi c6 thé tao ranh trugt 6 dan husng (keyed slot joint) bing ciich két ndi mot square point va mot straight slot. - Dé tqo mot straight slot joint, click vao vat thé thi hai (hoac mat dét) tai vi tr mong muén dat ranh trugt. Dé tao mot curved slot joint, click tai nhimg vi tri ma ranh trugt 88 di qua. ~ Gir phim Shift 46 chon déng thvi diém (point) va ranh truyt (lot), - Click vao nit Join trén toolbar. Cac vat thé sé di chuyén dén gn, slot va point s@ xp chéng lén nhau. OE 2.2.4. Pha vd khdp néi Mot khép n6i e6 thé bj pha ve dé tré vé nhiing thanh phan eg ban. Cae phén tif tach ra sé “ghi nid” la chiing da duge sit dung va do 46 mot co cu ¢6 thé phé va thanh cée chi tiét va sau dé 1p ghép lai dé dang nhv. vao cong cu Join trén toolbar, Split 1a cOng cy gitip pha va cde lién két va rang bude. Split Cong cy tao pha vo lién két gitta cae vat thé Chon khép néi mun pha va. Bam chon cong cy Split trén toolbar. DEB 22. may aéi tinh chat oda rang buge: Voi cae rang bude da o6 ngudi sit dung e6 thé thay d6i cée gid tri thube tinh thong qua cifa sé Properties. 48CHUONG 2. THAO TAC TRONG WORKING MODEL - Click vao rang buéc mong muénn thay déi thude tinh, Chon muc Properties trong menu Window hoic click dip chudt vio vat thé, Thay @6i cdc thuge tinh cha rang bube liét ké trong cta sé Properties. Méi rang bude 06 nhiing thuge tmh khae nhau duge thé hign trong cifa $6 thuge tinh cia né, oe 2.2.6. X6a bé rang bude Vigc x6a bé bat ky mét rang bude nao duge thc hién rét dé dang vdi phim Delete mt khi ngudi sif dung khing con cAn dén Chon rang buge mudn xéa. Chon muc Cut trong menu Edit. Phim tat: Ctrl-X hoje nhain phim Delete. Ngudi sit dung ¢6 thé xéa mot rang bude va thay vo dé mot rang bude khae. Xe 2.2.7. Kn gidu rang bude Ngudi sit dung ¢6 thé dn gidu mot rang buge (hose neo - anchor) mot cach c6 chon loc nha vao ca sé Appearance. Cée chile nang rang bude hoae 6 dang hién thi hoae & dang thé hién, Ngudi siy dung c6 thé an gidu mOt ranh trugt kéo dai cat ngang qua man hinh nhim tgo cdm giée that han cho bai m6 phéng. = Chon rang buge hoc neo muén &n gidu. + Chon mye Appearance trong menu Window. Click vao 6 Show dé b8 ddu X (néu 6 dang tréng, b6 qua bude nay) MA 2.2.8. Tim kiém rang bude MGt khi mé hinh qué phifc tap, vige nh4n biét vat thé va lien két gita chiing tré nén khé khan hon rét nhiéu, C6 mot céch tim kiém ede rang bude giva nhing vat thé d& dang han, 46 18 nhy vao cia s6 Properties. ~ Click vao 46i tong mong muGn tim kiém nhing lién két gdn voi nd. Doi tung cé thé 1a mot rang bude, mot phn ti diém, phdn ti ranh truot hay mot vat thé. 49MO PHONG CO HE PHANG BANG WoRKING MODEL - Chon mvc Properties trong menu Window hode click dip chudt vao vat thé, Mé menu 46 xudng Selection nam 6 trén cing trong cifa 36 Properties. Céc 46; tugng 3 dang béi den 1A 6 lién két vai vat thé duge chon. 2.3. LUC VA NGAU (FORCES AND TORQUES) Lue (forces) va ngdu (torques) la cdc dang rang bude dae bigt ‘trong Working Model, loai rang bude tai duy nhat mot diém - diém nay dugc goi la diém tae dung (point of application). Dé tée dung mat luc (hoac ngau), ta sii dung cong cu Force (hay Torque) trén toolbar RE 2.3.1. Tée dung lve Lue (force) Luc la mét su tie dung kéo hoac déy lén vat thé gay chuyén dong. Luc 1a mét dai luong c6 hudng (dai lvong vector). Nhiéu luc cng tae dung lén déi tong s@ didoc Working Model tink todn dé xéc dink chuyén dng cho vdt thé. Khde di nluing rang bude kha, cong cu Force chi cd mgt didm value tic dung due dgt tai diém nay. Lute phai gdn vai mét vat thé mdi gay dutgc higu ung trong qué trinh mo phong. Trong cita 86 Properties ngutsi sit dung co thé thay déi cae thank phén ctia vector lyc va chi dink tue 6 quay theo cting udt thé hay khong. Bi Cong cu hé trg wide te dung luc lén mé hinh. Force - Chon cong cu Foree trén toolbar. = Chon vat thé va vi trf mong mudin t4c dung lye. Trén thanh Coordinates bar sé hién thi vi tri dat lye (cdc gi tri toa dé x, y) va cde thanh phdn theo phuong x va y cia lye tée dung. Oe 2.3.2. Tac dung ngdu Ngdu (torque) Nadu déc trung cho tde dung lam quay ugt quank mét tam néo 46, Working Model cho phép téc dung ngdu lén mét vét the riéng [Ie trong m6 hinh thong qua cng eu Torque nhu mgt rang bude dac bigt. Ngudi sit dung c6 thé thay d6i dé lim cila ngdu téc dung 50.CCHUGNG 2. THAO TAC TRONG WORKING MODEL trong cita 86 Properties. Ngdu e6 gid tri dong tée dung theo chiéu nguge chiéu kim ding he. ii - Chon cong cu Torque trén toolbar. - Chon vat thé va vi tri mong mudn dat ngdu. Trén thanh Coordinates bar sé hién thi vi tri dat ngdu (cdc gid tri toa a6 5.9) va d6 In ngdu, Cong cu hé tr¢ vige tac dung ngdu len mo hinh. M7) 2.3.3. X6a bé lyc/ngau tae dung Thye hign vige x6a bé Iyengdu tac dung dé dang bing phim Delete: - Chon lyc hoje ngdu edn x6a. +) M@ menu Edit va chon mye Cit hoae ding t6 hop phim té Ctrl-X hoac nhan phim Delete. Sau khi x6a lyongdu ngudi sit dung ¢6 thé thém vao mot loai rang bude Kehée vao mé hinh, oe 2.3.4. Thay 88i gid tr Ie/ngau tac dung Vige thay d6i gia tri Ilveingdu tae dung duge thyc hign nha vao cita 36 Properties Hinh 2.12, Thay déi gid tri lve. Winh 2.19. Thay déi gid tri ngdu. 5tMO PHONG CO NE PHANG BANG WORKING MODEL Thoy a6i gid tr] Ic Click chon We cin thay déi Chon myc Properties trong menu Window hode click dip chudt vao biéu dién cia lye tae dung. ~ Thay déi gid tri luc tae dung, thay déi vector hoac chon chife nang Ive quay cling vat thé. Thay 48i gi tr ngdu - Click chon ngdu edn thay asi. Chon muc Properties trong menu Window hoae click dip chudt vao biéu dién cia ngdu tc dung. Thay d6i do 16n cia ngdu trong cifa s6 Properties. Gid tsi duong cia ngdu duge xée dinh theo chiéu quay nguge chiéu kim déng hé. 24, THIET LAP CAC THONG SO MOI TRUONG MO PHONG (WORLD) ‘Trong Working Model, qué trinh mé phéng dién ra thich ung véi nhiing thong s6 vat ly ben ngoai co ban (basic external physical parameters) duge goi 14 World parameters. Khi thyc hign méi mot bai m6 phéng, cde gid tri ban ddu duge thiét lap trong World bao gém: Gravity: Earth (9.81 mi Gia te trong trutng Air Resistance: none Luc can khong khi Electrostatics: none ‘Trudmg tinh dién Force Field: none ‘Trung lye Cée gid tr} mac menu World. yh nay c6 thé duge thay déi thong qua céc Iénh trong. He quy chi€u (reference frame) M6t vat thé dung yen trén man hink khi né duoc chon lam adi tugng he quy chiéu (reference frame object), trong khi dé céc vat thé khée chuyén déng xung quanh né. Working Model cho phép chon bat by d6i tvong néo dé lam hé quy chiéu hién hank. Moc dink, hé quy chiéu la mat Adt hoge World. Bé thay déi he quy chiéu World, ta sit dung lenh New Reference Frame trong menu View. Ngui sit dung e6 thé ding he quy chiéu dé quan sat qué trinh mé phéng tit géc nhin ctia mot vét thé. Hé quy chidu c6 thé gan vdo diém, vao trong tam hoge vao vat thé. Ngodi ra ta ciing cé thé sit dung hé quy chiéu dé chuyén géc nhin mgt céch nhanh 52HUONG 2, THAO TAC TRONG WORKING MODEL chéng. Mot he quy chiéu chua dung nhing thitt lp Scroll (thanh cubn) vis Zoom (phong to) Moi truimg mé phéng (World frame) Trong Working Model, nhing théng sé xic dinh ung xi ciia md hink duige dink nghia trong menu World. “Thé gidi" mo phéng ctia mé hinh c6 thé la moi truimg chudn tren Trai ddt hoae nhitng diéu ian trén,, MQt trang hode xa hon niza! we 2.4.1, Thay A6i glé Ini gia t6¢ trong tuéng Khi tao mt bai m6 phéng méi, cde thong s6 World ludn nhan gid tri mac dinh, Gid tri mac dinh cia gia te trong trudng trén tréi dat 1a 9.81m/s°. Néu mudn lam viée vdi mbt gid tr] khée (ed thé véi mot gid tri chinh x4c hon hode moi trusng mé phéng c6 thé é Mat trang), ngudi sit dung c6 thé nbd déin menu World Chon mye Gravity trong menu World. - Click vao loai trong trutmg phir hgp voi bai m6 phéng: None ~ khang tinh dén anh hudng cia trong lue, Vertical ~ trong We theo phuong thang ding gidng nhu trén bé mat qua dat, hoge Planetary ~ triting hap din gita ede cap Adi tuong. ~ Nhép vao gid tri phi: hgp véi bai mo phéng. Khi higu chinh gia tri 6 say chon Vertical nghia 1a ta thay déi gid tri eda g va trong Jue UF = mg). Khi higu chinh gid tri & tay chon Planetary, nghia 1a ta thay déi gid tri cha hang $0 hap din G. Click vo OK a8 déng hop thoai Gravity. OE 2.4.2. Thay déi gié ti lc cdn khéng khi Lye edn khong khi (air resistance) Lye cin khénig khi la mot logi ma sat téc dung len nhing vat thé chuyén dong trong khong Bhi. Lye cdn khong khi la Iye tde dung trén vat thé chuyén dong theo chiéu nguoe chiéu chuyén dong. Working Model can od vao tiét dién ngang (cross section) cia vat thé dé tinh lye cén khong khi. Do dé mot hinh trdn 6 dugg kinh Im c6 cing lye edn véi mot hinh vudng ¢6 canh Im da rng diéu nay khong phai la lun phi hgp thye té. Dé thay déi gid tri Ive can kkhong khf, ta sit dung menu World. ‘Chon muc Air Resistance trong menu World.MO PHONG CO HE PHANG BANG WORKING MODEL hon vao dang luc cin khong khi sé stk dung trong mé hinh: None khong 6 Iye edn khong khi, Standard - lye can khong Khi ti 16 v6i van téc vat thé (thong thuting Standard duge chon khi vat thé © van t6e nha), hoae High - lve cn Khong khi ti 16 vdi binh phuong van téc vat thé. - Click OK 48 déng hop thoai Air Resistance OE 2.4.3. Kich hogt ché dé Gnh hudng cla trudng finh dién (electrostatic effects) Khi tao mot bai mo phdng méi, ede théng sf World ludn nbéin gia tr) mac dink. Gid tri mac dinh cia Electrostatics (trudng tinh dién) 1a none - khong ¢6 higu tng trudng tinh dign trong qué trinh mo phéng. Néu mudn thay d6i mae dinh nay, ngudi sit dung phai kich hoat higu ting truong tinh din théng qua lenh Electrostatics trong menu World. Chon mue Electrostaties trong menu World. Click chon On. Click OK. ee 2.4.4, Thay 881 gié ttl tudng Ive (force field) Negudi sis dung c6 thé thém vao méi truing mé phing mét trudng lve tée dung lén mo hinh. Vi du trying Ive ¢6 thé 1a tai gid tée dung theo phuong ngang thay déi ngdu nhién theo thiti gian. Trubng luc e6 thé tae dong 1én mdi vat thé hode lén ec cap vat thé thang qua dinh nghia bang lénh Force Field trong menu World. - Chon mye Force Field trong menu World. - Mé menu dé xudng Sample Force va chon mot cong thie mau tham khéo. Néu mot dang mdu duge sit dung, loai Ife va cong thie ca Ive 88 ty dong duge dién sin, Néu chon dang tiy ¥ (custom), ngudi str dung sé phai “trau chudt” cong thie dink nghia ye theo § riéng vA sau dé click vao tury chon Pair - Wise (lye dinh nghia mdi chi cb hidu ting gia mét cAp vat thé) hoac Field (lye dinb nghia mdi 18 m6t trudng luc ¢6 higu ting trong toan bo mé hinh) dé xdc dinh anh huéng cia lye mdi dinh nghia nay. ~ Click vao fist OK.CHUONG 2. THAO TAC TRONG WORKING MODEL 2.5. DO DAC CAC DAI LUGNG (METERS) Nauti sis dung c6 thé do dae héu hét cic dai lugng vat ly trong bai mé phéng. Déng hé do (meter) 1a cong cu thé hién cdc gid tri sé cde dai lugng mé phéng va céc thong tin dang dé thi Déng hé do (meter) Déng hé do (meters) cho phép nguti sit dung thu nhén da liu trong bai mé phéng dang sO hoac dang dé thi (numerical and graphical data). Céc gid tri nay c6 thé la bat ky dai lvong vét ly hoge thube tinh néto. Neudi sit dung c6 thé dimg déng hé do & dang chudn (standard meters) hoae thiét lap theo ¥ mudn (customize meters) dé do dac, hién thi hay danh gia cc biéu thie todin hoe chifa cée dai lugng do duce. Déng hé chi thi (meter) nim trén mot lép (layer) khat véi I6p cia cAc 6i tugng mé phéng va do dé khong lam Anh hudng dén sy mé phing, Lép (layer) Trong Working Model, bai mé phéng cé hai layer: mét cho mo hink (chia cée vat thé va rang bude) va m6t cho ede Abi tuong khde (nhu déng hb do va diéu khién). Khi thuc hign ma phéng, khong déi tugng nao trong lip thi hai why déng hé va diéu khién) gay anh huéng dén chuyén d6ng cia mé hink VA] 2.5.1. Tao déng hd do Ding bd do cho phép ngudi si dung thu nhan di ligu trong bai mé phéng dang s6 hoje dang dé thi. Véi déng hd do, ta c6 thé do bat ky dai luong vat ly hodc thudc tinh nao tronggiud trinh md phéng. Menu Measurement h& tra vig tao déng hé do theo ede bude: - Chon mét vat thé, diém hay mot déi tuong rang bude tai vi tri edn do dae. - Chon mye thuge tinb edn do trong menu Measurement. DE do dai lugng Contact Foree (Iu tip xtc) hay Friction Force (Itc ma sat), ta phai chon hai vat thé tiép xc truée khi md menu Measurement. 8