Introduction to Kinematics

R2010
 About this Course

Course objectives

This courseware provides a theoretical knowledge of one of the most important practice in product lifecycle
management : Kinematics.

Targeted audience
Educators and students interested in the knowledge of Kinematics and its applications in industry domain

Prerequisites
No Prerequisites

2h
Table of Contents (1/3)

Introduction 1-1
Warm-up 1-4
Analysis 1-12
Types of kinematics joints 1-19
Degree Of Freedom 1-20
Vectors 1-23
Lower, higher, and compound pair joints 1-25
Usual Joints 1-27
Methodology of the Study of a Mechanism 1-39
Kinematics Input(s) toward the Output(s) 1-40
What is an equivalence class? 1-44
What is a Joints graph? 1-46
What is a kinematics diagram? 1-48
What is Hyperstaticity? 1-50
Hyperstaticity calculation 1-54
Table of Contents (2/3)

Industry 2-1
Industry presentation 2-2
Kinematics simulation objectives 2-4
Where is kinematics simulation used 2-6
Aerospace 2-7
Automotive 2-9
Consumer goods 2-10
Manufacturing 2-11
Machinery 2-13
Shipbuilding 2-15
Table of Contents (3/3)

DS Solutions 3-1
CATIA 3-2
DELMIA 3-4
Course outline

1
Introduction

2
Industry

3
DS Solutions
Introduction

1
Introduction

2
Industry

3
DS Solutions
Introduction Overview

1
Warm-up

2
Analysis

3
Types of
kinematics joints

4
Methodology of the
Study of a
Mechanism
Warm-up

1
Warm-up

2
Analysis

3
Types of
kinematics joints

4
Methodology of the
Study of a
Mechanism
Warm-up

This buggy is composed of many complex mechanisms:

To simplify the study of these mechanisms, there exist different tools that describe a methodology. This
courseware shows some of them to introduce you to kinematics.
 Warm-up

Below is the methodology of the mechanism study

1 2
Read & Decode the Equivalence
real mechanism kinematics classes

4 3
2D or 3D kinematics Model the
diagram technological joints

5
Calculate the
hyperstaticity of the 6
mechanism Simulate in 3D
Warm-up

Before any analysis of mechanisms let‟s define some important

concepts

Definition of kinematics :

We will start by seeing what is not kinematics.

Dynamic Analysis :

Imagine a crane picking up a big block. If the block is too heavy the crane might tip over. The crane
has moving parts, but additionally the moving parts are subjected to forces (gravity, the weight of the
block, or even the inertia of the crane itself as it moves)…

so this is not only kinematics rigid solids.

Warm-up

Deformable Dynamic Analysis:

Imagine the same crane again, lifting the same block, but this time the crane‟s parts are deformed.
This is kind of a combination of kinematics, FEA (Finite Element Analysis), and dynamic analysis, but
you guessed it…

… this is not only kinematics.

Warm-up

Kinematics :

The traditional view of kinematics starts with an assembly of parts that are connected together by a
variety of movable joints. One of the joints is moved causing the assembly to move. We don’t
associate loads or weights with the parts, we are simply moving the assembly of parts through
some range of motion.

trajectory

… this IS the kinematics of rigid solids and it is what we are going to develop in this
courseware
 Warm-up

Kinematics deals with the motion of a mechanism without consideration of loads or force

Mechanics

Mechanical actions Motions

Forces, “torque”, Displacement, velocity,

loads… acceleration…

Only the motions are observable

The motions arise from the mechanical actions

Kinematics is the study of motion regardless of any context connected to the mechanical actions
Warm-up

Kinematics Hypothesis

To apply kinematics concepts, we should have a perfect geometry of the joints connecting solid 1 and solid 2.
Below is a figure showing the hypothesis:

Solid 1 Solid 2

Joints

Perfect geometry

Not deformable Perfect adjustment

 Analysis

In this chapter we will study the basic concepts of the kinematics' point

1
Warm-up

2
Analysis

3
Types of
kinematics joints

4
Methodology of the
Study of a
Mechanism
Analysis

Basics concepts
Z
The analysis of kinematics determines the positions,
velocities, and accelerations of certain points on the
objects of mechanisms.

Axis system
Fixed reference point (O) O
X-axis, Y-axis used for horizontal
motion
Z-axis used for vertical motion X Y

Displacement Z θ
Change from one position to another is
V
displacement
Displacement is vector quantity
Displacement is different from distance

Rotation O
Around an axis (for example: X-axis)
Rotation of an angle θ Y
X θ
U
Analysis

Linear Velocity :

Velocity is the rate of change of position. It is a

physical vector quantity; both speed and
direction are required to define it:

Distance traveled
Average velocity:
time

v=d/t

with: v measured in m/s

d measured in m
t measured in s

Instantaneous velocity: rate of change d

of position vector i.e displacement with
respect to time at a given time and is
equal to the first differential of position
vector.
Analysis

Angular Velocity :

The angular velocity is a vector quantity that

specifies the angular speed of an object and
the axis about which the object is rotating:

Angle
Average velocity:
Time

ω=θ/t

θ
with: ω measured in rad/s
θ measured in rad
t measured in s
O

Most of the time, we measure the Position of the point with 1s

angular velocity of crankshaft in between each step
revolutions per minute : rpm or Trajectory
r/min
Analysis

Acceleration:

When an object's velocity changes, it accelerates. Acceleration shows the change in velocity in a unit
time. Velocity is measured in meters per second, m/s, so acceleration is measured in (m/s)/s, or m/s2,
which can be both positive and negative.

An average acceleration is the ratio between the change in velocity and the time interval.

Velocity change
a=
Elapsed time

Example : If a car accelerates from 5 m/s to 15 m/s in 2 seconds, what is the car's average
acceleration?

15 - 5
a= = 5 m/s²
2

An instantaneous acceleration is the change in velocity at one moment.

The next slide shows the piston

acceleration function to the crank angle
Analysis

2
1

3
Acceleration 2 4
(m/s²)

0° 90° 180° 270° 360°

1 1

Crank Angle
(deg)

4 3
 Analysis

This example will sum-up the different notions of displacement, velocity, and acceleration depending on the
orange point. The displacement increases exponentially whereas the velocity grows linearly. The acceleration is
constant :

D V

t t

t
 Types of Kinematics Joints

A mechanism transfers input motion at one end to the output motion on the other end. To activate a mechanism
we need to create mechanical joints between the parts composing it, and it will be developed in this chapter.

1
Warm-up

2
Analysis

3
Types of
Kinematics Joints

4
Methodology of the
Study of a
Mechanism
Types of Kinematics Joints

1
Degree Of
Freedom

2
Vectors

3
Lower, higher, and
compound pair
joints

4
Usuals Joints
Degree Of Freedom

What is a Degree Of Freedom?

A degree of freedom between two parts corresponds to a possibility of elementary independent

movement between these two solids. These elementary DOFs are represented by a maximum of 3
translations and 3 rotations.

How many degrees of freedom when flying?

Degree Of Freedom

In flying mode the plane has 6 DOFs

3 Translations (Tx, Ty, Tz)

3 Rotations (Rx, Ry, Rz)

Tz

Rz

Ry
Tx Rx

Ty

A particle that moves in three dimensional space has three translational displacement components as
DOFs, while a rigid body would have at most six DOFs including three rotations.
Types of Kinematics Joints

1
Degree Of
Freedom

2
Vectors

3
Lower, higher, and
compound pair
joints

4
Usuals Joints
Vectors

Définition

A motion vector is a geometric object that has both a magnitude and a direction. This direction is parsed
in elementary directions:

Translation

Rotation

If solids are mechanically linked, the 3 translations and 3 rotations are not possible. During the next
slides, we are going to see the DOF of the most used mechanical links.
Types of Kinematics Joints

1
Degree Of
Freedom

2
Vectors

3
Lower, higher, and
compound pair
joints

4
Usuals Joints
Lower, higher and compound pair joints

Lower Pair Joints

A lower pair joint is one in which contact between two rigid members occurs at every point of one or more
surface segments. Here are some examples:

Revolute Planar joint Spherical joint

Higher Pair Joints

A higher pair is one in which contact occurs only at isolated points or along line segments. All other things
being equal, a higher pair will produce higher contact stresses than will a lower pair. Here are some examples :

Cylindrical roller Cam pair Rolling ball

Compound Pair Joints

A compound joint is a complex mechanism but is regarded as kinematically equivalent to a lower pair joint.
Here are 3 examples of compounds joints:

Ball bearing Universal joint Roller slide

Types of Kinematics Joints

1
Degree Of
Freedom

2
Vectors

3
Lower, higher, and
compound pair
joints

4
Usuals Joints
Usuals Joints

Rigid Joint

Kinematics vectors
DOF = 0

Standards representations

Examples
Usuals Joints

Revolute

Kinematics vectors
DOF = 1

Standards representations

Examples
Usuals Joints

Prismatic Joint

Kinematics vectors
DOF = 1

Standards representations

Examples
Usuals Joints

Screw Joint

Kinematics vectors
DOF = 1

Standards representations

Examples
Usuals Joints

Cylindrical Joint

Kinematics vectors
DOF = 2

Standards representations

Examples
Usuals Joints

Spherical Joint

Kinematics vectors
DOF = 3

Standards representations

Examples
Usuals Joints

Finger ball and socket joint

Kinematics vectors
DOF = 2

Standards representations

Examples
Usuals Joints

Planar Joint

Kinematics vectors
DOF = 3

Standards representations

Examples
Usuals Joints

Ball in cylinder

Kinematics vectors
DOF = 4

Standards representations

Examples
Usuals Joints

Linear rectilinear joint

Kinematics vectors
DOF = 4

Standards representations

Examples
Usuals Joints

Rolling ball

Kinematics vectors
DOF = 5

Standards representations

Examples
Methodology of the Study of a Mechanism

1
Warm-up

2
Analysis

3
Types of
kinematics joints

4
Methodology of the
Study of a
Mechanism
Methodology of the Study of a Mechanism

1 2
Kinematics Input(s) What is an
toward the Output(s) 1 translation equivalence class?
INPUT

1 rotation
OUTPOUT

4 3
What is a kinematics What is a Joints
diagram? graph?
3 4 2
6
5
1
7 8

5 6
What is Hyperstaticity
Hyperstaticity? calculation
Methodology of the Study of a Mechanism

Kinematics Input(s) toward the Output(s)

Definitions of a useful movement „Mu‟: the useful movement of a mechanism is the desired, functional
movement of the mechanism.

Input Output
movement (s) movement (s)
MECHANISM

Are Mu for the functioning

of the mechanism

Example

1 translation INPUT
Z

Mu = 1
1 rotation
OUTPOUT

X Y
Methodology of the Study of a Mechanism

Definition of Internal movement „Mi‟: In addition to the useful movements, certain parts can have non
functional movements (from an external point of view of the mechanism – input/output), independent of
the input and output kinematics parameters. These movements are not useful to the smooth functioning
of the mechanism, but exist …

Input Output
movement (s) movement (s)
MECHANISM

Are Mi with respect to the

functioning of the mechanism

Example with no Mi

No internal
movement Mi = 0

X Y
Methodology of the Study of a Mechanism

Technological examples of Mi:

A double spherical jointed connecting

rod
Mi = 1: a rotation around the axis of the
connecting rod

A jack rod
Mi = 1: a rotation around its axis

A ball pushed by a spring

Mi = 3: 3 rotations around the center of
the ball
Methodology of the Study of a Mechanism

1 2
Kinematics Input(s) What is an
toward the Output(s) 1 translation equivalence class?
INPUT

1 rotation
OUTPOUT

4 3
What is a kinematics What is a Joints
diagram? graph?
3 4 2
6
5
1
7 8

5 6
What is Hyperstaticity
Hyperstaticity? calculation
Methodology of the Study of a Mechanism

What is an equivalence class?

Group of parts that are either fixed or move as

a whole

From a cross section view, for example, we

can determine the equivalence classes

View drawings (here: Determination of the

cross section view) equivalence classes
Methodology of the Study of a Mechanism

1 2
Kinematics Input(s) What is an
toward the Output(s) 1 translation equivalence class?
INPUT

1 rotation
OUTPOUT

4 3
What is a kinematics What is a Joints
diagram? graph?
3 4 2
6
5
1
7 8

5 6
What is Hyperstaticity
Hyperstaticity? calculation
Methodology of the Study of a Mechanism

What is a Joints graph?

3 4
The assembly of solids that make up a
mechanism can be graphically represented by I.
what we call the joint graph. Each bubble 2 5
represents an equivalence class of the
mechanism, each inter bubble line represents
the equivalent kinematics joint. We distinguish 1
3 types of kinematics chains:

I. Open chain
II. Closed chain 2 3
III. Complex chain II. 1

4 2
3

6
III. 5
1
8
7
Methodology of the Study of a Mechanism

1 2
Kinematics Input(s) What is an
toward the Output(s) 1 translation equivalence class?
INPUT

1 rotation
OUTPOUT

4 3
What is a kinematics What is a Joints
diagram? graph?
3 4 2
6
5
1
7 8

5 6
What is Hyperstaticity
Hyperstaticity? calculation
Methodology of the Study of a Mechanism

What is a kinematics diagram?

Graphic representation using the standard representations for mechanical joints.

Example:

2 3
1

4
Methodology of the Study of a Mechanism

1 2
Kinematics Input(s) What is an
toward the Output(s) 1 translation equivalence class?
INPUT

1 rotation
OUTPOUT

4 3
What is a kinematics What is a Joints
diagram? graph?
3 4 2
6
5
1
7 8

5 6
What is Hyperstaticity
Hyperstaticity? calculation
Methodology of the Study of a Mechanism

What is Hyperstaticity?

To help you know what is a hyperstatic system we

will use the example of the stool and the chair

Isostatic system

If we consider that the feet stool are punctual

joints, the interface between the stool and the
floor is made of 3 punctual joints. Only these 3
joints are enough to compose a steady system
because they are equivalent to a planar joint.

Hyperstatic system

The interface between the chair and the floor is

made of 4 ponctual joints. In this case the
fourth joint overconstraint the system. It is
overconstrained of 1 degree.
Methodology of the Study of a Mechanism

Why use an isostatic or hyperstatic system?

To explain Hyperstaticity, we will use the

example of the microscope.

Isostatic System

This microscope is not used to zoom a lot. The

accuracy is not the most important point. So it
could be an isostatic system. The control
system of lenses will be composed by a single
rack.

Advantages : It is easier to assemble.

The system is designed to be
assembled easily with large adjustments.

Drawbacks: Brings low precision

because of the large adjustments
Methodology of the Study of a Mechanism

Why use an isostatic or hyperstatic system?

Hyperstatic System

On the other hand, this microscope is used to

obtain a very large magnification. The accuracy
is primary. Rigidity is necessary and perfect
adjustment even more.

Advantages : Brings rigidity and

accuracy

Drawbacks: Hard to assemble. Requires

a lot of precision when designing. More
expensive.
Methodology of the Study of a Mechanism

1 2
Kinematics Input(s) What is an
toward the Output(s) 1 translation equivalence class?
INPUT

1 rotation
OUTPOUT

4 3
What is a kinematics What is a Joints
diagram? graph?
3 4 2
6
5
1
7 8

5 6
What is Hyper- Hyperstaticity
staticness? calculation
Methodology of the Study of a Mechanism

Hyperstaticity Calculation

One Hyperstaticity formula:

h = mc - m Mobility index
h = mc – (Ic – Ec)
mc = mi + mu Ec = 6(Numberjoint – Numberpart +1)
Ic = SUM of DOFjoints

Exercise with the micro motor example

Is this micro motor isostatic or

hyperstatic?
Methodology of the Study of a Mechanism

Correction of the example

h = mc - m
= mc - (Ic - Ec) This micro motor is hyperstatic
= (mi + mu) - (Ic - Ec)
= (0 + 1) - [1 + 2 + 1 +2 – 6(4 - 4 + 1)]
= 1 - (6 - 6)

h=1
2

12 1

2
1 2

1
Course outline

1
Introduction

2
Industry

3
DS Solutions
Industry

Industry domain
presentation

2
Kinematics
Simulation
Objectives

3
Where is Kinematics
Simulation used
Where is kinematics simulation used

We can find kinematics in almost every kind of industry domain. Here are six examples :

Aerospace Automotive Consumer Goods

Courtesy of Dassault Aviation Courtesy of Motive Industries and Aptera

Machinery Fabrication Shipbuilding

Courtesy of SERRA Courtesy of BOC Edwards Courtesy of CMN

SOLDADURA
Industry

Industry domain
presentation

2
Kinematics
Simulation
Objectives

3
Where is Kinematics
Simulation used
Kinematics Simulation Objectives

Why This is Difficult Today…

Too many design errors slow the product release and can reduce product profit margin.
Use of different applications to create and validate product design reduces design validation loops and
makes difficult early assessment of the product behavior .
Use of physical prototypes increases project costs and limits rapid design alternatives studies.
Labor intensive manual data translation steps between design & review departments limits interaction to
quickly understand and solve issues with peers.
Lack of reusability of design analysis impedes rapid change implementation.

Contribution of Kinematics Simulation

3D advanced simulation enables designers and engineers to understand how their products will behave
when parts or sub-assemblies are moving and need to be mounted or replaced.
Simulation of the product‟s behavior, before building it, improves the quality of products as well as
reducing its costs.
Seamless integration within 3D simulation increases upfront detection and resolution of design issues.
Clash detection and alternative shapes creation enable to handle complex designs accurately and with
good performance.
3D communication tools facilitate decision making on product changes and alternative design studies.
Reusability of analysis and studies boosts validation loops.
Integration with Product Lifecycle Management solutions enables to manage product complexity &
security.
Industry

Industry domain
presentation

2
Kinematics
Simulation
Objectives

3
Where is Kinematics
Simulation used
Aerospace (1/2)

Aeronautical vehicles integrate complex multi-functional subsystems that must perform reliably together.

Use a wide variety of joint types, or generate them automatically from mechanical
assembly constraints (Assembly Design Product)

Easily simulates mechanism motion with mouse-based manipulation

Analyzes mechanism motion dynamically with visual feedback to check limits and
interferences, and compute minimal distances
Aerospace (2/2)

PRATT & WHITNEY CANADA

Clash and fitting simulation allows detection of collisions and

gaps early in the design process, saving hundreds of hours of
design time on each program.

“Clash detection occurs even before the first engine is built. 70%
of interferences* are now resolved at the early design stage. It
saves us money and time on each project,”
said Mario Modafferi.
Automotive

Up-front design validation is critical in order to minimize cost and maximize efficiency.

Simulating the behavior of a product, before physically building it, is becoming important to
improve the quality of products as well as to reduce costs.

Engineers especially need to understand how their products will behave when parts or sub-
assemblies:
Are moving
Need to be mounted or replaced
Consumer Goods

Kinematics simulation is also used for marketing goals

Watch Photocopier

The kinematics simulation of Kinematics simulation can

this luxury watch shows the
movements of the complex
mechanism.
LEGO
Simulation could offer a way
to show the possibilities of a
product.
be used to show technical
aspects of the products that
the company wants to sell.
Manufacturing (1/2)

Reverse kinematics

This type of robot is frequently used in the industry to transport parts, paint, weld, etc.

It is an interesting approach and rather simple that makes it possible to sketch out primary
command models in preparation for dynamic simulation on these models later on.

Examples: A robot walking, complex cam path, etc.

Manufacturing (2/2)

FAURECIA

Improved manufacturing simulation

DMU allows Faurecia to simulate the movement of

robots in advance to determine how they will perform
on the manufacturing line. Robots also can be
controlled directly from CATIA V5 data without
reprogramming.

“This has given us massive improvements in terms of

time and flexibility” says Borgard.
Machinery (1/2)

Designers need to check if clashes occur when several parts of the system are moving together.

Kinematics simulation allows the company to create 3D virtual models of the machines and
simulate their motion to check for interferences

Simulation of closed kinematics.

Simulate assembly/disassembly trajectory involving parts and sub-assemblies
Dynamic interference checking during parts motions.
Dynamic minimal distance computation.
Generate swept volume from trajectory for space reservation
Machinery (2/2)

SANGIACOMO

“Just by preventing many interference problems in the

design phase, we are saving at least 20 percent of the time
we used to spend on our testing phase”

Giorgio Capistrano, Sangiacomo‟s engineering manager.

SERRA SOLDADURA

With CATIA V5, designers can virtually simulate kinematics

and structural analysis at a very early stage in product
development.

“The business value resulting from successful bids has

increased over previous years when CATIA V5 and DELMIA
were not in use.”

Mateu Guiu, Sales Director, Serra Soldadura.

Shipbuilding

Some engines like the following can be simulated

Kind of propeller system like boat propeller systems could be composed by many complex
mechanisms.

Kinematics simulation can help to analyze the different movements to see their mechanical
reactions, velocities and accelerations.
Course Outline

1
Introduction

2
Industry

3
DS Solutions
CATIA Mechanism simulation

With CATIA Mechanism Simulation, you can work with detailed designs productively and concurrently. With the
help of the fully-automated Assembly Design workbench, product engineers and designers can create
mechanisms from connections that have already been defined.

The functional check and validation of mechanisms may be carried out interactively or by running a kinematic
simulation. This is processed concurrently with the Assembly Design workbench that offers powerful post-
processing tools such as clash analysis, distance computations, trace, and swept volume generation of a
moving part.

SIMULIA Kinematics Simulation

SIMULIA Realistic Simulation Infrastructure
CATIA Kinematics Mechanism Design
SIMULIA XY Plotting
ENOVIA VPM Dynamic Interface
ENIVOA VPM Dynamic Volume Computation
CATIA Mechanism simulation

Enables designers to define, simulate, and analyze mechanisms in a fully automated process

Challenges Benefits

Defining mechanisms apart from the
assembly 3D positioning is time consuming
and design changes are error prone.
Direct reuse of assembly design constraints
to define mechanisms
Wide variety of possible mechanisms
definition
Scenarios definition, animations, and
probes easy specification
Several mechanisms for a single product
Mechanisms interactive check
DELMIA Device Building

DELMIA Mechanical Device Builder (MDB) delivers the capabilities necessary to create virtual mechanical
devices for use in downstream planning and simulation activities. Device modelers are able to define devices,
from simple clamps to complex robots and lift-assist devices using DELMIA Mechanical Device Builder‟s
intuitive user interface. Once a device model is validated, it can be saved to a resource library for use by
planners, programmers, and simulation engineers as they define, optimize, and validate their manufacturing
plans.