Input table file
Input motion can be defined by a table created externally by the user. SAM can also create table files for use in another SAM-project. In this way complicated profiles can be generated, for instance to simulate the path of a robot link.
Input cycloid and spline
Input motion can be combined with cycloid and spline functions, to create smooth moves. In this demo two cylindres are driven with these smooth curves.
Input linear function-segments
SAM allows the definition of multiple inputs, which can either be defined in terms of absolute displacements or in terms of elemental change of shape to model relative inputs (e.g. elongation of a hydraulic cylinder or relative rotation of a robot elbow). Each of the inputs can be defined independently. Standard parametric functions are available:
- constant velocity
- polynomial
- cyclical motion
- 2nd order velocity profile
- cubic splines
These functions can be combined to form the desired input diagram. Inputs can also be read from an external ASCII file created by any user tool. This feature offers the modeling of cam profiles.
The use of multiple asynchrone motors enables simulation of scara robots and complicated pick and place machines. It is also allowed to animate multiple unconnected mechanisms at one worksheet.
Input nodal position
Any individual node in the mechanism can be driven in x, y direction, or a combination of both. The applied profile is build by the user and also might be loaded from a text file.
Input relative angle
To drive a scara robot arm a relative angle drive is needed. A relative rotational drive can be applied between any pair of elements in SAM.
Various ways of driving a mechanism
SAM knows various ways to drive a mechanism. X, y position of a node is a way to create a linear drive. Angle and relative angle implements rotational motors, and elongation of a beam/rod is the way to create a hydraulic or pneumatic cylindre. The rack and pinion element can be used to convert a motor drive to a linear transport.
