• Free Solidworks Download For Students

For the serial number and license server information, and download the Install Solidworks PDF Download the installer Navigate to. Fill out all fields entering XSEK12 for the SEK-ID field. Click the Request Download button when all fields are filled out to proceed. Click the Accept Agreement & Continue button to proceed. Click the Download link at the top of the page to download the SolidWorks installer.

Install SolidWorks Locate the SolidWorks installer you downloaded and run the installer. Click the Unzip button to proceed. Click the OK button when the extract process completes and the SolidWorks installer will launch automatically. Select the Individual (on this computer) option and then click the Next button in the bottom-right corner of the window to proceed. Enter the serial number, see System Requirements above, in the text boxes then click the Next button in the bottom-right corner of the window to proceed. Select the Yes, download and install a newer version option then select the latest version in the drop-down menu. Click the Next button in the bottom-right corner of the window to proceed.

The installer will update itself then re-open using the newest version of the installer. Click the CHANGE link next to Products. Uncheck SOLIDWORKS Electrical and then click the Back to Summary button in the bottom right to proceed. Check the I accept the terms of the SolidWorks License and Agreement checkbox then click the Download and Install button in the bottom-right corner of the window to proceed.

The installer will then ask you for the license server to use. The license server information can be found. The installer will then begin downloading and installing SolidWorks. Note this could take anywhere from 15-45 minutes.

Select the No, thank you option and then click the Finish button in the bottom-right corner of the window to proceed. If prompted, click the Restart Now button to restart your computer and finish installation of SolidWorks.

What is the axis of rotation? Consider an object which is connected to a theoretically mass-less rod.

This object is fixed at the end of the rod to one axis. So the totla mass which is considered just concentrated at object is at the end of the rod. In case of any rotation, the mass propagation will not change during rotation, because the rotation axis is fixed. What will happen if because of the structure of our robot we can not consider a fixed axis of rotation?

In this case we need to have the value of moment of inertia corresponding to other axis of rotation. For easing this problem, and making an general explanation we use tensor of moment of inertia that is able to provide mass propagation in different cases of rotation around arbitrary rotational axis. As shown in the last picture of cylinder, the c1 is the one which can be selected because we can see the mass propagation is symmetrical along the axis (note: here just 2 axis for simplicity have been shown.). If you do some calculation based for getting the value of moment of inertia tensor you reach to one diagonal matrix as the resulting tensor of moment of inertia. The CS which has this symmetrical property which reached to a diagonal tensor is called principle axis of inertia and the diagonal tensor is called principle moment of inertia tensor. It seems good, easily we reached to our wanted result.

Actually it is right. But some important points should be considered as well. Firstly, it is necessary to look at your project as a big picture. Then decide about the sub assemblies in the whole exoskeleton or robot body. After these two steps you know how the kinematic chain of the robot is considered. You can calculate corresponding Jacobian matrix for your robot when you define the particular CSs at each 'joint'.

So, you have some predefined CSs in your exoskeleton. It is better to consider those CSs in your CAD also. One important point should be noticed here, it is about a kind of convention in the representation of values in Mass Prop window.

Take care the non-diagonal elements of the moment of inertia tensor are shown without negative sign. It means if you are going to use this value in other softwares as moment of inertia tensor you must multiply every NON-DIAGONAL elements in -1.

Then the tensor is valid in the convention. For more detail you can do one simple example by this software and do the calculation manually for finding the difference between this representation and the convention of moment of inertia tensor. Output coordinate system: As explained the best option is adjoining CS. So, defining the accurate adjoining CS is necessary before using this window tool. Includes, hidden bodies/components: In Solidworks there is the possibility to hide some parts of bodies or sub assemblies in order to make more clear show.

So, you can select inclusion or exclusion of hidden bodies by this option in mass properties calculation. After any change click on 'Recalculate button'. Assigned mass properties: It is used if we want to assign different properties to the mass specifications of the selected body without interfering the graphical model.

Output coordinate system indicator: At the top we will see which CS is considered as output CS. It is just for indication. Mass: Amount of mass of our sub assembly our body. Volume: Amount of volume. Surface area: Surface area of body is calculated and is shown. Center of Mass: a vector from output CS to center of mass. It is a useful data for finding translation vector which is essential in kinematic chain configuration in Matlab simulation tool.

Because the output CS is adjoining CS the value is valid and useful in Matlab simulation. Principle axis of inertia and principle moment of inertia taken at center of mass: This option has been explained in 1.3 section of this article. Moment of inertia, taken at center of mass aligned with output coordinate system: This option has been explained in sections 1.1 and 1.2. Moment of inertia, taken at output coordinate system: This option has been explained in section 1.1.

In general you can get value of tensor at any arbitrary POINT which is located at desired output CS by this option. But, take care due to lack of direct method for finding coordinate transformation in Solidworks, this tensor is not very useful for our simulation. Specially when we use Matlab simulation tool. The first point is we have two ultimates in selection of a simple rigid bodies.

The minimum number can be achieved if we consider every moving joint as a new adjoining CS. So, the whole body between two moving joints considered as a rigid body. This body may have different components in different angles.

It is not important in this assumption. We just draw an imaginary ellipsoid around those fixed parts between two moving joints. Then we calculate the moment of inertia tensor for this ellipsoid by use of Solidworks Mass Prop. Tool easily not different with what we do for an uniform simple geometrical shape.

The complicity does not bother us because the Mass prop does the hardest part which is calculation of moment of inertia tensor according to the output CS (adjoining CS at the first end of ellipsoid) and at center of mass of the ellipsoid. Hence, in this way during simulation we can not observe the content of ellipsoids as our rigid bodies resembling the fixed parts between two moving joints. We can see the dynamic behavior of our structure in minimum simple form of illustration. The maximum number of parts are not limited. It is based on your need. It means you are going to divide the complex rigid body between two moving joints in number of separate parts.

There is not any advantage actually in this division. Maybe for more understandable simulation some important fixed angles can be considered as separate fixed joint, or when you have one adjustable fixed joint. This joint will not change during the performance of robot but it changes the dynamic of robot during initialization. For example the robot hand length is adjustable.

You decide about the length before running the robot by some sort of bolts and nuts. Then when you start the robot this adjusted length is fixed.

If you do not have these two cases (important angles and adjustable fixed joints) it is not logical to increase the complexity of your dynamic model. The second point is related to the actuators at moving joints.

During the simulation it is essential to consider the joints mass less. It means you just consider rotation around axis or moving along axis or other complicated movements. But you do not consider mass for a joint. So, it is important to have in your mind that during selection of ellipsoid it is important to divide the actuator in two separate parts. Consider one part of the actuator as the primitive link and the remaining part of actuator is considered as a part of ellipsoid of the successive link. So, in your model you have mass less joints. The actuator mass and components are divided in two parts each is added at one corresponding link.

In the example here. I considered the ellipsoid1 composed of (link1 and act1) and the second ellipsoid composed of (act2 and link2). But, because I wanted to ease calculation by hand easily for your usage. I just divided the fixed rigid body in the ellipsoid1 in two separate parts as link1 and act 1. Similarly the ellipsoid2 in tow separate parts as link2 and act 2. So, here I did not used the minimum number of ellipsoids approach.

Free Solidworks Download For Students

I extended the numbers to reach to simplicity and clear demonstration. In the following pictures we can see the result of Mass Prop. Tool in Solidworks for our simple structure. Here we have four ellipsoids so we need four adjoining CSs and four moment of inertia tensors.But, I add one mass prop window for the whole body. This can be useful for getting the value of total mass, and the position of the center of gravity of our whole system at initial condition. Initial condition is the rest condition or the condition that our robot is configured to start at. Moreover, the circled values are important settings and data. For selection just one subassembly I hided the other unwanted bodies in Solidworks software to get the value specifically for particular ellipsoid.

The Solidworks version is 2004.

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