SAM offers a set of design wizards which will help you to synthesize mechanisms for specific tasks, such as:
- Angle function generation (a minimum of 3 pairs of input/output angles are to be satisfied).
- 3-Position/angle synthesis of the coupler plane.
- Approximated straight line motion.
- Exact straight line motion.
SAM is equipped with a large library of basic elements, including:
- Beam, slider
- Belt, gear
- Spring, damper and friction element (both translation and rotation)
- Non-linear spring
The DXF import/export facility lets you export your conceptual mechanism design to any CAD program to work out the details and it lets you import CAD data to easily set-up the mechanism in SAM or to perform animation of the final mechanism.
SAM allows the definition of multiple inputs, which can either be defined in terms of ...
- Angle input motion: e.g. rotation from a motor
- Elongation of a beam: e.g. displacement of a hydraulic/pneumatic cylinder
- Relative angle: e.g. relative rotation of a robot elbow
- Constant velocity
- 2nd order velocity profile
- Cubic splines
Once the mechanism has been constructed and the inputs have been defined any of the following kinematic quantities can be calculated (all relative or absolute):
- Nodal position, displacement, velocity, acceleration
- Angles, angular velocity and acceleration
- Driving torque (force)
- Reaction forces in bearings
- Internal forces in elements
- Required or transmitted power
Optimization (SAM Professional Only)
The optimization module of SAM Professional offers single-function multi-parameter unconstrained optimization based on a mix of evolutionary algorithms and Simplex techniques.
Taking the initial design/topology as a starting point one can for example further improve the quality in which the trajectory of a coupler point equals the target trajectory by changing the geometry of the mechanism within pre-defined ranges. Or one can minimize the peak or RMS value of the driving torque of a mechanism by adding a compensating mass and let SAM determine the optimal value of the mass and its position within the allowable range.
SAM seeks the optimum by modifying the following properties within user-defined ranges:
- Geometry of mechanism
- Element properties, such mass, spring constant, transmission ratio, ...