Import CAD assembly from SolidWorks to Multicore

[Gianni Curti]

Good morning,

my name is Gianni, a grad master student and I need Project Chrono to perform analysis for my thesis.

For my project, I need to import a CAD assembly from Solidworks, assign to a rotating arm a predefined angular speed, and simulate its interaction with a particle bed generated as shown in the code "demo_MCORE_Cratering" with the Multicore module. For the simulation visualization, I want to use OpenGL. Plus, I am currently using the latest versions of Chrono (v9.0) and Solidworks add-in (released in May 2024).

Therefore, I have some questions regarding the Import procedure:

1) First, I tried the import procedure in Irrlicht following the baseline template given by the SolidWorks add-in. I created a simple motor rotating at a constant rate directly with the Solidworks add-in, however, even though the simulations runs smoothly without errors, the arm does not rotate. I applied the constraints in the assembly in order to leave the rotating arm as the only degree of freedom (i.e. I blocked all the other rotations for the other components).

I leave this image as reference:

All the bodies share the same reference system which coincides with the global one. The blue element in the figure is the one which should rotate about the Z-axis. The "Engine" component is the grey cylinder attached to the arm. 

This is the output of the conversion in C++ for the motor.

2) Furthermore, when I tried to import the CAD in the Multicore environment, I get the error that the command "ImportSolidworksSystemCpp" is not defined. This happens even though I copy-pasted all the headers and commands from the import template. Could you please help me?

Thank you in advance for your help!

Gianni

[Dario Mangoni]

Ciao Gianni,
motor frames are defined in SolidWorks through Reference Geometry>Coordinate System entities.
As any other link in Chrono, the Z axis of the Coordinate System is taken as the revolute axis. No additional change is made at the code level.

1. your "Sistema di coordinate", the one that you selected by clicking on "Select Marker" where is placed exactly? I assume it should be placed along the rotation axis, with the Z axis oriented in the proper direction, but I don't see it.
   The one that you posted is not the motor marker and has an offset with respect to the rotation axis that there shouldn't be
2. I see that you selected "Motor guide constraint". This means that the Chrono motor will add also the 5 constraints to avoid the two pieces to move away one from the other.
   This is reasonable only if you did not put any other Solidworks link between 'engine' and 'arm'. I recommend you to untick this checkbox, link the two bodies through SolidWorks links and use the Chrono motor only for the rotation degree of freedom.
3. did you try to run the model directly in Solidworks through the "Run simulation" button? At least you can check if the model is fine.
4. the undefined command "ImportSolidworksSystemCpp" suggests that something is wrong with your CMake: when you said that you "copy-pasted all the headers and commands from the import template" did you also modified your CMake script accordingly? Can you please share it?

Dario

[Gianni Curti]

Buongiorno Dario,

thank you again for your availability. At the beginning of the message you can find a clearer image of my solidworks CAD:

1. I created "Sistema di coordinate 1" with the function Reference Geometry>Coordinate System  by choosing the origin point of the coordinate system of the "Engine" component. As shown in the image, it is aligned with the global reference frame. The only offset is the fact that it is shifted along the Z-axis with respect to where the two rotating faces are in contact.

2. I implemented your suggestion but still "Arm" does not rotate. The other constraints between "Engine" and "Arm" are the "Concentric" one and a zero offset imposed along the z-axis. In this way, all the other degrees of freedom with the exception of rotation around the Z-axis should be blocked. I have also tried to comment these links and rerun the simulation, and the arm detaches from the rest of the body as it should be.

3. I tried the "Run simulation" button and I got the error message related to Irrlicht in the figure even though the compile run in MSVS 2022 does not show any problem.

4. I send you both the CMakeLists and the CPP code in case it helps. Basically, they have been created by merging  the codes solid_import_cpp and demo_MCORE_Cratering. Let me know if you need anything else.

Gianni

[Dario Mangoni]

Hi Gianni,

• can you please share the CMakeCache that is found in your build folder?
• what the "Dettagli" panel returns when the "Run simulation" button is pressed?
• can you please try to remove the motors in Solidworks and do them manually in Chrono?

There is something wrong, but it's difficult to tell what.

[Gianni Curti]

Hi Dario,

• You can find the CMakeCache attached below. I am sending you both the one of the basic code for the import (CMakeCache_simple_import) from Solidworks and the one of the Particle_bed script (CMakeCache_Particle_bed).
• This is what "Dettagli" returns from the Solidworks add-In (Sorry for the Italian language):

Le informazioni su come richiamare il debug JIT (Just-In-Time) anziché questa finestra
sono riportate in fondo al messaggio.

************** Testo dell'eccezione **************
System.TypeInitializationException: L'inizializzatore di tipo di 'chrono_irrlichtPINVOKE' ha generato un'eccezione. ---> System.TypeInitializationException: L'inizializzatore di tipo di 'SWIGExceptionHelper' ha generato un'eccezione. ---> System.DllNotFoundException: Impossibile caricare la DLL 'ChronoEngine_csharp_irrlicht': Impossibile trovare il modulo specificato. (Eccezione da HRESULT: 0x8007007E).
   in chrono_irrlichtPINVOKE.SWIGExceptionHelper.SWIGRegisterExceptionCallbacks_chrono_irrlicht(ExceptionDelegate applicationDelegate, ExceptionDelegate arithmeticDelegate, ExceptionDelegate divideByZeroDelegate, ExceptionDelegate indexOutOfRangeDelegate, ExceptionDelegate invalidCastDelegate, ExceptionDelegate invalidOperationDelegate, ExceptionDelegate ioDelegate, ExceptionDelegate nullReferenceDelegate, ExceptionDelegate outOfMemoryDelegate, ExceptionDelegate overflowDelegate, ExceptionDelegate systemExceptionDelegate)
   in chrono_irrlichtPINVOKE.SWIGExceptionHelper..cctor() in C:\WORKSPACE\chrono_9_build\chrono_csharp\merge\chrono_irrlichtPINVOKE.cs:riga 117
   --- Fine della traccia dello stack dell'eccezione interna ---
   in chrono_irrlichtPINVOKE.SWIGExceptionHelper..ctor()
   in chrono_irrlichtPINVOKE..cctor() in C:\WORKSPACE\chrono_9_build\chrono_csharp\merge\chrono_irrlichtPINVOKE.cs:riga 124
   --- Fine della traccia dello stack dell'eccezione interna ---
   in chrono_irrlichtPINVOKE.new_ChVisualSystemIrrlicht__SWIG_0()
   in ChVisualSystemIrrlicht..ctor() in C:\WORKSPACE\chrono_9_build\chrono_csharp\merge\ChVisualSystemIrrlicht.cs:riga 38
   in ChronoEngine_SwAddin.SWTaskpaneHost.but_runSimulation_Click(Object sender, EventArgs e) in C:\WORKSPACE\chrono-solidworks_source\ChronoSolidworksAddIn\SidePanel.cs:riga 953
   in System.Windows.Forms.Control.OnClick(EventArgs e)
   in System.Windows.Forms.Button.OnMouseUp(MouseEventArgs mevent)
   in System.Windows.Forms.Control.WmMouseUp(Message& m, MouseButtons button, Int32 clicks)
   in System.Windows.Forms.Control.WndProc(Message& m)
   in System.Windows.Forms.ButtonBase.WndProc(Message& m)
   in System.Windows.Forms.Button.WndProc(Message& m)
   in System.Windows.Forms.NativeWindow.Callback(IntPtr hWnd, Int32 msg, IntPtr wparam, IntPtr lparam)


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    Versione assembly: 32.2.0.0
    Versione Win32: 32.2.0.0115
    Base di codice: file:///C:/Program%20Files/SOLIDWORKS%20Corp/SOLIDWORKS/partcplu.DLL
----------------------------------------
Accessibility
    Versione assembly: 4.0.0.0
    Versione Win32: 4.8.9032.0 built by: NET481REL1
    Base di codice: file:///C:/Windows/Microsoft.Net/assembly/GAC_MSIL/Accessibility/v4.0_4.0.0.0__b03f5f7f11d50a3a/Accessibility.dll
----------------------------------------
System.Dynamic.DynamicAssembly
    Versione assembly: 0.0.0.0
    Versione Win32: 4.8.9032.0
    Base di codice: file:///C:/Windows/Microsoft.Net/assembly/GAC_MSIL/System.Dynamic/v4.0_4.0.0.0__b03f5f7f11d50a3a/System.Dynamic.dll
----------------------------------------
mscorlib.resources
    Versione assembly: 4.0.0.0
    Versione Win32: 4.8.9032.0 built by: NET481REL1
    Base di codice: file:///C:/Windows/Microsoft.Net/assembly/GAC_MSIL/mscorlib.resources/v4.0_4.0.0.0_it_b77a5c561934e089/mscorlib.resources.dll
----------------------------------------
System.Windows.Forms.resources
    Versione assembly: 4.0.0.0
    Versione Win32: 4.8.9032.0 built by: NET481REL1
    Base di codice: file:///C:/Windows/Microsoft.Net/assembly/GAC_MSIL/System.Windows.Forms.resources/v4.0_4.0.0.0_it_b77a5c561934e089/System.Windows.Forms.resources.dll
----------------------------------------

************** Debug JIT **************
Per abilitare il debug JIT, è necessario impostare il valore
jitDebugging nella sezione system.windows.forms del file di configurazione
dell'applicazione o del computer (machine.config).
L'applicazione inoltre deve essere compilata con il debug
abilitato.

Ad esempio:

<configuration>
    <system.windows.forms jitDebugging="true" />
</configuration>

Quando il debug JIT è abilitato, tutte le eccezioni non gestite
vengono inviate al debugger JIT registrato nel computer,
anziché essere gestite da questa finestra di dialogo.

• I tried to add the motor directly in Chrono while commenting out the one generated by the SolidWorks add-In but nothing changed. I have also tried to leave the motor activated in both the Chrono code and the add-In and this is the only case in which I see a rotation. However, the motor goes crazy (i.e. it first oscillates, then it revolves really fast as it should while it vibrates in an unphysical way).

Let me know if you need anything else and thanks again for the help.

Gianni