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Working Model 2D Reveja
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Working Model 2D is a dynamics simulation tool with easy-to-use, CAD input and powerful data-presentation output. It allows you to quickly build, run, and refine simulations while measuring forces, collisions, and friction. Simulations can also contain non-linear or user-defined events through a built-in equation language. Additionally, the software supports imported CAD models in .DXF format; and has integration with spreadsheets and MATLAB/Simulink.
The learning curve can be steep, but that is true of most simulation software. Also, you have to manage your expectations. The results you get will not exactly match real life.
You have in each union, trajectories, speeds, accelerations, forces, among others. It is very useful. I had contact with this software during my university course called "Dynamics of mechanisms and machinery". It is practical, easy to learn, you have many information in the configurations made, even if the number of links used is high. Time is a limiting factor in the design process, in that sense, working 2D model helps to dismute those times. It allows to be more effective in the conceptual design process. You do not need to create a physical prototype.
Obviously the 3D design exceeds the 2D design. However, from the point of view of conceptual design it is very useful, since you have the calculations quickly and reliably.