Six

Six
-
-
link Mechanism
link Mechanism
Weidong Guo, Mileta M Tomovic
School of Technology
Mechanical Engineering Technology
Estimated time required: ~60 min
Creating Parts
Creating Joints
Assembling the Model
Simulating model
Measuring model
Topics Covered Topics Covered
Download the file:
http://www.purdue.edu/discoverypark/PLM/SME/six_link_mechanism.zip
Problem Description Problem Description
In the six-link mechanism shown, driving link
OA has a counterclockwise angular velocity
1
=
36 deg/s. the lengths of the links are l
OA
=100mm,
l
AB
=l
BC
=l
CD
=l
DE
=l
EF
=l
BE
=400mm.
This problem asks for creating the model of
this mechanism and simulating the model to
obtain the motion characteristics of links 4 and 5.
Starting Adams and Making Settings Starting Adams and Making Settings
a. Start Adams.
b. Create a new model. The model name is six_link_mechanism.
c. Select OK.
b
c
a
Starting Adams Starting Adams
Starting Adams and Making Settings Starting Adams and Making Settings
a. Use default units setting.
b. Set Working Grid as along X to 750mmand Y to 700mm, grid
spacing for X and Y to 50mm.
c. Keep the default Icon Settings.
b
Making Settings Making Settings
Creating Model Creating Model
Creating Link_1 Creating Link_1
b
a
a. Select link tool in Main Toolbox.
b. Check Length, in Length text field enter 10cm. Check Width, and enter 3cm. Check Depth, and enter 1cm.
c. Create a link from (0,0,0) to (100,0,0).
d. Rename the link (PART_2) to Link_1.
(0,0,0)
(100,0,0)
c
d
Creating Model Creating Model
Creating Link_2 Creating Link_2
a
a
a. Select Link tool.
b. In Length text field enter 40cm.
c. Create a link from (100,0,0) to some point left up.
d. Rename the link (PART_3) to Link_2.
b
(100,0,0)
c
Creating Model Creating Model
Creating Link_4 Creating Link_4
Create Link_4.
(600,0,0) (200,0,0)
Creating Model Creating Model
Creating Link_4 Creating Link_4
Create Link_5.
(0,600,0)
Creating Model Creating Model
Creating Link_3 Creating Link_3
a. Select Plate tool.
b. In Thickness text field enter 1cm.
c. In Radius text field enter 1cm.
d. Click (150,150,0) position.
e. Click (550,150,0) position.
f. Click (350,500,0) position.
g. Right-click.
h. Rename the plate (PART_6) to
Link_3.
(150,150,0)
(550,150,0)
(350,500,0)
a
b
c
d
e
f
Creating Model Creating Model
Modifying Link_3 Modifying Link_3
a. Right-click on MARKER_11.
b. Select Marker: MARKER_11/Modify from drop down menu.
c. Rewrite 350.0,500.0,0.0 to 350.0,496.41,0.0 in Location text field.
d. Select OK.
a
b
c
d
Creating Model Creating Model
Creating Joints Creating Joints
Create JOINT_O, JOINT_A, JOINT_D, JOINT_F with 2 Bod-1 Loc construction.
Creating Model Creating Model
a. Select Revolute joint tool.
b. Select 2 Bod-2 Loc.
c. Click Link_2.
d. Click Link_3.
e. Click MARKER_4 belong to Link_2.
f. Click MARKER_9 belong to Link_3.
g. Rename this revolute joint to
JOINT_B.
Note! If you first click Link_2 and then Link_3,
you must click MARKER_4 first.
Note! Between the MARKER_4 and
MARKER_9, there should be a white line.
Because the background is white, you can
not see this white line in the working area.
In order to express this characteristic
clearly, here the line is re-drawn with blue
color. If the background is black, you can
see this white line clearly (see next slide).
Creating Joints Creating Joints
a
b
c
d
e
f
Creating Model Creating Model
Creating Joints Creating Joints
Creating Model Creating Model
Creating Joints Creating Joints
With the same steps mentioned above,
JOINT_E and JOINT_C are created
shown in the figure.
Creating Model Creating Model
a. Right-click JOINT_O, and select Joint: JOINT_O/Modify.
b. Select Fixed from Type selection.
c. Select OK.
Note! Doing this is to fix the Link_1 during assembling the Links.
a
b
c
Assembling the Assembling the Model Model
Creating Model Creating Model
Assembling the Assembling the Model Model
a. Click Interactive Simulation Controls tool. b. Click Detailed Simulation Panel.
c. Click Perform initial conditions solution tool.
The mechanism is assembled. An information window (Initial Conditions operation is complete) appears and the
Message Window gives out some information.
d. Click Close.
a
b
c
d
Creating Model Creating Model
Saving the Model Saving the Model
a. Click Save the model tool.
b. Enter six_link_mechanism_new in New Model text field.
c. Select OK.
The model six_link_mechanism_new is created shown as Fig.a.
a
b
c
Fig.a
Creating Model Creating Model
Adding the Motion Adding the Motion
a. Change the JOINT_O from Fixed to Revolute.
b. Add Rot Joint Motion to JOINT_O.
b3
a
b1
b2
Simulating Model Simulating Model
b
a
c
d
Measuring Model Measuring Model
The motion characteristics
of links 4 and 5 are measured
shown in figure. They are
Angle, Angular Velocity
and Angular Acceleration.
The position of the center
mass of Link_3 is also
measured and shown in
figure.
The End The End