ADAMS Labs: Simple Pendulum

Introduction:
This ADAMS Lab will introduce you to the following skills:
o o o o

Creating rigid bodies Creating links Setting up and running simulations Analyzing results

Problem:
AB is a uniform bar with a mass of 2 kg and a length of 450mm. Bar AB swings in a vertical plane about the pivot at A. The angular velocity (theta dot) = 3 rad/s when theta = 30 degrees. Compute the force supported by the pin at A at that instant. This problem is asking for the force supported by the pivot A at an instant when the 2 kg bar is 30 degrees from the horizontal and has an angular velocity of 3 radians per second. We will use ADAMS to create a model with the given conditions and obtain the data needed.

Procedure:
1.1. Starting ADAMS. 1. On a Windows Machine, click on the Start Programs ADAMS 12.0 AView ADAMS View The Welcome to ADAMS dialog box appears as shown in Figure 1. 2. Under the heading "How would you like to proceed", select Create a new model. Verify the Gravity text field is set to Earth Normal (-Global Y). Verify that the Units text field is set to MMKS - mm,kg,N,s,deg. Select OK. 3. One last thing before we start, we are going to changed the coordinate settings; this is done by going to ADAMS/View Settings menu and select Working Grid. The Working Grid Settings dialog box appears. One of the options we have is to change the spacing, change it to 25mm, click OK after it is finished.

This can allow you to change other grid settings, such as dimensions and design. You can also switch to polar coordinates in this window, which is useful for measuring angles.

Figure 1. Welcome to ADAMS. 1.2. Making the bar. 1. Click on the parts palette in the Toolbox with the right mouse button. The button stack for parts appears. 2. Select the Rigid Body: Link tool. with the left mouse button. 3. In the link container at the bottom of the Toolbox, activate the Length toggle switch and enter 450mm in the text field below. 4. Activate the Width toggle switch and enter 20mm in the text field. 5. Activate the Depth toggle switch and enter 27.5mm in the text field. 6. Click once with the left mouse button on the point (-225,0,0) to select the starting point (to see the coordinate press F4) and click once with the left mouse button anywhere right of the start point along the global x-axis to select the direction. ADAMS will create and display the bar. The display should appear similar to Figure 2 below.

Figure 2. Link 1.3. Setting the mass of the bar. The problem specifies that the bar has a mass of 2 kg. ADAMS automatically calculates the mass properties based on the material and the geometry, but in this case, it can be set manually since the mass of the bar is given as an initial condition. 1. Click on the bar with the right mouse button. Follow the pull-right menu for Part:PART_2and select Modify. The Modify Rigid Body dialog box appears. 2. In the Define Mass By: entry, use the pull down arrow to select User Input. 3. In the Mass text field of the Modify dialog box, type in 2.0 and click OK. The mass of the bar is now set at 2 kg. Note: Due to the way the geometry was defined, the mass of the bar is already very close to 2 kg, so we can assume no inertial properties need to be changed. 1.4. Setting the position of the bar. 1. To set the angle of the bar at 30 degrees, click on the Position icon Toolbox. 2. Enter 30 in the Angle entry and select the bar so it is highlighted. 3. Click on the clockwise arrow once. The bar is now at a 30 degree angle from horizontal. 1.5. Creating a pivot. in the

1. Click on the Joint icon in the Main Toolbox and select the Joint:Revolute icon from the joints button stack. 2. Verify that the Construction text field reads 1 Location and Normal to Grid. 3. Position the cursor over the marker PART_2 MARKER_1 at the left end of the bar and click once with the left mouse button. 4. A joint between the bar and the ground is created at that location. 1.6. Setting initial motion. All of the parts have now been created and the constraints added. The next step is to add an initial motion to the revolute joint that specifies a starting rotation rate of three radians per second. 1. Click and hold the bar with the right mouse button and follow the pull right menu for Part:PART_2 and select Modify. 2. In the Category: entry, use the pull down arrow to select Velocity Initial Conditions. 3. Under the heading Angular velocity about, select Part CM. Corrections by Li Wang (Please think about whats wrong with the old version): 3. Under the heading Angular velocity about, select Marker. In the box below, enter MARKER_4 or double click the box and find MARKER_4 under the ground directory. 4. Below that, click on the Z axis selection box and enter 3.0r, for 3.0 radians per second, in the text field that appears next to it. 5. Click on Apply and close the window. 6. Click on Ok in the Modify window. 1.7. Verify the model. The model verification step is one way to find errors in the model definition. ADAMS checks for error conditions such as misaligned joints, unconstrained parts, or massless parts in dynamic systems, and alerts you to other possible problems in the model. 1. In the lower right corner of the modeling window, click on the Information icon with the right mouse button.

The information palette appears. 2. Click on the Verification icon.

The Info Window appears. 3. After seeing that the model has verified successfully, click on the Close button in the upper right corner to close the Information Window. The completed model should appear similar to Figure 3 below:

Figure 3. Completed pendulum model. Model building is now complete.

Set up and run a simulation.

1.8. Setting measure for the force supported by the pivot at point A. 1. Click on the revolute joint at the upper left end of the bar with the right mouse button and follow the pull-right menu for Joint:JOINT_1 and select Measure. The Joint Measure dialog box opens. 2. Select Force for the Characteristic entry and mag (magnitude) for the Component entry. 3. Click OK. A graph window named JOINT_1_MEA_1 appears. This is where the reaction force will be displayed during the simulation and animation. 1.9. Running the simulation. 1. Click on the Simulation icon for Steps, enter 50. in the Toolbox. For End Time, enter 0.5 and

2. Click on the Play icon. You should see the bar swing about the pivot and corresponding data should be plotted on the JOINT_1_MEA_1 graph. 3. When the simulation ends, click on the Rewind icon. 1.10. Find the force supported by the pivot. 1. Click on a blank area inside the small plot window with the right mouse button and follow the pull right menu. Select Transfer to Full Plot. The ADAMS Plot Window will open, replacing the Modeling window. 2. Now go to the Plot Window and select the Plot Tracking. Since we know the initial conditions are met at the start of the simulation, move the cursor over the starting point of the plot. 3. At the top of the window, X will be displayed as 0 and Y, which is the force on the pivot, will be displayed. That is your answer (shown in Figure 4). Compare it to the results given in the Solution section of this Lab. 4. To return to the modeling window, go to the File pull-down menu and select Close Plot Window . 1.11. Saving your Modeling Session. 1. Under the File pull-down menu, select Save Database As... The Save Database As dialog box appears as shown in Figure X. 2. In the text field next to File Name, enter the name you wish to give this model, for example, pendulum. 3. Select OK. An ADAMS Binary File is created. 1.12. Exiting ADAMS.

1. Select Exit from the File pull-down menu in the main ADAMS Modeling window.

Congratulations, you have completed ADAMS Lab: Pendulum.

Solution:

The force supported by pivot A is 14.5 N.

Here are the results from my ADAMS simulation: Force supported by pivot A = 14.539N Download the ADAMS command file for this model: pendulum.cmd

Did it work?
If the instructions were followed correctly, your ADAMS results should match the results shown above. The correlation to the analytical solution can be improved by decreasing error tolerance and recommuting the analytical results using more decimal places. The close correlation should provide confidence in your ability to create models using parts with initial velocities and joints and ADAMS' ability to solve them.

Make sure correct units are set to mmks. Make sure gravity is on and in the -Y direction and set to 9806.15. Make sure the revolute joint is in the z direction. Check dimensions of the part to make sure they are correct. Check mass properties to make sure they are correct. Check orientation of the part to make sure it is correct. Make sure the measure is set to the magnitude of the reaction force.

Make sure the plot is displaying the correct set of results.

ADAMS Lab: Cam

Introduction:
This ADAMS Lab will introduce you to the following skills:
o o o o o

Creating rigid bodies Creating splines Creating joints and contact conditions Setting up and running simulations Analyzing results

Problem:

The cam mechanism that will be created, analyzed, animated, and plotted in this lab is shown here.

Schematic of the Cam Mechanism: The model contains 3 parts (including ground), 1 revolute joint, 1 translational joint, 1 motion, and several markers.

Procedure:
1.1. Starting ADAMS.
1. Run Start -> All programs -> ADAMS 12.0 -> Aview -> ADAMS-view. 2. The Welcome to ADAMS dialog box appears as shown in Figure 1. 3. Under the heading "How would you like to proceed", select Create a new model. Verify that the Gravity text field is set to Earth Normal (-Global Y).

Verify that the Units text field is set to MMKS - mm, kg, N, s, deg. Select OK.

Figure 1. Welcome to ADAMS. 1.2. Setting up the modeling environment.

1. The grid spacing needs to be reset to a higher resolution for this model. Go to the Settings pull-down menu at the top of the ADAMS window and select Working Grid... 2. In the Spacing text fields, enter 10mm under both X and Y. Click OK. The spacing between grid points is now set to 10mm.

Figure 2. Working grid settings.

3. Click on the Select icon. The View Control panel appears in the Toolbox. 4. Click on the Dynamic Zoom icon. Now click and hold with the left mouse button anywhere inside the Modeling window. Move the mouse up to zoom in and move it down to zoom out.

1.3. Making the cam part.

1. Switch to the main view window. Show the coordinate window by press F4 to monitor the coordinate of the mouse position.

Figure 3. Coordinate.
2. Click on the parts palette in the Toolbox with the right mouse button. The button stack for parts appears. 3. Click on the Spline icon with the left mouse button.

4. In the lower part of the Toolbox, verify the text field is set to New Part. Click in the box next to the word Closed to select a closed spline. 5. Now, click with the left mouse button on each of the 13 points in the table below. Poin ts

4 -80

5 -70

6 -50

7 0

8 50

9 70

10 80

11 70

12 50

13 0 0 0

X Y Z

0 -50 -70

0 -30 -70 -120 -160 -180 -190 -180 -160 -120 -70 -30 0 0 0 0 0 0 0 0 0 0 0 0

6. Note that the first point and the last point have the same coordinates to create a closed spline. 7. After the 13 points are selected, click the right mouse button to create the closed spline. An alert box will appear warning you that the part has no mass. Close the box. The complete cam part is created, as illustrated in Figure 4. If your part's geometry does not match the illustration, it can be fixed by clicking and dragging any of the "hot points" (rectangular boxes) to its proper location.

Figure 4. Closed spline. 1.4. Creating a revolute joint.

1. Click on the Joint icon in the Toolbox and select the Joint:Revolute icon from the joints button stack.(fig 07) 2. Verify that the Construction text fields read 1 Location and Normal to Grid. 3. Position the cursor over the grid point (0,-130,0) and click once with the left mouse button. 4. A joint between the cam part and the ground is created at that location, as illustrated in Figure 5.

Figure 5. Revolute joint. 1.5. Creating the follower part. The follower part is comprised of two geometric elements: open spline and a box. Creating the open spline element:

1. Select the Spline icon 2. In the lower part of the Toolbox, verify the choice Closed is not selected, since an open spline is to be created. 3. Now, click with the left mouse button on each of the 11 points in the table below. Poin ts

5 -50 10

6 0 0

7 50 10

8 100 30

9 150 40

10 200 40

11 250 50

X Y

-250 -200 -150 -100 50 40 40 30

4. After the 11 points are selected, click once with the right mouse button to create the open spline. An alert box will appear warning you that the part has no volume. Close the box. The open spline is created as shown in Figure 6. Again, "hot points" may be used to modify the spline geometry.

Figure 6. Open spline. Creating the box element:

5. Select the Rigid Body: Box tool from the parts button stack. 6. In the New Part pull-down menu, select Add to Part. 7. Click on the open spline in the ADAMS window to select the part to add to. 8. Now define the corners of the box. Position the cursor at the left end of the open spline (-250,50,0). 9. Click and drag upward and to the right until the upper right corner of the box is at the coordinates (250,180,0). Release the mouse button. The box element is created, as illustrated in Figure 7.

Figure 7. Box element. 1.6. Adding a Translational Joint. Now create a translational joint between the follower part and the ground part with the axis of translation aligned in the global y direction.
1. Click on the Joint icon in the Toolbox with the right mouse button. The joints button stack appears. 2. Select the Joint:Translational icon. 3. Verify that the Construction text fields are set to 1 Location and Pick Feature. 4. Position the cursor over the grid point (0,160,0) and click once with the left mouse button. This is where the joint will be located. 5. Now, move the cursor up along the Y axis away from the origin until an arrow pointing straight up appears. Make sure the arrow is parallel to the Y axis. This arrow determines the direction of the translational joint. Click the left mouse button. 6. A joint between the follower part and the ground is created, as illustrated in Figure 8.

Figure 8. Translational joint. 1.7. Adding a Curve-Curve Constraint.

1. Click on the Joint icon in the Toolbox and select the Cam (curve-oncurve) contact icon from the joints button stack. 2. Click on the cam part, and then click on the spline part of the follower part. A curve-on-curve contact constraint is created as shown in Figure 9.

Figure 9. Curve-curve contact. 1.8. Creating a Motion Constraint. All of the parts have now been created and the constraints added. The next step is to add a rotational motion driver to the revolute joint that specifies a constant cam rotation of one revolution per second.
1. Select the Rotational Joint Motion icon from the Toolbox. 2. In the Speed text field, which now appears, enter 360d to set the motion displacement to be 360 degrees per second. 3. Click on the revolute joint in the cam part with the left mouse button. A large motion arrow appears around the revolute joint in the cam part, as shown in Figure 10.

Figure 10. Rotational Joint Motion. 1.9. Verify the model. The model verification step is one way to find errors in the model definition. ADAMS checks for error conditions such as misaligned joints, unconstrained parts, or massless parts in dynamic systems, and alerts you to other possible problems in the model.
1. In the lower right corner of the modeling window, click on the Information icon with the right mouse button. The information palette appears. 2. Right click on the information and put on Verification icon.

and release The Info Window appears, as shown in Figure 11.

3. After seeing that the model has verified successfully, click on the Close button in the upper right corner to close the Information Window.

Figure 11. Verify model. The completed model should appear similar to the picture below:

Model building is now complete.

Set up and run a simulation.

1.10. Setting measures.
1. Select the follower part by clicking on it in the ADAMS Modeling window with the left mouse button. The part becomes highlighted. 2. Right click the follower part and choose measure. The Part Measure dialog box appears. 3. Select CM Position for the Characteristic text field and select Y for the Component entry to measure the displacement in the Y direction. 4. Click Apply. A graph window appears. This is where data will be displayed. 5. Now repeat this procedure, except select CM Velocity for Characteristic.

6. Repeat this procedure once more for CM Acceleration. A new graph window will appear for each new measure. 7. After the three graph windows are created, click Cancel to close the Part Measure dialog box.

Figure 12. Measure of follower.

1.11. Running the simulation.

1. Click on the Simulation icon in the Toolbox. For End Time, enter 1 and for Steps, enter 50. 2. Click on the Play icon. You should see the cam rotate about the pivot and the follower slide along its translational joint. Corresponding data should be plotted on each graph.

3. When the simulation ends, click on the Rewind icon.

Figure 12. Simulation results.

1.12. Plotting results.

1. In each of the graph windows, a plot corresponding to each of the measures set earlier appears. 2. To get a closer look at a plot, click on a blank area inside the small plot window with the right mouse button and follow the pull right menu. Select Transfer to Full Plot. The ADAMS Plot Window will open, replacing the modeling window. To return to the modeling window, go to the File pull-down menu and select Return to Modeling.

1.13. Saving your Modeling Session.

1. Under the File pull-down menu, select Save Database As... The Save Database As dialog box appears as shown in Figure 13. 2. In the text field next to File Name, enter the name you wish to give this model, for example, cam. 3. Select OK. An ADAMS Binary File is created.

Figure 13. Save Database As... 1.14. Exiting ADAMS.

1. Select Exit from the File pull-down menu in the main ADAMS Modeling window.

Congratulations, you have completed ADAMS Lab: Cam.

Download the ADAMS command file for this model: cam1.cmd

Did it work?

Make sure correct units are set to mmks. Make sure the revolute joint is in the z direction. Make sure translational joint is in the y direction. Check dimensions of the part to make sure they are correct. Check locations of spline points to make sure they are correct. Check orientation of the parts to make sure they are correct. Make sure the measures are set correctly. Make sure the plot is displaying the correct set of results.

ADAMS Labs: Crank Slider

Prerequisites:

Knowledge of the following skills is necessary for the completion of this ADAMS Lab. To review these skills, please refer to ADAMS/View tutorials and documentation.

Creating a model, setting units and gravity Creating parts and joints Running and animating a simulation Plotting results

Problem:
Problem 2/163 from J. L. Meriam and L. G. Kraige, Engineering Mechanics: Volume 2, Dynamics 3rd edition. John Wiley & Sons, Inc. Copyright 1992, by John Wiley & Sons, Inc. This material is used by permission of John Wiley & Sons, Inc.

Pin A moves in a circle of 90mm radius as crank AC revolves at a constant rate beta-dot = 60 rad/s. The slotted link rotates about point O as the rod attached to A moves in and out of the slot. For the position beta=30 degrees, determine r-dot, r-double dot, thetadot, theta-double dot.

This problem asks for the translational speed and acceleration of the slider rod and the angular speed and acceleration of the slider assembly at a given crank angle of 30 degrees and crank angular velocity of 60 radians per second. To solve this, we will build an ADAMS model of the crank and slider assembly based on the information given and measure the data we want using an ADAMS simulation of the model.

Procedure: This ADAMS model will be created in the following steps:

1.1. Starting ADAMS.

1. From the ADAMS product menu, select AVIEW and ADAMS-VIEW . The Run ADAMS dialog box appears. 2. The Welcome to ADAMS dialog box appears as shown in Figure 1. 3. Select Create a new model. Verifty that the Gravity text field is set to Earth Normal (-Global Y). Verify that the Units text field is set to MMKS - mm,kg,N,s,deg. Select OK.

Figure 1. Welcome to ADAMS.

1.2 Setting up the modeling environment

1. The grid size and spacing need to be reset for this model. Go to the Settings pull-down menu at the top of the ADAMS window and select Working Grid 2. In the Spacing text fields, enter 5mm under both X and Y. 3. In the Size text fields, enter 300mm under both X and Y. Click OK and notice that the working grid has been changed, you will need to zoom in to fit the grid on the whole screen.

4.

Click on the Select icon. The View Control panel appears in the Toolbox.

5. Click on the Dynamic Zoom icon. Now click and hold with the left mouse button anywhere inside the Modeling window. Move the mouse up to zoom in and move it down to zoom out. 6. Now go to the View pull-down menu at the top of the ADAMS window and select Coordinate Window You will notice that the coordinates are displayed in the lower right corner of the working window as well as over the mouse as it is moved throughout the working window.

2.1 Creating the Crank Part (AC)

1. Click on the parts palette in the Toolbox with the right mouse button. The button stack for parts appears.

2. Click on the Link icon

with the left mouse button.

3. In the lower part of the Toolbox, verify the text field is set to New Part. 4. Click on the box to the left of length. Put 90mm in the length field, to specify a length of 90 mm for the link. 5. Click with the left mouse button once at (0,0,0) and once directly to the right of (0,0,0) to create the link. 6. You might get a link which is much longer than 90 mm, which might be caused by the discrepancy of the units. Right click on the right end of the link and select

marker: MARKER_2; then select modify. Change the Location to 90 mm. as shown below

2.2 Creating the Cylinder Part 1. Click on the parts palette in the Toolbox with the right mouse button. The button stack for parts appears. 2. Click on the Revolution icon with the left mouse button.

3. In the lower part of the Toolbox, verify that the text field is set to New Part. 4. Click with the left mouse button once at (0,0,0) and once at (-210mm,0,0) to create the axis of rotation for the cylinder. 5. Click once with the left mouse button at the following locations to create the profile points for the cylinder: (0,5,0), (0,10,0), (-210,10,0), (-210,5,0), (0,5,0). Important Note: If ADAMS/View is automatically snapping to the nearest design point, hold down the CTRL key to override this feature and pick your desired location. 6. Right click once to complete the cylinder. Your complete cylinder is created as shown in green below:

2.3 Creating the Piston Part

1. Click on the parts palette in the Toolbox with the right mouse button. The button stack for parts appears. 2. Click on the Cylinder icon with the left mouse button.

3. In the lower part of the Toolbox, verify the text field is set to New Part. 4. Click on the box to the left of length and radius. Set the length to 210mm and the Radius to 5mm. 5. Click with the left mouse button once at (0,0,0) and once to the left of (0,0,0). The piston will appear within the cylinder as shown in cyan (or orange) below:

2.4 Creating the Revolute Joints 1. Click on the Joint icon in the Toolbox and select the Joint:Revolute icon from the joints button stack. 2. Verify that the Construction text fields read 1 Location and Normal to Grid. 3. Click once with the left mouse button over the point (90,0,0), this is the right end of the link part. 4. A revolute joint will appear at the end of the link part. 5. Repeat steps 1 and 2. Click once with the left mouse button over the point (210,0,0). This will create a revolute joint at the end of the cylinder. 5. Right click the revolute joint and selete Joint:JOINT_2. Click Modify and make sure "PART_3" in the "First body" and "ground" in the "Second body". Otherwise, change it. Then it should be shown as below:

2.4.1 Creating the Revolute Joint between the parts 1. Click on the Joint icon in the Toolbox and select the Joint:Revolute icon from the joints button stack. 2. Verify that the Construction text fields read 2 Bod-1 Loc and Normal to Grid. 3. Click once with the left mouse button over the crank, once over the piston, and once over the location of the joint. 4. A revolute joint will appear in the location chosen. 5. With all revolute joints completed, the model should look similar to the following:

2.5 Creating a translational joint

1. Click on the Joint icon in the Toolbox and select the Joint:Translational icon for the joints button toolstack. 2. Verify that the Construction text fields read 2 Bod1 Loc and Pick Feature. 3. Single click once on the piston part and once on the cylinder part to specify which parts will translate. 4. Single click once near the center of the cylinder to specify a location for the joint. 5. Position the mouse so that the arrow is horizontal and click once to specify the direction of translation. 6. A translational joint will appear:

2.6 Setting the initial velocity of the crank (AC)

All of the parts have now been created and the constraints added. The next step is to add a rotational motion driver to the revolute joint that specifies a constant crank rotation of one revolution per second.
1. Select the Rotational Joint Motion icon from the Toolbox. 2. In the Speed text field, which now appears, enter 60r to set the motion displacement to be 60 radians per second. 3. Click on the right revolute joint on the crank itself to create this motion. 4. A large motion arrow appears around the revolute joint in the crank part, as shown below:

3.1 Simulating the Model 1. Click on the Interactive Simulation Controls Icon .

2. Select an end time of 0.008726 (this is the time required to transit 30 degree, pi/6/60=0.008727) and set Steps to 100.

3. Click on the Start or Continue Simulation Icon 4. The model should start into motion.

to start the simulation.

Note: if you crank rotates in anti-clockwise direction. Right click on the Rotational Joint Motion (MOTION_1) and selete Modify. In the heading function (time): add a negative sign "-" in front of the value. 3.2 Measuring the r_dot, r_double dot, theta_dot and theta_double dot Usually the meaurement is made between the CM of the part and origin. However to measurement of the velocity r_dot, theta_dot and acceleration r_double dot and theta_double dot should be made between the left ground point and the joint of the crank and the piston. Go to main menu, click "build" and selete "meausre->point to point-> new". 1. Choose a measure name for the measurement, such as r_dot. In the blank of "to point", fill in "MARKER_8", which is the ground marker point of the left revolute joint. In the blank of "from point", fill in "MARKER_10", which is the marker point at the joint of piston and crank. 2. Under the Characteristic menu, select Translation Velocity to measure velocity. Choose Cylindical coordinate and component of R (radial direction) 3. Click "Apply" and a blank measure window will pop-up. 4. Repeat steps 1~3 for r_double dot, but with Translation acceleration in characteristic menu.

5. Repeat steps 1~3 for theta_dot, but with Translation velocity in characteristic menu and theta in component. 6. Repeat steps 1~3 for theta_dot, but with Translation acceleration in characteristic menu and theta in component. Run the simulation again and the four figures are simultaneously updated with the transient simulation, which are shown as

Right click each figure and choose "transfer to full plot" and click "plot tracking" icon to get the precise values of velocity and acceleration measurement. The simultion gives: r_dot=3.575m/s (note that the unit in figure is mm/sec)

r_double dot=315.11m/s^2

theta_dot=1023.4 deg/second=17.86 rad/s

theta_dobule dot=-86542.26 deg/s=-1510.45 rad/s

These simulation results match very well with the analytical soluation given below:

Solution: Textbook solution: r-dot = 3.58 m/s, r-double dot = 315 m/s^2, theta-dot = 17.86 rad/s, thetadouble dot = -1510 rad/s^2

Download the ADAMS command file for this model: crank_slider.cmd

Helpful Tips:

Make sure correct units are set to mmks. Make sure gravity is on and in the -y direction and set to 9806.15. Make sure the revolute joints are in the z direction. Check dimensions of the part to make sure they are correct. Make sure the measures are set correctly. Make sure the plot is displaying the correct set of results. Make sure there are enough output steps to observe the speed and acceleration when beta=30 deg.

ADAMS Labs: Slider Mechanism

We will consider the slider mechanism as shown in Figure 1, which consists of a rigid link and two pistons, all connected by frictionless revolute joints. The pistons slide on two frictionless grounded planes that are perpendicular and parallel to the horizontal axis respectively.

In the slider mechanism shown in Figure 1, both ends of the bar AB are connected at the revolute joints A and B, the centers of the mass of the pistons. This results in a general planar motion of the bar AB, and translational motions of the pistons on the grounded planes EC and ED. The bar and pistons, with lengths and width as shown in the figure, have identical thickness 20 cm (along the joint axes), and are made of steel (density: 7.8103 kg/m3). Initially, link AB rests at a position shown in Figure 1(You should put O at the coordinate origin).

Simulation I: 1. Angular velocity of the bar AB when = 60 degree 2. x- and y- components of reaction force at joint A Simulation II: A constant force of 4000 N pointing to the left is applied on the piston on the horizontal plane. Redo the simulation for questions 1 and 2 in Simulation I.

80 cm

80 cm

360 cm
c 20 m

O E 200 cm

80 cm

C
80 cm

Figure 1. The slider mechanism

Solution:
The printout of the model is given in Figure 2.

Figure 2. The model printout of the slider-mechanism

Simulation I: The angle of phi as a function of time is plotted in Figure 3. By using tracking tool, we can locate the time point corresponding to phi=60 degree, which is 0.84 s. The angular velocity of Bar AB as a function is plotted in Figure 4, from which we can find the angular velocity is 81 degree/second at 0.84 s.

Figure 3. The angle of phi as a function of time

Figure 4. The angular velocity of Bar AB as a function of time

x- and y- components of reaction force at joint A are plotted in Figures 5 and 6.

Figure 5. The x-component of reaction force at joint A as a function of time

Figure 6. The y-component of reaction force at joint A as a function of time

Simulation II: The model printout with applied force is shown in Figure 7.

Figure 7. The model printout of the slider-mechanism with a constant force of 4000 N applied on the bottom piston

The angle of phi as a function of time is plotted in Figure 8. By using tracking tool, we can locate the time point corresponding to phi=60 degree, which is 1.056 s. The angular velocity of Bar AB as a function is plotted in Figure 9, from which we can find the angular velocity is 69.5 degree/second at 1.056 s.

Figure 8. The angle of phi as a function of time

Figure 9. The angular velocity of Bar AB as a

function of time

x- and y- components of reaction force at joint A are plotted in Figures 10 and 11.

Figure 10. The x-component of reaction force at joint A as a function of time

Figure 11. The y-component of reaction force at joint A as a function of time

I also provide the correct model for solution. Click here (slider mechanism), you can download it. To check the solution model, right click any part (such as link, joint, torque or even the figure) that you are interested in and choose info. A window will pop up showing you its setting information.

Computational Assignment 2
In this problem, you will compute the motion of a pendulum (modeling the motion of a gymnast on a high-bar) by directly applying your skills learned in Computational Assignment 1. The uniform bar (density 103 kg/m3) is initially at rest in the horizontal position, and rotates (with negligible friction) in a vertical plane about a pivot O (Figure 1). The pendulums length ( L), width (w, measured along the pivot axis) and thickness (h, measured in the plane of motion) are 160 cm, 40 cm and 20 cm, respectively. Perform a simulation of the

pendulum motion. You coordinate origin.

may

want

to

place

the

pivot

at

1. Submit a printout of your model (front view, at t = 0). 2. Determine the time when the pendulum reaches the vertical position (i.e.,theta=pi/2). 3. Plot theta, theta_dot and theta_double_dot as a function of time (termination time t=1 s). 4. Plot the x and y components of the velocity and acceleration of the center of mass as a function of time (termination time t=1 s).

Hints:
Setting density

Right click on the rigid link you have generated and select Modify. In the field Define Mass by, choose Geometry and Density. Then update the appropriate value in the Density field.
Obtaining theta as a function of time. Use the Angle measure. a) Generate a grounded marker, which is on the left of the pivot but has the same vertical coordinate (y, see Figure 1) as the pivot (see the Creating Geometry section in the tutorial to learn how to generate a marker). b) Go to the Tool menu, select BuildMeasureAngleNew. A window pops up asking for definition of the angle. Enter the name of the marker you have generated in step a) in the First Marker field, the name of the marker representing the pivot in the Middle Marker field, and the name of the marker at the pendulums free end in the Last Marker field. Now, the angle definition is complete. Click Apply. A figure window shows up. c) Do the simulation as described in sample problem 1. Then the swing angle theta (in degrees) will be updated simultaneously in the figure window.

r v
16 0 cm

20

cm

Figure 1. A bar rotating about a pivot O.

Solution Procedure:
1.1. Starting ADAMS
1. On a Windows Machine, click on the Start Programs ADAMS 12.0 AView ADAMS View 2. Under the heading "How would you like to proceed", select Create a new model. Verify the Gravity text field is set to Earth Normal (-Global Y). Verify that the Units text field is set to MMKS mm,kg,N,s,deg. Select OK.
3. Now you need to set the appropriate units and working grid. Go

to tool menu and select Settings Units In the Length field, select centimeter and click OK. Again go to tool menu and select Settings Working Grid The Working Grid Settings dialog box appears. One of the options we have is to change the size and spacing. Change the size of x and y to 400 cm and 300 cm respectively. Modify the spacing of both x and y to 10 cm, click OK after it is finished. Use Dynamic zoom main toolbox to adjust your view range. tool in

1.2. Making the pendulum

1. Select the Rigid Body: Link tool in the main toolbox with the left mouse button. 2. In the link container at the bottom of the Toolbox, activate the Length toggle switch and enter 160 cm in the text field below.

3. Activate the Width toggle switch and enter 20 cm in the text

field. Note that the Width here is equivalent to the thickness in the problem.
4. Activate the Depth toggle switch and enter 40 cm in the text

field. Note that the Depth here is equivalent to the width in the problem. 5. Click once with the left mouse button on the point (0,0,0) to select the starting point (to see the coordinate press F4) and click once with the left mouse button anywhere left of the start point along the global x-axis to select the direction. ADAMS will create and display the bar. The display should appear similar to Figure 2 below.

Figure 1. Sketch of the generated link for pendulum

1.3. Setting the density of the pendulum

The problem specifies that the pendulum has a density of 1X10^3 kg/m^3. 1. Click on the pendulum with the right mouse button. Follow the pull-right menu for Part:PART_2and select Modify. 2. In the Define Mass By: entry, use the pull down arrow to select Geometry and Density. Update the density value with 1000 kg/m^3. 3. Click OK and the density value is updated.

1.4. Creating a pivot.

1. Sselect the Joint:Revolute icon from the joints button stack in the main toolbox. 2. Verify that the Construction text field reads 1 Location and Normal to Grid.

3. Position the cursor over the marker PART_2 MARKER_1 at the right end of the pendulum and click once with the left mouse button. 4. A joint between the pendulum and the ground is created at that location as show in Figure 2.

Figure 2. Sketch of the generated link with grounded revolute joint

1.5 Verifying the model

Verify the model as described in sample problem 1. An isometric view of the complete model should be shown as Figure 3,

Figure 3. Isometric view of the complete pendulum model

Simulation
Follow the simulation steps given in the sample problem 1, except for setting the End Time to 1 and Steps to 200.

Measure
1. To determine the time for pendulum to reach theta=pi/2. We need to plot the theta as a function of time. Follow the steps outlined in the hints, a plot of theta (Figure 4) can be obtained and then transferred to a full plot (see sample problem 1). Select the tool of plot tracking and then scan it along x axis (time) and find the time corresponding to theta=90d is 0.625 s, which agrees with the analytical solution given in the lecture.

Figure 4. The plot of theta as a function of time

2. To plot theta_dot, return to the main design window. Click on the pendulum with the right mouse button, follow the pull-right menu for Part:PART_2and select Measure. In the Characteristic field, choose CM angular velocity. Because theta_dot is along the z direction, check the radio button of Z to the

right of Component field. Follow the similar steps, you can get the theta_double_dot, x and y components of linear velocity and acceleration, which are given in Figures 5~10.

Figure 5. The plot of theta_dot

Figure 6. The plot of theta_double_dot

Figure 7. The plot of the x-component of linear velocity

Figure 8. The plot of the y-component of linear velocity

Figure 9. The plot of the x-component of linear acceleration

Figure 10. The plot of the ycomponent of linear acceleration

Solution to Computational Assignment 3

Having simulated a simple pendulum in Assignments 1 and 2, we will now consider a double pendulum. Often used as a simple but effective model for robots (such as one shown in Figure 1), a double pendulum consists of two rigid bars, which are connected to each other by a revolute joint (i.e., hinge) with one of the free ends attached to the base, also by a revolute joint (Figure 2).

In Figure 2, the bar OA is attached to the base at O, and to the bar AB at A, by frictionless revolute joints. The bars have identical dimensions of 500 mm 25 mm 25 mm and a uniform density of 2.7103 kg/m3. They lie in a vertical plane, and are initially at rest with

1 = 30o and 2 = 45o . An external torque of 8000 N mm is applied to the bar OA at the joint O, and an external torque of 2800 N mm is applied to the bar AB at A. Perform a simulation of the double pendulum.

2. Submit a printout of your model (front view, at t = 0). & & & & & & 3. Plot 1 , 1 , 1 and 2 , 2 and 2 as a function of time (termination time t=0.6 s). & & 4. Plot xB , yB , xB and yB as a function of time (termination time t=0.6 s).

B
0 50 = L m m
w= 25 m m

y
500 L= mm

2=45
mm 25 = w

1=30
O

(a) (b) Figure 12. (a) The Puma robot; and (b) a double pendulum representing the robot.

Hint: Make sure you apply the torques to proper bars at the joint locations.

Solution:
For Assignment 3, I wont develop the detailed button-to-button solutions. Instead, I give the solution plot and the solution model. You can download the model at the end of the sheet and check it with your results.

1. The printout of the model

Figure 1. Printout of the double pendulum model

2.

& & & & & & 1 , 1, 1 and 2 , 2 and 2 as a function of time (termination time t=0.6 s)

Figure 2. theta1 as a function of time

Figure 3. theta2 as a function of time

Figure 4. theta1_dot as a function of time

Figure 5. theta2_dot as a function of time

Figure 6. theta1_dot_dot as a function of time

Figure 7. theta2_dot_dot as a function of time

3. Plot

& & xB , y B , x B and y B as a function of time (termination time t=0.6 s).

Figure 8. xb as a function of time

Figure 9. yb as a function of time

Figure 10. xb_dot as a function of time

Figure 11. yb_dot as a function of time

Also in this solution sheet, I provide the correct model for solution. Click here (double pendulum model), you can download it. To check the solution model, right click any part (such as link, joint, torque or even the figure) that you are interested in and choose info. A window will pop up showing you its setting information.

Computational Assignment 4
In this assignment we will consider four-bar linkages. One of the most commonly used mechanisms, the four-bar linkage consists of three rigid links and a stationary ground link interconnected at their ends by frictionless revolute joints. In the four-bar linkage shown in Figure 1, the bar OA (the drive crank), subjected to an external torque of 50 N mm, rotates about the grounded joint O. This results in a general planar motion of the bar AB ( the coupler), and a rotation of the bar BC ( the driven crank) about the grounded joint C. The bars, with lengths as shown in the figure, have identical cross-sectional dimensions of 26 mm (measured in the motion plane) 13 mm (along the joint axes), and are made of steel (density: 7.8 103 kg/m3). Initially, all bars are at rest with BC in the vertical position, and the point A having coordinates xA = -60 mm and yA = 80 mm in a stationary coordinate frame (You should place the coordinate origin at the joint O) as shown. Perform a simulation of the four-bar linkage. 5. Submit a printout of your model (isometric view, with all joints and the torque shown, at t = 0). & and angular acceleration & & of bar AB as a 6. Plot the angular velocity AB AB function of time (termination time t = 1 s). 7. Plot the x- and y-components of the reaction force at joint O as a function of time (termination time t = 1 s).

 = 50 N mm

Figure 13. A four-bar linkage.

Solution:
1. The isometric view of the model printout:

Figure 1. Isometric view of the model printout 2. Both the angular velocity and angular acceleration of bar AB as a function of time (t=1 s):

Figure 2. theta_dot of bar AB

Figure 3. theta_double_dot for bar AB

3. x- and y-components of the reaction force at joint O as a function of time (t=1 s):

Figure 4. x-component of the reaction force at joint O

Figure 5. y-component of the reaction force at joint O

Also in this solution sheet, I provide the link to the correct model for solution. Click here (four bar linkage), you can download it. To check the solution model, right click any part (such as link, joint, torque or even the figure) that you are interested in and choose info. A window will pop up showing you its setting information.

Computational Assignment 5
Consider the slider-crank mechanism (Figure 1) consisting of two rigid links and a piston that are connected by frictionless revolute joints and constrained to move in the vertical plane. The piston, connected to bar AB at the center of mass B, slides on a frictionless horizontal plane. The bars and the piston, all made of steel (density: 7.8 103 kg/m3), have an identical thickness of 20 mm (measured along the joint axes). A constant torque of 100 N mm is applied to the crank OA, which initially is at rest with OA = 30. Perform the following simulations for 0 t 0.5 s (using the coordinate frame as shown, whose origin is at O).

8. Submit a printout of your model (front view, with all joints and

the torque shown, at t = 0). & 9. Compute and plot the cranks angular position OA , velocity OA & & and acceleration as a function of time.
OA

10. Compute and plot the pistons position

& xB , velocity x B and

& x acceleration & B as a function of time. 11. Compute and plot the x- and y-components of the reaction force at joint O as a function of time.

Figure 14. A crank-slider mechanism

Solution:
1. The print of the model is shown in Figure 2

Figure 15. The model printout of the slider-crank mechanism

2. The cranks angular position, theta_OA, angular velocity theta_dot_OA and angular acceleration thetha_double_dot_OA are plotted in Figures 3~5 respectively.

Figure 16. The cranks angular position theta_OA as a function of time

Figure 17. The cranks angular velocity theta_dot_OA as a function of time

Figure 18. The cranks angular acceleration theta_double_dot_OA

3. The the pistons position x_B , velocity x_dot_B and acceleration

x_double_dot_B as a function of time.

Figure 19. The pistons translational position x_B as a function of time

Figure 20. The pistons translational velocity x_dot_B as a function of time

Figure 21. The pistons translational acceleration x_double_dot_B as a function of time

4. The x- and y-components of the reaction force at joint O as a

function of time are plotted in Figures 9 and 10.

Figure 22. x-component of the reaction force at joint O as a function of time

Figure 23. y-component of the reaction force at joint O as a function of time

I also provide the link to the solution model. Click here (crankslider mechanism), you can download it. To check the solution model, right click any part (such as link, joint, torque or even the figure) that you are interested in and choose info. A window will pop up showing you its setting information.