Adams - 2013 - Training - 701 - Workbook PDF

Complete Multibody Dynamics
Analysis with Adams

ADM701 Workshops
March 2013
ADAM*V2013*Z*BFS*Z*SM-ADM701-WBK
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ADM701, Workshop 0, March 2013

Copyright© 2013 MSC.Software Corporation WS0 - 2
CONTENTS
Workshop Page
Workshop 1: Stamping Mechanism………...……...………………………………………………………..…………………….. WS1-1
Workshop 2: Valvetrain Mechanism………...……..………………………………………………………..…………………….. WS2-1
Workshop 3: Adams/PostProcessor Interface Overview………...……...……………………………………………………….WS3-1
Workshop 4: Falling Stone………...……...………………………………………………………..………………………………. WS4-1
Workshop 5: Projectile Motion………...……...………………………………………………………..………………………….. WS5-1
Workshop 6: One DOF Pendulum ………...……...………………………………………………………..…………………….. WS6-1
Workshop 7: Inclined Plane………...……...………………………………………………………..…………………………….. WS7-1
Workshop 8: Lift Mechanism I………...……...………………………………………………………..………………………….. WS8-1
Workshop 9: Lift Mechanism II………...……...………………………………………………………..…………………………. WS9-1
Workshop 10: Lift Mechanism III………...……...………………………………………………………..……………………….. WS10-1
Workshop 11: Suspension System I………...…...………………………………………………………..……………………… WS11-1
Workshop 12: Suspension System II………...……...………………………………………………………..…………………... WS12-1
Workshop 13: Suspension-steering System………...……...……………………………………………………………………. WS13-1
Workshop 14: Spring Damper………...……...………………………………………………………..…………………………... WS14-1
Workshop 15: Nonlinear Spring………...……...………………………………………………………..………………………… WS15-1
Workshop 16: Suspension-Steering System II………...……...………………………………………..…………………………WS16-1
Workshop 17: Hatchback ………...……...………………………………………………………..………………………………. WS17-1
Workshop 18: Hatchback II………...……...………………………………………………………..…………………………….. WS18-1
Workshop 19: Hatchback III………...……...………………………………………………………..……………………………. WS19-1
Workshop 20: Hatchback IV………...……...………………………………………………………..……………………………. WS20-1
Workshop 21: Cam-Rocker-Valve………...……...………………………………………………………..……………………… WS21-1
Workshop 22: Target Practice………...……...………………………………………………………..………………………….. WS22-1
Workshop 23: Switch Mechanism………...……...………………………………………………………..……………………… WS23-1
Appendix A Answer Key

WORKSHOP 1
STAMPING MECHANISM
Control link
Stamp
Inking pad
Parcels
Conveyor

WS1 - 1
Copyright© 2012 MSC.Software Corporation
WS1 - 2
• Workshop Objectives
– To understand the virtual prototyping process by improving the design of
the stamping mechanism.
• Software Version
– Adams 2013
• Files Required
– aview.cmd
– Located in the directory exercise_dir/mod_01_stamper
• Problem Description
– This model represents a mechanism for stamping parcels that are
moving along a conveyor belt.
– During the work cycle, the stamp does not contact the parcels that it is
supposed to label.
– To fix this design flaw, modify the length of the control link.

WS1 - 3
• Suggested Exercise Steps
1. Start Adams/View from windows and import a file, or
2. Start Adams/View from UNIX and import a file.
3. Change the length of the control link
4. Simulate the model
5. Investigate the results
6. Manually find the correct height
7. Perform a design study
8. Perform an optimization study

WS1 - 4
Step 1. Start Adams View from windows and
Import a File
If you are working on a Unix machine, skip to Step 2 page WS1-7.
To start Adams View in Windows:
c
a. From the Start menu, point to All Programs
>MSC.Software>Adams x64 2013> Aview >Adams - View.
Adams/View starts and the Welcome dialog box appears. e
b. Alternately, if you have the shortcut on you desktop you can
double-click that.
c. From the Welcome dialog box, select Existing Model. g
d
d. Click the file folder icon, and then Select

Directory dialog box appears.
e. Find and select the directory
Exercise_dir/mod_1_stamper. Executing
Adams/View in this directory ensures that all
a saved data gets sorted here.
f. Click OK
g. Click on the file folder icon of the File Name ,
select the file aview.cmd and click Open.

WS1 - 5
Step 1. Start Adams View From Windows and
Import a File (Cont.)
h. Click OK on the
Open Existing Model dialog box.
i. Read the information describing the
model, and then in the upper right
corner select Close.
j. Skip to step 3, go to page WS1-8.

WS1 - 6
Step 2. Start Adams View From UNIX and Import a
File
To start Adams View in Unix: j
a. At the command prompt, enter the
command to start the Adams Toolbar
and then press Enter. The standard
command that MSC.Software provides
is adamsx, where x is the version
number, for example adams2013.
b. From the Adams toolbar, right-click the
Adams/View tool .
c. Select Change Settings for A/View.
The Change Settings for A/View dialog
box appears.
d. Select Working directory.
e. Right-click the Working directory text
box, and then select “Select a
Directory”. The Select a Directory
dialog box appears. i. From the Adams toolbar, select the Adams/View
f. Select the directory mod_01_Stamper tool. Adams/View starts and automatically
(exercise_dir/mod_01_stamper). imports the commands to build:
g. Select OK. • Model named stamp
h. From the Change Settings for A/View • Fully customized version of Adams/View
dialog box select OK. • After importing the commands, the
information window appears.
j. Read the information describing the model, and
then, in the upper right corner, select Close.

WS1 - 7
Step 3. Change the Length of the Control Link
To change the length of the control link:

a. From the Stamper menu, select
Setting Up Model. The
Stamper_Setup dialog box appears.
b. Use the left and right arrow buttons to
modify the length of the control _link.
• The buttons shift the location of the
top of the control_link upward and
downward 3 mm at a time.
• The parts connected to the control
link are parameterized in such a d b
way as to move the appropriate
amount automatically whenever
you adjust the length of the control
link.
c. Watch the model change as you press
these buttons.
d. To reset your model to the original
configuration, select Reset. Leave the
Stamper_Setup dialog box open, and
continue with the next step.
WS1 - 8
Step 4. Simulate the Model
To simulate the model:

a. From the Stamper menu, select
Simulate. The Stamper_Simulate b
dialog box appears.
b. To simulate the current design variation,
ensure that Single is selected.
c. Note: The default setting for Model
Update is set to Never. If you were to
change Model Update from Never to
At Every Output Step the model would d
update on the screen but would not c
solve faster.
d. To solve the equations of motion for the
current design, select Apply.
e. When a single simulation is completed,
Adams/View tells you what the
penetration was during the simulation.
A positive number indicates penetration.
To continue, click OK.
f. Leave the Stamper_Simulate dialog box e
open, and continue with the next step.

WS1 - 9
Step 5. Investigate the Results
a
To investigate the results:
a. From the Stamper menu, select Investigate e
Results. The Stamper_Investigate dialog
appears.
b. To see the motion resulting from the last
simulation, select Animate Results.
c. If necessary, use the stop sign in the lower right
corner of the window to stop an animation before
it has completed.
d. To plot the vertical travel of the stamper with b
respect to the parcel tops versus time, as
calculated from your last simulation, select d
Measure Stamp Height above Parcels.
e. A stripchart appears, which shows a plot of the f
height of the stamp above the parcels. Note,
your stripchart may look different depending on
the value you used in the Stamper_Setup dialog.
In this example that value was 254 (see WS1-8).
f. To save an existing curve so that the next
simulation will not overwrite the exiting curve but c
will be superimposed on the saved curve, select
Save Curve.
WS1 - 10
Step 6. Manually Find the Correct Height
To manually find the correct Height:

a. Repeat the steps on the previous pages using 3 mm increments until you can identify the control_link
length at which the stamp makes contact with the parcels. Use this value to answer Question 1 in the
Workshop 1, Review section, page WS-15.
b. Helpful hint:
• If the stamp_height > 0, the stamper does not make contact with the parcels
• If the stamp_height < 0, the stamper makes contact with parcels.

WS1 - 11
Step 7. Perform a Design Study
The design study automatically analyzes

the model using the specified upper and
lower limits for control_link length and the
specified number of runs. To perform a
design study:
a. On the Stamper_Simulate dialog box,
select Design Study.
b. Default values for the upper and lower a
limit are given, but you can modify
these if you wish. b
c. In this case, leave the number of Runs c
at 5.
d. To speed up the simulation, set the
Model Update to Never. d
e. Click Apply to submit the design study. e

WS1 - 12
Step 7. Perform a Design Study (Cont.)
a. The design study automatically analyzes
the model. Click Close on the Information d
Dialog that informs you that the design
study was successful.
b. After the study is complete a stripchart
and information window appear.
c. From the information window, identify the
range of the control_link length values
within which the stamp makes contact
with the parcels. Use this range to a
answer Question 2 in the Workshop 1,
Review section, page WS1-15.
d. Close the information window.
c

WS1 - 13
Step 8. Perform an Optimization Study
During an optimization study, Adams/View

systematically varies the control_link length
and runs a number of simulations until the
specified penetration is achieved to within a
set tolerance. To Perform an optimization
a
study:
a. On the Stamper_Simulate dialog box,
select Optimization.
b. Set the Desired Penetration to 4 mm.
You do not have to enter the units,
b
Adams/View will automatically use the
default units set for the model. c
c. Set Model Update to Never.
d. Click Apply to submit the optimization d
study.
e. The information window appears
displaying the control_link length for e
maximum penetration of 4mm.
f. Use this displayed value of the control
link length to answer Question 3 in the
f
Workshop 1, Review, page WS1-15 g
g. Click OK to close the information
window.

WS1 - 14
Workshop 1, Review
• Workshop Questions
1. Using 3 mm increments, at what control link length do you first notice

penetration?
____________________________________________________
2. From the design study, what control link length results in penetration?
How does this compare with your previous results?
____________________________________________________
____________________________________________________
3. If you specify a maximum desired penetration of 4 mm, what is the

optimal length of the control link? How close is the maximum actual
penetration to the maximum desired penetration?
____________________________________________________
____________________________________________________

WS1 - 15
Workshop 1, Review ( Cont.)
4. How many moveable parts does the model consist of?
____________________________________________________
5. How many joints does the model consist of ?

____________________________________________________
6. What would happen if you deleted the conveyor belt?

____________________________________________________
____________________________________________________

WS1 - 16
WORKSHOP 2
VALVETRAIN MECHANISM
Rocker
Rod
Guide (ground)
Cam Valve

WS2 - 1
WS2 - 2
– Use Adams/View to manipulate, inspect, simulate, and animate the
valvetrain mechanism.
– Adams 2013
• Files Required
– valve.cmd
– Located in the directory exercise_dir/mod_02_aview_interface
directory

WS2 - 3
– The model represents a valvetrain mechanism.
– The cam is being rotated at a given velocity.
– The rod (follower) moves translationally based on its constraint to the cam.
– The rocker pivots about a pin attached to the engine block.
– The spring is always in compression to try and keep the rod in contact with the cam.
– The valve moves vertically as the rocker rotates.
– When the valve moves, it lets small amounts of air into the chamber below it (not
modeled here).
Rocker
Rod
Guide (ground)
Cam Valve

WS2 - 4
• Tips before you start. While working on this exercise, notice:
– The use of the right mouse button
– The function of single-clicks and double-clicks
– The messages on the Status bar
– The animation options

1. Import the file valve.cmd
2. View the list of keyboard shortcuts.
3. Use the zoom shortcut.
4. View the model from different angles.
5. Rename the parts.
6. Inspect the model.
7. Simulate the model.
8. Save the Simulation.
9. Animate the Results.
10. Save your work.
WS2 - 5
Step 1. Import File
To import a file.
a. Start Adams/View.
b. From the Welcome dialog box, select b d
Existing Model.
c. Click the file folder icon, and the
Select Directory dialog box appears.
d. Find and select the directory
Exercise_dir/mod_2_aview_interface
.
e. Click OK .
f. Click on the file folder icon of the File
Name , select the file valve.cmd and
click Open.
f
c
e

WS2 - 6
Step 1. Import File (Cont.)
g. Click OK on the Open Existing

Model dialog box.

WS2 - 7
Step 2. View the List of Keyboard Shortcuts
To view the list of keyboard shortcuts:
a. Move the cursor away from the model and then right-click in
the Adam/View window. A menu appears listing the
keyboard shortcuts.
b. To close the menu, left-click away from the menu.
c. In the space below, write the shortcut keys for performing
the following view operations.
• Rotate:__________________________
• Translate:________________________
• Zoom with a box:__________________
• Zoom into a specific Area:___________
• Fit:_____________________________
• Front View:_______________________

WS2 - 8
Step 3. Use the Zoom Box Shortcut
To use the zoom Box shortcut:

a. Zoom into the cam area by using the shortcut
<w>.
b. Notice the instructions in the status bar
instruct you to select the area.
c. Click the left mouse button in the place were
you want the top left corner of your zoomed
in rectangle to be. c
d. Now the status bar instructs you to: drag to
select size of view.
e. Draw a rectangular box around the cam. e
f. You should now be zoomed into the cam
area.
g. Use the fit shortcut <f> to return to the b
original view.
f
d

WS2 - 9
Step 4. View the Model from Different Angles
To view the model from the top: a

a. Use the Top shortcut <T> and the
view changes to a top view.
To view the model from the right:

b. Use the Right shortcut <R> and
the view changes to the right view.
Top View
To view the model in an isometric
view:
c. Use the Iso shortcut <I> and the
view changes to an isometric one.
If you wish you may continue to try the b

other shortcut keys.
Right View
Isometric View
WS2 - 10
Step 5. Rename the Parts
Rocker
As you go through these instructions Rod

notice that right-clicking always give Guide
you a list of choices while left (ground)
clicking selects an object. Cam Valve
To rename the parts to match the

ones given in the diagram to the
right:
a. From Model Browser, select the
part displayed under the Bodies a
tree. Same part will be selected
and highlighted.
b. Right click and select Rename
from the displayed menu.
c. In the Rename dialog box,
change the name according to
the given diagram.
d. Click OK to change the part
name.
e. Repeat the above steps a
through e for the Rod, Cam,
Guide, and Valve. b
c
d

WS2 - 11
Step 6. Inspect the Model
To inspect the model to determine

a
the number and type of constraints: b
a. Right-click the small arrow on
the Information tool stack
on the right side of the Status
Bar at the bottom of the screen.
b. Select the Model topology by
constraints tool.
c. From the Information window
that appears, note the number d
and type of constraints and use
them to answer Question 1 in
the Workshop 2, Review
section, page WS2-19
d. Close the Information window. c

WS2 - 12
Step 6. Inspect the Model (Cont.)
To inspect the mode to check if the

model verified successfully: a
a. Right-click the small arrow at
the bottom of the information
tool stack. b
b. Select the verify tool.
c. From the Information window
d
that appears, notice that the
model verified successfully.
d. Close the Information window.

WS2 - 13
a
b
To run a simulation:
a. Select the ribbon Simulation.
b. From the options available
select “Run an Interactive
Simulation.”
c. In the Simulation Control
g f
dialog box select End Time.
d. In the text box adjacent to End c d
Time, enter 2.
e
e. In the text box adjacent to
Steps enter 100.
f. Click on the Play tool.
g. When the simulation is
complete, click the Reset tool.

WS2 - 14
Step 8. Save the Simulation
To save the simulation: d

a. To save the last simulation results to the database
under a new name, select the Save simulation
tool. The Save Run Results dialog then appears
b. In the Name text box, enter a name for the
simulation results, such as first_results.
c. Click OK.
d. Close the Simulation Control dialog box.
b
a
c

WS2 - 15
Step 9. Animate the Results i
c
f b
To Animate the results in the e
default mode with icons off: d d
a. Switch to Animation Controls
from Simulation Control.
b. To see the animation, click the
Play button.
c. When the animation is
d. To see the animation in
incremental steps click either
the +Inc to move forward or the
-Inc to rewind the animation.
e. The step number will be listed in
the center between these two
buttons.
f. When finished, click the Reset
tool.
To animate the model with icons a

turned on:
g. At the bottom of the Animation g

Controls dialog box, check
icons.
h. Repeat the step from b. to f.
i. Close the Animation Controls
dialog box.

WS2 - 16
Step 10. Save Your Work
To save your work so that the saved

file contains only the model
information:
a. From the File menu, select Export.
b. Set File Type to Adam/View
Command File.
c. In the File Name Text box, enter
valve1.
a
d. In the Model Name text box, enter
valve. b
e. Click OK. c
d
Since this is the last step for the
workshop, you may manipulate the
model and experiment with it as time
permits.

WS2 - 17
Workshop 2, Review
1. How many constraints are there in this system What type of constraints
are they?
____________________________________________________
____________________________________________________
2. Is it possible to have more than one model in a database?

____________________________________________________
____________________________________________________
3. Is geometry a direct child of a model? If not, what is geometry a child of?

____________________________________________________
____________________________________________________

WS2 - 18
Workshop 2, Review
4. If you are in the middle of an operation and you are not sure
what input Adams/View wants next, where should you look?
_____________________________________________________
_____________________________________________________
5. If you are working with our technical support staff and you want them to
look at one of your files, what file format would you send them, a .cmd or
.bin? Why?
_____________________________________________________
_____________________________________________________

WS2 - 19
WS2 - 20
WORKSHOP 3
ADAMS/POSTPROCESSOR OVERVIEW
Rocker
Rod
Guide (ground)
Cam Valve

WS3 - 1
WS3 - 2
– Use Adams/View to manipulate, review, and refine the results of the
valvetrain model, which you simulated in the previous workshop.
– Adams 2013
• Files Required
– valve.cmd
– Located in the directory exercise_dir/mod_02_aview_interface

WS3 - 3
– The cam is being rotated at a given velocity.
– The rod (follower) moves translationally based on its constraint to the cam.
– The rocker pivots about a pin attached to the engine block.
– The spring is always in compression to try and keep the rod in contact with the cam.
– The valve moves vertically as the rocker rotates.
– When the valve moves, it lets small amounts of air into the chamber below it (not
modeled here).
Rocker
Rod
Guide (ground)
Cam Valve

WS3 - 4
• Suggested Steps
1. Import the file valve.cmd.
3. Plot the Displacement vs Time.
4. Plot the Force in Spring vs Time.
5. Find the spring coefficient.
6. Modify the spring coefficient and simulate.
7. Overlay the plots for force in spring for both simulations.
8. Use the on-line help to get plot statistics.
9. Modify the plot title.
10. Modify the vertical axis label
11. Modify the legend text and placement.
12. Add an animation next to the plot.
13. Adjust the view of the animation model.
14. Play an animation of the results.
15. Change the color of the cam.
16. Modify the animation window view.
17. Enlarge the graphics that illustrate force.
WS3 - 5
Step 1. Import File
To import the file.

a. Start Adams/View.
b. From the Welcome dialog box, select b d
Existing Model.
c. Click the file folder icon, and the Select
Directory dialog box appears.
d. Find and select the directory
Exercise_dir/mod_2_aview_interface.
e. Click OK .
f. Click on the file folder icon of the File
Name , select the file valve.cmd and
click Open.
c
e

WS3 - 6
Step 1. Import File (Cont.)
g. Click OK on the Open Existing

Model dialog box.

WS3 - 7
a
b
To run a simulation:
a. Select the ribbon Simulation.
b. From the options available
Simulation.”
c. In the Simulation Control
g f
dialog box select End Time.
d. In the text box adjacent to End c d
Time, enter 2.
e
e. In the text box adjacent to
Steps enter 100.
f. Click on the Play tool.
g. When the simulation is
h. Save the simulation results with
the name second_results just
as you did in Workshop 2, page
WS2-15.

WS3 - 8
Step 3. Plot Displacement vs Time
To Plot Displacement of the Valve a

verses Time:
a. From the ribbon Results, select
the Adams/PostProcessor
tool, or press F8.
b. In the dashboard at the bottom
of the window, in the simulation
section, select the name of the
results set you just saved
(second_results) in the previous
step.
c. In the same section of
Simulation, set Source to
Measures.
d. From the Measure list, select
Valve_Displacement.
e. In the right corner of the
dashboard, click Add Curves.
b e
d

WS3 - 9
Step 4. Plot the Force in Spring vs Time
To Plot the Force in the Spring a e

verse Time:
a. From the toolbar, select the
Create a New Page tool.
b. Notice that now in the treeview,
on the left side of the
Adams/PostProcessor window,
you have two pages.
c. From the Measures list, select b
Force_in_Spring.
d. Click Add Curves.
e. To return to Adams/View, in the
upper right corner of the main
toolbar, select the Adams/View
tool or press F8.
f. Note: if you resized the
Adams/PostProcessor window d
the Adams/View tool may no
longer be visible. If this
happens, then stretch the c
window to see the tool again.

WS3 - 10
Step 5. Find the Spring Coefficient value
To find the spring stiffness a

coefficient:
a
a. In the Model Browser, Under
Forces, find and select
SPRING_1. The related spring b
will be highlighted as shown in
the snapshot.
b. Right-click the SPRING_1 and
select Info.
c. The information window
c
appears.
d. Note the value of the spring
e
stiffness coefficient. Use that
value to answer Question 2 in
section, page WS3-25.
e. Click Close on the information d
window.

WS3 - 11
Step 6. Modify the Spring Coefficient value and
Simulate
To modify the spring stiffness to a
200 lb/foot:
a. Right-click the SPRING_1 in
Model Browser as done in
previous step and then select
Modify. The Modify a Spring-
Damper Force dialog box
appears.
b. In the Stiffness Coefficient
text box, enter 200 (lbf/foot).
Note: in this case the
parentheses for the units are
necessary because they are
compound fractional units.
b
c. Click OK.
d. Run a simulation, similar to how
you did earlier in workshop 2
(page WS2-14), for 2 seconds
with 100 steps, and then save
the simulation results as
third_results, similar to how
you did in workshop 2, page
WS-15.
c
WS3 - 12
Step 7. Overlay Plots of Force in Spring for Both
Simulations
To overlay plots: a
a. From the ribbon Results, select
the Adams/PostProcessor
tool.
b. From the toolbar, select the
Create a New Page tool. b
c. From the Simulation list, select
both the second_results and
the third_results.
d. Set the Source to Measures
e. From the Measure list, select
Force_in_Spring.
f. In the bottom right corner of the
dashboard, under Independent
Axis, ensure that Time is
selected.
g. Click Add Curves.
c g
e
d f

WS3 - 13
Step 8. Zoom & Pan Within a Plot
To Zoom a plot:
a. From the toolbar, select the a e
Zoom Into Area tool or use c
keyboard shortcut “w”.
b. Click and drag a box to zoom in
that area.
To Pan within a plot

c. From the toolbar, select the Pan
Plot tool or use keyboard
shortcut “p”.
d. Pan the plot by mouse left click,
drag and release or with
keyboard arrow keys. b
e. From the toolbar, select the Fit
tool or use keyboard shortcut “f”
to refit the plot to its extent.

WS3 - 14
Step 9. Use On-Line Help to get Plot Statistics
To use the help to get the Plot
statistics tool:
a. From the Adams/Post
Processor’s help menu, select
Adams/PostProcessor Help. a
b. Select Building Plots>Plot
Basics > Displaying Plot
Statisics About Curves.
c. After reading the information,
use the Plot Statistics toolbar to
find the maximum
Force_in_Spring value in the
third simulation, when the spring
coefficient was 200 lbf/foot.
d. Once you find the
Force_in_Spring value, use it to
answer Question 3 in the
Workshop 3, Review section,
page WS3-25
b

WS3 - 15
Step 10. Modify the Plot Title
To modify the plot title:

a. In the treeview, click on the + sign to
expand page_3. c
b. Click on the + sign to expand plot_3.
c. Select title.
d. In the property editor below the
treeview, clear the current title valve, a
and then enter the new title Spring
Force vs. Time

WS3 - 16
Step 11. Modify the Vertical Axis Label
To change the vertical axis label:

a. In the tree view, select vaxis for page_3.
b. In the Property editor, select the Labels tab.
c. Change the label to Spring Force (lbf).

WS3 - 17
Step 12. Modify the Legend Text and Placement
To modify the Legend Text:

a. In the treeview, select curve_1 for page_3.
b. In the property editor below, change the Legend
text box to k=100(lbf/foot)
c. Repeat steps a and b for curve_2, only change a
the Legend text box to k=200 (lbf/foot).
To modify the legend placement: d

d. In the treeview, select legend_object, for page 3.
e. In the property editor below, set Placement to
Top right.
b
e

WS3 - 18
Step 13. Add an Animation Next to the Plot
To add an animation next to your plot:

a. In the treeview, select page_2
b. Split the screen by right-clicking on the
Page Layout tool stack in the main
toolbar. b
c
c. Select the Split Screen tool.

WS3 - 19
Step 13. Add an Animation Next to the Plot (Cont.)
a. Set the new viewport to Animation

by right-clicking in the viewport and
choosing Load Animation from the
pop-up menu. b
b. From the Database Navigator, select
the third_results.
c. Click OK
a
c

WS3 - 20
Step 14. Adjust the View of the Animation model
To adjust the view of the animation model:

a. Adjust your view of the model on your
screen using the tools in the main
toolbar. The figure below highlights the
tools that are available. Try
experimenting with these tools.
Center View Zoom

Dynamic Translate
Dynamic Rotate View Fit
Front, top, side, back, bottom, and
Select
isometric views
Wireframe/Shaded toggle
Icon Visibility toggle

WS3 - 21
Step 15. Play an animation of the Results
To play an animation of the results:

a. Make sure that the animation window is selected.
b. To play the animation, press the play button.
c. To pause the animation, press the pause button.
d. To Play the animation backwards, press the Rewind button.
e. When finished animating the results, press the reset button.
e d c b

WS3 - 22
Step 16. Change the Color of the Cam
To change the color of the Cam:

a. Make sure that you have the animation window b
selected. From the treeview, expand the model
by clicking on the + sign next to the model
named valve.
b. Select Cam.
c. In the property editor, set Color to Coral.

WS3 - 23
Step 17. Modify the Animation Window View
a
b g
c h l
d i
e j k
f
• To modify the animation window view:

a. Click on the View Tab.
b. Check the Display Icons box , and notice the icons are now displayed on the model.
c. Check the Perspective box, and see that the model now has perspective added to it.
d. Check the Title box, and the title is added to the window in the upper left corner.
e. Check the FPS in Title box, and the frames per second is displayed with the title.
f. Check the Display Triad box, and the triad is displayed in the lower right corner.
g. Left click and drag the Light intensity slide bar to change the light intensity, you may also enter a value to the
right.
h. Left click and drag the Ambient Light slide bar to change the ambient light, you may also enter a value to the right.
i. Left Click and drag the Light Angle slide bar to change the light angle, you may also enter a value to the right.
j. To toggle light reflections check the Light Reflections check box.
k. To toggle two-sided lighting, check the Two-Sided Lighting box.
l. You can change the light source by clicking on the light source direction that you desire. Note: This will affect the
Light Intensity value.
WS3 - 24
Step 18. Create Appearance rule
l
a
• To create an Appearance rule which will change the color of Valve

part, when spring force is non-zero:
c a. Click on the Appearance Tab.
d b. Click on New Rule, which displays the Create Animation
e Appearance Rule dialog box.
f c. Fill an appearance rule description, as
g Valve_Movement_Color.
d. Right click in Entity to Modify field and pick Valve.
i j k e. Select Attribute to Modify as Color from the drop down
h menu.
f. Right click in Modified Setting field and select color as red.
g. Set Persistence as Re-Evaluate from the drop down menu.
h. Set Quantity as Result-Set from the drop down menu.
i. Right click and select result set component as
Force_in_Spring.
j. Set Condition as > from the drop down.
k. Set Value as 0.
l. Play the animation again to check the effect of Appearance
rule.
WS3 - 25
Step 19. Enlarge the Graphics that Illustrate Force
To Enlarge the graphics that illustrate
force:
a. From the Edit menu, select
Preferences. The PPT f
Preferences dialog box appears.
b. In the Force Scale text box, enter
a value of 100.
c. Click Save.
d. Note: Make sure that you save
your changes in this dialog box a
Spring
before you close it. If you do not
Force
save your changes, they will not
be made. g
e. Click Close.
f. On the main toolbar, click
Wireframe/Shaded.
g. Now you can animate (play button)
the model and view the position and
direction of the reaction force.
h. Return to Adams/View, and Save
c e your work.

WS3 - 26
Workshop 3, Review
1. What is the mass of the valve? What is this mass currently based on?
____________________________________________________
____________________________________________________
2. What was the stiffness coefficient of the spring when you first opened the
model?
____________________________________________________
____________________________________________________
3. What was the maximum spring force when the spring coefficient was 200
lbf/foot?
____________________________________________________
____________________________________________________

WS3 - 27
WS3 - 28
WORKSHOP 4
FALLING STONE

WS4 - 1
WS4 - 2
– For a stone falling under the influence of gravity with zero initial velocity, find
the displacement, velocity, and acceleration of the stone after one second.
– Adams 2013
• Files Required
– none
– Use the directory exercise_dir/mod_04_falling_stone.
– A stone is falling due to the influence of gravity.

WS4 - 3
• Suggested Steps
1. Create a new model.

2. Build the stone.
3. Rename the stone.
4. Set the mass of the stone.
5. Create measures for the falling stone.
6. Verify the Model.
7. Run the simulation.
8. Find the value of the stones displacement.
9. Find the value of the stones velocity.
10. Find the value of the stones Acceleration
11. Save Your Work
12. Optional tasks

WS4 - 4
Step 1. Create a New Model
To create a new model:

a. Start Adams/View. b
b. From the Welcome dialog box,
select New Model..
c. Set the directory to
exercise_dir/mod_04_falling_
stone.
d. Name the model projectile.
e. Verify that Gravity is set to
Earth Normal (-Global Y).
f. Verify that Units are set to
MMKS - mm, Kg, N, s, deg.
g. Select OK.
d
e
f
c

WS4 - 5
Step 2. Build the Stone
b
To build the stone:

a. So that you will know at which
coordinates you are placing the
center of the sphere, view the
coordinates as you create the a
sphere . From the View menu,
select Coordinate Window.
c
The coordinate dialog will e
appear. d
b. From the ribbon Bodies, select
Rigid Body:Sphere.
c. In the generated Definition
container, select New Part from
the drop down menu.
d. Check the Radius Box.
e. Enter (50mm) into the Radius
size text box.
f. Drag the cursor until you create f
a sphere with a 50 mm radius.

WS4 - 6
Step 3. Rename the Stone
To rename the stone:

a. From Model Browser, select
the part displayed under the a
Bodies tree by left clicking. a
Sphere will be selected and
highlighted.
b. Right click and select Rename
from the displayed menu.
c. In the New Name text box,
enter .projectile.Stone, and
then select OK.
a

WS4 - 7
Step 4. Set the Mass of the Stone
To set the mass to 1 kg:
a. From Model Browser, right-
click the Stone part under a
Bodies tree and then select
Modify.
b. In the Define Mass by text box,
select User Input.
c. In the Mass text box, enter 1.0.
d. Select OK.
b
c
d
WS4 - 8
Step 5. Create Measures for the Falling Stone
To create a measure to calculate

the displacement in the ŷg b
direction:
a. From Model Browser, right-click c
the Stone and select Measure,
the Part Measure dialog should d
appear. a
b. In the Measure Name text box,
enter displacement.
c. Set Characteristic to CM
position.
d. Set Component to Y.
e
e. Check Create Strip Chart.
f. Click OK. f
g. A measure stripchart appears. It
is empty because you need to g
run a simulation before
Adams/View has the necessary
information for the stripchart.

WS4 - 9
Step 5. Create Measures for the Falling Stone
(Cont.)
the velocity of the stone in the ŷg
direction:
a. From Model Browser, right-click
the stone and select Measure.
A dialog box will appear.
enter velocity.
c. Set Characteristic to CM b
velocity.
d. Set Component to Y. c
e. Select Create strip chart. a
f. Select OK.
d
the acceleration of the stone in the
ŷg direction:
g. Follow the instructions above g
with the following changes:
• Measure Name: e
acceleration
• Characteristic to CM f
acceleration.

WS4 - 10
Step 6. Verify the Model
When you verify the model,

Adams/View checks for error
conditions such as misaligned
joints, unconstrained parts, or
massless parts in dynamic systems a
and alerts you to any possible
problems in the model.
To verify the model: c

a. In the right corner of the Status
bar, right-click the Information
tool stack, and then select the
Verify tool.
b. In the Information window,
check that the model has
verified successfully.
c. Close the Information window.

WS4 - 11
Step 7. Run the Simulation.
First you should zoom out so that

the falling stone is clearly visible
while it simulates. To Zoom out:
a. Select the Zoom tool, and then
click and drag the mouse to
zoom out until the entire
working grid is visible.
b. Select the Translate tool, and
then drag the working grid to
the top of the screen.
b a

WS4 - 12
Step 7. Run Simulation (Cont.)
a
To run a simulation for 1 second a

with 50 steps:
a. From the ribbon Simulation,
Simulation.”
b. In the End Time text box, enter
1.0 and in the Steps text box, e c
enter 50.
c. Click the Play tool. b
d. As the stone falls, Adams/View b
plots the corresponding data on
the displacement, velocity, and
acceleration graphs.
e. When the simulation ends, reset
the model to the input design d
configuration by selecting the
Reset tool.
f. Animate the simulation to replay
the simulation without
simulating again.

WS4 - 13
Step 8. Find the Value of the Stones Displacement
To find the value of the stone’s
displacement after 1 second: a
a. Right-click the blank area inside
the stripchart
.projectile.displacement, point
to Plot:scht1, and then select
Transfer to Full Plot.
b. Adams/PostProcessor replaces b
c
the Adams/View window.
c. In Adams/Postprocessor, from e
the main toolbar, select the Plot
e
Tracking tool.
d. Because you want to know the
final conditions after 1 second,
move the cursor over the end
point of the plot.
e. In the area below the menu bar,
the value of X is displayed as 1.
Note the value of Y; this is your
answer to Question 1 in the d
page WS4-19.
f. Compare this value of Y to the
results given in the closed-form
solution. See Workshop 4,
Review section, page WS4-
21,22.
WS4 - 14
Step 9. Find the Value of the Stones Velocity

velocity after 1 second:
a. Select Surf.
b. This lets you view a selected f
measure without using the Add f
Curves button.
c. Set Source to Measures.
d. From the Measure list, select
velocity.
e. Because you want to know the
final conditions after 1 second,
point of the plot. e
f. In the area below the menu bar,
the value of X is displayed as 1.
Note the value of Y; this is your a
answer for Question 2 in the
Workshop 4, Review section, d
page WS4-19.
g. Compare this value of Y to the c
results given in the Closed-form
solution, see Workshop 4,
Review, page WS4-21,22.

WS4 - 15
Step 9. Find the Value of the Stones Acceleration

acceleration after 1 second: g
a. Set Source to Measures. e
b. From the Measure list, select e
acceleration.
c. To display the acceleration plot,
select Surf.
d. Because you want to know the
final conditions after 1 second, d
point of the plot.
e. In the area below the menu bar,
the value of X will be displayed
as 1. Note the value of Y; this is
your answer to Question 3, in
the Workshop 4, Review c
section, page WS4-19.
b
results given in the Closed-form
solution. See Workshop 4, a
Review, page WS4-21,22.
g. To return to ADAM/View and
close all three plots, select the
Adams/View tool.

WS4 - 16
To save the model such that the file

contains only the model
information:
a. From the File menu, select
Export.
b. Make sure that the File Type is
set to Adams/View command b
File. a
c. Enter the file name and click
OK.
d. If you want to further explore
the model, as suggested in the
next section, leave the model
open. Otherwise, proceed with
the next step.
e. Exit Adams/View.

WS4 - 17
Step 11. Optional tasks
Save your work before performing these tasks. Do not save your work after performing these tasks because you will use this
model in the next module. If you must save the model after performing these tasks, give the model a different name.
To inspect the behavior of the stone after changing its mass:

a. Change the mass of the stone to 2 kg.
b. Simulate the model.
c. Compare the results of this simulation with the results of the simulation where the mass of the stone was 1 kg.
d. Does changing the mass affect the displacement, velocity, or acceleration?
e. Measure the kinetic energy of the stone. Do these results make sense?
f. K.E. = (1/2)m*v2
g. Exit Adams/View.

WS4 - 18
Workshop 4, Review
1. What is the displacement of the stone after one second?

________________________________________________________
________________________________________________________
2. What is the velocity of the stone after one second?

________________________________________________________
________________________________________________________
3. What is the acceleration of the stone after one second?

________________________________________________________
________________________________________________________

WS4 - 19
Workshop 4, Review(Cont.)
4. What are the most basic building blocks in Adams which are used in parts,
constraints, forces, and measures?
_____________________________________________________________
_____________________________________________
5. Why is the ground part automatically created?

_____________________________________________________________
_____________________________________________
6. Can Adams/View automatically calculate mass properties for two-

dimensional geometry?
_____________________________________________________________
_____________________________________________

WS4 - 20
Workshop 4, Review (Cont.)
• Adams Results
– Displacement after 1 sec = -4903.3 mm
– Velocity after 1 sec = -9806.6 mm/sec
– Acceleration after 1 sec = -9806.6 mm/sec2

WS4 - 21
Workshop 4, Review
• Closed-form solution
Analytical solution:
– s = ½ (at2) = 4903.325 mm
– v = at = 9806.65 mm/sec
– a= g = 9806.65 mm/sec2
– KE = (1/2)*1kg *(9806.65mm/sec)2 = 4.8085e7(kg*mm2/s2)
– conversion to N: 1 N = 1 (kg*m/s2)
– KE = 4.80852e7[(kg*mm/s2)(1m/100mm)]*mm = 48085.2 N*mm
where
s = Distance (mm)
a = Acceleration (mm/sec2)
t = Time (sec)
v = Velocity (mm/sec)
m = mass (kg)

WS4 - 22
WORKSHOP 5
PROJECTILE MOTION

WS5 - 1
WS5 - 2
– To compute the range, R, when a stone is launched as a projectile with
an initial speed of 6 m/s at an angle of 60o
– Adams 2013
• Files Required
– Saved model from Workshop 4, or stone_completed.cmd
– Located in the directory exercise_dir/mod_04_falling_stone/completed
– In this workshop you will use the stone that you built in Workshop 4 –
Falling Stone.

WS5 - 3
• Suggested Steps
1. Import file.
2. Build the plane.
3. Set up the initial conditions.
4. Create a measure for the projectile motion.
5. Run the simulation.
6. Find the time at which the stone makes contact with the plane.
7. Create a point trace of the projectile motion.
8. Find the Horizontal Displacement.
9. Save your work.
10. Optional tasks.

WS5 - 4
Step 1. Import File
To import a file : b
a. Start Adams/View. f
b. From the Welcome dialog box, select
Existing Model. c
c. Set the directory to
exercise_dir/mod_05_projectile.
d. Select OK.
e. Find and select the model file
projectile.cmd, which you completed
in the previous workshop.
f. Note that the model file is not in the e
current working directory. It is in the
directory c
exercise_dir/mod_04_falling_stone.
g. If you need a fresh copy of the model,
import the command file
stone_completed.cmd from the d
directory
exercise_dir/mod_04_falling_stone/
completed/.
h. Select OK. h g

WS5 - 5
Step 2. Build the Plane
Build the plane:

a. From the Settings menu, a
select Working Grid.
b. In the Size: X text box, enter
4000. c
b
c. In the Size: Y text box, enter
3000.
d. For both the X and Y Spacing d
text boxes, enter 50 and then
select OK.
e. Zoom out by typing a
lowercase z, and then left-click
and drag the mouse until the
entire working grid is displayed
on the screen.

WS5 - 6
Step 2. Build the Plane (Cont.)
a. To turn on the coordinate window,
use View >Coordinate Window b
b. From the ribbon Bodies, select
the Box tool.
c. In the toolbox container:
• Select On Ground.
• Check Length, and then in the
Length text box, enter 3500 a
mm. c
• Check Height and Depth
options, and then in the
Height and Depth text boxes,
enter 100 mm.
d
d. Use the mouse to select the
corner of the box at 0, -150, 0.
e. The stone should appear
balanced at the upper left corner
in a front view.
Note: the box will be white if it is on
ground. If the box has a different e
color it is a new part and should be
deleted.

WS5 - 7
Step 3. Set Up Initial Conditions
To set initial conditions to
Vx0 = 6000*cos(60°) = 3000 mm/sec
Vy0 = 6000*sin(60°) = 5196 mm/sec:
a
a. From Model Browser, right-click the
stone and select Modify.
b. Set Category to Velocity Initial
Conditions.
c. Under Translational velocity
along, check the X axis, and in the
X axis text box, enter
(6*cos(60d)(m/sec)) or
(3000(mm/sec)).
b
d. Under Translational velocity
along, check the Y axis, and in the
Y axis text box, enter
(6*sin(60d)(m/sec)) or
(5196(mm/sec)). c
e. Select OK. c

WS5 - 8
Step 4. Create a Measure for the Projectile Motion
Create an object (part) measure to

calculate the horizontal
displacement, xg, of the stone’s
center of mass (cm) marker when it
is projected:
a. From Model Browser, right-click
the stone and then select a
Measure. The Part Measure
dialog should appear.
b
enter R_displacement.
c. Set Characteristic to CM c
position.
d. Set Component to X.
e. Select Create Strip Chart. d
f. Select OK.
g
g. The R_displacement strip chart
should appear.

WS5 - 9
Step 5. Run the Simulation
a
To run a simulation for 1.5
seconds, using a sampling rate of
0.02 seconds:
select Run an Interactive
Simulation. g e
b. In the End Time text box, enter
1.5. b
c. Select Step Size. c d
d. In the Step Size text box enter
0.02. f
e. Select the Play tool.
f. Adams/View runs the simulation
and plots the corresponding
data in the stripchart for the
R_displacement measure
g. When the simulation ends, click
the Reset tool.

WS5 - 10
Step 6. Find the Time at Which the Stone Makes
Contact with the Plane
To find the range (R):
a. From the ribbon Result, select
the Animation Control Dialog a
box tool.
b. Select the Play tool.
c. When the stone makes contact
with the plane, select the Stop f c b
tool.
d. Use the Step Forward and Step
Backward tools to obtain the
exact point at which the stone
d e
makes contact with the plane.
e. Note the time at which the stone
makes contact with the plane in
the plot. (The time is displayed in
the upper-left corner of the
Adams/View window.) Use this to
page WS5-16.
f. Click the reset tool.

WS5 - 11
Step 7. Create a Point Trace of the Projectile
Motion
c
To create a point trace to view the
trajectory of the projectile during an f
animation: d
a. Set No Trace to Trace Marker.
b. Right-click the empty text box
that appears, select Marker,
and then select Browse.
c. From the Database Navigator,
select Stone.cm. The marker
name should appear in the text
box.
d. Click the Play tool.
e. As the projectile is simulated it
should now trace its motion. a e
f. Close the Animation Controls
dialog box. b
b

WS5 - 12
Step 8. Find the Horizontal Displacement
a
To find the horizontal displacement:
a. Right-click a blank area inside
the R_displacement stripchart,
point to Plot: scht1, and then
select Transfer to Full Plot.
b. Adams/PostProcessor replaces
Adams/View. b
c. Select the Plot Tracking tool.
d. Because you want to know the c g
displacement when the stone e
makes contact with the plane,
move the cursor over the plot
until the value of X is equal to the d
time at which contact was made.
e. Note the value of displacement,
Y. Use this value to answer
Question 2 in the Workshop 5,
Review section, page WS5-16.
results given in the closed-form
solution, which is shown in the
page 17.
g. Click the Adams/View icon to
return to model.

WS5 - 13
To save your work (such that the

file contains not only the model
information, but also the results
and plots): a
Save Database As.
b. In the File Name text box, enter
projectile, and then select OK.
c. Adams/View creates a binary
file that contains not only the
model information but also the
results and plots.
the next step. b
e. Exit Adams/View.
b

WS5 - 14
Step 10. Optional Tasks
Save your work before performing these tasks. Do not save your work after performing these
tasks. If you must save the model after performing these tasks, give the model a different
name.
To follow the stone during an animation:

a. Zoom in on the stone.
b. From the Results ribbon, select Animation Controls.
c. Now change the reference frame while animating.
d. On the Animation Controls dialog box, change Fixed Base to Base Part. Select the part
to which you want to fix the camera.
e. Go to the Adams/View online help and look up the Animation Controls dialog box to read
about the other functionality available.

WS5 - 15
Workshop 5, Review
1. At what time does the stone encounter the plane?

_____________________________________________________
_____________________________________________________
2. What is the range, R, of the projectile?

_____________________________________________________
_____________________________________________________
3. If a part’s initial velocity conflicts with a system constraint, which will take
precedence during a simulation?
_____________________________________________________
_____________________________________________________
4. What modifications would be necessary to convert the stone into a

pendulum?
_____________________________________________________
_____________________________________________________
WS5 - 16
Workshop 5, Review (Cont.)
• Adams Results for Range

– R = 3180 mm (can vary slightly depending on several factors, most likely the
sampling rate.)
• Closed-form solution for Range

– The analytical solution for R, the range covered by the projectile, is as follows:

WS5 - 17
WS5 - 18
WORKSHOP 6
ONE DOF PENDULUM

WS6 - 1
WS6 - 2
– Find the pendulum frequency.
– Adams 2013
• Files Required
– No files required
– Use exercise_dir/mod_06_pendulum
• Problem description
– Find the initial force supported by the pin at A for a bar that swings in a
vertical plane, given the initial angular displacement (θ0) and initial
angular velocity (θ0).

WS6 - 3
• Suggested Steps
1. Create a new model and build the pendulum link.

2. Build sphere section.
3. Rename the pendulum.
4. Set the mass.
5. Build the pivot.
6. Rename the pivot
7. Create tracking measures.
8. Create a reference marker.
9. Create angle measure.
10. Set up the initial conditions.
11. Verify your model.
12. Run simulation and determine components.
13. Determine the frequency and save.
14. Optional tasks

WS6 - 4
Step 1. Create a New Model and Build the
Pendulum Link
• Start Adams/View, select New Model and set the
directory to exercise_dir/mod_06_pendulum.
• Create a model named pendulum.
– Gravity set to Earth Normal (-Global Y)
– Units set to MMKS - mm, Kg, N, s, deg.
To build the link: d

a. Turn on the coordinate window. View>Coordinate
window.
b. From the ribbon Bodies select Link tool.
c. In the container:
• Select New Part.
• Select Length, and in the Length text box, enter
450 mm, and then press Enter. a
• Select Width, and in the Width text box, enter 20
mm, and then press Enter.
• Select Depth, and in the Depth text box, enter c
27.5 mm, and then press Enter. e
d. Using the mouse, select 0, 0, 0 and 450,0,0 as the
endpoint locations. b
e. TIP: use the Location Event (right-click away from the model) to
help select the endpoints. When you right-click the Location
Event appears in the lower left corner of the Adams/View window.
Enter the coordinates for the link in the upper text box and then
press enter.
WS6 - 5
Step 2. Build Sphere Section
To build the sphere section:
a. From the ribbon Bodies select
Sphere tool.
b. In the container:
• Select Add to part.
• Select Radius, and in the
a
Radius text box, enter 25
mm, and then press Enter.
c. Using the mouse, select d
PART_2, which is the link, as
c
the part to add to.
d. Using the mouse, select 450,0,0
as the location. b
Note: the sphere should be the

same color as the link; if not, Undo
the creation of the sphere then
repeat while making sure that Add
to part is selected.

WS6 - 6
Step 3. Rename the Pendulum
To rename the pendulum:
a. Right-click the part related to
link and select Rename.
b. The Rename Object dialog box
appears.
c. In the New Name text box,
enter .pendulum.pendulum,
and then select OK.

WS6 - 7
Step 4. Set the Mass
To set the mass of the pendulum: b
a c
a. Right-click the pendulum part under
Bodies and select Modify. d
b. Set Define Mass by to User Input.
c. In the Mass text box, enter 2.0.
d. In the Inertia text boxes (Ixx, Iyy, Izz),
enter 0.
e. Right-click the Center of Mass Marker
text box, point to
pendulum.pendulum.cm, and then
e
select Modify.
f. In the Location text box, enter 450, 0,
0.
g. Select OK in both dialog boxes.
f

WS6 - 8
Step 4. Set the Mass (Cont.)
a. You will receive a warning in the a
Message Window concerning
the change in position of your
center of mass marker.
b. Select Close to close the
Message Window.
c. Your model should look like this: b

WS6 - 9
Step 5. Build the Pivot
a
To build the pivot:
a. From the ribbon Connectors,
select Revolute joint tool.
b. In the container, select 2 Bod-1
Loc and Normal to Grid.
c. Select the pendulum as the
first body.
d. Select the ground as the b
second body.
e. Select 0, 0, 0 as the location. c
d

WS6 - 10
Step 6. Rename the Pivot
To rename the joint:

a. From Model Browser, right-
click the revolute joint and then
select Rename.
b. In the New Name text box,
enter .pendulum.pivot, and
then select OK.

WS6 - 11
Step 7. Create Tracking Measures
Create an Object (joint) measure to track the a
force supported by the pin in the ^xg direction.
To create object measure:
a. From Model Browser, right-click the pivot
joint and then select Measure. The joint
measure dialog box will appear.
b. In the dialog box:
• In the Measure Name text box, enter
pivot_force_x.
• Set Characteristic to Force, and select
X as the Component.
• Be sure the pendulum marker and
Create Strip Chart are selected.
• Select Apply.
• (Note) A strip chart displays the force
during simulation and animation.
Create an Object (joint) measure to track the

force supported by the pin in the ŷg direction.
To create object measure:
c. In the dialog box: b c
• In the Measure Name text box, enter
pivot_force_y.
• Set Characteristic to Force, select Y
as the Component.
• Be sure the pendulum marker and
Create Strip Chart are selected.
• Select OK.
• (Note) A stripchart displays the force
during simulation and animation.

WS6 - 12
Step 8. Create a Reference Marker
To create a reference marker:
a. Under the ribbon Bodies, select a
the Marker tool available in the
Construction.
b. In the container, be sure that
Add to Ground and Global XY d
are selected.
c. Using the mouse, select 600, 0,
0 as the location.
d. With the marker still selected,
from the Edit menu, select b
Rename.
c
e. In the New Name text box,
enter
.pendulum.ground.angle_ref,
and then select OK.

WS6 - 13
Step 9. Create Angle Measure
Create the angle measure to track the
angular displacement of the a
pendulum, θ. To create an angle
measure:
a. Under the ribbon Design
Exploration from Measures
select Create a new Angle
Measure.
b. Click Advanced in the container.
c. In the Measure Name text box,
enter pend_angle. c
d. Right-click the First Marker text
box, point to Marker, and then d
select Pick.
f
e. On the screen, pick a marker that b
is on the pendulum and at its end
(for example, select the cm
marker).
Tip: Right-click the end of the
pendulum to select the cm
marker.
f. Right-click the Middle Marker text
box, point to Marker, and then
select Pick.
g. Pick a marker that is at the pivot
location.

WS6 - 14
Step 9. Create Angle Measure (Cont.)
a. Right-click the Last Marker text

box, point to Marker, and then
select Pick.
b. Pick the marker that is on the
ground and at the end of the
pendulum (this is the marker a b
that you created in the previous
section,
.pendulum.ground.angle_ref).
Note: By aligning the marker
.pendulum.ground.angle_ref
with the cm marker, the initial c
value of the measure will be
zero.
c. Select OK.

WS6 - 15
Step 10. Set Up the Initial Conditions
To specify the initial conditions of joint as: a
Displacement initial condition θ0 = 30º

Initial velocity condition θ0 = 300º/sec :
a. From Model Browser, right-click the

pivot joint and select Modify. The
modify joint dialog box will appear.
b. Select Initial Conditions.
c. In the Joint Initial Conditions dialog
box: b
• Select Rot. Displ and, in the Rot
Displ. text box, enter -30.
• Select Rot. Velo. and, in the Rot
Velo. text box, enter -300. e
d. Select OK in the joint initial conditions
box.
e. Select OK in the modify joint box.
c

WS6 - 16
Step 11. Verify Your Model
To verify your model:

a. Select the Verify tool (from the
Status bar, right-click the
Information tool stack).
a
• The Information window
appears as shown:
• You may also receive a
warning that the initial
conditions for the joint
position does not match the b
design configuration. This is
what we expect.
b. Close the Information window.

WS6 - 17
Step 12. Run Simulation and Determine Components
d
To simulate your model:
a. Run a simulation for 2 seconds with 100 a
steps. f
To determine the global components (x, y) of the

initial force supported by the pivot.
b. Right-click the blank area inside the
pend_angle stripchart, point to Plot: scht1,
and then select Transfer to Full Plot. (as e
done in previous workshops)
c. Adams/PostProcessor replaces Adams/View.
d. Select the Plot Tracking tool.
e. Move the cursor over the plot at t =0.
f. In the area below the main toolbar, note the
value of Y.
g. Set Source to Measures.
h. From the Measure list, select pivot_force_x. i
i. Select Surf. h

WS6 - 18
Step 12. Run Simulation and Determine
Components (Cont.)
a. Move the cursor over the plot at

t = 0. b
b. In the area below the main
toolbar, note the value of Y. Use a
this value to answer question 1,
in the Workshop 6, Review
Section, page 22
c. From the Measure list, select
pivot_force_y.
d. Move the cursor over the plot at c
t = 0.
e. In the area below the main
toolbar, note the value of Y. Use
this value to answer question 1,
in the Workshop 6, Review
Section, page 22.

WS6 - 19
Step 13. Determine the Frequency and Save
To determine frequency, estimate the
frequency by determining the period (seconds)
and then inverting that value to obtain Hertz:
a. From the Measure list, select pend_angle.
b. Estimate the period of the curve.
c. Invert the period to find Hertz. This is the
answer to Question 2 in workshop 6,
review section, page WS 6-22.
d. Return to Adams/View. b
e. Save results as Joint_res.
f. Save the curves on all three strip charts by
right-clicking each curve, and then selecting
Save curve. a
Save your work:
g. Use the Save As option to save your
modeling session as a binary file. This file
will contain not only the model information,
but also the results and plots. If you want to
further explore the model, as suggested in
the next section, leave the model open.
Otherwise, proceed with the next step.
h. Exit Adams /View.

WS6 - 20
Save your work before performing these tasks. Do not save your work after performing these tasks.
If you must save the model after performing these tasks, give the model a different name.
To find the frequency of the pendulum automatically by performing a Fast Fourier Transformation
(FFT) on the plot of theta versus time:
a. Run a simulation using the following settings:
• End time = 1.65 (approximate time of one period)
• Steps = 127
b. In Adams/PostProcessor, from the Plot menu, select FFT.
c. The FFT dialog box will appear.
d. When preparing for an FFT operation, we recommend that:
• The number of points be an even power of two (for example, 128, 256, 512, and so on). By
solving the equation and asking for 127 steps, you will get 128 data points; 127 + 1 for the
initial conditions.
• You set Window Type to Rectangle.
• You select Detrend Input Data.
e. To perform the FFT, select Apply. To learn more about these values, press F1.
You should get approximately the same frequency as you did by calculating it manually.
The peak value of the resultant curve is at the natural frequency.
c. Return to Adams/View.
d. Exit Adams/View.

WS6 - 21
Workshop 6, Review
1. What are the global components of the initial force supported by

the pivot?
_______________________________________________
_______________________________________________
2. What is the frequency of the pendulum using the initial conditions

in the problem statement?
_______________________________________________
_______________________________________________
3. If the initial velocity of a part can be set through a connecting joint

and the part itself, which will Adams/View use if they are both set?
_______________________________________________
_______________________________________________

WS6 - 22
Workshop 6, Review
4. If a model (human_hip) had two parts (femur and hip_bone)
constrained by a joint, I and J markers would be created by Adams.
If one marker were named MAR_1, and the other MAR_2, what
would the complete name of the I and J markers be?
________________________________________________
________________________________________________
5. Can the I and J markers for a joint belong to the same part? Why?
________________________________________________
________________________________________________

WS6 - 23
Workshop 6, Review
• Results
– Adams results
• Horizontal force supported by the pivot at A = -An cos 30.
• Vertical force supported by the pivot at A = An sin 30.
– Closed-form solution

WS6 - 24
Workshop 6, Review
– The analytical solution for the force supported by the pivot at A when θ0 = 30º
and ω0 = 300 degrees/sec:

WS6 - 25
WS6 - 26
WORKSHOP 7
INCLINED PLANE
or 386.4 in/sec2

WS7 - 1
WS7 - 2
– Use Adams/View to obtain the minimum angle at which the crate starts to
slide off the ramp.
– Adams 2013
• Files Required
– none
– Use: exercise_dir\mod_07_inclined_plane

WS7 - 3
– using the properties shown below to build the model
or 386.4 in/sec2

WS7 - 4
• Suggested Steps
1. Create a new model and adjust the working grid.

2. Build the parts.
3. Rename the parts and set the mass of the crate.
4. Set the inclination angle.
5. Constrain the model.
6. Take measurements.
7. Verify the model.
8. Add joint friction.
9. Create a group.
10. Rotate the group.
11. Find inclination angle.
12. Optional tasks.

WS7 - 5
Step 1. Create a New Model and Adjust the
Working Grid
a. Start Adams/View, select New Model and a
set the directory to
exercise_dir/mod_07_inclined_plane.
b. Create a model named inclined_plane.
– Gravity set to Earth Normal (-Global
Y) b
– Units set to IPS - inch, lbm, lbf, s,
deg.
To adjust the spacing and orientation of the

working grid:
a. From the Settings menu, select Working
Grid.
b. Set Spacing to 1 in in the x and y d
direction.
c. Make sure that the working grid is oriented
along the global XY direction (default
e
setting when you open Adams/View). The
Set Orientation pull-down menu allows you
to choose Global XY, YZ, XZ, or custom
orientation.
d. From Set Orientation, select Global XY.
e. Select OK.

WS7 - 6
Step 2. Build the Parts
When creating parts, use an inclination
angle of 0º. You will rotate the parts to
the desired inclination angle later in the
exercise. Be sure to set the ramp a
geometry to be on ground.
To build the parts:

a. From ribbon Bodies select Box
under Solids.
c
b.Build the ramp geometry using the
following parameters: b
• On Ground
• Length: 46 in
• Height: 2 in
• Depth: 8 in
c.Build the crate geometry using the
following parameters:
• New Part
• Length: 10 in
• Height: 4 in
• Depth: 8 in

WS7 - 7
Step 2. Build the Parts (Cont)
d. Position the crate near the end

of the ramp, as shown next:
Crate
Ramp d

WS7 - 8
Step 3. Rename the Parts and Set the Mass of the
Crate
To rename the crate and the ramp

b
geometry: c
a. From Model Browser, right click
the ramp part under Bodies tree
and select Rename.
b. Enter Ramp.
c. Select OK. d
d. Repeat steps a,b,c for PART_2,
naming it Crate. a
To set the Mass of the crate to 100

lbm:
e. Right-click the Crate and select
Modify. e

WS7 - 9
Step 3. Rename the Parts and Set the Mass of the
Crate (Cont.)
a. Set Define Mass by to User Input.
b. In the Mass text box, enter 100 lbm.
c. Select OK.
a b

WS7 - 10
Step 4. Set Inclination Angle
Now you are going to rotate the model 15º. Because the ramp is on ground and you cannot rotate ground, to
rotate the ramp, you are going to change the orientation of the ramp’s corner marker to 15, 0, 0. The
orientation of this marker sets the orientation for the ramp. You’ll use the Rotate tool to rotate the crate since it
is not on ground. You’ll rotate the crate about the same axis that you rotated the ramp about.
To rotate the ramp to an Inclination

angle, θ = 15º:
a. Right-click the ramp’s corner marker, a
point to MARKER_1, and then select
Modify.
b. In the Orientation text box, change
0,0,0 to 15,0,0.
Ramp
Crate
Corner marker
WS7 - 11
Step 4. Set Inclination Angle (Cont.)
a. In the Standard toolbar, from the

Move tool stack, right click and select
the Align & Rotate tool .
b. In the container, in the Angle text box, a
enter 15 as the increment by which to b
rotate the crate. After you enter this
value, if your cursor does not sweep
the text box (that is, move from inside
the text box to outside the text box),
press Enter to ensure that the text box
registered the value you entered.
c. Select the crate as the object to rotate.
d. Select the z-axis of MARKER_1 (on
the ramp) as the axis about which to
rotate.
Tip: To easily select the z-axis, it helps if

you slightly rotate the view around the x- c
axis, or right click and select desired
marker.

WS7 - 12
Step 4. Set Inclination Angle (Cont.)
a.Completed rotation should look
like:

WS7 - 13
Step 5. Constrain the Model
To create a translational joint
between the ramp and the crate.
a. From the ribbon Connector a
select Translational Joint tool.
b. Use the options 2 Bod-1 Loc
and Pick Feature. c
c. Set the location of the
translational joint at the crate
geometry’s base marker,
MARKER_2. Join the crate and
ramp b
d. Set the vector so it points up the
ramp: select the x-axis of
MARKER_2.

WS7 - 14
Step 6. Take Measurements
Create an object (part) measure (as you
did in Workshop 6, page WS6-12) for
the crate’s acceleration along the ramp,
use the following parameters.
a. Characteristic: CM acceleration
b. Component: X
c. Represent coordinates in:
MARKER_1 (for the location of the a
corner marker, see the Figure on
page W7-11).
b

WS7 - 15
Step 7. Verify the Mechanism
To verify the mechanism:
a. Simulate the model for 1
second and 50 steps.
b. Find the value of the crate’s
(constant) acceleration.
c. To verify this value, see a
Without friction in the Closed-
form solution, page WS7-25.
d. If the values do not match,
check the units in the closed-
form solution and in the model.

WS7 - 16
Step 8. Add Joint Friction
Tip: Be sure that the only friction forces to

consider are those resulting from reaction
forces.
To add friction to the translational joint:

a. Display the joint’s modify dialog box, right-
click the translational joint and select
Modify.
b. In the lower right corner of the Modify dialog
a
box, select the Friction tool.

WS7 - 17
Step 8. Add Joint Friction (Cont.)
a. Fill in the coefficients of friction,

μs = .3 and μd = .25.
b. Leave the remaining friction
parameters at their default
values.
c. In the Input Forces to Friction a
section, clear the selection of
Bending Moment and
Torsional Moment.
d. Simulate the model and note if
the crate slides off the ramp.
e. Right-click on the curve in the
stripchart, and then select Save
Curve.
e

WS7 - 18
Step 9. Create a group
To easily rotate both ramp and crate,

create a group:
a. From the Model Browser select
Groups. Right click and select
New Group.
b. Make a group, named
rotated_objects, containing: a
• The crate part.
• The joint.
• All of the geometry (including
markers) on the ramp, but not
the ground part itself, because,
remember, you cannot rotate
ground.
• Tip: Right-click the Objects in
Group text box, and browse for
the objects you need. You can
select multiple objects by b
holding down the Ctrl key. The
figure to the right shows the
objects you should select:

WS7 - 19
Step 10. Rotate the Group
To rotate the group 20o:
a. In the Standard toolbar, from
the Move tool stack, select the
Precision Move tool .
b. Set Relocate the to group.
c. In the text box to the right of a
Relocate the, enter the group
name, rotated_objects.
d. Set the menus in the second row
to About the and marker.
b
e. In the text box to the right of
these menus, enter MARKER_1.
The Precision Move tool rotates
objects in increments about a
specified axis of the marker you
just selected.
f. In the rotational text box, enter 5.
c
d e

WS7 - 20
Step 10. Rotate the Group (Cont.)
a. Select the Z-axis box. Note that you can select the axis box (either X, Y, or Z) to rotate a group to the
desired orientation. The following shows the Precision Move dialog box after you’ve completed this
procedure.
b. Do not select OK or Apply, just select Close.
Because you have already rotated the ramp to 15 degrees, and

now you want to rotate it to 20, enter 5 as the angle

WS7 - 21
Step 11. Find Inclination Angle
To find the inclination angles
between which the crate starts
to slide:
a. Simulate the model and note
a
if the crate slides off the
ramp.
For an end time of 0.5
seconds, verify that the crate
acceleration versus time
stripchart matches the
adjoining figure. The initial
spike is due to the
acceleration (due to gravity)
present at t=0.
b. Through trial and error, find
the approximate angle (within
0.5º) at which the crate starts
to slide off the ramp. Use it to
Workshop 7, Review
section.
c. Save your model and, unless sec
you want to further explore
the model as suggested in
the next section, exit
Adams/View.

WS7 - 22
Save your work before performing these tasks. Do not save your work after performing these tasks. If you must save the
model after performing these tasks, give the model a different name.
To view an animation and its corresponding plot simultaneously:

a. Open Adams/PostProcessor.
b. Create two views by right-clicking the Window layout tool on the toolbar and selecting the 2 Views, side by side tool.
c. Select the left view.
d. Plot crate acceleration versus time.
e. Select the right view, and then change the Plotting menu to Animation.
f. Right-click the right view, and then select Load Animation.
g. Run the animation.

WS7 - 23
WORKSHOP 7, Review
1. What is the approximate angle (within 0.5º) at which the crate starts to
slide off the ramp?
_________________________________________________________
_________________________________________________________
2. How can you tell if you can automatically add friction to a joint type?
_________________________________________________________
_________________________________________________________
3. What are the I and J markers?

_________________________________________________________
_________________________________________________________
4. If a joint with friction enabled crosses its stiction threshold velocity

(ΔVs), how does the maximum stiction displacement (ΔXs) affect the
system?
_________________________________________________________
_________________________________________________________
WS7 - 24
Workshop 7, Closed-Form Solution
• Without friction:

WS7 - 25
Workshop 7, Closed-Form Solution (Cont.)
• With friction:

WS7 - 26
Workshop 7, Closed-Form Solution (Cont.)

WS7 - 27
WORKSHOP 7, Adams Results

WS7 - 28
WORKSHOP 8
LIFT MECHANISM I
Bucket
Boom
Shoulder
Base
Mount

WS8 - 1
WS8 - 2
• Workshop Objective
– Use Adams/View to create each moving part of the lift mechanism.
– Optional – if you’d like a challenge, build this model without going through
the detailed steps presented on the following slides. Use the dimensions
shown on the next page to build the following parts of the model:
• Create the base
• Create the mount
• Create the shoulder
• Create the boom
• Fillet the mount to round off the edges
• Create the bucket
• Chamfer the bottom edges of the bucket
• Hollow out the bucket
– Otherwise, continue by following the detailed instructions.
– Adams 2013
• Files Required
– Use the directory exercise_dir/mod_08_lift_mech_1
WS8 - 3
– Use the diagram and the properties shown below to help you build the lift
mechanism. All units are in meters
Bucket
Boom
Shoulder
Base
Mount

WS8 - 4
• Tips before you start
– Check the three-dimensional view of the model at regular intervals to verify
that the parts are being placed in the right location.
– Rename parts as soon as you build them.
– You should save your model periodically throughout the modeling process.
This becomes more important as you start to build complex models (recall the
crawl-walk-run approach introduced in Workshop 5—Projectile Motion).
• Suggested Steps
1. Create a new model and adjust the working grid.
2. Build the base.
3. Build the mount.
4. Build the boom and shoulder.
5. Build the bucket.
6. Hollow out the bucket.
7. Check model topology and save
8. Optional tasks.
WS8 - 5
Step 1. Create a New Model and Adjust the
Working Grid
• Start Adams/View, select New Model and
set the directory to
exercise_dir/mod_08_lift_mech_1.
• Create a model named lift_mech.
– Gravity set to Earth Normal (-Global Y)
– Units set to MKS - m, kg, N, s, deg. b
To adjust the working grid:

a
a. Adjust the grid based on the measurements
given in the diagrams on page WS8-4. The
grid must be slightly larger than the
maximum height and width of the model. (A
20 m x 20 m grid, with 1 m spacing in each
direction should be good.)
b. Because the grid spacing is much greater
than the default, you’ll have to zoom out to
see the grid on your screen

WS8 - 6
Step 2. Build the Base
a
To build the base refer to the diagrams on

page WS8-4:
a. Build the base part.
Tip: Note the orientation of the block
with respect to the xy plane. To get the
marker coordinates, right-click on the
location where you started to draw the
base, point to the name of the marker,
and then select Info. Bring up
coordinate window.
b. By default, the screen icons are set for
models in millimeters. Because your
model is in meters, you should adjust b
the icon sizes so you can see the icons.
c
To adjust the icons, from the Settings
menu, select Icons.
c. set New Size to 1.

WS8 - 7
Step 3. Build the Mount
To build the mount refer to the
b
diagrams on page WS8-4:
a. Build the main feature of the
mount part by creating a block.
d
Apply fillets to the mount part using
the Fillet tool:
b. In both the Radius and End
Radius text boxes, enter 1.5 m.
c. Left-click each edge, and then
right-click to create. Refer to the
image below to see the edges
you should select.
d. Inspect your model. Note that
the mount must be centered on
the base. If necessary, use the
vector option of the Point-to-
Point tool (also known as the
Position: Move-Translate tool)
on the Move tool stack to slide
the mount along the base, in the
global z direction, by 2.25 m.

WS8 - 8
Step 4. Build the Boom and Shoulder
a. Before building the shoulder, set
the working grid to cut through
the center of the block
representing the mount part:
Settings > Working Grid
b. For Set Location select Pick,
and then select the cm marker
of the mount.
c. Change the spacing of the
working grid to .5 m. If you do
not change the spacing, you will
notice that when you try to c
create the shoulder part,
Adams/View snaps to the
nearest grid point, thus building
the shoulder in a position that is
not parallel to the base part.
d. Use the Cylinder tool to build
the shoulder part.
e. Build the boom part. d
b
f. Use the Location Event, as
you did in building the pendulum
link (Workshop 6, page WS6-5)
to start the cylinder 2 meters
over from the center-of-mass
(cm) marker of the mount part.

WS8 - 9
Step 4. Build Boom and Shoulder (Cont.)
a. The filleted mount part should look as shown below:

WS8 - 10
Step 5. Build the Bucket
To build the bucket:

a. Build a block with the largest b
dimensions of the bucket:
• Length: 4.5 m
• Height: 3.0 m
• Depth: 4.0 m
b. Chamfer the front and back
bottom edges of the block using
the Chamfer tool available
under ribbon Bodies ->
Features:
• In the Width text box, enter
1.5 m.
• Left-click each edge, and
then right-click to create.
Refer to the next figure to
see the edges you should
select.

WS8 - 11
Step 5. Build the Bucket (Cont.)

WS8 - 12
Step 6. Hollow out the Bucket
a. Hollow out the solid bucket

using the Hollow (out a solid)
tool.
• In the Thickness text box, a
enter 0.25 m.
• Pierce the top face of the
bucket.
b. The hollowed bucket should b
look as shown to the right.
a

WS8 - 13
Step 7. Check Model Topology and Save
To check model topology:

a. Check model topology by parts
(from the Status bar, right-click
the Information tool stack, and
then select the Model topology
by parts tool) to ensure that
there are no floating parts that
a
are not accounted for.
b. There should be six parts,
including ground.
Save your work

c. Save your work such that the
saved file contains only the
model topology and not the b
results (File > Export).

WS8 - 14
To refine the geometry of the lift mechanism:
a. Using the Torus tool, add tires to the lift mechanism.
b. Using the Fillet tool, round the edges of the base.

WS8 - 15
Workshop 8, Review
1. What is the basic difference between construction geometry and solid

geometry?
____________________________________________________
____________________________________________________
2. In this workshop were instructions for changing the position of parts.

Name three of the four methods introduced.
____________________________________________________
____________________________________________________

WS8 - 16
WORKSHOP 9
LIFT MECHANISM II

WS9 - 1
WS9 - 2
– In this workshop, you will use the model you previously built in (Workshop 8-
Lift Mechanism I) and create joints.
• Optional:
– If you’d like a challenge, add the following joints and motions without going
through the detailed steps presented on the following slides.
• Rotational motion to the mount-to-base joint.
D(t) = 360d*time
• Rotational motion to the shoulder-to-mount joint.
D(t) = STEP(time, 0, 0, 0.10, 30d)
• Translational motion to the boom-to-shoulder joint.
D(t) = STEP(time, 0.8, 0, 1, 5)
• Rotational motion to the bucket-to-boom joint.
D(t) = 45d*(1-cos(360d*time))
– Otherwise, continue by following the detailed instructions.

WS9 - 3
– ADAMS 2013
• Files Required
– Use directory exercise_dir/mod_08_lift_mech_1
• Tips before you start
– Use the figure on slide 3 to find out what type of constraints you need.
– Simulate the model at regular intervals to check the constraints.
– Rename joints as soon as you create them.
– Adjust icon sizes whenever necessary (see Set up the working environment on
slide 7 of Workshop 8 - Lift Mechanism I.)

WS9 - 4
– Use the diagram below for the placement of the joints.

WS9 - 5
• Suggested Steps
1. Import model and construct constraining parts.

2. Verify and simulate.
3. Add joint motion.
4. Run simulation and export.
5. Perform optional tasks.

WS9 - 6
Step 1. Import Model and Constrain Parts
To import model:
a. From the Welcome dialog box, select Existing Model.
b. Set the Working directory to
a
exercise_dir/mod_09_lift_mech_2.and uncheck Use
File Directory as Working Directory.
c. Find and select the model file which you completed in the
previous workshop from the directory
exercise_dir/mod_08_lift_mech_1,
d. If you need a fresh copy of the model, select and opens
the command file, lift_mech_I_completed.cmd, from the
directory
exercise_dir/mod_08_lift_mech_1/completed.
In this section, you’ll constrain the parts that you created in
the previous workshop. To constrain the parts:
a. Use the Fixed joint tool to fix the base to ground.
b. Constrain mount to base (revolute joint):
• Use the options 2 Bod-1 Loc and Pick Geometry b
Feature.
• Place the joint at the mount’s cm marker.
• Select the + y-axis as the axis for the rotation.

WS9 - 7
Step 1. Constrain Parts (Cont.)
a. Constrain shoulder to mount
(revolute joint):
• Use the option Normal To
Grid.
• Right-click to select the
cylinder’s anchor marker. c b
b. Constrain the boom to the
shoulder (translational Joint):
a
• Use the option Pick
Feature.
• Select the x-axis as the axis
for the translation.
c. Constrain the bucket to the
boom (revolute joint):
d. Use the option Normal To Grid.
• Select the end point of the
cylinder.

WS9 - 8
Step 2. Verify and Simulate
To verify your model:
a. Check model topology by
constraints (from the Status a
bar, right-click the Information
tool stack, and then select the
Model topology by
constraints tool) to ensure that
all the parts are constrained as
expected.
b. Perform a simulation.
c. Are the visual results of the
simulation (the animation), what
you expected?

WS9 - 9
Step 3. Add Joint Motion
Add joint motions to your model:
B
a. Build the joint motions using the
default expressions in the A
container and then modify the
expressions using the Motion
Generators, use Rotational
Joint Motion (A) for revolute
joint and translational motion
(B) for Translational Joint.
• Follow Modify dialog box
(right-click the joint, point to
the joint name, and then
select Modify).
To add joint motions:
b. Use the Rotational Joint
Motion tool to add a motion to
the mount-to-base joint such b
that: a
• D(t) = 360d*time

WS9 - 10
Step 3. Add Joint Motion (Cont.)
a. Add a motion to the shoulder-to-
mount joint such that:
• D(t) = -STEP(time, 0, 0, 0.10, 30d)
• Note: By using Normal to Grid,
the motion will be opposite the
illustration in Problem statement
(by the right-hand rule). When a
motion is opposite of what you
expect, add a negative sign in
front of the expression, in the
Modify Motion dialog box.
c
We will discuss the specifics of the
STEP function in the next module,
Lift Mechanism III.
b. Add a translational motion to the
boom-to-shoulder joint such that:
• D(t) = -STEP(time, 0.8, 0, 1, 5)
• Note: if arm is angled downwards,
remove (-). Right hand rule.
c. Add a motion to the bucket-to-boom
joint such that:
• D(t) = 45d*(1-cos(360d*time))

WS9 - 11
Step 4. Run Simulation and Export
Run a simulation:
a. Run a simulation such
that the mount achieves
one full rotation.
Save your work:
a. Save the model such
that the saved file
contains only the model
topology and not the
results (File > Export).

WS9 - 12
Step 4. Run Simulation and Export
• While during simulation module should look like:

WS9 - 13
If you did not already do so as explained in the Optional tasks for Lift Mechanism I:
a. Add tires to your model using the Torus tool.
b. Constrain the tires to the base using revolute joints.

WS9 - 14
Workshop 9, Review
1. What are the markers that a joint refers to called?
_____________________________________________________
_____________________________________________________
2. When motion is applied to a joint, what dictates its direction (positive

versus negative)?
_____________________________________________________
_____________________________________________________
3. Are motions considered a constraint? Why?

_____________________________________________________
_____________________________________________________
4. Is it possible to determine the torque required to achieve a prescribed

motion imposed on a revolute joint? How?
_____________________________________________________
_____________________________________________________
WS9 - 15
WS9 - 16
WORKSHOP 10
LIFT MECHANISM III

WS10 - 1
WS10 - 2
– Constrain the bucket such that the base of the bucket always maintains its
horizontal orientation (thus keeping the bucket passenger safe) as shown
next:

WS10 - 3
– In this workshop, you use the model you saved in (Workshop 9 - Lift
Mechanism II) to create a passenger safe bucket ride.
– Adams 2013
• Files Required
– Use directory exercise_dir/mod_09_lift_mech_2

WS10 - 4
• Suggested Steps
1. Import the model.

2. Constrain the bucket.
3. Verify the orientation of the constraint.
4. Verify the module and perform simulation.
5. Export your work.

WS10 - 5
Step 1. Import Model
To Import Model:
a. Select Existing Model and start
Adams/View from the directory
exercise_dir/mod_10_lift_mec
h_3.
b. From the directory
h_2, search and opens the
model that you created in the
previous module.
c. If you need a fresh copy of the
model, open the command file,
lift_mech_II_completed.cmd,
from the directory
h_2/completed.
d. Module should look like so:

WS10 - 6
Step 2. Constrain the Bucket
Now you will constrain the bucket to ground
using the appropriate joint primitive. To constrain
the bucket:
a. Delete the motion on the bucket-to-boom c
joint.
b. Verify the model. The model should have only b
one degree of freedom.
c. From the ribbon Connectors go through the
Primitives.
d. Select the appropriate joint primitive and use
it to constrain the bucket:
• Use the construction method 2 Bod-2 Loc
and see Example of I and J markers in a
perpendicular joint primitive in Section
11, slide 6, for assistance.
• Select the bucket and then select the
ground.
• When selecting the markers, note that I
marker can be any marker on the bucket
part and the J marker can be any ground
marker (note that there is one at the fixed
joint location, pick both locations for the
markers on the joint.).
• When selecting the direction, select the
first direction as the x direction of the I
marker, and the second direction as the y
direction of the J marker.
WS10 - 7
Step 3. Verify the Orientation
Now you will confirm that you created your a
joint primitive correctly by verifying the
orientation of its I and J markers. To verify the
orientation:
a. Get information on the perpendicular joint
primitive that you just created by right-
clicking on the joint icon and selecting Info. b
b. Note the names of the I and J marker, and
then select Close.
• I marker name:
_______________________________
• J marker name:
_______________________________
c. Select the I marker (on the bucket) and

verify that the z-axis of the marker on the
bucket is pointing in the (positive or d
negative) global x direction.
d. Select the J marker (on the ground part)
and verify that the z-axis of the marker on
ground is pointing in the (positive or
negative) global y direction. c
Note: If the I and J markers for your joint
primitive do not match the orientations in steps
3 and 4, then you may have made a mistake
when you created this joint.

WS10 - 8
Step 4. Verify the Module and Run Simulation
To verify the model and run a
simulation:
a. Verify the model. The model
should have zero degrees of
freedom.
b. From the Settings menu, point a
to Solver, and then select
Display.
c. Set Icons to On.
d. Simulate the model.
d b

WS10 - 9
Step 5. Export Work
To save your work:

a. Save the model such that the saved file contains only the model topology and not the results (File > Export).
b. Unless you want to further experiment with the model, as instructed on the following page, exit Adams/View.

WS10 - 10
To complete extra tasks from previous module:
a. If you did not already do so as mentioned in the Optional tasks, of Lift Mechanism 1, Workshop 8:
• Add tires to your model using the Torus tool.
• Constrain the tires to the base using revolute joints.
To make the bucket transparent:
b. From the View menu, select Render Mode, and then select Shaded.
c. Right-click bucket from the Model Browser and select Appearance.
d. To set the transparency of the part, use the slider bar:
e. 0%: fully visible, 100%: completely invisible.

WS10 - 11
Step 6. Optional Tasks (Cont.)
To check graphical topology of the model:
a. From the Tools menu, select Database Navigator.
b. Set the menu at the top of the Database Navigator to Graphical Topology.
c. Browse to the bucket and notice how many constraints act on the bucket.

WS10 - 12
WORKSHOP 10, Review
1. When you use the construction method of 2 Bod-2 Loc, how does the
order in which you select parts affect the order in which you select the
locations and orientations?
___________________________________________________
___________________________________________________

WS10 - 13
WS10 - 14
WORKSHOP 11
SUSPENSION SYSTEM I

WS11 - 1
WS11 - 2
– Inspect the toe angle that the wheel exhibits throughout its vertical travel of 80
mm in jounce and rebound.
– Adams 2013
• Files Required
– Use file suspension_parts_start.cmd.
– Imported from suspension_parts_start.cmd.

WS11 - 3
– The given model is a geometric representation of a short-long arm (SLA)
suspension subsystem.
– The steering_rack and body_ground are constrained as shown in the
following figure:
• A translational joint connects the steering_rack to the body_ground.
• A fixed joint connects the body_ground to ground.

WS11 - 4
– The lower_arm and lower_strut are constrained as shown next:
• A spherical joint connects the lower_strut to the lower_control_arm.
• A revolute joint connects the lower_arm to the body_ground.

WS11 - 5
– The upper_arm and upper_strut are constrained as shown next:
• A revolute joint connects the upper_arm to the body_ground.
• A hooke joint connects the upper_strut to the body_ground.

WS11 - 6
• Suggested Steps
1. Open the model.

2. Inspect the model.
3. Constrain the suspension subsystem model.
4. Apply motion to the model.
5. Verify, simulate and save the model

WS11 - 7
To start the workshop:

a. Select Existing Model and start
exercise_dir/mod_11_suspen
sion_1.
b. Open the model command file
suspension_parts_start.cmd.
c. This file contains commands to
build a model named
suspension and the following
parts with geometric
representation:

WS11 - 8
Step 2. Inspect the Model
In this section, you’ll investigate the b

model to note its movement and c
topology, especially that of the part
tie_rod.To inspect the model:
a. Simulate the model, noting the
movement of tie_rod.
b. From the Tools menu, select
d
Database Navigator.
c. Set the pull-down menu at the
top of the Database Navigator
to Graphical Topology.
d. Double-click suspension, and
then select tie_rod.

WS11 - 9
Step 3. Constrain the Suspension Subsystem
Model
Reference Page
Constrain the tie rod as shown next:

WS11 - 10
Model (Cont.)
a. To constrain the model with a
spherical joint:
• Select the 2 Bod-1 Loc
option, Normal to Grid
• First body: Spindle_Wheel
• Second body: tie_rod
• Set the location to HP8 a
Note: HP8 belongs to ground. We
are simply referencing its location
for the creation of the new markers
(I and J) that represent the joint.

WS11 - 11
Model (Cont.)
a. Use the Hooke joint tool to
create a hooke joint:
• Select the 2 Bod-1 Loc
option, Pick Feature
• First body: tie_rod a
• Second body:
steering_rack
a
• Set the location to HP7
• Set the first direction from
vector HP7 to HP8
• Set the second direction from
vector HP7 to HP13
Tip: When setting the
direction, move your cursor in
the direction of the ending
vector (HP8 and HP13,
respectively), until its name
appears on the screen. When
the name appears, left-click to b
select it.
b. Inspect the tie rod again, and
notice the connection
representations to the
steering_rack and spindle_wheel.
c. Simulate the model.

WS11 - 12
Step 4. Apply Motions
To apply motions:
a. At the marker
.Spindle_Wheel.Center, apply a
point motion in the Y direction of
the Spindle_Wheel.Center.
Tip: Make sure Construction is
set to 1 Location, Pick Feature.
b. Modify the motion to use the a
function, Displacement(time) =
80*sin(360d*time).
c. Modify the translational joint,
rck_body_joint, between the
steering_rack and the
body_ground to be a fixed joint,
so that the steering_rack is unable
to translate during a simulation.
c
b

WS11 - 13
Step 5. Verify, Simulate and Save the Model
Verify and simulate the model

Now, to see the model’s full range
of motion, verify and simulate the
modulate simulate it:
a. Verify the model.
a b
b. Run a one-second, 50-step
simulation.
To save your work:
c. Save your model as
suspension_parts.cmd.
the next step.
e. Exit Adams/View.

WS11 - 14
To modify hardpoint locations:

a. From the Tools menu, select Table Editor.
b. From the options along the bottom of the Table Editor, select Points.
c. Change the Loc Y value of HP3 from 351.05 to 400.
d. As you make this change, note how the upper arm’s connection to the spindle changes.

WS11 - 15
Step 6. Optional Tasks (Cont.)
Make scripts for different hardpoint configurations:
a. Open the Command Window (F3) and change a hardpoint location in the model.
b. Note the command that appeared when the hardpoint was modified. It should be something like:
point modify point_name=.suspension.ground.HP5 &
location=-305.0,12.75,124.979722 relative_to=ground
c. Create a script that modifies several hardpoint locations and name it something like ‘config1.cmd’.
d. Use the F2 key to read config1.cmd into Adams/View: all hardpoint locations should update as per the settings in
the file.
Note: see the example files config1.cmd, config2.cmd in the /completed directory for examples.

WS11 - 16
Workshop 11, Review
1. What is the difference between a point motion and a joint motion?

___________________________________________________
___________________________________________________

WS11 - 17
WS11 - 18
WORKSHOP 12
SUSPENSION SYSTEM II

WS12 - 1
WS12 - 2
– In this workshop, you use the model you built in (Workshop 11 - Suspension
System I) to inspect the toe angle that the wheel exhibits throughout its
vertical travel of 80 mm in jounce and rebound.
– Adams 2013
• Files Required
– Use file suspension.cmd. (command file from previous workshop)
– Imported from exercise_dir/mod_11_suspension_1.

WS12 - 3
– Use the diagram below for placements of parts.

WS12 - 4
• Suggested Steps
1. Open the model and simulate.

2. Create a point-to-point measure.
3. Use a Function Measure to Create a Toe Angle.
4. Plot graph.
5. Import CAD-based geometry.
6. Turn off spindle geometry.
7. Save your model.

WS12 - 5
Step 1. Import Model and Simulate
To import a model:
• Select Existing Model and start
sion_2.
• From the directory
sion_1, search and opens the
previous workshop.
If you need a fresh copy of the
model, open the command file,
suspension_1_completed.cm
d, from the directory
sion_1/ completed.
• Simulate the model to verify the
motion.

WS12 - 6
Step 2. Create Point-to-Point Measure
To create measures:
a. Create a point-to-point measure, a
named .suspension.Wheel_Height,
for the relative wheel displacement in
the YG direction:
• To Point: Spindle_Wheel.Center
• From Point: ground.WH_ref
Tip: From the ribbon Design Exploration,

select Create a Point to Point
measure.
b. Run a one-second, 50-step simulation.
Adams/View displays the relative
wheel displacement as shown.

WS12 - 7
Step 3. Use a Function Measure to Create a Toe
Angle
a
Using an Adams/Solver function
measure, create a toe angle
measure using the markers
Spindle_Wheel.Center and
Spindle_Wheel.TA_ref (see
Figure on slide 10)
Tip: From the ribbon Design
Exploration, select Create a New
Function Measure.
a. Fill in the Function Builder as
shown.
b. Before selecting OK, select
Verify to check the syntax of
your function.
Note: You must run a simulation
after creating the function to view
its plot.
Hint: To get help while working in b
the Function Builder, press F1

WS12 - 8
Markers for Toe Angle Measure

WS12 - 9
Step 4. Plot Graphs
In Adams/PostProcessor, plot toe

angle versus wheel height.
a. Set Source to Measures.
b. Set Independent Axis to Data.
c. Select Wheel Height.
d. Select OK.
e. From the Measure list, select
Toe_Angle.
f. Select Add Curves.
g. Return to Adams/View.
e f
b
a
d
WS12 - 10
Step 5. Import CAD-Based Geometry
Import CAD-based geometry

a. Now, you’ll import more
realistic, CAD-based
spindle/wheel geometry, as
shown next.
Knuckle
Wheel

WS12 - 11
Step 5. Import CAD-based geometry (Cont.)
a. The two geometry files that make up the spindle/wheel are:
• wheel.slp
• knuckle.slp
b. They are render files, which have an extension of .slp. They were created in Pro/ENGINEER. By default, when you
import the files, Adams/View names the geometry based on the Pro/ENGINEER assembly from which they came and
not based on their file names. In this case, the CAD geometry came from a model named suspensn. Therefore,
Adams/View names the geometry suspensn and suspensn_2.
c. When you export your model, Adams/View exports one .cmd file (suspension.cmd) and one .shl file for each CAD
geometry (suspensn.shl and suspensn_2.shl).

WS12 - 12
Step 5. Import CAD-based geometry (Cont.)
a
To import the geometry:
b
Import the geometry files
located in
exercise_dir/mod_12_suspe
nsion_2/suspension_cad: c
a. From the File menu, d
select Import.
b. Set File Type to Render.
c. Browse File To Read
and select wheel.slp
and knuckle.slp
d. Attach the geometry to
the part named
Spindle_Wheel.
e. Import one file, select
Apply, and then import
e
the other.

WS12 - 13
Step 6. Turn off Spindle Geometry
Turn off the appearance of
Adams/View spindle geometry
so that only the CAD geometry
is visible:
a. From the Edit menu, select a
Appearance.
b. Highlight the following at the b
right.
c. Select OK. d
d. Change the Visibility
setting to Off.
e. Select OK.

WS12 - 14
Step 7. Save Your Model
To save your work:
1. Save your model as suspension_parts.cmd.
If you want to further explore the model, as suggested in the next section, leave the model open. Otherwise,
proceed with the next step.
2. Exit Adams/View.

WS12 - 15
Replace other Adams/View
geometry with CAD geometry:
a. From the directory
sion/suspension_cad/more_s
usp_cad, open the rest of the
CAD-based suspension
component geometry.
Tips: Remember to associate

each CAD geometry with the
appropriate part in the
Adams/View model. Not all the
CAD geometry is associated
with the Spindle_Wheel part.
These geometry files are called
render files, which have an
extension of .slp. There is one
file for each Adams/View part.
b. Turn off the appearance of

Adams/View geometry so that
only the CAD geometry is
visible.

WS12 - 16
Step 8. Optional Tasks (Cont)
Import a parasolid file into Adams/View
a. Start a New Model in Adams/View from the directory exercise_dir/mod_12_suspension_2.
b. Create a model named parasolid, with Gravity set to Earth Normal (-Global Y), and Units set to
MMKS - mm, Kg, N, s, deg.
Import the parasolid file

a. From the File menu, select Import.
b. Set File Type to Parasolid.
c. Import the file crankshaft.xmt_txt from exercise_dir/mod_12_suspension_2/completed.
d. Enter .parasolid for the model name and hit OK.
Note: You can store the geometry under a model or part name
Note: This file can also be found under $install_dir/durability/examples/engine sub-folder

WS12 - 17
Step 8. Optional Tasks (Cont)
Assign mass to the imported parasolid
a. Right-click the piston part and select Modify.
b. Use the pull-down menu to change the ‘Define Mass By’ option from User Input to Geometry and
Material Type.
c. Right-click the Material Type and select the steel material.
d. Hit OK.
e. You will now see a center of mass ‘piston.cm’ has been created and mass and inertia properties
have been assigned to the piston part.
Add geometry to the existing part

f. From Settings > Working Grid select the location to be the center of mass of the piston part.
g. Click on the Link tool and choose the option of ‘Add to Part.’
h. Specify length = 20.0 cm, width = 4.0 cm and depth = 2.0 cm.
i. Select the piston part.
j. Select .piston.cm as one of the ends and drag to the other end.
k. Note that the position of the center of mass of the part is now based on the new geometry that
consists of the parasolid and the link geometry.
l. Also note that the mass and inertia is calculated based on the new geometry.

WS12 - 18
Workshop 12, Review
1. Is there any difference between a point-to-point measure and a function

measure using a displacement function (for example, DX(I, J, R))?
____________________________________________________
____________________________________________________
2. Where does a CAD file fall in the model hierarchy? What is the CAD file
a child of?
____________________________________________________
____________________________________________________

WS12 - 19
WS12 - 20
WORKSHOP 13
SUSPENSION-STEERING SYSTEM

WS13 - 1
WS13 - 2
– Assemble a suspension-steering system and inspect the toe angle that the
wheel exhibits at steering wheel angles of 45º, 0º, and -45º.

WS13 - 3
– You will use the following two models in this workshop:
• A geometric representation of a short-long arm (SLA) suspension subsystem.
• A geometric representation of a rack-and-pinion steering system.
– The rack-and-pinion steering model is constrained as shown next:
– Adams 2013
• Files Required
– Use file exercise_dir/mod_12_suspension_2.

WS13 - 4
• Suggested Steps
1. Import the model and change the directory.
2. Import the Steering model.
3. Constrain the steering model.
4. Add motion and couple to the joints.
5. Assemble the suspension and steering models.
6. Verify the model.
7. Delete unwanted joints.
8. Simulate models and compare results.
9. Compare the results.
10. Save your work.

WS13 - 5
Step 1. Import Model and Change Directory
To import a model:
• Select Existing Model and start
exercise_dir/mod_12_suspens
ion_2.
• From this directory, open the
previous module.
• If you need a fresh copy of the
model, change your working
directory to
exercise_dir/mod_12_suspens
ion_2/completed, then open
b
a
the command file,
suspension_2_completed.cm
d.
To change the working directory to
exercise_dir/mod_13_susp
_steer:
Select Directory.
b. Change to
exercise_dir/mod_13_susp_st
eer.

WS13 - 6
Step 2. Import the steering model
Import the steering model, shown

below. It is in the command file
steering_parts_start.cmd. The file
contains a model named
rack_and_pinion_steering.To
import the model:
a. Import the Adams/View model
command file
steering_parts_start.cmd.

WS13 - 7
Step 3. Constrain the Steering Model
Now you’ll constrain the steering
model. Each time you add a
modeling element, you’ll simulate
the model to verify its movement.
To constrain the steering model:
a. Apply a rotational joint motion to
the revolute joint,
strwheel_body_rev, on the
steering_wheel_column.

WS13 - 8
Step 4. Add Motion and Couple Rotation
a. Right-click the motion icon, point to Motion:

MOTION_1, and then select Modify.
b. In the Function (time) text box, enter the following
function: 45d*sin(360d*time) (be sure that Type is
set to Displacement).
c. Run a one-second, 50-step simulation.

WS13 - 9
Step 4. Add Motion and Couple Rotation (Cont.)
a. Use the Coupler tool to couple
the rotation (strshft_body_cyl)
of the steering_shaft with the
translation (rck_body_trans) of
the steering_rack.
a
b. Right-click the coupler icon,
point to Coupler: COUPLER_1,
and then select Modify. Coupler
c. Modify the coupler so that for
every 7º of rotation the
steering_rack travels 1 mm:
d. To verify that the steering_rack
travels as expected, simulate
the model.
b

WS13 - 10
Step 5. Assemble the Suspension and Steering
Models
Assemble the
rack_and_pinion_steering model with c
the suspension model:
a. From the Tools menu, select
Command Navigator.
b. In the Command Navigator, double-
click model, and then double-click d
assemble.
a
c. Name the model
steering_suspension.
d. Right-click the Model Names text
box, point to Guesses, and then
select *. Selecting * prompting
Adams/View to include in the text box
every item that is displayed under the
Guesses option. b e
e. To display the assembled model, from
the View menu, select Model. f
f. Double-click steering_suspension.

WS13 - 11
Step 5. Assemble the Suspension and Steering
Models (Cont.)
a.Your model should look like so (shading turned on):

WS13 - 12
Step 6. Verify the Model
Verify the model to ensure it is not a
overconstrained. To ensure that the a
model is not overconstrained, look
for duplicate joints as explained
next. To verify the model:
Database Navigator.
b. Set the top pull-down menu in b
the Database Navigator to
c
Graphical Topology.
c. Double-click the new model
name, steering_suspension,
and then select body_ground.

WS13 - 13
Step 7. Delete Unwanted Joints
Delete the unwanted joints by right-
clicking them from the Model
Browser and selecting Delete:
a. Delete the fixed joint between

body_ground and ground, a c
(body_grnd_fixed_2).
b. Delete the fixed joint,
(rck_body_joint) between
body_ground and
steering_rack.
d
Note: Leave both the rotational

motion and the revolute joint
between body_ground and
steering_wheel_column because
both are needed.
c. To redisplay the measures you
created in Create measures, in
Workshop 12, slide 6, from the
ribbon Design Exploration, b
select Display a Measure .
d. Select both measures,
Wheel_Height and Toe_Angle.
(both measure graphs will
appear)

WS13 - 14
Step 8. Simulate and Compare
In this section, you’ll run three simulations,
each with different steering wheel angles.
You’ll then compare the results of the c
simulations.
To run and compare a series of simulations:
a. Modify the motion you created in Step 4 a
on slide 9 to be a constant 45º steering
wheel angle (Displacement(time) = 45d).
b. Simulate the model.
c. Save the simulation results as
right_turn. Save the results just as you e
did in To save the simulation results in
Workshop 2 - Adams/View Interface
d
Overview, slide 16.
d. Run a simulation with a 0º steering wheel
angle (Displacement(time) = 0d).
e. Save the simulation results as straight.
f. Run a simulation with a -45º steering
wheel angle (Displacement(time) = -45d). f
g. Save the simulation results as left_turn.
h. Launch Adams/PostProcessor.
g

WS13 - 15
Step 9. Compare Results
a. Plot toe_angle versus wheel
height for all three simulations,
on the same plot. (as done in
the last workshop)

WS13 - 16
To save your work:
a. Save the database so you retain the analyses.
b. Exit Adams/View.

WS13 - 17
Workshop 13, Review
1. What information do you need to provide Adams/View to create a coupler?

_______________________________________________________
_______________________________________________________
2. What is the default name that Adams/View assigns to simulation results?

_______________________________________________________
_______________________________________________________

WS13 - 18
WORKSHOP 14
SPRING DAMPER

WS14 - 1
WS14 - 2
– Create and investigate the linear spring-damper system, using different types
of simulations in Adams.
– Find the force and frequency in a dampening spring.
– Adams 2013
• Files Required
– New model saved to exercise_dir/mod_14_spring_damper

WS14 - 3
– Build the model to have the specifications of the model below.

WS14 - 4
• Suggested Steps
1. Create, build and constrain new model.

2. Add the pre-defined spring damper.
3. Find the force in spring damper at static equilibrium.
4. Run a simulation and create a measure.
5. Find the natural frequency.
6. Save your work.

WS14 - 5
Step 1. Create, Build and Constrain New Model
To create a model:
•Start New Model in Adams/View
from the directory
exercise_dir/mod_14_spring_da
mper.
•Create a model named
spring_mass.
a
To build and constrain the model:
a.Build the block with the given
mass. (slide 4)
Tip: Right-click the part and select
Modify. Set Define Mass By to
User Input.
b.Constrain the block with a
translational joint to move only in
the ŷg direction.
c.To verify the expected behavior,
simulate the model.

WS14 - 6
Step 2. Add the Pre-defined Spring Damper
To add a pre-defined spring damper:
a. To ensure that the spring damper is
aligned with the ŷg direction, move
the working grid to the cm of the
block (see Build all parts except for
the bucket in Workshop 8, slide 9).
a
Use the Translational spring damper
tool to create the spring damper, aligned
along the ŷg direction, between the CM
marker of the block and a point on
ground 400 mm above it (make sure to b
use the K and C values from the
Problem description). To set the d
second location, use the Location Event c
(see Build the pendulum link in
Workshop 6):
b. Right-click anywhere on the ground
to display the Location Event. e
c. Change from Rel. to Origin to Rel.
to Grid. f
d. Enter 0, 400, 0.
e. Select Apply.
f. To ensure that the spring damper has
a free length (q0) of 400 mm with a
preload of 0, from the Tools menu,
select Measure Distance to measure
the spring.
WS14 - 7
Step 3. Find the Force in Spring Damper at Static
Equilibrium
To find the force at static equilibrium:
a. Run a Static Simulation.
b. Note the value of the force
graphic.
Tip: To display the force value,
from the Settings menu, select a
Force Graphics. Select Display
Numeric Values.
c. Zoom out until you can see the
force value.
The block’s mass is 187.224 kg.
Therefore, to balance the force of
gravity, the spring damper must
generate: b c
187.224 kg * 9806.65 mm/s2 =
1836.04 N

WS14 - 8
Step 4. Run a Simulation and Create a Measure
To create a measure and run a
simulation: a
a. Create a point-to-point
measure, named
spring_length, to measure the
spring’s length. Measure to the
upper spring-damper
attachment point from the
block’s cm marker.
• The measured value at t=0
should be 400 mm.
b. To see the oscillation, run a 2-
second, 50-step dynamic
simulation.

WS14 - 9
Step 5. Find the natural frequency
To find the natural frequency:
a. Run another static
equilibrium simulation.
b. Do not reset the model.
c. Select the Compute Linear
a
Modes tool. d
d. Select Show Table to view
the results.
e. Note the natural frequency,
and compare this value with
that given in Closed-form
solution. c
e
d

WS14 - 10
To save your work:
a. Save the model.
If you want to further explore the model, as suggested in the next section, leave the model open.
b. Exit Adams/View.

WS14 - 11
Add a DOF to the model:
a. Modify the translational joint to be a cylindrical joint.
b. Linearize about the static equilibrium position.
Do the resulting modes make sense?
c. Add a torsional spring damper that resists the rotation of the cylindrical joint.
d. Linearize about the static equilibrium position.
Are the results different from those above (no torsional spring damper)?
e. Do not save your work.

WS14 - 12
WORKSHOP 14, Review
• Adams results

WS14 - 13
WORKSHOP 14, Review
1. At design configuration, do the ẑ directions of markers referenced in a

revolute joint have to be aligned? Does this information get reported
when verifying a model?
____________________________________________________
____________________________________________________

WS14 - 14
WORKSHOP 14, Review
• Closed-form solution
Checking the natural frequency of the system:
– At equilibrium:
– Laplace Transform is:

WS14 - 15
WORKSHOP 14, Review
– Therefore:

WS14 - 16
WORKSHOP 15
NONLINEAR SPRING

WS15 - 1
WS15 - 2
– Use Adams/View to investigate the differences between a linear spring
and a nonlinear spring using a spline function.
– Adams 2013
• Files Required
– File to Read: exercise_dir/mod_15_nonlinear_spring/spring_data.txt

WS15 - 3
– You will be using the model you previously built (Workshop 14 Spring
Damper) that has the characteristics described in the diagram below.

WS15 - 4
1. Open file and replace the predefined spring damper.

2. Measure action-reaction force.
3. Change to a nonlinear spring.
4. Create spline.
5. Compare the forces.
6. Optional tasks.

WS15 - 5
Step 1. Import File and Replace the Predefined
Spring Damper
b
To import file:
• Start New Model in Adams/View from the
directory
exercise/dir/mod_15_nonlinear_springs.
exercise_dir/mod_14_spring_damper import
the file you saved in the previous workshop. c
• If you need a fresh copy of this then import
spring_mass_completed from a
exercise_dir/mod_14_spring_damper/
complete.
To replace the spring damper that is already in the d

model with a user-defined linear spring damper:
e
a. Use Model Browser >Right Click
SPRING_1>Delete to delete the predefined
spring damper.
b. Create a single-component, action-reaction
force
c. Run-time Direction: Two Bodies
d. Characteristic: K and C
e. K: 5.0
f
f. Modify the force from Model Browser and edit
C as shown in snapshot C: 0.05

WS15 - 6
Step 2. Measure Action-Reaction Force
a. Right-click SFORCE_1, and then

select Info. Note that the syntax of
the function matches that of a
spring damper, introduced in
Magnitude based on stiffness and
damping coefficients in Section
a
14, slide 7. Note: You could have
entered the linear spring-damper
b
function manually in the Function
Builder.
f
b. Right-click SFORCE_1 and select
Measure.
c. Create a measure, named
spring_force:
d. Characteristic: Force c
e. Component: mag d
f. To see oscillations, run a 2- e
second, 50-step simulation.

WS15 - 7
Step 2. Measure Action-Reaction Force (Cont.)
a. Plot spring_force versus Spring_Length.

Note that the slope at the beginning of this plot is
5 (K). The time-dependency of damping (C=.05)
results in a deviation from a slope of 5 (slope ~
stiffness +/- damping).
b. Save the simulation results as linear_force.

WS15 - 8
Step 3. Change to a Nonlinear Spring
In this section, you change the spring damper
you just created to a nonlinear spring. It can be
done by one of the two ways.
1. To change the spring by importing data:
a. To import the spring stiffness data, from the

File menu, select Import. a
b. Set the following parameters, and then select
OK.
• File Type: Test Data
• Create Splines
• File to Read:
exercise_dir/mod_15_nonlinear_spring
/spring_data.txt
b
• Independent Column Index: 1 (Because
the first column is the independent
column)
• Units: Force
• Model Name: .spring_mass
Note: If you are following the above method,

skip the next slide WS15-10 or else continue to
next slide.

WS15 - 9
Step 3. Change to a Nonlinear Spring (Cont.)
b a
2. To change the spring by using spline
element:
a. Select the ribbon Elements.

b. From the options available select “Build 2D
or 3D Data Spline.” d
c. Open excel file
exercise_dir/mod_15_nonlinear_spring/
spring_data.xls, check for number of rows
of data in excel file and set the same
numbers of rows in Create spline window.
d. Copy data from excel file and paste into
Create spline table and override existing
e
data. d
e. Set the following parameters, and then
select OK.
• Type: y=f(x) (2D)
• View as: Tabular Data c
• Units: Force

WS15 - 10
Step 4. Create Spline
a. To open SPLINE_1 in the Spline Editor, from the
Model Browser, under Data Elements right click
SPLINE_1 select Modify.
b. View the plot to understand the relationship between
the deformation (x-axis) and stiffness force (y-axis).
a
Tip: In the upper right corner, set View as to Plot.
c. From the Model Browser, right-click SFORCE_1,
and then select Modify to replace the force function
describing the single-component force with an Akima
spline function.
d. The Akima spline function should look like the one
shown below:
The I and J markers in the DM

c function
might be different in your model.

WS15 - 11
Step 5. Compare the Forces
To compare the forces:
a. Verify that the nonlinear spring is working properly
by running a 2-second, 50-step dynamic
simulation.
b. Save the simulation results as non_linear_force. a
c. Overlay the two plots:
• spring_force vs. Spring_Length for the
linear_force simulation
• spring_force vs. Spring_Length for the
non_linear_force simulation
Note: that in the nonlinear case, the curve changes
slope as Spring_Length increases.

WS15 - 12
Save the model. If you want to further explore the model, as suggested below, leave
the model open. Otherwise, exit Adams/View.
To add further detail, create a spline force representing nonlinear damping:
1. From the Ribbon menu, Select Elements tab and then select Build 2D or 3D
Data Spline.
2. Add a spline function representing nonlinear damping to the single-component
force function.
Tip: You will need to change the AKIMA spline function so that the first independent
variable tracks velocity (VR function) rather than displacement. Use the same
markers from existing expression for simplicity.

WS15 - 13
Workshop 15, Review
1. What are the four inputs for a spline function?

_________________________________________________________
_________________________________________________________
2. If you are not sure what inputs are required for an Adams/Solver
function, where in the online help would you look for assistance?
_________________________________________________________
_________________________________________________________

WS15 - 14
WORKSHOP 16
SUSPENSION-STEERING SYSTEM II

WS16 - 1
WS16 - 2
• Workshop objective
– Investigate the effect on toe angle when you replace the idealized constraint
between the lower control arm and ground with bushings while the steering
wheel is held at an angle of 0º.

WS16 - 3
– The model is the short-long-arm front suspension model combined with a
steering model that you created in a previous workshop.
– A spring damper has been added to represent the force input of a coil-over
shock.
– Currently, a revolute joint connects the lower control arm to the frame of the
vehicle.
– You are going to replace the revolute joint with two bushings and investigate
the differences.
– Adams 2013
• Files Required
– Use file susp_steer_2_start.cmd from exercise_dir/mod_16_susp_steer_2

WS16 - 4
• Suggested Steps
1. Import model and run a baseline simulation.

2. Deactivate the revolute joint.
3. Create bushing.
4. Modify bushings.
5. Create second bushing.
6. Run a static simulation.
7. Review the results.
8. Overlay animations.
9. Save your work.

WS16 - 5
Step 1. Import Model and Run a Baseline
Simulation
To import model:
•Start Adams/View and select Existing
Model from the directory
exercise_dir/mod_16_susp_steer_2. b
• Open the command file,
susp_steer_2_start.cmd.
Run a baseline simulation: a
You’ll start by running a simulation with
the model as it currently is to see how it
performs with a revolute joint.
To run a baseline simulation:
a.Verify that the steering wheel angle is a
constant 0º (Displacement(time) = 0d).
b.Run a simulation for 1 second with 50
output steps.
c.Save the simulation results as
with_joint.

WS16 - 6
Step 2. Deactivate the Revolute Joint
Deactivate the revolute joint

Now, instead of removing the
revolute joint, you’ll just deactivate
it so it is not used in simulations.
To deactivate the revolute joint:
a. Right-click the
lowerarm_grnd_rev revolute
joint that currently exists
between Lower_Arm and
ground. a
b. Select (De)activate.
c. Clear the selection of Object d
Active.
d. Note the deactivated sign in
Model Browser.

WS16 - 7
Step 3. Create Bushings
Create bushings between Lower_Arm and
ground. You will need to create two
bushings because there are two
connection points between Lower_Arm and a
ground.
To create bushings:
a. From the ribbon Forces, select
Bushing in Flexible Connections.
b. Create the rear bushing with the
following properties, using the options 2
Bod-1 Loc, Pick Feature:
c. First Part: Lower_Arm
b
d. Second Part: ground
e. Location: HP4
f. Direction Vector (+z axis): Z-direction
of marker .Lower_Arm.bushing_ref.
Tip: To easily find the marker

.Lower_Arm.bushing_ref, find and select
bushing_ref under Lower Arm tree in the
Model Browser, which will highlight it in
Adams View Model.

WS16 - 8
Step 4. Modify Bushings
Modify the bushing to reflect the following properties in the matrix:
a.K translational
b.C translational
c.K Rotational
d.C Rotational
a
b
c
d

WS16 - 9
Step 5. Create Bushings-2
e
Create the forward bushing with the
following properties:
a. First Part: Lower_arm
b. Second Part: ground
c. Location: HP5
d. Direction Vector (+z axis): Z-
direction of marker
.Lower_Arm.bushing_ref
e. Modify the bushing to reflect the
properties given in Step 4 on
slide 9.

WS16 - 10
Step 4. Run a Static Simulation
To run a simulation: a
a. Run a static simulation for 1
second with 50 output steps.
b. Run a static dynamic simulation
for 1 second with 50 output
steps.
c. Save the simulation results as
with_bushings.

WS16 - 11
Step 5. Review the Results
To review the results:

a. Launch Adams/PostProcessor.
b. Create a plot that contains the
Toe_Angle measure using the
simulation results with_joint
and with_bushings as a
function of time.
• Independent axis: time
• Source: measures
• Choose with_joint from
simulation box. then
Toe_angle from measure
box. Then add to curves
• Repeat the above step but
with_bushings instead of
joint
c. Estimate the difference in the
maximum toe angle between
the two simulations and use it to
answer Question 1 in Module
review.

WS16 - 12
Step 6. Overlay Animations
To overlay animations:
a. Set Adams/PostProcessor to
Animation mode. a
b. From the dashboard, select the
Overlay tab.
c. Select both with_joint and
with_bushings analyses.
b
d. In the Offset text box, enter 0.0,
40.0, 0.0.
e. Select the Animation tab.
c d
f. Set the Speed Control slider to
approximately 50%.
g. Select Play.
Hint: use view zoom button on top g

of postprocessor bar.
e
Note: To emphasize the difference,
zoom in on the lower arm. f

WS16 - 13
Save your model.
a. If you want to further explore the model, as suggested in the next section, leave the model open.
b. Exit Adams/View.

WS16 - 14
Replace the constraint on the upper arm with bushings, too:
a. Replace the revolute joint between Upper_Arm and ground with two bushings. Use the same bushing
properties given for the bushing between Lower_Arm and ground.
b. Run a static simulation followed by a dynamic simulation for 1 second with 50 output steps.
c. Save the simulation results as with_all_bushings.
d. Compare these toe_angle results with those from the previous two simulations.

WS16 - 15
Workshop 16, Review
1. What was the approximate difference in the maximum toe angle that was a
result of removing the revolute joint and replacing it with bushings?
_______________________________________________________
_______________________________________________________
2. Why did you perform a static simulation before the dynamic simulation after
you added the bushings?
_______________________________________________________
_______________________________________________________
3. Why did you not have to perform a static simulation before the dynamic
simulation when the Lower_Arm was constrained with the revolute joint?
_______________________________________________________
_______________________________________________________

WS16 - 16
WORKSHOP 17
HATCHBACK I

WS17 - 1
WS17 - 2
– Create the forces required to open the hatchback for the given Mazda
MX-6 model.
– Adams 2013
• Files Required
– hatchback_start.cmd
– Located in exercise_dir/mod_17_hatchback_1

WS17 - 3
– When compressed, the force in each gas shock is 550 Newtons.
– The motion of the assembly is limited by stops in the gas shocks at full
extension.
– Parts are constrained as shown below:

WS17 - 4
1. Import file and de-activate parts on the right side of the model.
2. Create markers to be used to create springs.
3. Create a spring damper on both sides of the model.
4. Create an Sforce on the left side of the model.
5. Modify the Sforce to a one-sided impact function
6. Create the Sforce on the right and modify it.
7. Simulate the model and save.

WS17 - 5
Step 1. Import File and Deactivate Parts on the
Right Side of Model
a
To import file:
• Start Adams/View, and set the
directory to
exercise_dir/mod_17_hatchback_1. b
• Import the model command file
hatchback_start.cmd.
You must deactivate the parts on the right

side of the model because they are not
needed to constrain the model. The c
constraints from the left side of the model
are sufficient to constrain this rigid-body
model. To deactivate the parts
right_shortarm and right_longarm:
a. From the model browser, select a list
of the parts in the hatchback model.
b. Select right_shortarm and
right_longarm. Tip: to make two d
selections at the same time, use the
Ctrl key when making the selections.
c. Select Deactivate from the Edit menu.
d. Deactivated parts looks like as shown.

WS17 - 6
Step 2. Create Markers to Be Used To Create
Springs
a
The two markers you create will be the two
end points of the spring on the left between c
the left_piston and the left_cylinder. To
create the markers:
a. Use the marker icon to create a marker
named lpiston_ref, at POINT_5,
located on left_piston.
b. Make sure to select Add to Part.
c. From the screen, select the left piston
and then select POINT_5. b
d. Create a marker, named lcyl_ref at
POINT_6, located on the left_cylinder.
d
The next two markers you create will be the
two end points of the spring on the right
between the right_piston and the
right_cylinder. To create the markers:
e. Repeat steps a through d for the right
side with the following parameters:
• Marker name : rpiston_ref, located
at point _7, on right_pistion
• Marker name: rcyl_ref, located at
point_8, on right_cylinder

WS17 - 7
Step 3. Create a Spring Damper on Both Sides of
the Model
To create the springs:
a. Create a spring damper between a
left_piston (first body) and left_cylinder
(second body) using the markers that you
just created lpiston_ref (first location)
and lcyl_ref (second location):
b. Check the K box, and for the stiffness
Coefficient enter 0.21578 (N/mm)
c. Check the C box, and for the Damping
Coefficient enter 2.0 (N-sec/mm)
d. Modify the spring damper to add a preload
of 550 N.
e. Repeat the above steps a through d to
create a spring damper between b d
right_piston (first body) and
right_cylinder (second body) using the c
markers that you just created rpiston_ref
(first location) and rcyl_ref (second
location).

WS17 - 8
Step 4. Create an Sforce on the left side of model
To create an Sforce on the left
piston/cylinder to stop the hatchback a
motion:
a. Use the Single Component Force
icon.
b. In the container, select the Two b
Bodies method, and select the
left_piston and the left_cylinder.
c. For the 2 locations, use the existing
markers, pis_impact (located on
left_piston) and cyl_impact
(located on left_cylinder), as
shown below.
Tip: Make sure that you select the

parts and markers in the same order. If
you selected the piston to be the
action body, and the cylinder to be the
reaction body, you should use the
same order when selecting the action c
point (pis_impact) and the reaction
point (cyl_impact).

WS17 - 9
Step 5. Modify the Sforce to a One-Sided Impact
Function
To modify the Sforce using the
Function Builder to create a one-
sided impact function:
a. In the Modify Force dialog,
clear the current function so b d
that the function textbox is c
empty. Then, click on the a
Function icon next to the
Function textbox.
b. In the Function Builder, from
the Math Function menu,
select the Contact Functions
category.
c. From the list select One-sided
Impact. g. For Stiffness Coefficent
use 1e5 (N/m) e
d. Click Assist.
h. For Stiffness Force
e. The displacement parameter is
Exponent use 1.01
f
equal to the magnitude of the g
distance between the markers, i. For Damping Coefficient
use 100 (N-sec/mm) h
pis_impact and cyl_impact
j. For Trigger Displacement i
(use the DM function).
f. The velocity parameter is equal Variable use 25 mm.
to the velocity along the line of k. For Damping Ramp-up j
sight between the markers, Distance use 1e-3 mm. k
pis_impact and cyl_impact
(use the VR function). Note: Do not enter units into
ADM701, Workshop 17, March 2013 the Function Builder.
WS17 - 10
Step 5. Modify the Sforce to a One-Sided Impact
Function (Cont.)
a.While still in the Function Builder,

verify the function to make sure
that the syntax is correct.
b.The function should look as
shown to the right. b

WS17 - 11
Step 6. Create an Sforce on the Right and Modify it
a. Create another SFORCE on the
right piston/cylinder, to stop the
hatchback motion. Use the
existing markers pis_impact
(located on right_piston) and
c
cyl_impact (located on the right
cylinder) . Refer back to Step 3
on page WS17-9.
b. Modify the Sforce using the
Function Builder to create a one-
sided impact function. Refer
back to Step 4 on pages WS17-
10, 11 for the same parameters
that you used on the left.
c. The function should look like the
one shown to the right.
d. While still in the Function Builder,
verify the function to make sure
that the syntax is correct.
d
Note: This syntax reflects the piston
as the action part. If you chose the
cylinder as the action part, the syntax
should be opposite.
Note: For information on selecting parameters
for real life, see the Workshop 17, Review
section, on Page WS17-15
WS17 - 12
Step 7. Simulate the Model and Save
a. Simulate the model to make

sure that the hatchback opens
and stops at a reasonable
angle. b
b. After simulation, the model
should look the one to the right.
c. Save your model.
the next step.
e. Exit Adams/View.

WS17 - 13
Workshop 17, Review
1. Are there any limitations to the trigger distance used in an IMPACT

function? In other words, can you choose any value?
_____________________________________________________
_____________________________________________________
2. If you wanted to stop the hatchback from opening at a 45-degree angle,

what steps would you take?
_____________________________________________________
_____________________________________________________

WS17 - 14
Workshop 17, Review
• Selecting parameters for a real-life model
– For information on how to select parameters for a real-life model, refer to
the following knowledge base articles:
• Modeling Impact:
http://simcompanion.mscsoftware.com/infocenter/index?page=content&id=KB80
13895
• Suggestions for debugging your IMPACT function:

13033
• Example of using Hertzian Contact Theory to estimate contact stiffness:

14125

WS17 - 15
WS17 - 16
WORKSHOP 18
HATCHBACK II

WS18 - 1
WS18 - 2
– Find the approximate maximum force at the winglet required to close the lid in
three seconds for the given Mazda MX-6 hatchback model
– Adams 2013
• Files Required
– Use file hatchback.cmd
– Located in the directory exercise_dir/mod_17_hatchback_1
– In this workshop, you will use the model you built in Workshop 17 - Hatchback
I.

WS18 - 3
Model Overview:

WS18 - 4
• Suggested Steps
1. Import model.
2. Measure the rotation of the Lid.
3. Close the Lid.
4. Create a simulation script.
5. Perform a simulated script.
6. Create a torque measure.
7. Deactivate the measure.
8. Inspect the torque measure.
9. Save your work.

WS18 - 5
To import model:
a. Start Adams/View from the directory exercise_dir/mod_18_hatchback_2.
b. From the directory exercise_dir/mod_17_hatchback_1, import the model that you created in the previous module.
c. If you need a copy of the completed model you can import the command file named hatchback_1_completed.cmd
which is found in the directory exercise_dir/mod_17_hatchback_1/completed.

WS18 - 6
Step 2. Measure the Rotation of the Lid
To measure the rotation of a b
the lid:
a. Right-click
l_shortarm_rev joint and
create a measure, named
shortarm_rotation, of the
rotational displacement:
• Characteristic:
Ax/Ay/Az Projected
Rotation
a
• Component: Z
• From/At: d
.ground.MAR_7
b. Run a 5-second, 50-step d
simulation.
c. In Adams/PostProcessor,
plot the
shortarm_rotation
versus time.
d. From the
shortarm_rotation plot,
use the Plot Tracking tool
to determine the steady- c
state angle of the
left_shortarm.
The steady-state angle is
96.0693 d.
WS18 - 7
Step 3. Close the Lid
a. Currently the lid opens because of the preload in the springs and stops opening because of
the impact forces.
b. To close the lid, you will rotate the left_shortarm part back to its original position as shown
next. To rotate the left_shortarm, apply a joint motion to the left_shortarm_rev joint as
explained next.

WS18 - 8
Step 3. Close the Lid (Cont.)
To create a motion to close the lid:

a. Create a joint motion on the
joint l_shortarm_rev, named a
closing_motion.
b. Use a STEP function to modify
the motion to drive the lid back
to its closed position:
• Start the STEP function at
the steady-state rotation
(determined later in the
workshop) of the
left_shortarm at 4 seconds.
• End the STEP function at 0º
rotation of the left_shortarm
at 7 seconds.
• The function should look as
shown next: b
STEP(time, 4.0, 96.0693d,
7.0, 0.0d)

WS18 - 9
Step 4. Create a Simulation Script
In this section, you’ll create a simulation script
a
containing Adams/Solver commands that deactivate the
motion and run a simulation, then activate the motion
and run a second simulation.
To create the script:
a. From the ribbon Simulation, select an icon Create
a New Simulation Script.
b. Name the script, script_1. b
c. Set Script Type to Adams/Solver Commands.
c
d. Enter the following Adams/Solver commands:
• DEACTIVATE/MOTION, id=1
• SIMULATE/DYNAMIC, END=4, STEPS=40
• ACTIVATE/MOTION, id=1 d
• SIMULATE/KINEMATIC, END=7, STEPS=30
e. Select OK.

WS18 - 10
Step 5. Perform a Scripted Simulation
To perform a scripted simulation:

select Run a Scripted
Simulation. c
b. Enter the name of the script that a
you created, script_1.
c. Select the Play tool. b

WS18 - 11
Step 6. Create a Torque Measure
Measure the torque:
You now create a measure of the torque required to close
the lid. You then deactivate this measure because it is
dependent on the motion that is deactivated when the
scripted simulation starts.
To create the measure:
a. Create a motion measure, named
closing_torque_measure (right-click closing_motion,
and then select Measure):
• Characteristic: Torque
• Component: Z

WS18 - 12
Step 7. Deactivate the Measure
c
To deactivate the measure:
a. By default, when you deactivate
something using the Edit menu,
Adams/View deactivates anything that
is currently in your Select list.
Therefore, first clear your Select list by
selecting the Select tool, so you do not
accidentally deactivate something else
in your model.
b. From the Edit menu, select Deactivate.
c. Use the Browse option to filter only on
measures.
d. Select closing_torque_measure. b
e. Select OK.
d

WS18 - 13
Step 8. Inspect the Torque Measure
To inspect the torque measure:

a. In Adams/PostProcessor, plot torque in the motion versus time (the closing_torque_measure).
b. The figure represents the approximate amount of torque required to close the lid.

WS18 - 14
Step 8. Inspect the Torque Measure (Cont.)
Edit the torque curve to find the
approximate force required to lower
the lid in three seconds. To find this
force, use the Scale a Curve tool
to divide the motion torque by a
moment arm of 700 mm:
a. To display the Scale a Curve
tool, from the View menu
(inside Adams/PostProcessor),
point to Toolbars, and then
select Curve Edit Toolbars.
b. A new toolbar appears.
c. Select the Scale a Curve tool.
d. Set Scale to 1/700.
e. Select the curve on the graph. a
b c
d

WS18 - 15
Step 8. Inspect the Torque Measure (Cont.)
a. To display only the force curve, delete the motion torque curve.
b. The figure represents the approximate amount of force required to close the lid.
c. Note the approximate maximum force required to close the lid. Use the value to answer
Question 1 in Module review.

WS18 - 16
Save your work
To save your work:
a. Save your model.
b. Exit Adams/View.

WS18 - 17
Workshop 18, Review
1. What is the approximate maximum force required to close the lid?
_______________________________________________________
_______________________________________________________
2. Is it possible to modify a force from one constant value to another

instantaneously, such as shutting off a motor’s torque?
_______________________________________________________
_______________________________________________________
3. Is it possible to use different output step sizes over different intervals by

submitting an interactive simulation?
_______________________________________________________
_______________________________________________________

WS18 - 18
WORKSHOP 19
HATCHBACK III

WS19 - 1
WS19 - 2
– Use Adams/Solver to simulate the given Mazda MX-6 hatchback model.
– Adams 2013
• Files Required
– Saved file from Workshop 18 or Hatchback_2_completed.cmd
– located in exercise_dir/mod_18_hatchback_2/completed

WS19 - 3
– In this workshop you will use the model saved in Workshop 18. Recall the
parts of this model are constrained as follows:

WS19 - 4
• Suggested Steps
1. Import file and export a database file.

2. Create a command file.
3. For windows open a command window.
4. For UNIX open a UNIX shell.
5. Perform the simulation.
6. Modify the spring stiffness in the dataset (.adm) file
7. Modify the Adams/Solver command file (.acf).
8. Perform a simulation and import results.
9. Check that both analyses are children of the model.
10. Scale the curves by a moment arm (1/700).
11. Investigate the new curves.
12. Optional tasks

WS19 - 5
Step 1. Import File and Export a Dataset file
To import file:
a. Start Adams/View, and set the directory to
exercise_dir/mod_19_hatchback_3.
b. From the directory e
exercise_dir/mod_18_hatchback_2, import the
model that you created in the previous section.
c. If you need a fresh copy of the model, import the
command file, hatchback_2_completed.cmd,
from the directory d
exercise_dir/mod_18_hatchback_2/completed.
To export a dataset (.adm) file:

d. From the File menu, select
Export.
e. Enter the following, and select
OK:
• File Type: Adams/Solver
Dataset
• File Name: hatchback.adm
f. Adams/view exports this file to
your current working directory,
exercise_dir/mod_19_hatchba
ck_3.
f

WS19 - 6
Step 2. Create a Command File
To create a command file (.acf):

a. Open a text editor (unix: vi or Jot; Windows:
Notepad or WordPad) b
b. Create an Adams/Solver command file (.acf) that
contains the following commands:
• hatchback.adm (.adm extension optional)
hatchback_test1
OUTPUT/NOSEPARATOR
DEACTIVATE/MOTION, id=1
SIMULATE/DYNAMIC, END=4, STEPS=40
ACTIVATE/MOTION, id=1
SIMULATE/KINEMATIC, END=7, STEPS=30
STOP
c. Save the file as hatchback.acf in your current
working directory,
exercise_dir/mod_19_hatchback_3

WS19 - 7
Step 3. For Windows Open a Command Window
a
If you are running on UNIX, skip to step 4, page
WS19-9. For windows:
a. From the Start menu, point to All Programs
>MSC.Software>Adams x64 2013>Adams -
Command Prompt
b. Change directories to your working directory,
c. Use table 1 as a reference for the commands.
d. Leave the window open because you will be
running Adams/Solver from this window.
e. Skip to step 5, go to page WS19-10.
d
b

WS19 - 8
Step 4. For Unix Open a UNIX Shell
For UNIX:
a. Open a UNIX shell
b. Change the directories to your
working directory,
exercise_dir/mod_19_hatchba
ck_3 c
c. Use Table 2 as a reference for
the UNIX Commands
d. Leave the shell open because
you will be running
Adams/Solver from this shell.

WS19 - 9
Step 5. Perform the Simulation
To perform a simulation in stand-alone Adams/Solver using the
a
command file you just created (hatchback.acf), for Windows use
the following commands:
a. To display the Adams Program menu use:
• adams<version #> - for the MSC version of Adams
• Note: for a 64-bit machines append the command with _x64
b. ru-s - runs Adams/Solver with standard Adams executable
c. Hatchback.acf - identifies the .acf Adams/Solver file and runs
the simulation
d. Exit - exits Adams/Solver
e. Leave the window open because you will be using it again soon.
To perform a simulation in stand-alone Adams/Solver using the

command file you just created (hatchback.acf), for UNIX use the
following commands:
b
d. adamsxx –c - to display the Adams program menu. (where xx
is the version number, for example adams2013 –c ) c c
e. ru-s - runs Adams/Solver with standard Adams executable
f. Hatchback.acf - identifies the .acf Adams/Solver file and runs
the simulation
g. Exit - exits Adams/Solver
h. Leave the window open because you will be using it again soon.
Note: As common practice, you should open the message file

(.msg) and search for errors and warnings. Correct the model or
the .acf file to eliminate the errors and warnings.

WS19 - 10
Step 6. Modify the Spring Stiffness in the Dataset
(.adm) File
To modify the spring stiffness in the dataset
(.adm) file: b
a. In a text editor, open hatchback.adm, this
file is located in the directory
exercise_dir/mod_19_hatchback_3.
b. Do a search for forces.
c. Modify the value of both the springs
a
stiffness from -0.21578 to -0.30 N/mm
d. Save the file as hatchback2.adm in the
same directory.

WS19 - 11
Step 7. Modify the Adams/Solver Command File
To modify the Adam/Solver command file (.acf) to run

with hatchback2.adm:
a. In the text editor, open hatchback.acf from the a
directory exercise_dir/mod_19_hatchback_3.
b. Modify the first and second lines of the .acf file so they
are: b
• Hatchback2
• Hatchback_test2
c. Save the file as hatchback2.acf.

WS19 - 12
Step 8. Perform a Simulation and Import Results
To perform a simulation:
a. Using the new command file,
(hatchback2.acf) perform a stand alone
Adams/Solver simulation. Similar to how
it was done previously on page WS19-10.
To import the results for both simulations:

b
b. In Adams/View, from the File menu,
select Import.
c. For the File Type, select Adams/Solver
Analysis (*.req, *.gra, *.res)
d. For the Files to Read select
hatchback_test1.res.
e. For the Model Name enter hatchback c
f. Click OK to import the results for
d
hatchback_test1. e
g. To import the results for
hatchback_test2, repeat steps b through
f, except change the File to Read to
hatchback_test2.res.

WS19 - 13
Step 9. Check that Both Analyses Are Children of
the Model
To check that both analyses are
children of the model:
a. Use Tools>Database a
Navigator
b. In the Database Navigator,
change the Filter type from c
modeling to Analyses.
c. Double click the + sign of the
hatchback model.
d. Check to make sure that both
hatchback_test1 and
hatchback_test2 are children
of the model.
b

WS19 - 14
Step 10. Scale the Curves by a moment arm
(1/700) f
To scale the curves by a moment arm
(1/700):
h
a. Activate the measure
g
closing_torque_measure. Tip:
change the filter type to measure
b. Launch Adams/PostProcessor.
j
c. From the Simulation list, select the
i
two analyses, hatchback_test1 and
hatchback_test2.
d. From the measure list, select
closing_torque_measure.
e. Click Add Curves.
f. Click the Curve Edit Toolbar Icon.
c d e
g. From the new toolbar, select the Scale a Curve tool.

h. To individually scale both curves by the moment arm (1/700) enter 1/700 in
the scale textbox
i. Select both curves 1 and 2.
j. The new curves should show up in the legend.
WS19 - 15
Step 11. Investigate the New Curves
To investigate the new curves:
a. Use Edit>Delete to delete the
original curves.
b. Use the Subtract one curve from b
another tool to find the
approximate differences between
the maximum force values. Use
this value to answer Question 2 in
section, page WS19-18
c. Save your model. If you want to
further explore the model in the
optional tasks, then leave the
model open. Otherwise Exit
Adams/View.

WS19 - 16
To Simulate the Model in Adams/Solver:

a. Simulate interactively but without a script (no .acf file).
b. From a DOS prompt, enter the following commands, where xx is the current version of Adams:
• adamsxx<CR>
• ru-standard<CR>
• <CR> (Because you do not have an Adams/Solver command file (.acf), press the enter key).
c. Adams/Solver should start.
d. At the Adams command prompt, enter commands one at a time in the same order in which they appear in the .acf file.
e. After entering all the commands, exit Adams/Solver and import your results into Adams/View so you can inspect them using
animations and plotting.
To launch Adams 2013 from Windows command prompt, set an environment variable as follows:
a. Search the PATH environment variable under system variable/user variable.
b. Edit its value as follows :
Variable Name: PATH
Variable Value : X:\MSC.Software\Adams_x64\2013\bin
*where X is location drive on which Adams is installed.
c. If this environment variable is not available, create the same as mentioned in step b.
d. Open Command prompt window, and run command Adams2013_x64 from your working Directory.

WS19 - 17
Workshop 19, Review
1. What is the difference between a statement and a command?

_______________________________________________________
_______________________________________________________
2. What is the maximum force difference between the two tests

(hatchback_test1 and hatchback_test2) you performed?
_______________________________________________________
_______________________________________________________

WS19 - 18
WORKSHOP 20
HATCHBACK IV

WS20 - 1
WS20 - 2
– In Workshop 19 - Hatchback III, you determined the approximate force
needed to close the lid. Now, you are part of a group of design engineers for
the Mazda MX-6 hatchback. Your goal is to make the model more realistic
and ensure that it meets the following criteria:
• Lid opens completely in less than 4 seconds.
• Requires less than 210 N to close the lid.
• Takes no more than 3.0 sec to close the lid.
– Adams 2013
• Files Required
– Saved file from Workshop 19 or Hatchback_3_completed.cmd
– located in exercise_dir/mod_19_hatchback_3/completed

WS20 - 3
– In this workshop you will use the model saved in Workshop 19. Recall the
parts of this model are constrained as follows:

WS20 - 4
• Suggested Steps.
1. Import file and de-activate the Motion on the Revolute Joint.

2. Create an Sforce to close the lid.
3. Modify the Sforce to a Step Function and run a simulation.
4. Add a sensor.
5. Test that the sensor works properly.
6. Modify the spring preload.
7. Modify the spring stiffness.
8. Modify the closing force function to the Maximum value.
9. Create design variables.
10. Modify the springs to reference the design variables.
11. Optimize the design.
12. Optional tasks

WS20 - 5
Step 1. Import File and De-active the Motion on the
Revolute Joint
To start the workshop:
directory to
exercise_dir/mod_19_hatchback_3,
import the file you saved from the
previous workshop.
• If you need a fresh copy of the model,
then import
hatchback_3_completed, from the
directory
exercise_dir/mod_19_hatchback_3/
completed.
To deactivate the motion:

a
a. Select the Motions:closing_motion,
and then select (De)activate.
Alternative way: Locate the motion on
the revolute joint, l_shortarm_rev,
right click and select the
Motion:closing_motion, and then b
select (De)activate.
a. Uncheck Object Active
b. Click OK. c
WS20 - 6
Step 2. Create an Sforce to Close the Lid
Lid_sforce_ref
In Workshop 19 - Hatchback III,
you used a motion to close the lid. a
In this workshop, to make this
model more realistic you will
replace the motion with a
perpendicular force to close the lid
To create an SFORCE:
a. From the ribbon Forces, select
the Single-Component Force.
b. Use the following parameters to
create the force.
• Run-time Direction: Body
Moving
• Construction: Pick Feature b
(select the lid)
• Location: sforce_ref,
marker on the lid.
• Direction: y direction of
sforce_ref
c. Rename the SFORCE to
closing_force.

WS20 - 7
Step 3. Modify the Sforce to a Step Function and
Run a Simulation
To modify the Sforce to a Step Function:
a. Pick the Sforce closing_force and
select Modify, then in the Modify
Force dialog make sure the Define
Using is set to Function.
b. For the Function enter STEP(time,
4, 0, 4.2, -247). Note: 247 N is the
approximate force needed to close a
the lid, as you calculated in a b
Workshop 19 - Hatchback III.
To Run a Simulation:
c. Run a 7-second, 100-step
simulation to verify that the force
closes the lid. Because you’re not
activating or deactivating any motions c
during the simulation, you can run a
simple interactive simulation.
d. After running the simulation you will
see that this approximate force is not
large enough to close the lid.
e
To Modify the Sforce Step Function:
e. In the Modify Force dialog, change
the SFORCE to have a maximum
value of 300 N; the new function is
STEP(time, 4, 0, 4.2, -300).

WS20 - 8
Step 4. Add a Sensor
When using an SFORCE, there is
no constraint stopping the rotation
of the lid beyond the closed
position. To add a sensor to stop b
the lid at the closed position:
a. From the ribbon Design
Exploration, point to Create a
New Sensor.
b. Create a sensor based on the
measure, shortarm_rotation,
by filling in the dialog box as
a
shown to the right.
c. Click Apply to create the
sensor, and leave the dialog
box open.

WS20 - 9
Step 5. Test that the Sensor Works Properly
To test that the sensor is working
properly:
a. Run another simulation to verify
that the sensor works as
expected.
b. Why does the sensor stop the
simulation when the lid doesn’t a e
appear to be fully closed?
_________________________
_________________________
_________________________
_________________________
c. Back in the Create sensor
dialog box, select Generate
Additional Output Steps at c
Event.
d. Click OK to make this
modification to the sensor.
e. Rerun the simulation.

WS20 - 10
Step 6. Modify the Spring Preload
Because the force required to close
the lid is greater than the design
criteria, you need to modify the
spring preload. To Modify the
spring preload:
a. Click on the left_spring, and
select modify. In the Modify a
Spring-Damper Force dialog
box, change the Preload from
550 to 400, a
b. Repeat step a for the
right_spring.
c. Run a simulation
• Notice that the sensor was
triggered at time 3.5e-3,
meaning that instead of
having the hatchback open,
it dropped past the closing
position because the springs
were not strong enough to
open the lid. d
d. For each spring modify the
preload again to be 470. c

WS20 - 11
Step 7. Modify the Springs Stiffness
Because the force required to close
the lid is greater than the design
criteria, you need to modify springs
stiffness. To modify the springs
stiffness:
a. Click on the left_spring and
select modify. From the Modify
a Spring-Damper Force dialog,
change the stiffness
Coefficient to .10 N/mm a
b. Repeat step a for the
right_spring.

WS20 - 12
Step 8. Modify the Closing Force Function to the
Maximum Value
A value of 210 N is the maximum
force that can used to close the lid,
as defined in our design criteria
from the problem statement.
To modify the Closing Force
Function to the maximum value.
a. Click on the closing_force, and
select modify. Change the
STEP function for the
closing_force SFORCE to a
have a maximum value of
210N; the function should now a
look like this: STEP(time, 4, 0,
4.2, -210).
b. Run a simulation.
c. While the springs now open the
lid, the closing force is still not
large enough.

WS20 - 13
Step 9. Create design variables
Creating design variables in your
model will help to speed up the b
design iteration process. To create a
design variables:
c
a. From the ribbon Design
d
Exploration, select Create a e
Design Variable. f
b. Create a design variable for the
g
preload on the spring. Change
the name to
.hatchback.preload.
c. For the units select force.
d. For the standard Value enter
460.
e. For the Value Range by select
Absolute Min and Max Values
f. For the Min. Value enter 300
g. For the Max. Value enter 600 h
h. Click OK to create the variable.
i. Using the chart below, repeat i
the above steps for the stiffness
and damping design variables.

WS20 - 14
Step 10. Modify the Springs to Reference the
Design Variables.
Modify the springs to reference
design variables:
a. Click on the left_spring and
select Modify. In the Modify
a
Spring-Damper Force dialog
box, right click in the Stiffness
textbox and select
Parameters>Reference
Design Variable.
b. From the Database Navigator c
select the Stiffness Variable. d
c. Click Ok and the variable
appears in the Stiffness d
Coefficient textbox.
d. Repeat Step a through c for the
damping coefficient and the
b
preload.
e. Click OK to make the
modifications.
f. Repeat steps a through e for
the right_spring. e

WS20 - 15
Step 11. Optimize the design
To optimize the design:
a. Use model tree, expand Design
Variables.
b. Select the appropriate design
variable from the list.
c. Modify the Standard Value of
the design variable. c a
d. Click Apply to make the change b
and leave the Modify Design
Variable dialog box open.
e. Simulate the model to see the
results of the modification.
f. Continue steps a through e until
the lid opens and closes as
required.
g. Note: There could be many
parameter combinations that
would meet the design criteria.
Try a few different values to get
a feel for the sensitivity of each
parameter.
h. Save the model. Exit d
Adams/View, unless you wish to
continue with the optional tasks.

WS20 - 16
Step 12. Optional Task
Save your work before performing these tasks. Do not save your work
after performing these tasks. If you must save the model after performing
these tasks, give the model a different name.
To run an optimization to find a set of values that
meet the criteria of the problem statement.
a. Import the custom macro
/misc/optimization_optional_task.cmd.
b. Note: This custom macro creates
measurements, a design variable, a simulation c d
script, and constraints needed to run this
optimization. It also modifies your optimization
settings and the values of your design variables
to allow for the model to quickly optimize.
c. From the ribbon Design Exploration, select
Design Evaluation Tools.
d. Complete the dialog box as shown to the right.
e. select Optimizer.
f. Complete the solver Settings dialog box: e
• For the category select Optimization f
• Set Algorithm to OPTDES: SQP. g
• Click Close. i
g. Click Start.
h. Note: Several sets of values will meet the
design criteria. Further investigation is needed
to determine the optimal design.
i. Select the tool Create tabular report of
results.

WS20 - 17
Step 12. Optional Task (Cont.)
j. Adams/View automatically updates the standard values for each design variable to the values found during the
optimization process.
k. For this problem, the values that you receive from the optimization are very sensitive to the starting points of the design
variables. If time permits, try to modify the starting values of the design variables and run the above optimization again.
Did you find an optimal value? What went wrong?
l. Hint: Did the lid even open?

WS20 - 18
WORKSHOP 20, Review
1. Which parameters were most sensitive to meeting the design criteria?

_____________________________________________________
_____________________________________________________
2. How did the design variables help to speed the iteration process?
_____________________________________________________
_____________________________________________________

WS20 - 19
WS20 - 20
WORKSHOP 21
CAM-ROCKER-VALVE
Rocker
Rod
Guide (ground)
Cam Valve
Valve
displacement (mm)
Time (sec)

WS21 - 1
WS21 - 2
– Design a cam profile based on desired valve displacement, and ensure
that there is no follower liftoff when the cam is rotated at 3000 rpm.
– Adams 2013
• Files Required
– valve_train_start.cmd
– Located: exercise_dir/mod_21_camrocker

WS21 - 3
– The cam is being rotated at a velocity of 1 rotation per second.
– The rocker pivots about a pin attached to the engine block (ground).
– The valve displaces up and down as the rocker moves.
– When the valve moves, it lets small amounts of air in the chamber below it
(not modeled here).
Rocker
Rod
Guide
(ground)
Cam Valve
Valve displacement
(mm)
Time (sec)

WS21 - 4
1. Import file.
2. Apply a motion.
3. Create a cam profile.
4. Constrain the rod to the cam.
5. Measure the force.
6. Replace the curve-on-curve constraint.
7. Create a spring.
8. Find static equilibrium.
9. Modify the spring damper to prevent liftoff.
10. Create and swap the flexible part.
11. Run a simulation and save.
12. Optional tasks.

WS21 - 5
Step 1. Import File
To import file:
a. Open Adams/View from the directory
exercise_dir/mod_21_camrocker.
b. From the directory
exercise_dir/mod_21_camrocker,
import the model command file
valve_train_start.cmd.
c. The file contains a model named c
valve_train.
b
a

WS21 - 6
Step 2. Apply a Motion
a. From the ribbon Motion select
Translation Motion tool to add a
a motion to the joint,
Valve_Ground_Jt.
b. Use the STEP function below to
define the displacement. Add
the two STEP functions
together such that the final
function looks as follows:
• STEP(time, .4, 0,.6,13) +
STEP(time,.6,0,.8,-13).
• Enter this function in the d
Function(time) textbox, on b
the Joint Motion dialog.
c. From ribbon simulation, select
Interactive Controls.
d. From the simulation control
Run a 1-second, 100-step
simulation to verify that the
valve displaces as a result of
the joint motion.

WS21 - 7
Step 3. Create a Cam Profile b
Rod.CIRCLE_1
Use a point trace to create a cam

a
profile.
a. To use a point trace: From the
ribbon Results , select
Create Trace Spline.
b. Select the circle on the rod,
rod.CIRCLE_1 and then the Cam part
part named cam.
d
c. Verify that you now have a
spline representing the cam
profile.
d. Run a simulation to verify that c
the Rod appears to move along
the surface of the Cam. cam profile

WS21 - 8
Step 4. Constrain the Rod to the Cam
To constrain the rod:
a. Delete the joint motion on the
joint, Valve_Ground_Jt.
b
b. From the ribbon Connectors,
select Curve-Curve Constraint
tool to create a curve-on-curve
constraint between the circle on
the Rod (CIRCLE_1) and the
cam profile on the Cam
(GCURVE_232)
c. Run a interactive simulation to
verify that the new constraint
works. c
CIRCLE_1
GCURVE_232
a

WS21 - 9
Step 5. Measure the Force
Measure the force in the curve-on-

curve constraint. To measure the
force:
b
a. create a force measure for the
curve-on-curve constraint. a
Right-click the constraint and
then select Measure.
b. Measure the force along the z-
axis of ref_marker, which
belongs to the rod:
• Characteristic: Force
• Component: Z
• Represent coordinates in:
ref_marker
c. A strip chart for the measure will
be displayed. c
Note: The curve-on-curve

constraint applies a negative force
that keeps the rod follower on the
cam, avoiding any liftoff.

WS21 - 10
Step 6. Replace the Curve-On-Curve Constraint
Make the cam-to-rod contact more realistic c
by replacing the curve-on-curve constraint
with a Point-to-curve contact force. To
replace the curve-on-curve constraint:
a. Deactivate the curve-on-curve
constraint you created in Step 4 on
page WS21- 9.
b. From the ribbon Force, select create a
contact .
a
c. Use the following contact parameters:
• Contact Name:cam_contact
• Contact Type: Point to Curve
• Marker: ref_marker
• Curve: GCURVE_201
• Normal Force: Impact
• Stiffness (K): 1e6 (N/mm) a
• Force Exponent (e): 1.5
• Damping (C): 10 (N-sec/mm)
• Penetration Depth (d): 1e-3 mm
• Friction Force: Coulomb
• Coulomb Friction: On
b

WS21 - 11
Step 6. Replace the Curve-On-Curve Constraint
(Cont.)
d. Use the following contact parameters
continued: d
• Static Coefficient (μs): 0.08
• Dynamic Coefficient (μd): 0.05 f
• Stiction Transition Vel. (vs): 1 (mm/sec)
• Friction Transition Vel. (vt): 2 (mm/sec)
e. Use the Change Direction tool next to the
Directions textbox, to make sure that the
normal arrow points outward from the curve
(GCURVE_232) as shown to the right.
f. Run an Interactive simulation to check if
liftoff occurs. GCURVE_232
Normal
arrow

WS21 - 12
Step 7. Create a Spring
a
Since lift off still occurs, to prevent it create a
spring damper:
a. To add a marker on the valve at the
location, Valve_Point:
From ribbon Bodies, select Construction
Geometry : Marker
• Add to Part
• From the screen, select valve and the
location Valve_Point.
b. From the ribbon Forces, select create

Translational Spring-Damper
Add a spring damper between the marker
you just created and the point, b
Ground_Point (which is a point on ground, b
at the top of the guide), using the following c
parameters:
• Stiffness (K): 20 (N/mm) a
• Damping (C): 0.002 (N-sec/mm)
c. To add a preload to the spring you must Valve point
modify the spring, use a pre-load of 100 N.

WS21 - 13
Step 8. Find Static Equilibrium
Note: You perform the static equilibrium
to eliminate the transient effect that
results from the time-dependent damping
characteristic of the spring damper. In a1 b
addition, positioning the model in static
equilibrium establishes initial contact
between the roller and the cam. d
To find the static equilibrium of the model: a2

a. From the ribbon simulation, select
Interactive Simulation. Click Find
Static Equilibrium. Do not reset the
model before going on to the next
step.
b. Run a dynamic simulation to view the
effects of the spring starting from
static equilibrium. e
c. Modify the rotational motion on the
cam.
e2
d. The speed should be 3000 rpm, so
enter the displacement function as
-50*360d*time. c
e. To view only one rotation of the cam,
run a static equilibrium followed by a e1
dynamic simulation for end=1/50
seconds, steps=100. Note: an easy
way to run this simulation sequence is
to create a simulation script.

WS21 - 14
Step 9. Create a Measure on the Contact Force
To create a measure on the contact force:
a. From the ribbon Design Exploration, select Create new a
Function Measure
b. Change the units to force.
c. Use the category Force in Object, select Contact force and
click on Assist tab.
d. Fill out the contact Force dialog as shown below.
e. Your function should look like the one shown below in the d
Function Builder.
f. Remember to Verify the function before clicking OK.
g. Rerun the simulation to populate the new measure strip chart.
e g
g2
g1
c
f

WS21 - 15
Step 9. Modify the Spring Damper to Prevent
Liftoff
a. Modify the spring-damper
characteristics (stiffness,
damping, and preload) to
prevent liftoff based on the new
rotational speed of the cam.
Note: Experiment with different
values until the no-lift criteria is
a
met.
b. Save the model.

WS21 - 16
Step 10. Create and Swap the Flexible Part using
ViewFlex
You will use the ViewFlex utility to
convert the rigid valve part to a flexible
valve part and transfer the constraints a
acting on the rigid body to the flexible
body.
To create and swap the flexible part:
a. From the ribbon Bodies, select
Rigid to Flex.
b
b. From the Make Flexible select
Create New
c. Right-click in the Part to be
meshed field and select the Valve
part.
d. Check Advanced Settings to c
open more settings

WS21 - 17
Step 10. Create and Swap the Flexible Part using
ViewFlex (Cont.)
a.Select Size option in the Element
Specification
b.Set the element size =2 and
minimum size = 0.5
c.Click OK.
d.The Rigid valve is now replaced by
Flexible valve as shown below
b
d

WS21 - 18
Step 10. Create and Swap the Flexible Part (Cont.)
Database Navigator.
b. Change Browse to Graphical
a
Topology.
c. Highlight Valve_flex part.
d. Notice that the joints and spring
are now attached to the flexible
valve part.
b
d
joints
c
spring

WS21 - 19
Step 11. Run a Simulation and Save
a. To view only one rotation of the a
cam, run a static equilibrium
followed by a dynamic simulation
for end=1/50 seconds,
steps=100. a2
b. Use Adams/PostProcessor to
investigate how the flexible body
affects the model.
• Does lift off occur in the model
now? ____________________ a1
c. Save the model
d. If you want to further explore the
model, as suggested in the next
section, leave the model open.
Otherwise, Exit Adams/View.

WS21 - 20
Following are the optional tasks in this workshop –
1. Swap the Rigid valve part with flexible Part

We have already seen how to convert the rigid body into flexible body in step 10 using Adams/ViewFlex. If
you have the flexible body created outside ADAMS using any FE software such as Patran and MSC
Nastran, you can replace rigid body by the flexible body. The flexible body is the modal neutral file having
an extension .mnf. You will learn how to swap the rigid body with flexible body in the following slide.
2. Change the shape of the follower:

WS21 - 21
Step 12.1 Swap the Rigid valve part with flexible
Part
You will use the Flex body swap
dialog box to replace the rigid valve
part with a flexible valve part and
transfer the constraints acting on b
the rigid body to the flexible body. a
To swap the flexible part:
a. From the ribbon Bodies, select
Rigid to Flex.
b. From Make Flexible Select c
Import MNF d
c. Right-click in the Current Part
field and select the Valve part.
d. Right-click in the MNF File field
and select Browse. Select
flex_valve.mnf from the
directory
exercise_dir/mod_21_camroc
ker/misc.

WS21 - 22
Part(Cont.)
a. Click on the Connections tab.
b. Select the Move button. Note:
This will move the markers to
the corresponding nodes. This a
is especially important for
markers where forces or
constraints are acting.
c. Click OK.
d. The part should be replaced as
shown below b

WS21 - 23
Part(Cont.)

Database Navigator. a
b. Change Browse to Graphical
Topology.
c. Highlight Valve_flex part.
d. Notice that the joints and spring
are now attached to the flexible
b
valve part. d
c joints
spring

WS21 - 24
Part(Cont.)
a
Run the simulation
a. To view only one rotation of the
cam, run a static equilibrium
a2
followed by a dynamic simulation
for end=1/50 seconds,
steps=100.
b. Use Adams/PostProcessor to
investigate how the flexible body
affects the model. a1
• Does lift off occur in the model
now? ____________________
c. Save the model with different
name

WS21 - 25
Step 12.2 Change the shape of the follower
a. Delete the point-to-curve contact force between the Rod circle and the Cam curve.
b. Add a spline to the Rod that is a shape other than a circle and use that as the follower.
c. Change the grid spacing to 5mm in the x and y directions and draw the new follower geometry
on the grid.
d. Recreate the contact force between the Rod and the Cam using the new spline as the follower.
Use a curve-to-curve contact force.

WS21 - 26
WORKSHOP 21, Review
1. How many DOF are removed by adding a curve-on-curve constraint?

__________________________________________________________
__________________________________________________________
2. How many DOF are removed by a curve-to-curve force?

__________________________________________________________
__________________________________________________________

WS21 - 27
WS21 - 28
WORKSHOP 22
TARGET PRACTICE

WS22 - 1
WS22 - 2
– Complete the construction of a parametric gun and find the launch-spring
stiffness that will allow the marble to hit the target.
– Adams 2013
• Files Required
– Target_practice_start_cmd
– Located in the directory exercise_dir/mod_22_target_practice

WS22 - 3
– Currently, the model has all the geometry, parts, and constraints it needs.
– There is a single-component force representing the spring force between
the hammer and the launch pad.
– The single-component force is designed so that it changes characteristics
depending on the type of simulation being run (static vs dynamic):
• If a static simulation is run, the spring has a free length of 40 mm.
• If a dynamic simulation is run, the spring has a free length of 100 mm.
– Therefore, initially run a static simulation so the marble falls on the hammer
and compresses the spring a little. Then, when you run a dynamic
simulation, the spring thinks it is compressed a great deal and shoots the
marble.
– The model is already parameterized with variables describing the elevation
angle of the launch pad and the stiffness and damping of the spring.
– You will only modify the stiffness of the spring.
– Initially, the spring stiffness is 20 N/mm

WS22 - 4
• Suggested Steps
1. Create a marker on the hammer part.

2. Orient the working grid along the XY-plane of the new marker.
3. Create a plane to be used in the contact definition.
4. Verify Adams/Solver equilibrium settings.
5. Create a contact force between the marble and the hammer.
6. Create a contact force between the marble and the launch pad.
7. Run a scripted simulation.
8. Include aerodynamic drag.
9. Compare simulation results.
10. Track when the simulation is complete.
11. Set up a design study.
12. Optional tasks

WS22 - 5
Step 1. Create a Marker on the Hammer Part
To create a contact between the hammer and c

the model: b
a. Import the file:
• Start Adams/View from the directory
excercise_dir/mod_22_target_practice.
• Import the model command file d
target_practice_start.cmd.
b. Run a simulation to see the forces that affect
the model in this current configuration.
c. Select the marker icon to create a marker.
d. Create a marker by adding it to a part, with e
orientation in the Z-axis
e. For the part use the hammer, for the location
right click at the face of the hammer, and
then select hammer.CYL.E1 (center). Note
that hammer. CYL10.E1 (center) is a place
holder that represents the geometry, and is f
only accessible when prompted for a
location.
f. For the direction, select the x-axis of the cm
marker of the marble.

WS22 - 6
Step 2. Orient the Working Grid Along the XY-
Plane of the New Marker
To orient the working grid along the XY-Plane
of the new marker: a
a. Use Settings>Working Grid. The
Working Grid Settings dialog comes up.
b. Set the spacing to 10 mm for both the X
and the Y.
c. Set the location to pick… and from the
model pick the marker that was just
created, MARKER_46.
d. Set the Orientation to X-Y-Axes.
b
e. First select the X-axis of MARKER_46.
f. Then select the Y-axis of MARKER_46.
g. Adjust the view until the new working grids
xy-plane encompasses the window, as
shown. Tip: Set the model to a right view,
then rotate the model down, and turn
shading on.
g c
e
f d

WS22 - 7
Step 3. Create a Plane to be Used in the Contact
Definition
To create a plane:
a. Use the Plane tool.
b. Select Add to Part.
c. Right click the sphere and then b
select hammer from the list .
a
d. Left-click on any grid point
outside of the hammer face and
drag across, making sure to e
cover the entire face.
e. Reset the grid to the default
position.
• Set spacing back to 50mm
for both X and Y.
• Set location to Global
Origin. e
• Set orientation Gobal XY.
e
c

WS22 - 8
Step 4. Verify Adams/Solver Equilibrium settings
To verify Adams/Solver
equilibrium settings:
a. From the Settings menu,
point to Solver, and then
select Equilibrium.
b. Verify that Error is set to
1.0E-002
c. Select Close
b
a

WS22 - 9
Step 5. Create a Contact Force Between the
Marble and the Hammer
To create a contact force between
the marble and the hammer:
a. Click on the Contact Force icon, a b
from the ribbon Forces.
b. Change the data in the Create
Contact dialog to the following:
• Contact Type: Sphere to
Plane.
• Sphere: ELL3.
• Plane: PLANE_36.
• Stiffness: 100 (N/mm)
• Force Exponent : 1.01.
• Damping enter: 1.0 (N/-
sec/mm).
• Penetration Depth: 0.2 mm.
c. When finished entering the data,
click OK.
d. The contact force should appear d
as shown to the right.

WS22 - 10
Step 6. Create a Contact Force Between the
Marble and the Launch Pad b
To create a contact force between
the marble and the Launch Pad:
a. Click on the Contact Force
icon, from the forces tool
stack.
b. Change the data in the Create
Contact dialog to the following:
• Contact Type : Solid to
Solid
• I Solid: ELL3 a
• J solid: CSG_35
• Stiffness 100(N/mm)
• Force Exponent: 1.01
• Damping: 1.0 (N-sec/mm)
• Penetration Depth: 0.2 mm
• Friction Force: Coulomb
• Static Coefficient: 0.1
• Dynamic Coefficient: 0.1
• Stiction Transition Vel.: 50
• Friction Transition Vel.:
200

WS22 - 11
Step 7. Run a Scripted simulation
c
To run a scripted simulation:
Launchpad
a. The marble is not initially in
contact with the hammer;
therefore, you must precede Hammer
each dynamic simulation that
you submit with a static Launch spring a
equilibrium simulation.
b. Create a script that performs a
static equilibrium simulation d
followed by a dynamic
c
Marble
simulation
• Use Script Type
Adams/Solver Commands.
• Enter the commands
– SIMULATE /STATIC
– SIMULATE /DYNAMIC,
b
END=1.0, STEPS=100
c. Create a measure name x-
displacement, of the marble’s b
global x displacement
• Right click the marble and
select Measure
• Characteristic: CM postion
• Component: X
d. Run the scripted simulation you e
created in step b
e. Save the simulation results as
no_aero.

WS22 - 12
Step 8. Include Aerodynamic drag force
To include Aerodynamic drag

force:
a. Use the parameters shown Parameters for global x and y components of the drag force.
here to Create a multi-
component force at the
marble center of mass, Fx = -1/2*ρ*Vx*Vm*Cd*A
between the marble and a
ground, whose directions Fy = -1/2*ρ*Vy*Vm*Cd*A
are aligned with the global
coordinate system.
Where:
ρ = 1.3e-9Kg/mm3 = density of air
Vx = global x component of the marble’s velocity
Vy = global y component of the marble’s velocity
Vm = magnitude of the marble’s velocity
Cd = 0.45 = drag coefficient
A = πr2 = two-dimensional area of the marble face

WS22 - 13
Step 8. Include Aerodynamic Drag Force (Cont.)
a. Click on the multi-component a

force icon, from the ribbon
Forces.
• Select 2 bodies – 1
location
• Select Normal to Grid
• Characteristic: Custom
b. On the model select the two
bodies marble and ground, and a
select the location as the
marble cm.
c. In the Modify force Vector
dialog, select the function tool
next to the X force.

WS22 - 14
Step 8. Include Aerodynamic Drag Force (Cont.)
a. Enter the Aerodynamic Function

as shown.
b. Select Verify, and the click OK.
c. Select the function builder tool a
to the right of Y Force.
d. Repeat the previous steps
replacing Vx with Vy.
• Verify the new function.
• Click Ok.
e. Run a simulation using the
script you created on page
WS22-12
f. Save the simulation results as
with_aero
b
b

WS22 - 15
Step 9. Compare simulation results
To compare the simulation

results: a
a. Use the
Adams/PostProcessor
to compare the x
displacement of the
marble for each set of
simulation results (with b
and without aerodynamic
forces)
b. The simulation results
should look like the ones
shown to the right

WS22 - 16
Step 10. Track When the Simulation is Complete
To track when the simulation is

complete:
a. Create a measure on the marble,
named y-displacement.
• Characteristic: CM position
a
• Component: Y
b. Create a sensor to determine
when the marble passes the
global xz plane. Have the sensor
monitor the global y displacement
measure created in step a, and
when it is less than or equal to 0.0
direct the sensor to:
• Generate an addition output
step
• Terminate the current
simulation step and stop the
simulation script.

WS22 - 17
Step 11. Set Up a Design Study
First create a point-to-point

measure:
a. Create a point-to-point measure
of the global x distance from the
target center (.ground.target)
to the marble center a
(.marble.cm) and name it
target_error.
• Use ribbon Design
Exploration->select icon for
point-to-point. a
• Fill in the form as shown
• Select Advanced tab and fill
in the dialog box as shown.
c
Then update solver settings:
b. From the settings menu, point
to solver, and then select
Display. b
c. Set Update Graphics to Never,
then click Close.
WS22 - 18
Step 11. Set Up a Design Study (Cont.)
Use ribbon Design Evaluation to

set up design study:
a. Run a design study that gives a
the last value of target_error
over six default levels of
existing design variables,
launch_spr_stiffness.
• Fill in the dialog box as
shown.
b. Select Start.
c. Note the approximate value of
stiffness at which the marble
hits the target and use it to
page WS22-21 a
d. Save you work

WS22 - 19
Save your work before performing these tasks. Do not save your work after performing these tasks. If you must
save the model after performing these tasks, give the model a different name.
a. Multiply the aerodynamic forces by STEP functions to eliminate any aerodynamic effects that might occur when the
marble moves to the static position. TIP: The independent variable of the STEP function will be DM(.marble.cm,
.TIP).
b. Tighten the minimum and maximum values of the design variable of the launch-pad stiffness and increase the
number of levels to 10 to achieve a more precise solution.
c. Run additional design studies for other design variables.

WS22 - 20
Workshop 22, Review
1. What defines the force directions (Fx, Fy, and Fz) in a force vector?
____________________________________________________
____________________________________________________
2. What is the approximate value of stiffness at which the marble hits the
target.?
____________________________________________________
____________________________________________________

WS22 - 21
WS22 - 22
WORKSHOP 23
SWITCH MECHANISM
Base Actuator
Left follower Right follower
Left contact Right contact

WS23 - 1
WS23 - 2
• Objective
– Determine the minimum force necessary to toggle the switch mechanism
to the forward and rearward directions.
• Software
– ADAMS 2013
• Files Required
– Switch_start_new.cmd
– Located in directory exercise_dir/mod_23_switch_workshop

WS23 - 3
– The given switch model contains parts with shell geometry and mass
properties:

WS23 - 4
– The switch model contains construction points for adding the necessary
modeling elements to address the problem statement. They are:
– The switch model is mounted such that the model’s global negative x-axis
defines forward and positive z-axis defines up .

WS23 - 5
• Suggested Steps
1. Import model and set up modeling environment.

2. Add constraints
3. Verify model and simulate.
4. Change the constraint on the right_contact part.
5. Create a Sphere-to-Plane contact force in front
6. Create a Sphere-to-Plane contact force in rear.
7. Add spring force to right half.
8. Override default spring geometry and verify model.
9. Replace the right_follower to right_contact curve-to-curve constraint with a
force and verify the model.
11. Create sphere and plane in front
12. Create a sphere-to-plane contact force in front.
13. Create another sphere and plane in rear.
14. Create another sphere-to-plane contact force in rear.
15. Verify the model and simulate
16. Create a force application on the actuator part and verify the model
WS23 - 6
• Suggested Steps (Cont.)
17. Create a function measure.

18. Create a sensor.
19. Create a script and simulate the model.
20. Refine the right_contact connections.
21. Create a point-to-point contact force.
22. Verify the model and simulate.
23. Connect the left follower and the left contact and verify the model.
24. Simulate the model
25. Add friction to the curve-curve contact forces.
26. Verify the model and simulate.

WS23 - 7
• There are five sections in this workshop:
– Section I: Test the right half with constraints only.
– Section II: Test the right half with front and rear contacts.
– Section III: Refine the right half of the mechanism.
– Section IV: Add the left half.
– Section V: Refine the switch.

WS23 - 8
SECTION 1
• Test the right half with constraints only
– You can think of the switch mechanism as consisting of two halves. In this
exercise, first constrain the right half of the mechanism and perform a
kinematic simulation to visually verify correct motion. Then, add spring and
contact forces to the right half to ensure that the mechanism actually
toggles.
– In the following sections you will add more detail to the right half, refine it,
introduce the left half, refine the entire model to account for friction, and
then finally, perform a system-level simulation.
– This workshop emphasizes the crawl-walk-run method. In this section, you
will crawl.

WS23 - 9
Step 1. Import Model and Set up Modeling
Environment
To import the model:
directory to
exercise_dir/mod_23_switch_
workshop.
• Import the model command file
switch_start_new.cmd. This a
file contains commands to build
the model named switch.
To set up the modeling

environment:
a. set the transparency of the
actuator part by right clicking
the actuator, and then select
b
appearance.
b. Move the transparency slider to
80%

WS23 - 10
Step 1. Import File and Set up Modeling
Environment (Cont.)
a. Deactivate the left_contact
part.
b. Turn off the visibility of the
left_contact part.
c. Repeat steps a and b for the
left_follower part.
d. Using Settings>gravity, Set
gravity in the global negative-z
direction.
e. The model should now look like b
the one shown below.
a

WS23 - 11
Step 2. Add Constraints
To add constraints: d
a. First, for easy picking of
global direction vectors,
establish a reference marker
with global orientation on the
base (ground) part. c
b. Setting the color and size of Point_1
the marker helps in
referencing it later.
c. Constrain the actuator to
the base at POINT_1 such
that the only relative
allowable degree of freedom
is rotation about ŷg.
d. To make selecting the parts
easier, turn off the visibility of
the Shell_base_main_geo.
e. Constrain the right_follower to e
the actuator at POINT_2 such Point_2
that the only relative allowable
degree of freedom is translation
along zg. ba

WS23 - 12
Step 2. Add Constraints (Cont.)
right_follower part
a. Constrain the tip of the
right_follower to the upper
curve on the right_contact
part.
b. When creating the curve-to-
curve constraint, select the red right_contact part
circle,
right_follower.right_follower_
circle_geo_2, at the tip of the
right_follower part, parallel to
the global-xz plane, and then
select
right_contact_upper_bspline.
right_follower.right_follower_circle_geo_2 right_contact_upper_bspline

WS23 - 13
Step 2. Add Constraints (Cont.)
right_contact part
a. Constrain the right_contact
part to the base at POINT_8 Point_8
such that the only relative a
allowable degree of freedom is
translation along ŷg.
b. This might not seem intuitive,
but it ensures that there are no
redundant constraints in the
model. It is a good modeling
practice to remove all redundant
constraints in your system prior
to performing a simulation. base part
c. Add displacement joint motion
to the actuator-to-base revolute
joint such that the actuator
oscillates sinusoidally with an
amplitude of 15.1 degrees and
one cycle per second.

WS23 - 14
Step 3. Verify the Model and Simulate
To verify the model:

a. Use the verify tool.
b. Your system should have 0 degrees of freedom and no redundant constraints at
this configuration. If it does not, inspect the model to determine the discrepancy.
To simulate:
c. Simulate the model kinematically to visually verify correct motion using an end
time of 1 second with 100 output steps.
d. Save your work.

WS23 - 15
SECTION II
• Test the right half with front and rear contacts

– Change the constraints on the right_contact part so that it can rotate and
make contact with the right front and rear terminals on the base part (It
will rock back and forth like a see-saw). Use the curve-to-curve constraint
created earlier.
– this section you will start to walk.

WS23 - 16
Step 4. Change the Constraint on the
right_contact Part
Change the constraint on the
right_contact part so that it can
rotate and make contact with the Right_contact part
right front and rear terminals on the
base part (it will rock back and forth
like a see-saw).
a. Remove the translational joint
constraining the right_contact
to the base at POINT_8. Point_13
b. Constrain the right_contact to
the base at POINT_13 such
that the only allowable degree
of freedom is rotation about ŷg.
Base

WS23 - 17
Step 5. Create a Sphere-to-Plane Contact force in
Front
a. Create a sphere-to-plane
contact force between the front Front end of
end of the right_contact part right_contact
and the sphere on the front right PLANE_128
corner of the base part. Use
right_contact.PLANE_128 and
base.ELLIPSOID_73
b. The contact parameters should
be:
• Stiffness: 1e5
(milliNewton/mm)
• Force exponent: 2.2
• Damping: 1e2
(milliNewton-sec/mm) Base.ELLIPSOID_73
• Penetration depth: 1e-3
mm
• Static friction: off
• Dynamic friction: off
c. Using the ellipsoid and plane
geometries will improve run
time when solving.

WS23 - 18
Step 6. Create a Sphere-to-Plane Contact Force in
the Rear
contact force between the rear
end of the right_contact part
and sphere on the rear right
corner of the base part. Use
right_contact.PLANE_72 and
base.ELLIPSOID
b. The contact parameters should
be:
• Stiffness: 1e5
(milliNewton/mm)
• Damping: 1e2
(milliNewton-sec/mm)
• Penetration depth: 1e-3
mm
Base.ELLIPSOID
Rear end
right_contact
PLANE_72

WS23 - 19
Step 7. Add Spring force to the right half
To add a spring force to the right

half:
a. You need markers to create the
spring. First, create markers for Point_4
each endpoint belonging to the
appropriate parts.
b. Create a spring between the
right_follower at POINT_2 and
actuator at POINT_4 using the Point_2
following parameters:
• Stiffness: 600
(milliNewton/mm)
• Damping: 0.1
(milliNewton-sec/mm)
• Free length: 9 mm

WS23 - 20
Step 8. Override Default Spring Geometry and
Verify the Model
To override the default spring geometry:
a. With nothing selected, from the Edit menu,
select Modify.
b. Filter on geometry, then double-click Created Spring
SPRING_1, then select spring_graphic (not
damper_graphic).
c. Override default spring geometry by using
these custom parameters:
• Coil count: 10
• Diameter of spring: 2.5 mm
• Damper diameter at ij: 0, 0
• Tip length at ij: 0, 0
• Cup length at ij: 0, 0
d. To make the spring stand out, change the
color to white.

e. verify the model
f. The system should now have one degree of
freedom and one redundant constraint. At this
time, does the redundant constraint affect what
you are doing?

WS23 - 21
Step 9. Replace the right_follower to
right_contact Curve-to-Curve Constraint with a
Force and Verify the Model
To replace the right_follower to right_contact curve-to-
curve constraint with a force:
right_follower part
a. Remove the curve-to-curve constraint between the
tip of the right_follower and the upper curve on the
right_contact part.
b. Create a curve-to-curve contact force between the
tip of the right_follower and the upper curve on the
right_contact part. Use the same curves used in
Step 2 on page WS23-13 and the following
parameters: right_contact part
• Stiffness: 1e5 (milliNewton/mm)
• Damping: 1e2 (milliNewton-sec/mm)
• Penetration depth: 1e-3 mm
c. Note: After you fill in the I and J curve text boxes,
press Enter in each text box to activate the I and J
Directions(s) text boxes.

d. Use the verify tool. right_contact_upper_bspline
e. Your system should have two degrees of freedom
and no redundant constraints. right_follower.right_follower_circle_geo_2

WS23 - 22
Before simulating the Model:

a. Set Update Graphics to Never.
b. Turn on Debug/Eprint so you d
can monitor the Adams/Solver
performance. To do this:
• Click on the Interactive
Simulation tool icon
• Change NoDebug to Eprint
using the pull down menu.
b
To simulate the model:
c. Perform a 1-second, 200-step
dynamic simulation.
d. The model will not animate, but
the command window with the
Adams/Solver information
should appear.
e. Animate the results to visually
verify the correct motion.

WS23 - 23
Step 11. Create a Sphere and Plane in Front
To create a sphere:
a. create a sphere on the actuator
part at POINT_12 with a radius
of 0.5 mm. This sphere will be
b
Point_10
used in the sphere-to-plane
contact force.
To create a plane:
b. create a plane on the base part
a
at POINT_10, parallel to global
yz plane. This plane will be
used in the sphere-to-plane
contact force.
c. Note: To create this plane, you
will need to relocate and
reorient the grid. Reset the
location to be POINT_10 with
the orientation set to the global
yz-plane. You may also need to
decrease the size of the
working grid (for example, size
= 20 mm). Make sure that the
points you snap to when Point_12
creating the plane are on the
working grid and not on the part
geometry.

WS23 - 24
Step 12. Create a Sphere-to-Plane Contact Force
in Front
a. Create a sphere-to-plane contact
force between the front end of the
actuator and the base part. As the
actuator rotates, its sphere strikes a a
surface parallel to the global-yz plane
on the base. Use the following
Plane on Base
parameters:
• Sphere: sphere on the actuator
part at POINT_12 with a radius of
0.5 mm
• Plane: parallel to global yz-plane
at POINT_10
• Contact parameters:
– Stiffness: 1e5
(milliNewton/mm)
– Force exponent: 2.2
– Damping: 1e2 (milliNewton-
sec/mm)
– Penetration depth: 1e-3 mm
– Static friction: off
– Dynamic friction: off
b. After you have created the contact
force, make the plane and the
ellipsoid transparent.
Sphere on actuator

WS23 - 25
Step 13. Create Another Sphere and Plane in Rear
To create another sphere on the other side of

Point_9
the actuator:
a. create a sphere on the actuator part at
POINT_11 with a radius of 0.5 mm. This b
sphere will be used in the sphere-to-plane
contact force.
To create a plane on the other side of the base:

b. Create a plane on the base part at
POINT_9, parallel to global yz plane. This
plane will be used in the sphere-to-plane a
contact force.
c. Note: To create this plane, you will need to
relocate and reorient the grid. Reset the
location to be POINT_9 with the orientation
set to the global yz-plane. You may also
need to decrease the size of the working
grid (for example, size = 20 mm). Make sure
that the points you snap to when creating
the plane are on the working grid and not on
the part geometry.
d. Note: You will need to rotate the plane 180˚
such that the z-axis of the geometry anchor
points toward the actuator.
Point_11

WS23 - 26
Step 14. Create a Sphere-to-Plane Contact Force
in Rear
contact force between the rear
end of the actuator and the
a
base part. Use the following
parameters:
• Sphere: sphere on the Plane on Base
actuator part at POINT_11
with a radius of 0.5 mm
• Plane: parallel to global yz-
plane at POINT_9
• Contact parameters: same
as in Step 12 on page
WS23-25
b. After you create the contact
force, make the plane and the
ellipsoid transparent.
Sphere on actuator

WS23 - 27
Plane should stop the actuator
To Verify the model:
a. Use the Verify tool. when sphere contacts plane
b. Your system should have two
degrees of freedom and no
redundant constraints.
To Simulate:
c. Before Simulating, change the
solver setting. Use
Settings>Solver>Dynamics
d. Set the Integrator to GSTIFF.
e. Set the Formulation to SI2
Formulation.
f. Perform a static simulation
followed by 1-second, 200-step
dynamic simulation.
d
e

WS23 - 28
Step 16. Create a Force Application on the
Actuator Part and Verify the Model
To create a force application:
a. Remove the motion applied to Point_15
the revolute joint constraining
the actuator to the base.
b. Apply a force to the actuator b
part at POINT_15 in the positive
XG direction, moving with the b
body. Use the following
function: f(f) = -200*time

c. Use the verify tool.
d. Your system should have three
degrees of freedom and no
redundant constraints.

WS23 - 29
Step 17. Create a Function Measure
a. Create a function measure named contact_force, based on the force magnitude of the right rear contact force between
the right_contact part and the base part.
• Use Design Exploration> Function Measure icon .
• Use Force in Object and select Contact Force. Press the assist button, the inputs are shown below.
• Note: the name for the contact force between the right rear contact and the base may vary depending on how you
named the contact force.

WS23 - 30
Step 18. Create a Sensor
a. Create a sensor that triggers when the
force magnitude of the right rear
contact force (measured in the above
step) is greater than or equal to 1 mN c
within a tolerance of 1e-3 mN.
b. When sensed, Adams/Solver should
terminate the current simulation step h
and continue the simulation script.
c. For the Expression, use the function
you just built, (contact_force). You
can use the Function Builder to assist
in finding the function you want.
d. First under the heading Getting
Object Data select Measures.
e. Then click in the textbox next to the
measure field, and select RunTime
Measure>Browse.
f. From the Database Navigator list, e
select the contact_force measure. d
g
g. Click Insert Object Name.
h. The measure name should appear in
the Function builder area at the top of
i
the dialog box.
i. Click OK at the bottom of the dialog
box, and the name should now appear
in the expression text box of the
sensor dialog.

WS23 - 31
Step 19. Create a Script and Simulate the Model
Remember, the force applied to the switch is a function of
time. Before you run the simulation, you do not know how
much force needs to be applied to toggle the switch; therefore,
you do not know how long to simulate. For that reason, you
created the sensor. You will purposely simulate for a larger b
amount of time than is needed, letting the sensor stop the
simulation when the switch has been toggled.
a. Simulate the model to visually verify correct rearward
toggle motion using a simulation script based on the
following Adams/Solver commands:
INTEGRATOR/SI2,GSTIFF
SIMULATE/DYNAMIC, END=10.0, DTOUT=.01
DEACTIVATE/SENSOR, ID=your right rear sensor id #
SIMULATE/DYNAMIC, DURATION=0.5, DTOUT=.01
b. Note: to get the rear sensor id# use the Data Navigator
and double click on the sensor.
c. Then, find the id# on the information dialog.
d. By using this simulation script, the model will simulate until
the switch is toggled (assuming it toggles before 10
seconds), at which time the sensor is deactivated and the
model simulates an additional 0.5 seconds to review follow-
on transient behavior.
e. Save your work. c

WS23 - 32
SECTION III
• Refine the right half of the mechanism

– Replace the pivoting constraint at POINT_3 (the lower_contact to base revolute joint) with a
more realistic connection that accounts for dynamic phenomena like sliding and liftoff.
– Create a point-to-point contact force between the underside on the right_contact part and the
mid-contact point.

WS23 - 33
Step 20. Refine the right_contact Connections
To refine the right_contact connections. Point_13

replace the pivoting constraint at POINT_13
(the lower_contact to base revolute joint)
with a more realistic connection that
accounts for dynamic phenomena like
sliding and liftoff.
a. Remove the revolute joint constraining
the right_contact to the base at
POINT_13.
b. Constrain the right_contact to the base a
at POINT_8 such that the only allowable
degrees of freedom are translation along
zg and rotation about ŷg.
• This involves creating two joint
primitives (inline and parallel). b
• You must ensure that the J marker of Point_8
each primitive belongs to the base
part, and not to the right_contact part.
This will absolutely affect the
simulation. See the instructor if you
do not fully understand this concept.

WS23 - 34
Step 21. Create a Point-to-Point Contact Force
To create a point-to-point contact force:

a. First, create a marker on the base
part at POINT_13.
b. Using this marker, create a point-to-
curve contact force between the
underside on the right_contact part
(curve
Point_13
right_contact.right_contact_lower
_bspline) and the mid-contact point,
POINT_13, (created marker) on the
base. Use the following parameters:
• Stiffness: 1e5 (milliNewton/mm)
• Force Exponent: 2.2
• Damping: 1e2 (milliNewton-
sec/mm)
• Penetration depth: 1e-3 mm

WS23 - 35

a. Use the Verify tool.
b. Your system should have four degrees of freedom and no redundant constraints.
To Simulate the model:

c. Simulate the model to visually verify correct rearward toggle motion using a simulation script based on the following
Adams/Solver commands:
d. Note the force at which the switch toggles to the rearward direction when accounting for only the right_follower and
right_contact parts and corresponding connections
e. Save your work.

WS23 - 36
SECTION IV
• Add the left half

– Since the right half of the
switch mechanism is
working properly at this
time, apply the same
steps to the left half of
the mechanism. If
desired, you can use a
different crawl-walk-run
method to connect parts
in the left half.
– To the right is a copy of
the key locations that will
help you define the left
half connections:

WS23 - 37
Step 23. Connect the Left Follower and the Left
Contact and Verify the Model
To connect the left_follower and left_contact:
a. Reintroduce the left_follower and left_contact parts by reactivating them and ultimately connect these parts to the switch
mechanism the same way that you did for the right_follower and right_contact parts.

b. Use the verify tool.
c. Your system should now have seven degrees of freedom and no redundant constraints.

WS23 - 38
To simulate:
a. First, use View>message window, and select settings to change the settings for the message window. Change the
Display messages only at or above severity level: from Warning to Error. Note: this prevents the Message Window
from opening each time you verify or simulate due to the difference in orientation of the markers and curves used to define
the point to curve contact.
b. Simulate the model to determine rearward toggle motion using a simulation script based on the following Adams/Solver
commands:
c. Note the force at which the switch toggles to the rearward direction when accounting for both halves of the mechanism.
d. Simulate the model to determine rearward toggle motion, and then switch to forward toggle motion using a simulation script
based on the following Adams/Solver commands:
SFORCE/original input sforce id # , FUNCTION=100*time
e. Notice how you are reversing the input force applied to the actuator part through an Adams/Solver command in the
simulation script as opposed to in the model’s design configuration. You can modify a force on-the-fly.
f. Note the force at which the switch toggles to the forward direction when accounting for both halves of the mechanism.
g. Save your work.

WS23 - 39
SECTION V
• Refine the switch
– You will now refine your model to account for friction.

WS23 - 40
Step 25. Add Friction to the Curve-Curve Contact
Forces.
To add friction to the curve-to-curve contact forces:
a. Modify the curve-to-curve contact force between the tip of the right_follower and the upper curve on the right_contact
part such that static and dynamic friction is accounted for. Use the following default parameters for contact friction:
• Static Coefficient: 0.3
• Dynamic Friction Coefficient: .1
• Stiction Transition Vel.: 1 mm/sec
• Friction Transition Vel.: 10 mm/sec
b. Modify the curve-to-curve contact force between the tip of the left_follower and the upper curve on the left_contact part
such that static and dynamic friction is accounted for. Use the same contact array you used in step a.

WS23 - 41
To Verify the model:

a. Use the verify tool.
b. Your system should still have seven degrees of freedom and no redundant constraints.
To simulate:
c. Simulate the model to visually verify correct rearward toggle and forward motion using a simulation script based on the
following Adams/Solver commands:
SFORCE/your original input sforce id #, FUNCTION=200*(time-10)
d. Note the force at which the switch toggles to the forward and rearward directions when accounting for friction in the contact
between the follower parts and the contact parts. Were the effects of friction negligible in this mechanism?
e. Save your work.

WS23 - 42
APPENDIX A
ANSWER KEY
ADM701, Appendix A, March 2013

A-1
A-2
APPENDIX A – ANSWER KEY
• Answer Key for Workshop 1

– Question 1: 269 mm
– Question 2: 269 mm. This is the same as the previous results.
– Question 3: 267.87 mm
– Question 4: Six: 5 make up the stamper mechanism, while 1 makes up the
part parcels.
– Question 5: Eight: 7 are on the stamper mechanism, while 1 keeps the
parcels moving translationally.
– Question 6: Nothing: the conveyor is simply a graphic attached to ground. It
adds nothing to the model other than for animation purposes.

A-3
APPENDIX A – ANSWER KEY (CONT.)

– Question 1: There are nine constraints (two revolute, one translational, three
inplane, one orientation, one motion, one curve_curve). Motions are
considered constraints; these will be covered in detail later in the course.
– Question 2: Yes
– Question 3: No, geometry is a direct child of a part. Part geometry is a
“grandchild” of a model.
– Question 4: Status bar
– Question 5: Our technical support staff prefers to receive .cmd files because
they are smaller in size, and platform independent. Using .bin files is
sometimes unavoidable, however.

A-4

– Question 1: 1.635 pound mass based on geometry and density
– Question 2: 100 lbf/foot*second
– Question 3: Approximately 8.6 lbf

A-5

– Question 1: 4903 mm
– Question 2: 9807 mm/sec
– Question 3: 9807 mm/sec2
– Question 4: Coordinate system markers
– Question 5: The ground part is automatically created - it must exist in every
model. It serves as a reference frame for the model.
– Question 6: No, because Adams cannot calculate a volume for two-
dimensional objects. You can, however, assign mass properties to a part
that is made up of two-dimensional geometry by changing Defined by to
User Input.

A-6

– Question 1: ~1.06 sec (can vary slightly depending on the sampling rate
chosen).
– Question 2: ~3180 mm (can vary slightly depending on the sampling rate
chosen).
– Question 3: The system constraint takes precedence.
– Question 4: You would have to constrain the stone to ground with a revolute
(pin) joint.

A-7

– Question 1: Fx = -29.86 N, Fy = 17.24 N
– Question 2: Approximately 0.61 Hz
– Question 3: Adams/View will use the one specified by the connecting joint.
This is because the initial conditions in the constraint always override the
initial conditions of a part if these two differ.
– Question 4: The marker names would be .human_hip.femur.MAR_1 and
.human_hip.hip_bone.MAR_2. Which one is I and which one is J depends
on the order in which the parts were selected when creating the constraint.
– Question 5: No, a constraint constrains two different bodies to one another.

A-8

– Question 1: Between 16.5º and 17º (Exactly 16.7º).
– Question 2: You can tell because there is an icon ( ) for the joints to which
you can add friction in an automated way.
– Question 3: I and J markers are automatically created when you add a joint,
motion, or force to a system. Adams uses the I and J markers’ relative
displacement, velocity, and so on to define equations that describe part
movement.
– Question 4: Once the joint crosses the stiction threshold velocity, it exits the
stiction phase and the maximum stiction displacement is ignored until the
joint reenters the stiction phase (comes to rest). One of these two
parameters is reached first, the other parameter is ignored until the joint
enters the stiction phase again.

A-9

– Question 1: Construction geometry is two-dimensional and solid geometry is
three-dimensional.
– Question 2:
• Position: Move-Translate .
• Location Event: Right-click away from the model when prompted for a position.
• Working grid: Settings > Working Grid > Set Location.
• Precision Move: Edit > Move (or )

A - 10

– Question 1: I and J markers. The I marker belongs to the first body you
selected when creating the joint. The J marker belongs to the second body
you selected.
– Question 2: The orientation of the I and J markers. For example, if you
added translational motion to a translational joint, the z-axis of the I and J
markers would describe the axis of translation. The z-axis direction is
positive.
– Question 3: Yes. Even though they do not restrict movement, they still
prescribe movement, therefore, removing degrees of freedom.
– Question 4: Yes. You must measure the torque generated by the motion,
not the revolute joint.

A - 11

– Question 1: The order in which you chose the bodies (parts) should be the
same as the order in which you chose the corresponding locations and
orientations.

A - 12

– Question 1: A joint motion uses a joint to determine its direction and
location. A point motion does not require a joint; it needs two bodies.

A - 13

– Question 1: No. The point-to-point measure is just a quicker and easier way
to create a function measure of the displacement of one marker with respect
to another.
– Question 2: A CAD file represents geometry in a model. Therefore, it is a
child of a part.

A - 14

– Question 1: You need to provide the two (or three) joints, and either the
scalar coefficients, displacements, or user-defined constraint equations.
– Question 2: Last_run

A - 15

– Question 1: No, in the design configuration they do not have to be aligned. If
they are not aligned, however, Adams/View warns you during a model verify
or during the assemble simulation. Also, during the assemble simulation,
Adams realigns the markers for you.

A - 16

– Question 1:
• First independent variable
• Second independent variable
• Spline name
• Derivative order
– Question 2: Adams/Solver > Function Expressions (see the online help for
reference)

A - 17

– Question 1: ~1.46 degrees (.0255 radians)
– Question 2: To remove the initial transient effects in the dynamic system
because of mismatches in the preloading of the bushings.
– Question 3: Because the model was kinematic, in this case (DOF=0), there
is no initial transient response because you have specified the motion of the
system for all points in time.

A - 18

– Question 1: Yes, it must be greater than zero (not negative and not zero).
– Question 2: Reposition the I and J markers of each single-component force
such that the trigger distance is reached sooner and the full impact is felt
earlier. Measuring the rotation of the I marker of joint l_shortarm_rev will
determine the angle.

A - 19

– Question 1: Approximately 247 N.
– Question 2: Yes, you could use a simulation script with ADAMS/Solver
commands to simulate for a while, then DEACTIVATE or ACTIVATE the
force, and simulate again.
– Question 3: Yes. For example, you could simulate the model with output
step sizes of 0.01 seconds. When that simulation is complete, don’t reset
the model. Start another simulation with a step size of 0.001. The results of
that simulation will be seamless, but you will notice a change when the step
size changes. The animation changes speeds. A common reason for doing
this is if you want the simulation to use smaller step sizes or be more
accurate before a contact.

A - 20

– Question 1: A statement describes an element in a model, such as a part or
force. A command tells Adams/Solver what to do with the model, such as
simulate it or deactivate it.
– Question 2: 7.57 N.

A - 21

– Question 1: Preload must be above 460 N to open the lid. Higher damping
values increase the amount of time needed to close the lid. Higher stiffness
values increase the resistance in closing the lid.
– Question 2: It allowed for easy manipulation of the spring parameters.
Changing the design variables changed the parameters for both springs at
the same time.

A - 22

– Question 1: A curve-on-curve constraint removes two translational DOF.
– Question 2: A curve-to-curve contact force removes no DOF.

A - 23

– Question 1: The reference marker (R marker)
– Question 2: Between 17 and 18 N/mm

A - 24

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Complete Multibody Dynamics

Analysis with Adams

ADM701, Workshop 0, March 2013

ADM701, Workshop 0, March 2013

ADM701, Workshop 1, March 2013

ADM701, Workshop 1, March 2013

ADM701, Workshop 1, March 2013

d. Click the file folder icon, and then Select

ADM701, Workshop 1, March 2013

ADM701, Workshop 1, March 2013

ADM701, Workshop 1, March 2013

To change the length of the control link:

To simulate the model:

ADM701, Workshop 1, March 2013

To manually find the correct Height:

ADM701, Workshop 1, March 2013

The design study automatically analyzes

ADM701, Workshop 1, March 2013

ADM701, Workshop 1, March 2013

During an optimization study, Adams/View

ADM701, Workshop 1, March 2013

1. Using 3 mm increments, at what control link length do you first notice

3. If you specify a maximum desired penetration of 4 mm, what is the

ADM701, Workshop 1, March 2013

5. How many joints does the model consist of ?

6. What would happen if you deleted the conveyor belt?

ADM701, Workshop 1, March 2013

ADM701, Workshop 2, March 2013

ADM701, Workshop 2, March 2013

ADM701, Workshop 2, March 2013

• Suggested Exercise Steps

ADM701, Workshop 2, March 2013

g. Click OK on the Open Existing

ADM701, Workshop 2, March 2013

To view the list of keyboard shortcuts:

ADM701, Workshop 2, March 2013

To use the zoom Box shortcut:

ADM701, Workshop 2, March 2013

To view the model from the top: a

To view the model from the right:

If you wish you may continue to try the b

As you go through these instructions Rod

To rename the parts to match the

ADM701, Workshop 2, March 2013

To inspect the model to determine

ADM701, Workshop 2, March 2013

To inspect the mode to check if the

ADM701, Workshop 2, March 2013

ADM701, Workshop 2, March 2013

To save the simulation: d

ADM701, Workshop 2, March 2013

To animate the model with icons a

g. At the bottom of the Animation g

ADM701, Workshop 2, March 2013

To save your work so that the saved

ADM701, Workshop 2, March 2013

2. Is it possible to have more than one model in a database?

3. Is geometry a direct child of a model? If not, what is geometry a child of?

ADM701, Workshop 2, March 2013

ADM701, Workshop 2, March 2013

ADM701, Workshop 3, March 2013

ADM701, Workshop 3, March 2013

ADM701, Workshop 3, March 2013