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Kinematical Analysis of Valve Mechanism Using MSC Adams/View

Article · November 2015

DOI: 10.4028/www.scientific.net/AMM.816.108

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Darina Hroncová Peter Sivák

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Applied Mechanics and Materials Submitted: 2015-04-27
ISSN: 1662-7482, Vol. 816, pp 108-117 Accepted: 2015-06-09
doi:10.4028/www.scientific.net/AMM.816.108 Online: 2015-11-30
© 2015 Trans Tech Publications, Switzerland

Kinematical analysis of valve mechanism using MSC Adams/View

Darina Hroncová1,a, Peter Sivák 1,b, Ingrid Delyová 1,c *
1
Technical University of Košice, Faculty of Mechanical Engineering, Letná 9, 042 00 Košice,
Slovak republic
b b c
darina.hroncova@tuke.sk, peter.sivak@tuke.sk, ingrid.delyova@tuke.sk

Keywords: MSC Adams/View, Mechanism, Simulation, Lagrange equations.

Abstract.
The main reason for the choice of this theme is the extension of use of valve mechanisms and the
possibility of using the new simulation program MSC Adams. The aim of this paper is to become
familiar with the problems of the valve mechanism, the dynamic analysis and computer simulation.
In this paper we described an overview of the problems compiling a mathematical model of the
mechanism of the valve timing. After creating a mathematical model was made in the simulation
program MSC Adams/View. The equation of motion of a mechanical valve mechanism was
compiled Lagrange equations second order. The actual solution procedure that is mentioned in this
paper can be applied to solve complex problems and shape of the valve mechanisms.

Introduction
The continuous improvement of automotive industry or general engineering was associated with
continuous improvements of mechanisms which generating functional units of drive motor for
instance. The cam mechanisms have been used for a long time until today and are included as an
integral part of combustion engines. They are encountered in installations where comes
transformation of rotary movement to movement of shifting in practice. The advantage of cam
mechanisms is their simplicity and high functionality. The dynamic analysis of the valve mechanism
with a circular cam is the aim of this article. This analysis is necessary when dealing with design of
a cam mechanism it to achieve the best result which means to achieve desired properties.
The aim of my article is familiarization with issue of cam mechanisms and way of solving this
problem. The main task is the dynamics analysis by using software MSC Adams [5-6]. In the first
part of the thesis I will deal with the dynamics analysis by Lagrange equations second order. By
using this method of dynamics analysis mathematical model will be assembled. Because of the
difficult solutions of the mathematical model, in the second part I will deal with the dynamics
analysis in software MSC Adams. Software like MSC Adams helps us to facilitate dynamics
analysis of different complicated mechanisms, what simplify and accelerate the results of analysis.
We design the mechanism with circular cam in computing and simulation software MSC Adams.
Proper dimensional assembly of model leads to obtaining desired results of solutions. The computer
software allows us to evaluate results in graphical form [5-6]. It determines kinematics quantities
such as displacement, velocity, acceleration and other physical quantities. Dynamics analysis is
important in terms of usability cam mechanism, because not every shape and cam features suits to
the specifics mechanism [7-8].
Model of the mathematical cam was developed by using methods of analytical dynamics. In the
second part of the dynamic analysis and sizing dimensions mechanism is solution solved by
program MSC Adams. Programs such as MSC Adams can facilitate dynamic analysis of various
complex mechanisms which simplify and velocity up the analysis results. To the desired results
solutions leads correctly preparation of dimensional model in a computer program simulation of
MSC. That program allows you to evaluate the results in graphical and numerical form. It can
determine kinematics quantities such as: distance, velocity, acceleration, and other physical
quantities. The dynamic analysis is important in terms usability of the cam mechanism, because of

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 Applied Mechanics and Materials Vol. 816 109

not every shape and the characteristics of that cam meets the specific mechanism. In conclusion of
thesis it is mentioned assessment results of the solutions dynamics analysis of the model.

Mechanisms using cam mechanisms

Continuous improvement either in the most dynamically developing automotive and general
mechanical engineering was affected by continuous improvement of the mechanisms generating
functional units such as drive motors. Cams and cam mechanisms are used since ancient times to
the present day and are an essential part of the internal combustion engine. In practice, are
frequently encountered in installations where there is a transformation of rotary movement to move
the sliding. By continuously increasing requirements for accuracy, functionality, performance etc.
need when designing cam mechanisms in detail to know their characteristics, physical properties,
kinematics and dynamic properties. At present, the automotive industry places great emphasis on
reducing fuel consumption and reduce emissions. Cam mechanisms are also indirectly contributes to
addressing these challenges. The advantage of cam mechanisms is their simplicity and high
functionality. The goal of my work is a dynamic analysis of the mechanism with a circular cam [3].
The first part of my work is devoted to the issue of solutions cam mechanisms by using the
analytical dynamics of the establishment of a mathematical model of a cam mechanism. The second
part is a dynamic analysis and sizing dimensions mechanism solved by using MSC Adams.

MSC Adams main characteristics

Adams (Automatic Dynamic Analysis of Mechanical Systems) is a calculation program for
modeling and simulation of mechanical systems with more degrees of freedom. Adams helps
engineers to study the dynamics of moving parts, how loads and forces are distributed throughout
mechanical systems. Multi body system consisting of rigid and non-rigid bodies connected with
each other through different types of kinematics linkages. The program allows static, kinematics and
dynamic analysis of the proposed models of mechanical systems and also allows to optimizing their
mathematical models. Nowadays, in which high demands to reduce product development time, and
the link between different departments in designing mechanical systems is just such a program a
considerable advantage. The importance of static, kinematics and dynamic analysis of cam
mechanism in a functional unit consisting of several mechanisms with different physical quantities
such as: track, speed and acceleration of the various mechanisms which follow each other in terms
of the functional unit are very important. Otherwise, there was a great loss, which is
disadvantageous in terms of management. It is therefore very advantageous to know the dynamic,
kinematics or other characteristics of each mechanism which is part of the functional whole. In the
present work is gradually in each chapter zoomed given issue and its solution [5-6].
In short program as MSC Adams allows us to model, analyze and optimize virtual prototype
before the actual implementation of the production of the prototype. At present, the application
program is very extensive, whether such vehicle manufacturers, boats, motorcycles, aircraft, rail
vehicles, mechatronic devices and the like. Its use is diverse in every field of engineering activities
such as: development, testing, installation and operation of the product itself using kinematics
analysis functionality, dynamic analysis of the loading process building blocks, modal analysis and
custom shapes responses to wake up in time and frequency domain, as well as parallel simulations
of mechanical and control system. Program as MSC Adams allows us to minimize the risk of errors
into the actual product development, there is no longer in its application and the testing process
possibly put into practice. By continuously increasing requirements for quality products which can
be influenced largely achieved by a multidisciplinary approach to virtual prototype, which has all
the essential features is computationally stable. Program as MSC Adams has user environment in
which it is possible to model objects with different geometry, analyze and display the results of the
virtual prototype with varying degrees of complexity [5-6]. The following chapters will be devoted
to the modeling of the valve mechanism.
110 Applied Mechanics and Mechatronics II

Kinematical analysis of valve mechanism

Mechanism is a simple machine used to transform the rotary motion to linear translational
motion and vice versa. Although cam mechanism is a simple mechanism it has a very wide use.
Kinematical analysis is shown in the valve mechanism which is shown in Fig.1. Kinematical
analysis of the model valve mechanism means to solve kinematical variables of movement of the
driven members with respect to the kinematics variables of movement of the driving member.

Fig. 1 Model of the valve mechanism

Mechanism consists of a Camshaft member 2, Follower and Push Rod member 3, Rocker Arm
member 4, Valve Spring and Valve member 5 (Fig. 1). Driving cam has a counterclockwise angular
velocity ω2 (Fig.4a). Our task is to create a model of a mechanism in MSC Adams/View and to
determine position, velocity and acceleration of valve, spring force and spring deformation
graphically.

Creation of movement equation of valve mechanism with Lagrange equation of second order
The aim was to create the equation of motion for a valve mechanism of the internal combustion
engine. The torque acts upon the shaft. The valve is subjected to the force F and restoring force in
spring of stiffness k. The preload press b of the spring is such that the mutual bind of the members
cannot be unbundled. For the cam profile stands y=y(φ). The members of the mechanism
are considered to be perfectly rigid. Passive resistance is neglected. Angular displacement ψ
of the rocker are considered small. Initial position is φ=0 a ψ=0.
Lagrange equation of the second order [7-8] were applied
d ∂Ek ∂E
( ) − k = Qj , j = 1,2,..., n (1)
d t ∂q
j ∂q j
where n –degree of freedom,
qj – generalized coordinates,
j – number of generalized coordinates is equal to the number of degrees of freedom
of the body respectively. System of bodies, that is, j = 1,2,…,n,
q
j – differentiation of generalized coordinates by the time are called generalized velocity.
Each generalized equation corresponds to one equation, namely the number equal to the number
of degrees of freedom [7-8].
 Applied Mechanics and Materials Vol. 816 111

Kinetic energy:
1 1 1 1
Ek = I 20 ϕ
2 + m3 y
2 + I 40ψ
2 + m5 z
2 , (2)
2 2 2 2
where I20 – moment of inertia of the cam to the point O2,
I40 – moment of inertia of the rocker arm to point O4,
The relationship y = y (φ) we write according to the time derivative of the form:
dy dϕ
y
= . , (3)
dt dϕ
dy
y
= ϕ
. , (4)
dϕ
y
= ϕ
. y′(ϕ ) , (5)
From geometry of the mechanism we obtain:
l1 .sinψ= y , (6)
by differenciation:
y
ϕ
. y′(ϕ )
ψ
= . (7)
l1 l1
z y
= (8)
l l1
l
z = 2 .y (9)
l1
l l
z
= 2 . y
= 2 .ϕ
. y′(ϕ ) (10)
l1 l1
Kinetic energy:
[ y′(ϕ )]2 + 1 m ϕ
2 . l2  .[ y′(ϕ )]2 =
2
1 1 1
Ek = I 20 ϕ
2 + m3ϕ
2 .[ y′(ϕ )] + I 40 ϕ
2 .
2
2 2 2 l12 2
5 l 
 1
(11)
1    l2  
2
2  I 40
= ϕ
 I 20 + [ y′(ϕ )] . m3 + 2 + m5   
2   l1  l1  
 
where:
A = I 20 (12)
 I 40  l2  
2

B = m3 + 2 + m5     (13)
 l1  l1  

∂Ek
∂ϕ

{
= ϕ
A + [ y′(ϕ )]2 . B } (14)

∂Ek 1 2
= ϕ
. B. 2. y′(ϕ ). y′′(ϕ ) = B.ϕ
2 . y′(ϕ ). y′′(ϕ ) (15)
∂ϕ 2
d  ∂Ek

d t  ∂ϕ


{ } {
 = ϕ

A + [ y′(ϕ )]2 . B + ϕ

d
A + [ y′(ϕ )]2 . B = }
 dt
= ϕ

{A + [ y′(ϕ )] . B}+ ϕ
{ B. 2. y′(ϕ ).ϕ
. y′′ (ϕ )} =
2
(16)
= ϕ

{A + [ y′(ϕ )] . B}+ ϕ
{ 2. B. y′(ϕ ). y′′ (ϕ ).ϕ
}
2

If the left side of the equation contains only partial differentiations of kinetic energy then the
right side of the equation is the generalized force of all the forces, i.e. potential and external.
δ y = δ ϕ . y′(ϕ ) (17)
112 Applied Mechanics and Mechatronics II

l2
δz= .δ ϕ. y′(ϕ ) (18)
l1
Q.δ ϕ = M 2 .δ ϕ − G3 .δ y + G5 .δ z − c( z + b ).δ z − F .δ z (19)
l l l
Q.δ ϕ = M 2 .δ ϕ − G3 .δ ϕ . y′(ϕ ) + G5 . 2 .δ ϕ y′(ϕ ) − c( z + b ). 2 . y′(ϕ )δ ϕ − F . 2 . y′(ϕ )δ ϕ (20)
l1 l1 l1
 l l l 
Q.δ ϕ = δ ϕ .  M 2 − G3 . y′(ϕ ) + G5 . 2 . y′(ϕ ) − c( z + b ). 2 . y′(ϕ ) − F . 2 . y′(ϕ )  (21)
 l1 l1 l1 
  l 
Q.δ ϕ = δ ϕ . M 2 + y′(ϕ ). − G3 + 2 . (G5 − c( z + b ) − F ) 
  l1  (22)

{A + B [y′(ϕ )] }.ϕ

+ 2 B y′(ϕ )y′′(ϕ )ϕ

2 2  l 
= M 2 + y′(ϕ ). − G3 + 2 . (G5 − c( z + b ) − F )
l1
(23)
 
The form of the established equation is:
{A + B [y′(ϕ )] }.ϕ

+ 2 B y′(ϕ )y′′(ϕ )ϕ

2 2
=
 l2  l2 
2  (24)
= M 2 + y′(ϕ ). − G3 + .(G5 − c b − F ) − c.  . y (ϕ )
 l1  l1  

Simulation of the valve mechanism using MSC Adams/View

The given valve mechanism was modeled in MSC ADAMS/View and the initial parameters were
provided [4-5]. In the initial window of the program Adams we set data folder, name of the project,
units and the working grid. We created the individual members of the mechanism. We selected the
rigid body from the Toolbox. We defined the geometry, length, width and depth. Driving member
Cam 2 (Fig. 2) has an angular velocity ω2 (Fig.4a).

a) b)
Fig. 2 Model of the valve mechanism a) basic, b) 3D
MSC Adams software users can produce virtual prototypes to simulate complex mechanical
systems and quickly analyze multiple design variations until an optimal design is achieved. MSC
Adams is one of many computer programs for modeling and simulating multi body systems [1-2]. If
the results, a certain movement or load transmission are not satisfy, the prototype can easily be
modified and then simulated again. The software checks your model and automatically formulates
and solves the equations of motion for kinematical, static, or dynamic simulations [4]. After
fabrication model in MSC Adams/View shown in Fig. 2 we could try to simulate the movement of
the valve mechanism and to determine the physical properties valve mechanism in our case. Model
in different views is shown in Fig. 3.
 Applied Mechanics and Materials Vol. 816 113

Fig. 3 Model in different views

The results of the position and velocity of valve CM in axis y in graphic form are obtained by
applying the windows of measures which are shown in Figure (Fig. 4c).

a) b) c)
Fig. 4 a) Window of the Joint Motion, b) model of mechanism, c) windows of measure
The results of the spring force, spring deformation and spring velocity in graphic form are
obtained by applying the windows of measures which are shown in Figure (Fig. 5b).
114 Applied Mechanics and Mechatronics II

a) b)
Fig. 5 a) Model of mechanism, b) windows of measure with spring force, spring deformation and
spring deformation velocity
The Postprocessor processes the results of the solution. We have chosen necessary interested
variables such as position, velocity and acceleration. The next step was to choose the correct folder
where variables are investigated. The results in graphic form are obtained by the simulation of cam
mechanism were processed by the Postprocessor program of MSC Adams/View. Angular velocity
of the cam is shown in Fig. 6.

Fig. 6 Model of the valve mechanism with graph of valve angular velocity
The Postprocessor provides complete value at certain time intervals and of course the specific
waveforms from which can be read values [3]. The position of the centre of mass (CM), velocity of
the CM and acceleration of the CM of valve dependent by the time is shown in Fig. 7.
 Applied Mechanics and Materials Vol. 816 115

Fig. 7 Model of the valve mechanism with graph of valve CM position and velocity
The last step of dynamic analysis of cam mechanism was to find out some forces which operate
in spring when is the cam mechanisms in motion. The size and the course of spring force are shown
in Fig. 8, Fig. 10 and Fig. 11 [4].
Kinematical variables spring deformation, spring deformation velocity and spring force by the
time is shown in (Fig. 8).

Fig. 8 Model of the valve mechanism with graph of spring force, spring deformation and spring
deformation velocity
Addiction of kinematical variable valve CM position in axis y by the time is shown in (Fig. 9).
116 Applied Mechanics and Mechatronics II

Fig. 9 Graph position of the valve

Graphs of the kinematical variables spring force dependence by the time is shown in (Fig. 10).

Fig. 10 Graph of the spring force

Graphs of the spring deformation using the MSC Adams program are shown in Fig. 11.

Fig. 11 Graph of the spring deformation

 Applied Mechanics and Materials Vol. 816 117

Summary

In this article it is shown a procedure for solving kinematics problem of the mechanism using
modeling in program MSC Adams View. This program allows simulate moving of such mechanical
systems. Results are obtained in form of time diagram of the desired variables. Tasks are solved
numerically. Model is compiled by using program MSC Adams View [4], [5]. The results are
obtained by the simulation of cam mechanism were processed by the postprocessor program of
MSC Adams/View. Program MSC Adams/View makes it easy to analyze complex mechanical
systems with multiple degrees of freedom. In this paper one module of the number of modules
namely MSC Adams/View was used as a tool which allows a better simulation and visualization of
the model and easier evaluation of the results obtained. With the module MSC Adams/View they
represent a tool that is able to addresses various types of mechanisms with many degrees of
freedom. Mastering this methodology provides a suitable tool for solving problems of teaching and
practice. The contribution of this work is mainly didactic. Especially in the field of Applied
Mechanics, presents the possibility of computer simulation.

Acknowledgement
This work was supported in part by the Ministry of Education of the Slovakia Foundation under
VEGA No. 1/1205/12, grant projects VEGA No. 1/0937/12 and grant projects VEGA No.
1/0393/14 and grant projects KEGA No.054 TUKE – 4/2014.

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[2] I. Delyová, P. Frankovský, D. Hroncová, Kinematic analysis of movement of a point of a
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proceedings of the 4th international conference, Herľany, Slovakia, 20. - 22. 9. 2011, TU Košice,
2011, s. 53-58, ISBN 978-80-553-0731-2.
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