1

POINT-TO-POINT OPERATION

Home

Gripper Pick

Axis 1 150

Axis 2 50

Axis 3 30

Axis 4 100

Axis 5 45

Axis 1 70

Axis 2 25

Axis 3 35

Axis 4 90

Axis 5 30

Home
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EX.NO: 1 PROGRAMMING FOR POINT-TO-POINT OPERATION

Date:

AIM

To write and execute a program for performing point to point operation using robotic arm.

PROCEDURE

1. Bring the robotic arm to its reference position.

2. Make arm to pick the tool.
3. Move the robotic arm by giving coordinates for all the five axis.
4. Execute program to perform task.

RESULT

Thus the program for performingpoint to point operation using robotic arm was written and executed

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CONTINUOUS PATH OPERATION

Home

Gripper Pick

Axis 1 75

Axis 2 30

Axis 3 30

Axis 4 100

Axis 5 45

Axis 1 120

Axis 2 70

Axis 1 75

Axis 2 30

Home

6
EX.NO: 1 A PROGRAMMING FOR CONTINUOUS PATH OPERATION

Date:

AIM

To write and execute a program for performing continuous pathoperation using robotic arm.

PROCEDURE

1. Bring the robotic arm to its reference position.

2. Make arm to pick the tool.
3. Move the robotic arm by giving coordinates for all the five axis.
4. Execute program to perform task

RESULT

Thus the program for performingcontinuous pathoperation using robotic arm was written and executed.

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PICK AND PLACE OPERATION WITH DELAY

Home

Axis 1 60

Axis 2 40

Axis 3 20

Axis 4 80

Axis 5 40

Gripper Pick

Axis 1 135

Axis 2 30

Axis 3 40

Axis 4 100

Axis 5 10

Gripper Place

Home

Delay 300

Number of Cycles= 2

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EX.NO: 2 PROGRAMMING FOR PICK AND PLACE OPERATION WITH DELAY

Date:

AIM

To write and execute a program for performing pick and place operation with delay using robotic arm.

PROCEDURE

1. Bring the robotic arm to its reference position.

2. Move the robotic arm by giving coordinates for all the five axis to pick the tool.
3. Move the robotic arm by giving coordinates for all the five axis to place the tool in desired location.
4. Make the arm to come to its home position.
5. Entertime delay and number of cycles to be performed
6. Execute program to perform task.

RESULT

Thus the program for performing pick and place operation with delay using robotic arm was written and
executed.
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PICK AND PLACE OPERATION WITHOUT DELAY

Home

Axis 1 60

Axis 2 40

Axis 3 20

Axis 4 80

Axis 5 40

Gripper Pick

Axis 1 135

Axis 2 30

Axis 3 40

Axis 4 100

Axis 5 10

Gripper Place

Home

Number of Cycles= 2

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EX.NO: 2 A PROGRAMMING FOR PICK AND PLACE OPERATION WITHOUT DELAY

Date:

AIM

To write and execute a program for performing pick and place operation without delay using robotic
arm.

PROCEDURE

1. Bring the robotic arm to its reference position.

2. Move the robotic arm by giving coordinates for all the five axis to pick the tool.
3. Move the robotic arm by giving coordinates for all the five axis to place the tool in desired location.
4. Make the arm to come to its home position.
5. Enter number of cycles to be performed
6. Execute program to perform task.

RESULT

Thus the program for performing pick and place operation without delay using robotic arm was written and
executed.

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ESTIMATION OF ACCURACY OF A ROBOT

Home

Gripper Close

Axis 1 150

Axis 2 50

Axis 3 30

Axis 4 100

Axis 5 45

Number of Cycles= 4

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EX.NO: 3 PROGRAMMING FOR ESTIMATION OF ACCURACY OF A ROBOT

Date:

AIM

To write and execute a program for estimating the accuracy using robotic arm.

PROCEDURE

1. Bring the robotic arm to its reference position.

2. Move the robotic arm by giving coordinates for all the five axis to pick the tool.
3. Move the robotic arm by giving coordinates for all the five axis to place the tool in desired location.
4. Make the arm to come to its home position.
5. Enter number of cycles to be performed
6. Execute program to perform task.

RESULT

Thus the program for estimating the accuracy using robotic arm was written and executed.

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ESTIMATION OF REPEATABILITY AND RESOLUTION OF A ROBOT

Home

Gripper Close

Axis 1 100

Axis 2 45

Axis 3 20

Axis 4 85

Axis 5 30

Number of Cycles= 4

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 EX.NO: 4 PROGRAMMING FOR ESTIMATION OF REPEATABILITY AND RESOLUTION
OF A ROBOT

Date:

AIM

To write and execute a program for estimating the repeatability and resolution using robotic arm.

PROCEDURE

1. Bring the robotic arm to its reference position.

2. Move the robotic arm by giving coordinates for all the five axis to pick the tool.
3. Move the robotic arm by giving coordinates for all the five axis to place the tool in desired location.
4. Make the arm to come to its home position.
5. Enter number of cycles to be performed
6. Execute program to perform task.

RESULT

Thus the program for estimating the repeatability and resolution using robotic armwas written and executed.

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ESTIMATION OF WORK VOLUME FOR DIFFERENT CONFIGURATION OF ROBOT.

Home

Axis 1 320

Axis 2 90

Axis 3 90

Axis 4 300

Axis 5 90

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EX.NO: 5 PROGRAMMING FOR ESTIMATION OF WORK VOLUME FOR DIFFERENT

CONFIGURATION OF ROBOT.

Date:

AIM

To write and execute a program forestimation of work volume for different configuration of Robot.

PROCEDURE

1. Bring the robotic arm to its reference position.

2. Move the robotic arm by giving coordinates for all the axis
3. Give maximum values for all the axis.
4. Make the arm to come to its home position.
5. Execute program to perform task.

RESULT

Thus the program for estimating the work volume for different configuration of robot was written and executed.

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 Link length Link length
Minimum Position Maximum Position
(mm) (mm)

Axis 1 0 467 Axis 1 320 467

Axis 2 0 229 Axis 2 90 229

Axis 3 0 210 Axis 3 90 210

Axis 4 0 140 Axis 4 300 140

Axis5 0 197 Axis5 90 197

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EX.NO: 6 PROGRAMMING FOR ESTIMATION THE MAXIMUM AND MINIMUM

POSITIONS OF LINKS

Date:

AIM

To write and execute a program forestimation of maximum and minimum positions of links using robotic arm.

PROCEDURE

1. At the minimum link level the position is zero and the link length is 467mm
2. At the maximum link level the link length value is 320mm
3. At each axis of the maximum link level both the position and the link length is changed
4. Hence the maximum and minimum position if the link is determined.

RESULT:

Thus the program for estimating the maximum and minimum position link using robotic arm was written and
executed.

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PROGRAMMING FOR LOADING AND UNLOADING OPERATIONS WITH ONE CYCLE.

Home

Gripper Pick

Axis 1 150

Axis 2 50

Axis 3 30

Axis 4 100

Axis 5 45

Axis 1 70

Axis 2 25

Axis 3 35

Axis 4 90

Axis 5 30

Home

34
EX.NO: 7 PROGRAMMING FOR LOADING AND UNLOADING OPERATIONS

WITH ONE CYCLE

Date:

AIM

To write and execute a program for performing loading operation with one cycle using robotic arm.

PROCEDURE

1. Bring the robotic arm to its reference position.

2. Make arm to pick the tool.
3. Move the robotic arm by giving coordinates for all the five axis.
4. Add No.of cycles to be performed.
5. Execute program to perform task.

RESULT

Thus the program for performing loading operation with 1 cycleusing robotic armwas written and executed

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PROGRAMMING FOR LOADING AND UNLOADING OPERATIONS

WITH 4 CYCLES.

Home

Gripper Pick

Axis 1 150

Axis 2 50

Axis 3 30

Axis 4 100

Axis 5 45

Axis 1 70

Axis 2 25

Axis 3 35

Axis 4 90

Axis 5 30
Number of Cycles= 4
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EX.NO: 7A PROGRAMMING FOR LOADING AND UNLOADING OPERATIONS

WITH FOURCYCLES

Date:

AIM

To write and execute a program for performing loading and unloading operation using robotic arm.

PROCEDURE

5. Bring the robotic arm to its reference position.

6. Make arm to pick the tool.
7. Move the robotic arm by giving coordinates for all the five axis.
8. Execute program to perform task

RESULT

Thus the program for performing loading and unloading operation using robotic arm was written and executed.

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Find the force in spring damper at static equilibrium

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EX.NO: 8 CREATE A MODEL TO FIND THE FORCE IN SPRING DAMPER AT STATIC

EQUILIBRIUM AND SIMULATE USING ADAMS SOFTWARE.

Date:

AIM

To Create a Model to Find the Force in Spring Damper at Static Equilibrium and Simulate using
ADAMS Software.

PROCEDURE:

Step 1: Create new ADAMS database.

1) Click on New model.

2) For the Model name change it to spring_mass.

3) For the Gravity choose Earth Normal (-Global Y).

4) For the Units, set it to MMKS - mm,kg,N,s,deg.

5) Then click OK.

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Step 2: Build the Rigid Body

1) From the Main Toolbox, right-click the Rigid Body tool stack, and then select the Rigid Body: Box tool.

2) Create a Rigid Body: Box by clicking on the grid. The dimension of the box is not important, so just create any type of
box.

3) Right-Click on the Box and choose Part:PART_2 : Modify. Input the Mass as 187.224.

4) After inputting the Mass, click OK.

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Step 3: Constrain the block to move only in the yg direction.

1) First right-click on the screen and choose Rotate XY then rotate the model until it is similar to the view below. It is best to check the translational joint that will
be created by rotating the model to make sure that it is fix in the yg direction.

2)Now click on Joint: Translational.

3) Choose the Rigid Body : Box, when it says "Select the first body" on the bottom of the screen.

4) Choose the Ground, when it says "Select the second body" on the bottom of the screen.

5) Choose the PART_2.cm, when it says "Select the location" on the bottom of the screen.

6) Choose the cm.X, when it says "Select the dirction vector" on the bottom of the screen.

7) To verify the expected behavior, simulate the model by clicking on the Interactive Simulation Controls.

8) Click on the Play icon to run the simulation and click on the Reset icon.

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Step 4: Move the Working Grid.

1) To ensure that the spring damper is aligned with the yg direction, move the working grid to the cm of the Box. First
click on Settings: Working Grid....

2) Change Set Location to Pick.

3) Pick on the cm of the Box.

4) Click OK. Now the working grid is in the center of the box.

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Step 5: Add the Pre-Defined Spring Damper.

1) Click on the Translational spring damper.

2) Input the K value of 5 and the C value of 0.05.

3) Choose the PART_2.cm, when it says "Select the first point" on the bottom of the screen.

4) Right-click anywhere on the ground to display the Location Event. Enter 0, 400, 0, and change Rel. to Origin to Rel. to
Grid.

5) Click Apply.

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Step 6 - Verify the Distance of the Spring Damper.

1) Click on Tools and choose Measure Distance....

2) Click on First Position and choose cm, because this is the position where one of the spring end is located.

3) Click on Second Position and choose MARKER_5, because this is the position where the other spring end is located.
Then click OK.

4) Verify the value of Y.

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Step 7 - Finding the Force in Spring Damper at Static Equilibrium.

1) Select Interactive Simulation Controls on the Main Toolbox.

2) Select the Static Equilibrium tool.

3) Select Force Graphics... under Settings on the Main Menu.

4) Put a check on Display Numeric Values on the Force Graphics Settings.

5) Click OK. Zoom out until you can see the force value. As shown the force in the spring damper at static equilibrium is
1836.04 N.

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Analytical Solution - Verify the results by calculating the analytical solution.

o The block’s mass is 187.224 kg.

o Therefore, to balance the force of gravity, the spring damper must generate:

187.224 kg * 9806.65 mm/s2 = 1836.04 N

o The results produced by Adams View is the same as the hand calculated answer.

RESULT

Thus the Force in Spring Damper at Static Equilibrium was calculated and simulated using ADAMS
Software.
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Using MD ADAMS, Find the minimum inclination that will ensure that a crate slides off an inclined plane, the
plane has dimensions of 50 in. by 8 in. by 2 in and the crate has dimensions of 12 in. by 8 in. by 4 in. and has a
mass of 100 lbs. The coefficient of static friction (μs) is 0.3 and the coefficient of dynamic friction (μd) is 0.25
and gravity is 32.2 ft/sec2.

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EX.NO: 9 CREATE A MODEL TO FIND THE MINIMUM INCLINATION THAT CRATE
SLIDES OFF ANINCLINED PLANE AND SIMULATE USING ADAMS SOFTWARE.

DATE:

AIM

To create a model to find the Minimum Inclination that Crate Slides off an Inclined Plane and Simulate using
ADAMS Software.

PROCEDURE:

Step 1 - Create a new Adams database.

1) Click on Create a new model.

2) Under Start in, browse to the folder where you want to save your model.

3) Type the name of the new Model name as inclined plane and click OK.

4)Make sure that the Gravity is set to Earth Normal (-Global Y) and the Units is set to IPS - inch, lbm, lbf, s, deg.

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Step 2 - Adjust the Working Grid.

1) From the Settings menu, select Working Grid.

2)Set Spacing to 1 in. in the x and y direction.

3) make sure that the working grid is oriented along the Global XY direction (default setting when you open
Adams/View).

The Set Orientation pull-down menu allows you to choose Global XY, YZ, XZ, or custom orientation. Click Apply and
OK.

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Step 3 - Constructing the geometries of the plane and crate.

1) To create the plane, click on the Rigid Body: Box icon.

2) Make sure On Ground is selected and enter (50 in) for the Length, (3 in) for the Width, and (8 in) for the Depth. Also
make sure that the Length, Width, and Depth are all checked. Then click on the center of the coordinate plane to create the
plane.

3) Pan so that the right end of the plane is visible. To create the crate, click on the Rigid Body: Box icon.

4) Make sure New Part is selected and enter (12 in) for the Length, (4 in) for the Width, and (8 in) for the Depth. Also
make sure that the Length, Width, and Depth are all checked. Then position the crate near the end of the ramp as shown.

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Step 4- Rename the crate and ramp geometry and assign physical properties properties to the objects.

1) Right-click on the large box (plane), point to Block: BOX_1, and then select Rename.

2) Enter Ramp, under New Name, and click Apply and OK.

3) Right-click on the smaller box (Crate), point to Block: BOX_2, and then select Rename.

4) Enter Crate, under New Name, and click Apply and OK.

5) Enter the mass of the crate by right-clicking on crate and going to Part:Crate, and then selecting Modify.

6) Set Define Mass By to User Input and in the Mass text box, enter 100 lbm. Click Apply and OK.

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Step 5 - Set the model's inclination angle.

1) On the file tree to the left, under Bodies>ground right click MARKER _1 and select modify.

2) Under Orientation, input 15.0, 0.0, 0.0 click Apply and OK.

3) Rotate the view so that the Z axis of MARKER_1 is visible (left side of plane). Under the Move tool stack, select the
Align & Rotate tool.

4) Under Angle, input 15 and press Enter. Then click on the crate to select it as the object that will be rotated.

5) Now select the Z-axis of MARKER_1 (MARKER_1.Z) as the axis of rotation. It may be easier to rotate the view
slightly to select the Z-axis.

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Step 6 - Adding the contraints on the model.

1) Click on Connectors in the toolbar and select “Create a Translational Joint” from Joints.

2) Then Select 2 Bodies- 1 Location and Pick Geometry Feature.

3) Then proceed to select the bodies to be constrained by clicking on the crate, then the ramp.

4) Then for location choose Crate.MARKER_2 and then MARKER_2.X with the vector point up the ramp.

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Step 7 - Taking measurements for the crate's acceleration along the ramp.

1) Right-click on the crate and go to Part:Crate and then Measure.

2) Under Characteristic select CM acceleration, under Component select X.

3) Under Represent coordinates in: right-click in the gray area and select Marker, then Guesses and then MARKER_1.
Alternatively, you can select Pick and then select MARKER_1 in the geometry, which is the corner point at the bottom of
the ramp. Click OK.

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Step 8 - Verify the Mechanism.

1) To verify the mechanism, simulate the model by clicking on the "Gear" icon for 1 second and 50 steps.

2) Find the value of the crate's constant acceleration and verify it by checking Without friction in the Closed-form solution
in the Analytical Solution tab below and making sure the values match.

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Step 9 - Refine the model and add friction and simulate.

1) Display the joint's modify dialog box by right-clicking on the translational joint and pointing to Joint:JOINT_1, and
then select Modify.

2) In the lower right corner of the Modify dialog box, select the Friction tool.

3) Fill in the coefficients of friction (0.3 for the coefficient of static friction and 0.25 for the coefficient of dynamic
friction) and leave the remaining friction parameters at their default values.

4) In the Input Forces to Friction section, clear the selection of Bending Moment and Torsional Moment. Click OK on
both windows.

5) Simulate the model and note if the create slides off the ramp.

6) Then right-click on the curve in the stripchart, and then select Save Curve.

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Step 10 - Refine the model again by changing the ramp's rotation angle to 20°.

1)From the Build menu, select Group and New.

2) Make a group, named rotated_objects, containing: the crate, the joint, and all of the geometry on the ramp (including
the markers but not the ground), by right clicking in the Objects In Group text box and going to All and then Browse.

3) This should bring up the Database Navigator, here select the Crate, MARKER_1, MARKER_4 and JOINT_1 (hold
CTRL to select multiple entities) and then click OK on both boxes.

4) Now you can rotate the group, by going to the Main Toolbox, and from the Move tool stack, select the Precision Move
tool .

5) In the text box to the right of Relocate the, enter the group name, rotated_objects. Then click OK on the Database
Navigator window.

6) Set the menus in the second row to About the and marker.

7) 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.

8) In the "Plus/Minus" text box, enter 5.

9) Select the Z-axis box. Note that you can select the axis box (X, Y, or Z) to rotate a group to the desired orientation.
Now, click Close.

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Step 11 - Find the inclination angles at which the crate starts to slide.

1) Simulate the model and note of the crate slides off the ramp. For an end time of 0.5 seconds, verify that the create
acceleration vs. time graph matches the adjoining figure.

2) Through trial and error, find the approximate angle at which the crate starts to slide off the ramp. Save the curve in the
graph plot and compare your results using ADAMS/PostProcessor.

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Analytical Solution - Verify the results by calculating the analytical solution.

o MD ADAMS Simulation Results:

o At θ = 15°, a = 0
o At θ = 20°, a = -41.35 in/sec2.
o Max Angle for Crate to Slip (θmax) = 16.8°. a = -19.19 in/sec2.

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RESULT

Thus the Minimum inclination of a crate slides off an Inclined plane calculated and simulated using
ADAMS Software.

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Geometry of the Lift Mechanism and then set the contraints of the model and
then simulate the model.

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EX.NO: 10 CREATE GEOMETRY OF THE LIFT MECHANISM AND THEN SET THE
CONSTRAINTS OF THE MODEL AND SIMULATE USING ADAMS SOFTWARE

DATE:

AIM

To create Geometry of the Lift Mechanism and then set the Constraints of the Model and Simulate using
ADAMS Software

PROCEDURE:

Step 1 - Create a new Adams database.

1) Click on New model.

2) Under Working Directory, browse to the folder where you want to save your model.

3) Type the name of the new Model name as lift_mech and click OK.

4) Make sure that the Gravity is set to Earth Normal (-Global Y) and the Units is set to MKS - m,kg,N,s,deg.

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Step 2 - Adjust the Working Grid.

1) From the Settings menu, select Working Grid.

2) Set the Size in the X direction to 20 m and the Size in the Y direction to 20 m and the Spacing in the x and y
direction to 0.5 m. Since the grid is in meters you will probably need to zoom out to see it.

3) Make sure that the working grid is oriented along the global XY direction (default setting when you open
Adams/View). The Set Orientation pull-down menu allows you to choose Global XY, YZ, XZ, or custom orientation.
Click Apply and OK.

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Step 3: Create the geometry of the Lift Mechanism: Create the Base.

1) Create the geometry of the lift mechanism based on the dimensions on the diagram above. For a challenge try to
recreate the Lift Mechanism yourself and only use this guide if you are stuck. We're going to start with the Base first.
Select the Rigid Body toolbox and select Box.

2) Then, under Length, enter 12 m, under Height, enter 4 m, under Depth, enter 8 m. Make sure all the Length,
Height, and Depth boxes are checked.

3) Hit Enter and then right-click on the working grid to open the LocationEvent box, here enter 0,-4,0 and make sure
Rel. To Origin is selected then click Apply.

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Step 4- Create the geometry of the Lift Mechanism: Create the Mount.

1) Select the Rigid Body toolbox and select Box.

2) Then, under Length, enter 3 m, under Height, enter 3 m, under Depth, enter 3.5 m. Make sure all the Length,
Height, and Depth boxes are checked.

3) Hit Enter and then right-click on the working grid to open the LocationEvent box, here enter 9,0,2.25 and make
sure Rel. To Origin is selected then click Apply.

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Step 5 - Create the geometry of the Lift Mechanism: Create the Shoulder.

1) Select the Rigid Body toolbox and select Cylinder.

2) Then, under Length, enter 10 m, under Radius, enter 1 m. Make sure all the Length and Radius boxes are
checked.

3) Hit Enter and then right-click on the working grid to open the LocationEvent box, here enter 0.5,1.5,4 and make
sure Rel. To Origin is selected then click Apply.

4) Now click on the center of the Mount as shown to define the other endpoint of the cylinder.

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Step 6 - Create the geometry of the Lift Mechanism: Create the Boom.

1) Select the Rigid Body toolbox and select Cylinder.

2) Then, under Length, enter 13 m, under Radius, enter 0.5 m. Make sure all the Length and Radius boxes are
checked.

3) Hit Enter and then right-click on the working grid to open the LocationEvent box, here enter -4.5,1.5,4 and make
sure Rel. To Origin is selected then click Apply.

4) Now click on the center of either the Shoulder or the Mount as shown to define the other endpoint of the cylinder.

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Step 7 - Create the geometry of the Lift Mechanism: Create the Bucket.

1) Select the Rigid Body toolbox and select Box.

2) Then, under Length, enter 4.5 m, under Height, enter 3 m, under Depth, enter 4 m. Make sure all the Length,
Height, and Depth boxes are checked.

3) Hit Enter and then right-click on the working grid to open the LocationEvent box, here enter -6.75,1.5,2 and make
sure Rel. To Origin is selected then click Apply.

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Step 8 - Apply Fillets on the Mount using the Fillet Tool.

1) From the Rigid Body toolbox select the Fillet tool.

2) Under Radius, enter 1.5 m, and then check the box for End Radius and enter 1.5 m.

3) Then select the edges of the Mount as shown and then right-click on it to create the fillets. You may want to rotate
the view to make this task easier.

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Step 9 - Modify the Bucket using the Chamfer and Hollow tools.

1) From the Rigid Body toolbox select the Chamfer tool.

2) Under Width, enter 1.5 m.

3) Then select the edges of the Bucket as shown and then right-click on it to chamfer it. You may want to rotate the
view to make this task easier.

4) Now under the Rigid Body toolbox, select the Hollow tool.

5) Under Thickness, enter 0.25 m and make sure Inside is checked.

6) Then select the top face of the bucket and then right-click to hollow it out. You may want to rotate the view to
make this task easier.

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Final Model - Compare your model with ours.

o Your final model should look something like this (Colors may vary

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Step 10 - Constrain the Base to the Ground.

1) From the Joint toolbox, select Fixed.

2) Under Construction, make sure 2 Bod-1 Loc, Normal to Grid are selected.

3) Then select the Base as the First Body and the Ground as the Second Body, and then select the Midpoint of the
Base as the Location. A Lock icon should appear indicating that you have done this process successful. It may be
easier to change the view to Wireframe to complete this process.

4) Note: Because of the scale of the model you will need to zoom in to see the Lock icon, if you wish to make the
scale of the Lock Icon larger, right-click on Joint:JOINT_1 and then go to Appearance and then increase the Icon
Scale to 15 and click OK.

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Step 11 - Constrain the Mount to the Base.

1) From the Joint toolbox, select Revolute.

2) Under Construction, make sure 2 Bod-1 Loc, Pick Feature are selected.

3) Then select the Mount as the First Body and the Base as the Second Body, and then select the Midpoint of the
Mount as the Location. Then select the Global Y-Direction as the axis of rotation. A Hinge icon should appear
indicating that you have done this process successful.

4) Note: Because of the scale of the model you will need to zoom in to see the Hinge icon, if you wish to make the
scale of the Hinge Icon larger, right-click on Joint:JOINT_2 and then go to Appearance and then increase the Icon
Scale to 15 and click OK.

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Step 12- Constrain the Shoulder to the Mount.

1) From the Joint toolbox, select Revolute.

2) Under Construction, make sure 2 Bod-1 Loc, Normal To Grid are selected.

3) Then select the Shoulder as the First Body and the Mount as the Second Body, and then select the Anchor
Marker of the Shoulder as the Location. A Hinge icon should appear indicating that you have done this process
successful.

4) Note: Because of the scale of the model you will need to zoom in to see the Hinge icon, if you wish to make the
scale of the Hinge Icon larger, right-click on Joint:JOINT_3 and then go to Appearance and then increase the Icon
Scale to 15 and click OK.

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Step 13 - Constrain the Boom to the Shoulder.

1) From the Joint toolbox, select Translational.

2) Under Construction, make sure 2 Bod-1 Loc, Pick Feature are selected.

3) Then select the Boom as the First Body and the Shoulder as the Second Body, and then select the Midpoint of
the Boom as the Location. Then select the Global X-Direction as the axis of rotation. A "Translational" icon should
appear indicating that you have done this process successful.

4) Note: Because of the scale of the model you will need to zoom in to see the Hinge icon, if you wish to make the
scale of the "Translational" Icon larger, right-click on Joint:JOINT_4 and then go to Appearance and then increase
the Icon Scale to 15 and click OK.

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Step 14 - Constraint the Bucket to the Boom.

1) From the Joint toolbox, select Revolute.

2) Under Construction, make sure 2 Bod-1 Loc, Normal To Grid are selected.

3) Then select the Bucket as the First Body and the Boom as the Second Body, and then select the Midpoint of the
Boom as the Location. A Hinge icon should appear indicating that you have done this process successful.

4) Note: Because of the scale of the model you will need to zoom in to see the Hinge icon, if you wish to make the
scale of the "Translational" Icon larger, right-click on Joint:JOINT_5 and then go to Appearance and then increase
the Icon Scale to 15 and click OK.

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Step 15 - Verify your Model.

1) Check model topology by constraints by going to the Status bar and then right-clicking on the Information tool
stack. Then select the Model Topology by constraints tool and check to see if everything is constrainted properly.

2) Perform a simulation to visually see if everything is constrainted correctly.

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Step 16 - Add Joint Motions.

1) First, add a motion to the Mount-to-Base joint by going to the Motion Driver tool stack and then select Rotational
Joint Motion.

2) Under Speed, enter 360d*time.

3) Then select the Mount-to-Base revolulte joint (JOINT_2) to apply.

4) Now add a motion to the Shoulder-to-Mount joint by entering -STEP(time,0,0,0.10,30d) in the Speed Box.

5) Then select the Shoulder-to-Mount revolute joint (JOINT_3) to apply.

6) Now we will add a motion for the Boom-to-Shoulder joint. Under the Motion Driver tool stack, select Translational
Joint Motion.

7) Enter -STEP(time,0.8,0,1,5) for the Speed.

8) Then select the Boom-to-Shoulder translational joint (JOINT_4) to apply.

9) Lastly, we will add a motion to the Bucket-to-Boom joint. Once again under the Motion Driver tool stack, select
Rotational Joint Motion.

10) Under Speed enter 45d*(1-cos(360d*time)).

11) Then select the Bucket-to-Boom revolute joint (JOINT_5) to apply.

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Step 17 - Verify the Joint Motions.

1) Check to see if the functions were properly entered for each joint by going to Modify and then Impose Motion and
checking the Function. Also right near the joint and check the motion by going to right-clicking on the Motion then
Modify and checking the Function(time). If the function box does not have the correct function enter it and click OK.

For example, for the Mount-to-Base joint you can right-click on Joint:JOINT_2 and then click on Modify

2) Then, click on Impose Motion.

3) Then make sure that the Function textbox contains 360d*time, then click OK.

4) Now right-click on Motion: MOTION_1 and click on Modify.

5) Make sure that the Function(time) textbox contains 360d*time, and click OK.

6) Repeat for all joints and motions.

7) Once you have done that, check the model topology by constraints by going to the Status bar and then right-
clicking on the Information tool stack. Then select the Model Topology by constraints tool and verify if the joint
motions have been applied properly.

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Step 18 - Simulate The Model.

1) Simulate the model for 5 seconds and 500 steps and observe the results.

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RESULT

Thus the Geometry of the Lift Mechanism with Constraints of the Model are done and simulated using
ADAMS Software.

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Using MD ADAMS, Find the initial force supported by the pin at A for a bar that
swings in a vertical plane, given the initial angular displacement and initial
angular velocity. Also, find the pendulum frequency.

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EX.NO: 11 CREATE A MODEL TO FIND THE FORCE AND FREQUENCY FOR A SINGLE
DEGREE OF FREEDOM PENDULUM AND SIMULATE USING ADAMS SOFTWARE

DATE:

AIM

To create a Model to Find the Force and Frequency for a Single Degree of Freedom Pendulum and Simulate
using ADAMS Software.

PROCEDURE:

Step 1 - Create a new Adams database.

1) Click on Create a new model.

2) Under Start in, browse to the folder where you want to save your model.

3) Type the name of the new Model name as pendulum and click OK.

4) Make sure that the Gravity is set to Earth Normal (-Global Y) and the Units is set to MMKS - mm,kg,N,s,deg.

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Step 2 - Construct the Pendulum Link.
1) From the ribbon Bodies select the RigidBody: Link icon.

2) Then select New Part and under Length, enter 450 mm, under Width, enter 20 mm, and under Depth, enter 27.5
mm. Make sure the Length, Width, and Depth boxes are checked.

3) Click on the origin on the working grid to place the pendulum at 0,0,0.

4) Right-click anywhere on the working grid and a small window will appear in the bottom left corner of the window,
this is called the Location Event window. In the Location Event window, enter 450,0,0 as the other endpoint and
click Apply.

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Step 3 - Construct the sphere part of the Pendulum.
1) From the ribbon Bodies select the RigidBody: Sphere icon.

2) Make sure Add To Part is selected and enter 25 mm for the Radius.

3) Then select PART_2, the link, as the part you are going to add the sphere to.

4) Then, in the Location Event window enter 450,0,0 as the center of the sphere and click Apply .

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Step 4 - Rename the Pendulum.
1) Right-click on the link and point to Part:PART_2 and then select Rename.

2) In the New Name text box, enter .pendulum.pendulum, and then click OK.

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Step 5 - Assign Physical Properties to the Pendulum.
1) Right-click on the stone and go to Part: pendulum and then select Modify.

2) Set Define Mass by to User Input and in the Mass text box, enter 2.0. In the Inertia text boxes (Ix, Iyy, Izz), enter
0.

3) Then, right-click the Center of Mass Marker text box, and go to pendulum.pendulum.cm and then go to Modify.

4) In the Location box, enter 450,0,0, then click OK and OK. If you get a warning message about the change in
position of your center of mass marker, simply ignore it and click Close.

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Step 6 - Build the Pivot.
1) From the ribbon Connectors select Create a Revolute Joint.

2) In the container, select 2 Bod-1 Loc and Normal to Grid.

3) Select the pendulum as the first body.

4) The ground as the second body.

5) Then select 0,0,0 as the location in the Location Event Window and click Apply.

6) Right-click on the joint and go to Joint:JOINT_1 and then select Rename.

7) In the New Name text box, enter .pendulum.pivot, and then click Apply and OK.

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Step 7 - Create Measures for the Pendulum.
1) Right-click on the pivot joint, and go to Joint:pivot, and then select Measure.

2) In the box, where it says Measure Name, enter pivot_force_x. Set Characteristic to Force, and select X as the
Component. Make sure .pendulum.MARKER_5 and Create Strip Chart are selected, and click Apply and Cancel.

3) Again in the box, where it says Measure Name, enter pivot_force_y. Set Characteristic to Force, and select Y as
the Component. Make sure .pendulum.MARKER_5 and Create Strip Chart are selected, and click Apply and
Cancel.

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Step 8 - Create a Reference Marker.
1) From the ribbon Bodies select Construction Geometry: Marker.

2) Make sure Add to Ground and Global XY are selected, and using the mouse or Location Event select 450,0,0 as
the marker location.

3) With the marker selected, go to Edit and select Rename.

4) In the New Name text box, enter .pendulum.ground.angle_ref, and then click Apply and OK.

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Step 9 - Create an Angle Measure.
1) From the Design Exploration menu, go to Measure and then go to Angle and select New.

2) In the Measure Name text box, enter pend_angle.

3) Then, right-click the First Marker text box, and go to Marker, and then go to Pick.

4) Go to the working grid, and pick a marker that is on the pendulum, which is also located at its end, for example,
select the cm marker.

5) Right-click the Middle Marker text box, go to Marker, and then go to Pick.

6) Then, pick a marker that is at the location of the pivot.

7) Right-click the Last Marker text box, go to Marker, and then go to Pick.

8) Pick the marker that is on the ground and at the end of the pendulum, the marker that you just created in the
previous step, .pendulum.ground.angle_ref. Then click Apply and Cancel.

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Step 10 - Add the Initial Conditions to the Pendulum Model.
1) Right-click on the pivot joint, and go to Joint:pivot, and then go to Modify.

2) Go to Initial Conditions and in the Joint Initial Conditions dialog box, select Rot. Displ and enter -30 in the text
box. Select Rot.Velo and enter -300 in the text box. Then click OK and OK.

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Step 11 - Verify the Model and Simulate.
1) From the Status bar right-click the Information tool stack and click on the Verify tool. Close the window once your
model has been verified.

2) Simulate your model for 2 seconds with 100 steps using the Simulation tool.

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Step 12 - Using ADAMS/PostProcessor, Determine the Global Components and the Frequency of the
Pendulum.
1) Right-click the blank area inside the pend_angle graph, and go to Plot: scht1 and then go to Transfer to Full Plot.

2) You should now be in the ADAMS/PostProcessor. Now, select the Plot Tracking tool.

3) To determine the Global Components, move the cursor over the plot to where t=0 and make note of the value of
Y.

4) In the dashboard, go to Clear Plot.

5) Set the source to Measures, and from the Measure list, select pivot_force_x and select Surf.

6) Move the cursor over the plot where t=0, and make note of the value of Y.

7) From the Measure list, select pivot_force_y.

8) Move the cursor over the plot where t=0, and make note of the value of Y.

9) To determine the frequency, from the Measure list, select pend_angle.

10) Estimate the period of the curve, then find the reciprocal of the period to determine the frequency.

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RESULT

Thus the Force and Frequency for a Single Degree of Freedom Pendulum was calculated and simulated
using ADAMS Software.

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Using MD ADAMS, 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.

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EX.NO: 12 CREATE A MODEL TO FIND THE FORCE AND FREQUENCY FOR A
PROJECTILE MOTION AND SIMULATE USING ADAMS SOFTWARE

DATE:

AIM

To Create a Model to Find the Force and Frequency for a Projectile Motion and Simulate using ADAMS
Software.

PROCEDURE:

Step 1 - Create a new Adams database.

1) Click on Create a new model.

2) Under Start in, browse to the folder where you want to save your model.

3) Type the name of the new Model name as projectile_motion and click OK.

4) Make sure that the Gravity is set to Earth Normal (-Global Y) and the Units is set to MMKS - mm,kg,N,s,deg.

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Step 2 - Adjust the Working Grid.
1) From the Settings menu, select Working Grid.

2) Set the Size in the X direction to 4000 mm and the Size in the Y direction to 3000 mm and the Spacing in the x
and y direction to 50 mm.

3) Make sure that the working grid is oriented along the global XY direction (default setting when you open
Adams/View). The Set Orientation pull-down menu allows you to choose Global XY, YZ, XZ, or custom orientation.
Click Apply and OK.

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Step 3 - Constructing the geometries of the plane and the stone.
1) To create the plane, right-click on the Rigid Body icon and select Rigid Body: Box.

2) Make sure On Ground is selected and enter (3500 mm) for the Length, (100 mm) for the Height, and (100 mm)
for the Depth. Also make sure that the Length, Width, and Depth are all checked.

3) Then, right-click on the working grid and then enter in the coordinates for the corner of the plane: 0,-150,0 and
then click Apply.

4) To create the spherical stone, right-click on the Rigid Body icon and select Rigid Body: Sphere.

5) Make sure New Part is selected and enter (50 mm) for the Radius. Also make sure that Radius is checked. Then
on the working grid select the origin (0,0,0) as the center of the sphere.

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Step 4 - Rename the stone and plane geometry and assign physical properties properties to the objects.
1) Right-click on the box (plane), point to Block: BOX_1, and then select Rename.

2) Enter Plane, under New Name, and click Apply and OK.

3) Right-click on the sphere (stone), point to Part:PART_2, and then select Rename.

4) Enter Stone, under New Name, and click Apply and OK.

5) Enter the mass of the stone by right-clicking on sphere and going to Part:Stone, and then selecting Modify.

6) Set Define Mass By to User Input and in the Mass text box, enter 1.0 kg. Click Apply and OK.

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Step 5 - Set Initial Conditions.
1) Right-click on the stone and go to Part:Stone and then select Modify.

2) Under Category select Velocity Initial Conditions.

3) Check X Axis and then enter (6*cos(60d)(m/sec)), and then check Y Axis and enter (6*sin(60d)(m/sec)). Click
Apply and OK.

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Step 6 - Create Measures for the Projectile Motion.
1) Right-click on the stone and select Part:Stone and then select Measure.

2) In the Measure Name text box, enter R_displacement. Set Characteristic to CM Position and Component to X.

3) Make sure Create Strip Chart is checked and select OK.

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Step 7 - Simulate the model.
1) From the Main Toolbox, select the Simulation tool.

2) In the End Time text box, enter 1.5 and in the Step Size text box enter 0.02. Then click on the Play button.

3) After the end of the simulation, click on the Reset tool.

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Step 8 - Use Animation Tools to determine the time at which the stone makes contact with the plane.
1) From the Main Toolbox, select the Animation tool.

2) Select the Play tool and click on Stop when the stone makes contact with the plane. Use the Step Forward and
Step Backward tools, if needed, to facilitate this step. Make note of the time at which the stone makes contact with
the plane on the graph.

3) Click on the ellipses above the Icons button and then change No Trace to Trace Marker.

4) In the box, below Trace Marker, right-click and go to Marker and select Browse.

5) In the Database Navigator, under Stone, select cm and then click OK.

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Step 9 - Using ADAMS/Post Processor, determine the range, R.
1) To find the Stone's Displacement after 1 second, first right-click the blank area inside the stripchart, then choose
Plot:scht1 then click on Transfer To Full Plot.

2) In Adams/Postprocessor, from the main toolbar, select the Plot Tracking tool.

3) Because you want to know the final conditions after 1 second, move the cursor over the end point of the plot. In
the area below the menu bar, the value of X is displayed as 1. Note the value of Y is -4903.

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RESULT

Thus the Force and Frequency for a Projectile Motion was calculated and simulated using ADAMS
Software.

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