ADAMS training Day 1

Outline
What is ADAMS ?
Topics
Open ADAMS

Example : Two Links Model

Homework / Bonus
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What is ADAMS ?
ADAMS Automatic Dynamic Analysis of Mechanical Syste

m
Mechanical Dynamics Inc.

In Robotics Lab
We willuse ADAMSlinkSolidWork and Matlabto dosimulat

ion.

Topics
Topic 1:
We will briefly introduce the use of ADAMS interface.
Topic 2:
How to use ADAMS link Matlab Simulink.
Topic 3:
How to link the CAD files to ADAMS.

Open ADAMS

Open ADAMS
ADAMS/view

Open ADAMS
ADAMS/view

(.bin)

(.cmd)

( )

OK
ps:

Archive again
ADAMS (.bin) (.cmd)
(.bin)

(.cmd)

(.bin)

Save Database

Open Database

(.cmd)

Export

Import a file

ADAMS/view Operating environment

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PART

PART

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/
position

joint

connector

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Joint
(revolution
joint) (translation joint) joint
ADAMS help
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(Torque) single force

measure
step step
step
( sine step
)
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1.
ADAMS

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2.

( )
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3. PART (Crtl+E/Edit->Modify)

PART Marker( )
PART Modify Linker Marker
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4.

Data Navigator

tools->data navigator

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5.

ocessor

postpr

Measure
Marker
Objects

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Common hot keys

Crtl+E: variable/object modification
Crtl+X: variable/object deletion
R+mouse L/M: scene rotation
Z+mouse L/M: zone in/out
T+mouse L/M: scene translation
E: rotation to Marker X-Y coordinate

Mouse right click: variable/object selection

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Note
Do not using Ctrl+Z
Do not using delete all when delete a obj

ect
Save step by step
Build backup files when modifying
Naming your variables/objects meaningfu
lly (shortly)
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Example : Two Links Model

Step 1 :

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Step 2 : ( )

Revolute Joint
ground PA
RT
revolution joint(PART&ground)

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 (PART&PART)

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Step 3 : ( )
Torque

Ground 1 space fixed body fixed

1 2 two Bodies

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 modify torque

Function ( !! )
( : N-m settings->units

length meter )

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Step 4 :
sensor
JOINT_1 Measure :

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 Ax/Ay/Az Projected Rotation

Z
Angle1

Angle2

Step 5 :
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Try yourself!

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Homework
ADAMS

e.g.

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Bonus
Inverted pendulum( )
Input : Force
r
Output: x ,

Hint: Marker!
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