MN HC:

CC PHN MM PHN TCH KT CU

V NG LC HC MY

Phn I: Phn mm phn tch kt cu.

Phn 2: Phn mm phn tch ng hc

v ng lc hc.
 CC PHNG PHP THIT K
Thit k theo l thuyt.
Thit k theo kinh nghim.
Thit k theo m hnh th nghim.
Thit k li

Mi phng php thit k u c nhng u vit v phm

vi ng dng ring. Sau khi xy dng c phng
php, vic rt ngn hay t ng ho cc qu trnh thit k
l yu cu bc thit trong thi i cng ngh thng tin ngy
nay. Chnh v vy, hng lot cc phn mm h tr thit k
c ra i trn th gii.
 CC PHN MM NG DNG
TRONG C KH
Phn mm tnh ton: SAP,DDM, MSC Software modules
Phn mm thit k: Solid Edge, Solid Work, Inventor
Kt hp tnh ton + thit k: CATIA, Pro E, Ansys
Vic ng dng cc phn mm trin khai thit k c th
cn linh hot v chnh xc. Sn phm ca cc phn mm
thit k thng l:
Bn v, bn v k thut.
M hnh chi tit.
M hnh c cu, m hnh my.

T cc sn phm ca phn mm thit k c th tin hnh

kim tra(chy th) nh gi v iu chnh thit k hp l.
 NI DUNG V YU CU MN HC
Cn c vo nhim v mn hc v nhng kh nng hin
c, ni dung v yu cu phn 2 ca mn hc bao gm:
S dng cc thit k trn Autodesk Inventor.
Nghin cu phn mm tnh ton, m phng Dynamic
Designer Motion/Pro Phin bn 2003, ci t trn
Autodesk Inventor.
Hon thnh thit k mn hc.
 GII THIU PHN MM DDM Pro.
Dynamic Designer Motion (DDM) l mt phn mm m
phng ng hc v ng lc hc ca c cu my, c
dng trong mt s h thng CAD. C cu my y
c xy dng trn mi trng thc ti o. Vi cng c
ny, ngi k s khng ch dng khu thit k, m h
c th thc hin song song hai khu thit k v kim tra.
Khi khng cn phi i sn xut v th nghim
cng nhn kt qu thit k, m thay vo c th ngay
lp tc xy dng mt m hnh v kim tra n lm vic trn
mn hnh, sau tin hnh ti u vic thit k trn my
tnh trc khi a ra bn v ch to. Thit k sau khi
hon chnh c th khng nh chc chn n s lm vic
tt. Hn na khi s dng DDM c th d dng to cc file
minh ho xem trn bt k my tnh c nhn no.
U IM:
Th nht, n c dng trn mt s mi trng CAD rt
thng dng nh Mechanical Desktop, SolidEdge,
Solidwork, Autodesk Inventor
Th hai, DDM kh linh hot, d nm bt v cng rt d
dng ci t.
Th ba, tnh chnh xc khoa hc v li ch ca phn mm
c cng nhn v c s dng rng ri trn th gii.
NHC IM:
Khi ci t bt buc phi ci t trc mt mi trng
CAD m n c a vo.
Kt qu phn tch phn t hu hn ch xut ra di dng
Text nn phi s dng mt phn mm khc x l tip
I. CC BC TRIN KHAI TRN DDM
B1: Xy dng m hnh.
B2: Tnh ton m phng chuyn ng.
B3: Kim tra kt qu.
Xy dng m hnh chuyn ng: M hnh chuyn ng l
mt c cu lp rp t cc khu ring bit, c lin kt vi
nhau bng cc khp, cho bit cc khu chuyn ng vi
nhau nh th no.
M phng chuyn ng ca m hnh: Trong bc ny, m
hnh chuyn ng c phn tch sang mt lot cc phng
trnh ton hc, c gii quyt bi Dynamic Designer
Motion Solver.
Kim tra kt qu: Cc kt qu m phng c th c th
hin hay m t bng hot cnh trc quan cc c tnh
chuyn ng ca c cu...
M hnh
Part Geometry Mass Properties Joints Forces Motion
Hnh hc chi tit Thuc tnh k.lng Khp lin kt Ti trng tc Generators
dng Dn ng

Bc 1
Build the motion model
- Hnh hc chi tit (Part geometry): a ra i tng m phng.
- Thuc tnh khi lng (Mass properties): Ch ra khi lng, trng
tm v m men qun tnh ca mi chi tit trong c cu m phng.
- Khp lin kt (Joints): ghp ni gia cc chi tit, cho bit cc chi
tit s chuyn ng vi nhau nh th no?
- Ti trng tc dng (Force): m t s tc ng ca ngoi lc n
chuyn ng ca c cu DDM.
- Ngun dn ng (Motion generator): L mt cch thc truyn
nng lng ti c cu.
II. CHC NNG XY DNG M HNH
1. Giao din ngi dng
2. Trnh duyt IntelliMotion (IntelliMotion Browser)
L cng c rt hu dng khi pht
trin mt m hnh o trn Dynamic
Designer. Trnh duyt IntelliMotion
Browser hon ton thch ng vi giao
din ca Inventor, n cng cung cp
y cc tnh nng ca Windows
nh cng ngh ko - nh* (drag and
drop), nhn chut phi, la chn
bng chut, la chn nhiu i tng
mt lc....
Cu trc cy ca trnh duyt
IntelliMotion Browser c chia nh
ra gm:
- Parts (chi tit)
- Constraints (rng buc)
- Forces (ti trng)
- Results (kt qu)
3. Trnh n Motion
Trnh n Motion c cc chc
nng tng t nh trnh duyt
IntelliMotion Browser, nhng n
c b tr trong thanh trnh n
ko xung ca Inventor. Trnh n
ny khng thun tin bng trnh
duyt IntelliMotion Browser, nhng
vn rt d s dng.
Trnh n Motion cung cp cc
phm lnh truy xut vo tt c cc
tnh nng trong DDM khi to,
quan st kt qu v xut d liu.
Cc tu chn m ta c th chn
truy xut ti cc trnh n con cn
di chuyn thanh sng ti cc trnh
n tu chn Joints, Forces,
Contacts, Animate hoc Export
Results
4. Trnh duyt IntelliMotion Builder
 Trnh duyt IntelliMotion Builder l mt xut pht im rt quan trng
cho ngi mi s dng thit t m hnh chuyn ng. Trnh duyt
IntelliMotion Builder l mt hp thoi bao gm nhiu thanh Tab l cc
bc xy dng m hnh chuyn ng. Kh nng trin khai ca cc
thit lp thng qua hp thoi ny c th khc nhau trong cc phin
bn Dynamic Designer khc nhau, nhng cc chc nng c bn l
hon ton thch ng trong cc phin bn (Simply Motion, Motion,
Professional Motion).
Thit lp th nguyn.
Thit lp h trc to .
nh ngha khu dn v khu gi.
nh ngha cc rng buc.
Gn chuyn ng cho khu dn.
Thit lp cc thng s v chy m phng.
Kim tra v x l kt qu.
Tt c u c thc hin trn cng mt hp thoi vi cc Tab khc
nhau.
 Trnh duyt IntelliMotion Builder ch dn ngi mi s dng trin
khai c cu nh th no t bn v lp v quan st cc kt qu c
bn. Cc thanh Tab sp xp trin khai mt cch tun t. Thanh
Tab ca tin trnh iu chnh d liu ch c th truy xut khi kt qu
ca s m phng cha kch hot. Ngc li, nu kt qu m phng
kch hot th thanh Tab ca tin trnh iu chnh l khng th truy
xut.
5. Mt s thut ng trn trnh duyt IntelliMotion Builder
lm vic hiu qu vi phn mm ny, cn nm vng mt s thut
ng trn trnh duyt cu trc cy IntelliMotion Browser. Mi nhnh
ca cu trc c th gi l mt nt, trn trnh duyt bao gm 4 loi nt
sau:
- Nt gc
- Nt chnh
- Nt ph
- Nt i tng
a. Nt gc:
b. Nt chnh: 04 nt

c. Nt ph
d. Nt i tng
Cc nt ny m t cc i tng c nh ngha trong c s d
liu ca Dynamic Designer Motion. Cc nt i tng c sp xp
trong cc nt chnh hoc cc nt ph. Cc loi nt i tng c lit
k di bng sau:
a. Nt gc:
b. Nt chnh: 04 nt

c. Nt ph
d. Nt i tng
Cc nt ny m t cc i tng c nh ngha trong c s d
liu ca Dynamic Designer Motion. Cc nt i tng c sp xp
trong cc nt chnh hoc cc nt ph. Cc loi nt i tng c lit
k di bng sau:
C 3 dng rng buc c bn sau:
Khp (Joints): dng rng buc quan h chuyn
ng ca mt cp khu no bng lin kt vt l hoc
thng qua nh ngha tip xc gia chng ra sao.
Chuyn ng (Motions): dng nh ngha chuyn
ng ca khp hoc khu no .
Ti trng (Forces): dng nh ngha ti trng v qui
nh trn cc khu.
 Khp (Joints)
C hai loi khp c bn trong Dynamic Designer Motion:
Khp rng buc quan h chuyn ng gia hai khu bng lin
kt vt l gia chng.
Khp c s dng p t cc rng buc hnh hc chun.
D khp hay khp c s u c th thit lp bng tay cho m hnh
chuyn ng s dng cc lnh c m t nh di dy.

Ch : Mi lin h gia Inventor v Dynamic Designer/Motion l

quan h mt chiu. Tc l bt k thay i no v rng buc hay ti
trng tc dng trong Dynamic Designer cng s khng lm thay i
hnh hc v rng buc trn Inventor.

Bng di y cho bit cc loi khp c cung cp bi Dynamic

Designer vi s bc t do tnh tin v bc t do quay m n hn ch.
Khp vt khng c lit k trong bng v n l kt hp hai khp vi
nhau.
Lnh to khp lin kt:
ngha:
Dng rng buc quan h chuyn ng ca mt cp khu no
bng lin kt vt l.
Dng lnh: (4 cch)
T trnh n Motion, chn Joint, chn loi khp mun to.
T trnh duyt Browser, chn nhnh Constraints, chn Add
Constraint, chn loi khp mun to.
Trn trnh duyt Browser, chn nhnh Constraints, nhn
chut phi ln nhnh Joints v chn loi khp mun to.
Trn trnh duyt Browser, chn nhnh Parts, nhn chn mt
hoc hai khu, nhn chut phi ln v chn Add Constraint,
ri chn loi khp mun to.
 Cc loi khp c th to bao gm:
Khp quay (khp bn l): Revolute Joint.
Khp tr: Cylindrical Joint.
Khp cu: Spherical Joint.
Khp trt: Translational Joint.
Khp cc-ng: Universal Joint.
Khp phng: Planar Joint.
Khp cng (khp c nh): Fixed Joint.
Khp Vtme: Screw Joint.
Khp c s Parrallel Axis: Parrallel Axis JPrim.
Khp c s InLine: InLine JPrim.
Khp c s InPlane: InPlane JPrim.
Khp c s Orientation: Orientation JPrim.
Khp c s Perpendicular: Perpendicular JPrim.
 To khp lin kt theo bt k dng lnh no trn u xut hin mt
bng hi thoi vi cc trang hi thoi nh sau nh ngha khp. V
ni chung cc trang hi thoi ca mi loi khp l ging nhau, s khc
bit trong mt s loi khp c bit s c xt c th khi ta i nh
ngha khp phn sau.
Trang hi thoi Definition: ch nh cc thnh phn ca khp.
Joint Type: Loi khp.
Select 1st Component: Chn khu thnh phn th nht ca khp.
Select 2sd Component: Chn khu thnh phn th hai ca khp.
Select Location: Chn gc ca khp.
Select Direction: Chn hng ca khp
Trang hi thoi Motion: nh ngha chuyn ng.
Motion On: Bc t do trn khu c chn lm chuyn ng dn.
Motion Type: Dng chuyn ng (S c gii thch r trong chng
Chuyn ng).
Initial Displacement: Chuyn v khi to.
Initial Velocity: Vn tc khi to.
Trang hi thoi Friction: Cho php nh ngha ch ma st.
Use Friction: Bt/tt ch ma st.
Friction Parameters: Cc tham s ma st.
Use Materials: Bt/tt ch s dng ma st theo vt liu ca khu.
Material 1: Vt liu ca khu 1.
Material 2: Vt liu ca khu 2.
Coefficient (mu): h s ma st.
Joint Dimensions: Kch thc hnh hc nh ma st ca khp.
Radius: Bn knh cht.
Length: Chiu di ca cht tip xc.
Trang hi thoi FEA: La chn mt s tnh ton v phn t hu hn cho
khu thnh phn ca khp (Finite Element Analysis).
Select load-bearing Faces/Edges on 1st Component:
Select load-bearing Faces/Edges on 2sd Component:
Trang hi thoi Properties: iu chnh cc thuc tnh ca khp.
Name: Tn ca khp.
Color: Mu ca khp th hin trn m hnh.
Scale: T l hin th ca khp so vi kch thc thc t.
Suppressed: Bt/tt v hiu ho khp trong c tnh ton m phng.
Hiden: n/hin khp trn m hnh.
1. Lnh to khp quay (Revolute)
ngha:
Khp quay cho php khu ny
chuyn ng quay quanh mt trc no
ca khu cn li. Gc ca khp
quay c th nh ti bt k v tr no trn
trc quay. Hng ca khp quay c
nh ngha theo phng ca trc quay.
Dng lnh:
Theo mt trong s cc dng lnh
mc Lnh to khp lin kt trn, chn
loi khp l Revolute Joint. Cc nh
ngha khc ca loi khp ny hon
ton tng t nh mc trn.
Gii thch:
Khi khai bo v ma st khp Revolute th kch thc ma st l bn
knh cht (Radius) v chiu di cht (Length).
2. Lnh to khp tr (Cylindrical)
ngha:
Khp tr cho php mt khu va quay va trt theo mt trc ca
mt khu khc. Gc ca khp c th t ti v tr bt k trn trc quay
v trt ca khp.
Hng ca khp tr c nh ngha theo hng ca trc m hai
khu s quay v trt trn nhau. Trc quay/trt ca khp tr song
song vi hng ca khp v phi i qua im gc ca khp.

Dng lnh:
Theo mt trong s cc dng lnh mc Lnh to khp lin kt trn,
chn loi khp l Cylindrical Joint. Cc nh ngha khc ca loi
khp ny hon ton tng t nh mc trn.
Khi khai bo v ma st khp Cylindrical th kch thc ma st ca
n l bn hnh cht (Radius) v chiu di cht (Length)
3. Lnh to khp cu (Spherical)
ngha: Khp cu cho php khu ny
quay t do quanh mt im trn khu cn
li. im gc ca khp cu c xc nh
l im m ti cc khu c th quay t
do vi nhau.
Dng lnh: Theo mt trong s cc dng
lnh mc Lnh to khp lin kt trn,
chn loi khp l Spherical Joint. Cc
nh ngha khc ca loi khp ny hon
ton tng t nh mc trn.

Gii thch:
Khp cu c th hnh dung nh mt qu cu quay quanh mt hc, mt
phn b mt ca qu cu tip xc vi b mt hc. Kch thc ma st
ca khp cu l ng knh (Radius) ca qu cu.
4. Lnh to khp Ccng (Universal)

ngha:
Khp Cc-ng cho php truyn chuyn ng quay t khu ny sang
thnh chuyn ng quay trn khu khc. Khp ny c bit hu dng khi
truyn chuyn ng quay qua mt gc, hoc truyn chuyn ng quay
gia hai trc m ti ch ni chuyn ng b i hng (v d chuyn
ng ca trc cu trn t).
Gc ca khp Cc-ng l giao im gia hai trc ni hai khu ca
khp. Hnh di m t dng hnh hc v nguyn l lm vic ca khp.
Dng lnh:
Theo mt trong s cc dng lnh mc Lnh to khp lin kt trn,
chn loi khp l Universal Joint.
Gii thch:
Joint Type: Loi khp.
Select 1st Component: Chn khu thnh phn th nht ca khp.
Select 2sd Component: Chn khu thnh phn th hai ca khp.
Select Location: Chn gc ca khp.
Select Direction of shaft on 1st Component: Chn hng ca khp
trn trc ca khu th nht.
Select Direction of shaft on 2sd Component: Chn hng ca khp
trn trc ca khu th hai.
Kch thc ma st ca khp gm:
Kch thc th nht l bn knh (Radius) ca u on tr.
Kch thc th hai l chiu di (chiu rng - With) ca on tr.
5. Lnh to khp trt (Translational)

ngha: Khp trt cho php mt khu chuyn ng trt dc trn

mt khu khc theo mt vct. Cc khu c th trt m khng
quay vi nhau.
V tr gc ca khp khng c nh hng g ti chuyn ng nhng li
c nh hng ti phn lc khp. V tr gc ca khp chnh l ni t
biu tng khp.
Hng ca khp song song vi trc ca chuyn ng trt. Phng
chuyn ng ca khp trt song song vi hng ca khp v i qua
gc ca khp.
Dng lnh:
Theo mt trong s cc dng lnh mc Lnh to khp lin kt trn,
chn loi khp l Translational Joint. Cc nh ngha khc ca loi
khp ny hon ton tng t nh mc trn.
Gii thch:
C th hnh dung khp trt nh mt thanh hnh ch nht trt
trong mt ng hnh ch nht. Khi xt n ma st th:
Kch thc th nht l chiu di (Length) ca thanh hnh thang.
Kch thc th hai l chiu rng (Width) ca thanh hnh thang.
Kch thc th ba l chiu cao (Height) tip xc ca thanh hnh
thang vi ng
6. Lnh to khp phng (Planar)
ngha:
Khp phng cho php mt b mt
ca khu ny chuyn ng quay v
trt trn b mt ca khu cn li,
khp loi ny hn ch 3 bc t do.
im gc ca khp phng c xc
nh l mt im trn khng gian m
khp s chuyn ng qua. Phng
ca khp l phng vung gc vi
phng ca chuyn ng.

Dng lnh:
Theo mt trong s cc dng lnh mc Lnh to khp lin kt trn,
chn loi khp l Translational Joint. Cc nh ngha khc ca loi
khp ny hon ton tng t nh mc trn.
Gii thch:
Khp phng c th hnh dung l mt tm va quay va trt trn
b mt ca mt tm khc. Khi xt n ma st th:
Kch thc th nht l chiu di (Length) ca tm trt.
Kch thc th hai l chiu rng (Width) ca tm trt.
Kch thc th ba l bn knh (Radius) ca vng trn gii hn b
mt tip xc gia hai tm.
7. Lnh to khp Vtme (Screw)
ngha: Khp Vtme hn ch mt bc t do. N ch cho php mt khu
va quay va trt quanh khu th hai.
Khi nh ngha khp Vtme c th phi nh ngha c bc vt. Bc vt
chnh l on dch chuyn thu c khi cc khu quay ton vng vi
nhau.
Thng thng khp Vtme c dng cng vi khp tr: Khp tr hn
ch hai bc t do quay v hai bc t do tnh tin, cn khp vtme hn
ch 2 bc t do cn li bng cch hn ch chuyn ng tnh tin tng
ng vi chuyn ng quay cn li (s xem xt k phn khp i).
Dng lnh:
Theo mt trong s cc dng lnh
mc Lnh to khp lin kt trn,
chn loi khp l Screw Joint.
Cc nh ngha khc ca loi
khp ny hon ton tng t nh
mc trn.
Gii thch:
Ngoi ra, trn hi thoi cn
phi cho bit:
Screw Pich ... per revolution:
Bc vt trn mt vng xon c.
Include Cylindrical Joint: La
chn c bao gm khp tr hay
khng.
Cc tnh ton v ma st khng c h tr cho loi khp ny. (Use
Friction (not supported by this Joint type)).
8. Lnh to khp cng (Fixed)
ngha:
Khp cng ni cng hai khu li
vi nhau, do vy hai khu s khng
th chuyn ng tng i vi nhau.
im gc ca khp cng khng
gy nh hng ti kt qu m phng.
V d nh trong thc t, mi hn l
mt khp cng lin kt hai chi tit li
vi nhau.
Dng lnh:
Theo mt trong s cc dng lnh mc Lnh to khp lin kt trn,
chn loi khp l Screw Joint. Cc nh ngha khc ca loi khp ny
hon ton tng t nh mc trn
Gii thch:
Theo nguyn l vt l ca khp cng. Cc tnh ton v ma st khng
h tr cho loi khp ny.
Cc dng khp c s:
C 5 loi khp c s.
In Plane JPrim
In Line JPrim
Perpendicular JPrim
Parallel-Axis JPrim
Orientation JPrim
Mi khp c s t mt rng buc ln chuyn ng lin quan,
chng hn nh rng buc mt chi tit lun lun chuyn ng song song
vi mt chi tit khc. Khp c s hn ch mt, hai hoc ba bc t do
tnh tin hoc quay. Khp c s khng c biu tng vt l nh cc
khp c hc thng thng, v n chim u th trong vic hn ch cc
rng buc hnh hc chun. Cc khp c s c th phi hp vi nhau
nh ngha mt rng buc phc tp m cc khp c hc khng lm
c. Mt khc cch to cc khp c s c tin hnh tng t nh
khp c hc.
Lnh to khp c s
thit lp mt rng buc ln chuyn ng lin quan. Cch to khp
c s cng c tin hnh tng t nh cc khp c hc.
Ch : Trang hi thoi Friction: nh ngha ch ma st,
nhng tt c cc loi khp c s tnh ton v ma st khng c h
tr..
1. Lnh to khp c s InLine
ngha:
Khp c s Inline l mt khp c 4 bc t
do, n cho php mt khu c 1 chuyn ng
tnh tin v 3 chuyn ng quay vi khu
cn li.
Vi mi khp Inline, Dynamic Designer
p t hai rng buc tnh tin gia hai khu
theo chiu trc. im gc ca khp nm trn
trc chuyn ng.
Nh hnh trn, gc ca h to khu th
nht b p buc lun lun trng lp vi trc z
ca h trc to khu th hai.
Dng lnh:
Theo mt trong s cc dng lnh mc Lnh to khp c s trn, chn
loi khp l Inline JPrim. Cc nh ngha khc ca loi khp ny hon
ton tng t nh mc trn.
2. Lnh to khp c s InPlane
ngha:
Khp c s Inplane l khp c 5
bc t do: N ch c mt rng buc
chuyn ng tnh tin, phm vi gii
hn ca rng buc chuyn ng tnh
tin gia cc khu l phi lun lun
ng phng.
Nh hnh trn, mt phng rng buc
l mt phng xy ca h trc to
th hai.

Dng lnh:
Theo mt trong s cc dng lnh mc Lnh to khp c s trn,
chn loi khp l InPlane Axis JPrim. Cc nh ngha khc ca loi
khp ny hon ton tng t nh mc trn.
3. Lnh to khp c s Orientation

ngha: L khp c 3 bc t do, n

ch cho php cc khu trong khp c
cc chuyn ng tnh tin vi nhau.
Dng lnh: Theo mt trong s cc
dng lnh mc Lnh to khp c
s trn, chn loi khp l Orientation
JPrim.
Mi khp c s Orientation, Dynamic Designer/Motion c 3 rng
buc chuyn ng quay. Cc khu ch c th chuyn ng tnh tin vi
nhau theo cc phng. Nh hnh di, khu X c th chuyn ng
tng i so vi khu gi theo phng trc X, khu Y c th chuyn
ng tng i so vi khu X theo phng trc Y, khu Z c th chuyn
ng tng i so vi khu Y theo phng trc Z. Tc qu o chuyn
ng ca khu Z so vi khu gi c th l mt ng cong nhng cc v
tr ca khu lun song song vi nhau.
4. Lnh to khp c s ParallelAxis
ngha:
Khp c s ParallelAxis rng buc
4 bc t do. N cho php hai khu
ch c mt chuyn ng quay v
mt chuyn ng tnh tin vi nhau.
Vi loi khp ny, hng ch nh
ca trc trn hai khu l phi lun
song song vi nhau. Hng chuyn
ng xuyn qua cc gc to .
Trn hng chuyn ng, cc khu
c th va chuyn ng quay va
chuyn ng tnh tin vi nhau

Dng lnh:
Theo mt trong s cc dng lnh mc Lnh to khp c s trn, chn
loi khp l ParallelAxis JPrim. Cc nh ngha khc ca loi khp ny
hon ton tng t nh mc trn.
5. Lnh to khp c s Perpendicular
ngha: Khp c s Perpendicular l
khp rng buc c 5 bc t. Vi mi
khp Perpendicular, Dynamic
Designer/Motion p t mt rng buc
chuyn ng quay trn cc khu sao cho
hai trc c ch nh phi lun vung
gc vi nhau.
Nh hnh v, mi khu c th quay quanh c hai trc Z nhng khng cho
php bt c chuyn ng no lm thay i hng ca c hai trc Z trn hai
khu.
Dng lnh:
Theo mt trong s cc dng lnh mc Lnh to khp c s trn, chn
loi khp l InPlane Axis JPrim.
S xut hin hi thoi Defined Joint nh sau:
Trn hi thoi ny, cc la chn cng gn tng t nh cc trng hp
trc. Ch khc ch cc khp c s khc ch cn chn mt hng, cn
vi khp ny l hai.
Select Direction of axis on 1st Component:
Select Direction of axis on 2sd Component:
4. Lnh to khp Ccng (Universal)

ngha:
Khp Cc-ng cho php truyn chuyn ng quay t khu ny sang
thnh chuyn ng quay trn khu khc. Khp ny c bit hu dng khi
truyn chuyn ng quay qua mt gc, hoc truyn chuyn ng quay
gia hai trc m ti ch ni chuyn ng b i hng (v d chuyn
ng ca trc cu trn t).
1. Lnh to khp c s InLine
ngha:
Khp c s Inline l mt khp c 4 bc t
do, n cho php mt khu c 1 chuyn ng
tnh tin v 3 chuyn ng quay vi khu
cn li.
Vi mi khp Inline, Dynamic Designer
p t hai rng buc tnh tin gia hai khu
theo chiu trc. im gc ca khp nm trn
trc chuyn ng.
Nh hnh trn, gc ca h to khu th
nht b p buc lun lun trng lp vi trc z
ca h trc to khu th hai.
Dng lnh:
Theo mt trong s cc dng lnh mc Lnh to khp c s trn, chn
loi khp l Inline JPrim. Cc nh ngha khc ca loi khp ny hon
ton tng t nh mc trn.
2. Lnh to khp c s InPlane
ngha:
Khp c s Inplane l khp c 5
bc t do: N ch c mt rng buc
chuyn ng tnh tin, phm vi gii
hn ca rng buc chuyn ng tnh
tin gia cc khu l phi lun lun
ng phng.
Nh hnh trn, mt phng rng buc
l mt phng xy ca h trc to
th hai.

Dng lnh:
Theo mt trong s cc dng lnh mc Lnh to khp c s trn,
chn loi khp l InPlane Axis JPrim. Cc nh ngha khc ca loi
khp ny hon ton tng t nh mc trn.
3. Lnh to khp c s Orientation

ngha: L khp c 3 bc t do, n

ch cho php cc khu trong khp c
cc chuyn ng tnh tin vi nhau.
Dng lnh: Theo mt trong s cc
dng lnh mc Lnh to khp c
s trn, chn loi khp l Orientation
JPrim.
Mi khp c s Orientation, Dynamic Designer/Motion c 3 rng
buc chuyn ng quay. Cc khu ch c th chuyn ng tnh tin vi
nhau theo cc phng. Nh hnh di, khu X c th chuyn ng
tng i so vi khu gi theo phng trc X, khu Y c th chuyn
ng tng i so vi khu X theo phng trc Y, khu Z c th chuyn
ng tng i so vi khu Y theo phng trc Z. Tc qu o chuyn
ng ca khu Z so vi khu gi c th l mt ng cong nhng cc v
tr ca khu lun song song vi nhau.
4. Lnh to khp c s ParallelAxis
ngha:
Khp c s ParallelAxis rng buc
4 bc t do. N cho php hai khu
ch c mt chuyn ng quay v
mt chuyn ng tnh tin vi nhau.
Vi loi khp ny, hng ch nh
ca trc trn hai khu l phi lun
song song vi nhau. Hng chuyn
ng xuyn qua cc gc to .
Trn hng chuyn ng, cc khu
c th va chuyn ng quay va
chuyn ng tnh tin vi nhau

Dng lnh:
Theo mt trong s cc dng lnh mc Lnh to khp c s trn, chn
loi khp l ParallelAxis JPrim. Cc nh ngha khc ca loi khp ny
hon ton tng t nh mc trn.
5. Lnh to khp c s Perpendicular
ngha: Khp c s Perpendicular l
khp rng buc c 5 bc t. Vi mi
khp Perpendicular, Dynamic
Designer/Motion p t mt rng buc
chuyn ng quay trn cc khu sao cho
hai trc c ch nh phi lun vung
gc vi nhau.
Nh hnh v, mi khu c th quay quanh c hai trc Z nhng khng cho
php bt c chuyn ng no lm thay i hng ca c hai trc Z trn hai
khu.
Dng lnh:
Theo mt trong s cc dng lnh mc Lnh to khp c s trn, chn
loi khp l InPlane Axis JPrim.
S xut hin hi thoi Defined Joint nh sau:
Trn hi thoi ny, cc la chn cng gn tng t nh cc trng hp
trc. Ch khc ch cc khp c s khc ch cn chn mt hng, cn
vi khp ny l hai.
Select Direction of axis on 1st Component:
Select Direction of axis on 2sd Component:
 Khp i (Joint Coupler)
Khp i cho php chuyn ng ca mt khp quay, khp tr, hay
khp trt ny to thnh mt cp vi chuyn ng ca cc khp quay,
khp tr, hay khp trt khc.
Khp i l mt dng rng buc rt hu dng khi xy dng c cu vi
chuyn ng cng bc (p t trc). Khp i cho php khp ny
chuyn ng tng ng so vi khp khc. Bt k s lin kt ca cc
khp no di y cng to thnh mt khp i:
Revolute-Revolute : Bn l - Bn l
Revolute-Translational : Bn l - Trt
Revolute-Cylindrical : Bn l - Tr
Translational-Cylindrical : Trt - Tr
Translational-Translational : Trt - Trt
Cylindrical-Cylindrical : Tr - Tr
Mt khp c th to khp i c vi nhiu khp khc nhau. Mi
khp i hn ch thm mt bc t do trn m hnh chuyn ng.
Lnh to mt khp i
Dng lnh:
Mt khp i c th c to theo mt s dngj lnh sau:
T thanh cng c Motion, nhn chn Couplers:
Trn trnh duyt Browser, chn nhnh Constraints, nhn chut phi
ln nhnh Couplers:
Trn trnh duyt Browser, chn nhnh Constraints, chn mt hoc
hai khp, nhn chut phi ln v chn Add Coupler.
Gii thch:
Trang hi thoi Definition: ch nh hai khp to khp i v cc
rng buc lin quan gia chng.
When Joint: Ch nh khp th nht.
Joint: Ch nh khp th hai.
Cc v cc nt chn cn li l cc tham s rng buc v chuyn
ng gia hai khp. Trong hai c cha s, ta s nh r t l gia hai
khp ca cp. V d, to khp i cho hai khp vi t l 2:1, nhp 2
vo th nht v 1 vo th hai. o chiu ca khp no th thm
du m (-) vo trc.
Rotates: Bc t do quay. Translates: Bc t do tnh tin.
Trang hi thoi Properties: nh ngha mt s thng tin v khp i.
Name: Tn khp i.
Color: Ch nh mu hin th ca khp.
Scale: T l hin th khp so vi kch thc thc.
Suppressed: Bt/ tt la chn v hiu ho khp trong tnh ton m
phng.
Hidden: Bt/tt khng hin th khp.
Khp i Revolute-Translational
ngha:
Khp i revolute-translational cho php ta to rng buc gia mt
khp quay vi mt khp trt hoc khp tr.
To khp i revolute-translational c th thc hin theo mt s
phng php nh trnh by trn. Khi hi thoi xut hin, chn hai
khp cn to rng buc. Trn hi thoi ta c th thay i cc tham s
theo mun.
Cch to cc cp khp khc tng ng nh trn cng vn c tin
hnh tng t.
 Tip xc (Contact)
1. Khi nim
Dng tip xc l mt tnh nng ca Dynamic Designer cho php
ngi dng m phng m hnh trong cc khu tc ng vi nhau
bng va chm, ln v/hoc trt. Hai dng tip xc c bit c th
c to: tip xc khng lin tc gia ng-ng (curve-curve
contact) v tip xc 3D (3-D contact).
Tip xc khng lin tc ng-ng c s dng khi cc khu
hoc tnh nng no tip xc vi nhau m dng tip xc c th m t
theo mt bin dng hoc trong mt mt phng. Tip xc khng lin tc
ng-ng l gii php nhanh hn tip xc 3-D, nhng i khi cn
phi s dng dng tip xc 3D khi tip xc gia hai chi tit l theo b
mt.
Ch : Cc tip xc c bit c lit k di nhnh Constraints ca
trnh duyt IntelliMotion Browser, n khng hn ch bt k bc t do
no trn m hnh chuyn ng. Cc dng tip xc ch n thun hn
ch s xuyn qua nhau gia cc chi tit trn c s ti trng tip xc.
2. Cc dng tip xc trong DDM
Dynamic Designer/ Motion h tr mt s loi tip xc sau:
Tip xc im-ng: quy nh mt im trn khu ny lun lun tip
xc vi mt ng trn khu kia.
Tip xc ng-ng: quy nh hai ng trn hai khu khc nhau
lun lun tip xc vi nhau, cc ng tip xc phi ng phng
(2D). DDM h tr c loi tip xc ng-ng khng lin tc.
Tip xc 3D: Thng dng trong cc bi ton va chm.
S bc t do m cc kiu tip xc hn ch:
a. Lnh to tip xc im-ng

ngha:
L dng tip xc in hnh khi xy dng c cu cam y nhn, im
tip xc l y ca cn v ng tip xc l bin dng cam. Rng buc
im-ng hn ch 2 bc t do.
Ch : Khi chn mt b mt ca khu hoc mt cnh no th ng
tip xc s t ng c chn.
Vi dng tip xc ny th im v ng tip xc phi thuc hai khu
khc nhau.
Dng lnh: Tip xc im-ng c th c to theo mt s dng lnh
sau:
T trnh n Motion, chn Contacts, nhn chn Point-Curve
Trn trnh duyt Browser, chn nhnh Constraints v chn
Point/Curve Contact.
Trn trnh duyt Browser, chn nhnh Contacts v chn Add
Point/Curve Contact.
Trn trnh duyt Browser, chn nhnh Parts, nhn chn mt hoc hai
khu ri nhn chut phi, v chn Point/Curve Contact

Gii thch: Khi tin hnh theo mt trong s cc dng lnh nh trn, hp
thoi Insert Point-Curve Contact s xut hin. Bao gm cc trang hi
thoi:
Trang hi thoi Definition:
Select 1st Component: Ch nh khu th nht c cha im tip xc.
Select 2sd Component: Ch nh khu th hai c cha ng tip xc.
Select Point on 1st Component: Ch nh im tip xc trn khu
th nht.
Select 2sd Component Curve edges or face: Ch nh ng tip
xc trn khu th hai.
Points per Curve: S im trn ng cong mc nh l 10, nu
ng tip xc cng phc tp th s im cng phi tng ln.

Khi la chn c cc ng th trng thi ca ng s xut hin

l Open (m) hay Closed (ng) ph thuc vo ng cong c
chn. Nu la chn cha thnh cng th trng thi ca n s l
Incomplete. Nu cc ng ccng c chn to thnh mt vng kn th
trng thi ca n cng s l Closed.
Trang hi thoi FEA v Properties: xc lp cc tnh ton phn t
hu hn v iu chnh tn mc nh ca lin kt. Chn thanh Tab
Properties v nhp tn mi vo Name.
Nhn Apply to tip xc v ng hp thoi.
Mt s gi khi thit k c cu cam:
Khng nn hn ch s im trn ng cong. S im cng t th
tnh ton m phng cng thiu chnh xc v ngc li.
S dng ng cong khp kn bt k khi no c th.
Trnh nh ngha tip xc im-ng vi im tip xc st vi
im cui ca ng, nu khng chng trnh s t kt thc m
phng.
Trnh dng cc ng phi tuyn bc cao.
b. Lnh to tip xc ng-ng
 ngha :
Tip xc ng-ng gii hn mt ng cong trn khu ny
lun lun tip xc vi mt ng cong trn khu khc ti mt im,
im tip xc thng khng c nh m thay i lin tc.
Tip xc ng-ng rt tin ch khi xy dng c cu cam cn
y y ln.
Hai ng cong c chn nh ngha rng buc ny phi cng
nm trn mt mt phng. Nu trong trng hp hai ng cong
khng ng phng th chng trnh s t iu chnh cc khu sao
cho hai ng cong l ng phng.
Khi s dng ng cong phc tp nh ngha tip xc th cn
tng s im trn ng cong kt qu m phng c m bo.
Nu tip xc thc hin ngoi phm vi ng cong nh ngha th
chng trnh s t ng kt thc.
Hai ng lin kt phi nm trn hai khu khc nhau.
Dng lnh:
Tip xc ng-ng c th c to theo mt s dng lnh sau:
T trnh n Motion, chn Contacts, nhn chn Curve-Curve
Trn trnh duyt Browser, chn nhnh Constraints v chn
Curve/Curve Contact.
Trn trnh duyt Browser, chn nhnh Contacts v chn Add
Curve/Curve Contact.
Trn trnh duyt Browser, chn nhnh Parts, nhn chn mt hoc hai
khu ri nhn chut phi, v chn Curve/Curve Contact .
Gii thch:
Khi tin hnh theo mt trong s cc dng lnh nh trn, hp thoi
Insert Curve-Curve Contact s xut hin. Bao gm cc trang hi thoi:
Trang hi thoi Definition:
Select 1st Component: Ch nh khu th nht c cha im tip
xc.
Select 2sd Component: Ch nh khu th hai c cha ng tip
xc.
Select 1st Component Curve edges or face: Chn cc ng tip
xc trn khu th nht. Tn ca ng s xut hin trong thoi.
Nu la chn thnh cng cc ng th trng thi ca ng s xut
hin l Open (m) hay Closed (ng) ph thuc vo ng cong
c chn. Nu la chn cha thnh cng th trng thi ca n s l
Incomplete. Nu cc ng cong c chn to thnh mt vng kn
th trng thi ca n cng s l Closed. iu chnh s im trn ng
cong sao cho hp l.
Select 2sd Component Curve edges or face: Chn cc ng trn
khu th hai nh ngha ng tip xc cn li. Cc tng tc ca
n trn hp thoi cng tng t nh khi ch nh ng cong tip xc
trn khu th nht.

Trang hi thoi FEA v Properties: xc lp cc tnh ton phn t

hu hn v iu chnh tn mc nh ca lin kt. Chn thanh Tab
Properties v nhp tn mi vo Name.
Nhn Apply to tip xc v ng hp thoi.
c. Lnh to tip xc 3D

ngha: Tip xc c dng nh ngha cc dng tip xc trong

3D, cc tip xc phc tp m khng th khai bo dng tip xc ng-
ng.
Dng lnh: Tip xc 3D c th c to theo mt s dng lnh sau:
T trnh n Motion, chn Contacts, nhn chn 3D Contact
Trn trnh duyt Browser, chn nhnh Constraints v chn Add 3D
Contact.
Trn trnh duyt Browser, chn nhnh Contacts v chn Add 3D
Contact.
Trn trnh duyt Browser, chn nhnh Parts, nhn chn mt hoc hai
khu ri nhn chut phi, v chn Add 3D Contact .
Gii thch:
Khi tin hnh theo mt trong s cc dng lnh nh trn, hp thoi
Insert 3D Contact s xut hin. Bao gm cc trang hi thoi:
Trang hi thoi Definition:
Select Parts that can contact each other: Ch nh cc khu s c
tip xc 3D tng cp vi nhau.
Add Container for contact pairs: Nhn nt ny khai bo
Container th hai ca cp tip xc. Nu nhn, hi thoi s xut hin
nh sau:
Mt trong hai Container u c th c hu b bng cch nhn nt
Remove Container. Cc Container s c gii thch c th nh
di y.
Tip xc cha (Contact Containers)
Mi tip xc Container gm mt hay nhiu khu chuyn ng. Trong
trng hp m mi thc th tip xc c xc nh bi hai tip xc
Container, tip xc 3D s c hnh thnh gia cc khu trong tip xc
Container th nht, v cc khu trong tip xc Container th hai. Trong
trng hp thc th tip xc c xc nh bi duy nht mt tip xc
Container, th tip xc 3D s c hnh thnh gia mi khu vi cc
khu khc trong cng Container.
Khi nh ngha mt thc th tip xc ta nhp cc khu trong tp hp
la chn th nht hoc th hai. Cc tp hp la chn to ra cc
Containers. Nu ch thm cc khu trong tp hp la chn th nht, th
ch c mt Container c to ra. Nu nhp vo cc chi tit trong hai tp
hp la chn, th hai nhm Container c to ra.
Xt v d hai Containers nh di y:

Nu mi i tng tip xc 3D c gn cho Container1 v

Container2, cc tip xc s c tm ra gia cc khu theo tng cp
nh sau:
Khu A v khu D; Khu A v khu E ; Khu B v khu D; Khu B v
khu E; Khu C v khu D; Khu C v khu E
 Nu mi i tng tip xc 3D c gn duy nht bi Container1, cc
tip xc s c tm ra gia cc khu theo tng cp nh sau:
Khu A v khu B; Khu A v khu C; Khu B v khu C
Xt v d khc gm cc vin bi cu trong mt
ci l:
Trng hp ny c th m hnh ho bng
cch s dng hai thc th tip xc 3D. Mt
thc th c gn cho hai tip xc
Containers. Tip xc Container u tin s
bao gm 4 vin bi, v tip xc Container th
hai s l ci l. N s cho bit tip xc gia
cc vin bi vi l. Tip xc 3D th hai s
c gn cho mt Container duy nht bao
gm 4 vin bi. N s cho bit tip xc ca mi
vin bi vi cc vin cn li

Trang hi thoi Contact: iu chnh cc thng s tip xc.

Nhn nt Apply to tip xc 3D v ng hp thoi.
C 3 dng rng buc c bn sau:
Khp (Joints): dng rng buc quan h chuyn
ng ca mt cp khu no bng lin kt vt l hoc
thng qua nh ngha tip xc gia chng ra sao.
Chuyn ng (Motions): dng nh ngha chuyn
ng ca khp hoc khu no .
Ti trng (Forces): dng nh ngha ti trng v qui
nh trn cc khu.
 Chuyn ng (Motion)
I. Khi nim
Chuyn ng c thm cho khp nh ngha quan h chuyn
ng ca hai khu theo thi gian. Chuyn ng ca khp c nh
ngha trn tab Motion trong hp thoi Joint. Loi chuyn ng chuyn
v, vn tc, hoc gia tc ca mi khp l mt hm theo thi gian

Trn thanh Tab Motion (Motion On:) cho php la chn bc t do m

ta mun p dng chuyn ng trn . Bc t do c th l quay hoc
tnh tin. C th p dng mt chuyn ng cho bt k bc t do no
ca khp.
II. Lnh to chuyn ng
C 5 dng hm chuyn ng c th nh ngha trn khp:
Constant Function (Hm hng)
Step Function (Hm bc)
Harmonic Function (Hm iu ho)
Spline Function (Hm a tuyn)
ADAMS Function Expression (Biu thc hm ADAMS)
1. Lnh to chuyn ng hng ca khp
ngha:
Hm chuyn ng hng l dng hm chuyn ng c bn nht. N
l mt tr s khng i c gn cho chuyn ng ca khp. Chuyn
ng hng c th c nh ngha di dng chuyn v khng i, vn
tc khng i, hoc gia tc khng i.
Dng lnh:

nh ngha chuyn ng hng cho khp ta c mt cch duy nht

sau:
Trn trnh duyt Browser, chn nhnh Constraints, chn tip nhnh
Joints, nhn chn khp mun gn chuyn ng. Nhn chut phi ln
khp v chn Properties. S xut hin hi thoi.
Tip theo ta tin hnh theo cc bc:
Chn bc t do m trn ta mun p dng chuyn ng trn
Motion On.
Chn dng chuyn ng p dng: Chuyn v (Displacement), Vn
tc (Velocity), hoc gia tc (Acceleration) trn Motion Type.
Chn dng hm trn Function l Constant.
Nhp gi tr thch hp vo.
Nhn chn Apply.
Gii thch:
Motion On: Ch nh bc t do c gn chuyn ng. L mt
trong s cc bc t do khng b hn ch ca khp.
Motion Type: Ch nh dng chuyn ng.
Initial Displacement: Chuyn v khi to.
Initial Velocity: Vn tc khi to.
Function: Dng hm chuyn ng.
Angular Displacement: Chuyn v gc.
Angular Velocity: Vn tc gc.
Angular Acceleration: Gia tc gc.
2. Lnh to chuyn ng iu ho ca khp
ngha:
Chuyn ng iu ho l mt dng chuyn ng hnh Sin do ngi
dng nh ngha da trn: Bin (amplitude), tn s (frequency),
khong thi gian (time offset), pha ban u (phase shift), v bin
trung bnh (average).
Dng lnh:
nh ngha chuyn ng iu ho cho khp ta c mt cch duy nht
sau:
Trn trnh duyt Browser, chn nhnh Constraints, chn tip nhnh
Joints, nhn chn khp mun gn chuyn ng. Nhn chut phi ln
khp v chn Properties. S xut hin hi thoi.
Tip theo ta tin hnh theo cc bc:
Chn bc t do m trn ta mun p dng chuyn ng trn
Motion On.
Chn dng chuyn ng mun gn: Displacement, Velocity, hoc
Acceleration.
Chn dng hm ti Function Type l Harmonic.
Nhp cc gi tr tng ng.
Nhn chn Apply ng .
Gii thch
Bin (Amplitude): L tr s ln nht ca ng hnh Sin tnh t tr
s trung bnh.
Tn s (Frequency): Tc ca dao ng.
Khong thi gian (Time Offset): L khong thi gian xt dao ng
hnh Sin.
Pha ban u (Phase Shift): Nhp tr s gc pha ban u.
Bin trung bnh (Average): L tr s m chuyn ng hnh Sin dao
ng quanh
V d:

Khong thi gian l 1 giy.

Pha ban u l 90 .
Tr s trung bnh l 180 /giy.
Tn s ca chuyn ng l 720 /giy.
Bin dao ng l 360 /giy.
3. Lnh to chuyn ng ca khp dng hm bc
ngha:
Hm bc to mt hm chuyn ng ca khp l chuyn v, vn tc,
hay gia tc gia hai tr s vi mt chuyn ng trn. Trc v sau
bc chuyn tip, chuyn v, vn tc, hay gia tc ca khp l hng s.

nh ngha chuyn dng hm bc cho khp ta c mt cch duy

nht sau: Trn trnh duyt Browser, chn nhnh Constraints, chn tip
nhnh Joints, nhn chn khp mun gn chuyn ng. Nhn chut
phi ln khp v chn Properties.
Tip theo ta tin hnh theo cc bc:
Chn bc t do m trn ta mun
p dng chuyn ng trn Motion
On.
Chn dng chuyn ng mun gn:
Displacement, Velocity, hoc
Acceleration.
Chn dng hm ti Function Type
l Step.
Nhp gi tr khi to (Initial value).
Nhp gi tr cui (Final Value).
Nhp thi gian bt u tng ng
(Start Step Time).
Chn thi gian kt thc tng ng
(End Step Time).
Nhn chn Apply chp nhn.
4. Lnh to chuyn ng qua cc hm
Cng c mnh nht khai bo cc cu lnh iu khin m phng l
dng trnh to cc hm ADAMS. Mi biu thc hm ADAMS cng
tng t nh mt biu thc hm trong ngn ng C hoc FORTRAN,
v mi biu thc hm cng ch cho duy nht mt gi tr. Mi gi tr
c th l mt hm ca cc tham s h thng nh chuyn v, vn tc,
gia tc, v thi gian m phng hin thi.
Mi biu thc hm c th l s kt hp ca cc hng s, ton t,
tham s, v cc gi tr chun ca cc hm ADAMS/Solver. Cc hm
ADAMS bao gm cc hm ton hc c bn nh hm bc (STEP) v
hm iu ho (Harmonic-SHF), bn cnh n cng bao gm cc
hm ph thuc khc. V d nh, hm ph thuc c th l hm ca ti
trng tc dng gia hai khu...
Cc hm ADAMS c nh ngha trong mt hp thoi ring. Trong
hp thoi ngi dng cng c th d dng xy dng cc hm iu
ho, hm bc, hoc nhp vo to cc im chuyn ng.
Gii hn ca trnh to hm
Trong phin bn ny ch mi thao tc c vi s nguyn v s
thc, khng thao tc c vi s phc.
Cc hm, cc biu thc con hoc cc ton t ch c php su
nht l 11 mc. V d nh: FUNCTION = f1 (f2 (f3 (f4))), vi f1, f2,
f3, f4 l cc biu thc hm con c coi l mt khai bo hp l.
Nhng vi khai bo, FUNCTION = f1 (f2 (... (f11 ) ...) s l mt khai
bo khng hp l.
Mi biu thc hm b gii hn khng c qu 1000 k t.
Mi biu thc hm cng b gii hn ch c khai bo ti a khng
qu 25 i tng mi loi trong b i tng chun ca
ADAMS/Solver. V d, mi biu thc hm khng c bao gm qu
25 khu, 25 ti trng, ...
C php hm ADAMS v ch gii
Hng s
Cc biu thc hm c th ch bao gm s nguyn hoc s thc. S
phc cha c h tr trong phin bn ny. Trong ADAMS/Solver, mt
s nguyn c tr s gii hn l c gi tr tuyt i khng ln hn (2**31
1), v s thc c tr s gii hn l gi tr tuyt i khng ln hn
(10**26).
Ton t
ADAMS/Solver chp nhn tp
hp cc ton t chun ca
ngn ng FORTRAN-77. Cc
ton t v trnh t thc hin
ca chng c tun th nh
bng.
Du trng (Blanks)
Mt biu thc hm c th bao gm s v du trng. Du trng c
dng gip biu thc hm sng sa hn, d c hn. C mt s quy
nh nh sau i vi du trng:
Gia mt s khng c php xut hin du trng.
ADAMS/Solver khng chp nhn du trng gia mt hm v du
ngoc n bn tri ca n.
im du
Rt nhiu hm c h tr bi ADAMS quy nh s dng cc ch s
im du. Trong mi trng ADAMS im du l phng tin
gn chuyn ng ca cc i tng cho cc khu, chng khai bo
hng v v tr ca i tng chuyn ng trn mi khu. Mi i
tng u c h tr cho biu thc hm. V d nh lc, mmen
 Trn hi thoi ny c th truy
xut n bt k i tng no
trn m hnh chuyn ng hin
thi m ta ang thao tc. V nh,
nu s dng mt hm sn c ca
ADAMS l hm AX chng hn, th
trong hm ny s c mt i s l
ch s im du (ch s im
du s t ng xut hin khi ta
nhn chn im du).

nh ngha chuyn ng cho khp thng qua cc hm ADAMS ta

c mt cch duy nht sau:
Trn trnh duyt Browser, chn nhnh Constraints, chn tip nhnh
Joints, nhn chn khp mun gn chuyn ng. Nhn chut phi ln
khp v chn Properties.
Tip theo ta tin hnh theo cc bc:
Chn bc t do m trn ta mun p dng chuyn ng trn
Motion On.
Chn dng chuyn ng mun gn: Displacement, Velocity,
hoc Acceleration.
Chn dng hm ti Function Type l Expression.
Nhp cc biu thc hm chuyn ng thch hp vo son tho.
Nhn Apply hon thnh vic gn chuyn ng.
5. Lnh to chuyn ng bng np im d liu Hm a tuyn
ngha:
Np im d liu cho php ta lm ch d liu chuyn ng iu
khin c cu. Cc im d liu c th nhp vo Dynamic Designer
thng qua file c nh dng *.TXT hoc *.CSV. Hn na, Dynamic
Designer khng hn ch s im d liu c khai bo.
Khun mu im d liu cho php khai bo chuyn v, vn tc, hoc
gia tc ca khp thng qua bng d liu. Trong bng , ct th nht
l thi gian, ct th hai l chuyn v, vn tc, hoc gia tc ca khp ti
thi im . Cc d liu c th nhp bng tay hay thng qua file
d liu.
Dng lnh
Trn trnh duyt Browser, chn nhnh Constraints, chn tip nhnh
Joints, nhn chn khp mun gn chuyn ng. Nhn chut phi ln
khp v chn Properties
Gii thch:
Dynamic Designer cho php khai bo dng
a tuyn ni cc im d liu thng qua la
chn: Akima spline (AKISPL) v Cubic spline
(CUBSPL). Trong dng a tuyn
CUBSPL cho php lm vic n nh hn.
Nt LOAD FROM FILE s cho hin th hp
thoi Open Dialog, t chn file cha cc
im d liu to d liu cho chuyn
ng.
Ngoi ra cn c th ct/dn cc ct d liu
trc tip t Excel vo trong ct d liu ca
Spline. Vi ch rng, s im d liu gia
hai ct phi bng nhau.
Nh v d di, d liu c chuyn t
Excel sang thnh ca Spline thng qua
ct/dn.
C 5 dng hm chuyn ng c th nh ngha trn khp:
Constant Function (Hm hng)
Step Function (Hm bc)
Harmonic Function (Hm iu ho)
Spline Function (Hm a tuyn)
ADAMS Function Expression (Biu thc hm ADAMS)
Gii hn ca trnh to hm
Trong phin bn ny ch mi thao tc c vi s nguyn v s
thc, khng thao tc c vi s phc.
Cc hm, cc biu thc con hoc cc ton t ch c php su
nht l 11 mc.
Mi biu thc hm b gii hn khng c qu 1000 k t.
Mi biu thc hm cng b gii hn ch c khai bo ti a khng
qu 25 i tng mi loi trong b i tng chun ca
ADAMS/Solver.
 Ti trng (Load)
Cc i tng ti trng c s dng thc hin cc quan h ng
lc ca cc khu ca m hnh chuyn ng.
Cc i tng ny khng ngn chn hoc qui nh chuyn ng v cng
khng thm bt bc t do ca c cu.
Cc ti trng c th cn tr chuyn ng hoc lm gim chuyn ng, v
i khi n cn c nh ngha di dng hm tng t cc dng hm
ca nh ngha chuyn ng: Hm hng, bc, iu ho, ADAMS, cc
im nhp. Bao gm:
L xo thng v l xo xon (Linear and Torsional Springs).
Gim chn thng v gim chn xon (Linear and Torsional Dampers).
Lc/Mmen tp trung (Action-Only Forces/Moments).
Lc/Mmen phn lc (Action-Reaction Forces/Moments).
Lc va chm (Impact Forces).
Cc dng ti trng trong DDM
1. Ti trng tc dng (Applied Forces)
Ti trng tc dng l ti trng nh ngha trng ti ti mt v tr xc
nh no trn cc khu. Ti tc dng cn phi c ch nh r l
ti khng i hay di dng mt biu thc.
Cc dng ti trng tc dng trong Dynamic Designer/Motion bao
gm: lc, mmen xon, lc v phn lc, mmen xon v mmen
chng xon.
Hng tc dng ca ti trng tp trung c th c nh hoc c ph
thuc hng ca khu trong c cu.
Lc va chm l mt dng c bit ca ti trng tc dng (l ti va p
ph thuc vo khong cch).
2. Lin kt n hi (Flexible connectors)
Lin kt n hi bao gm: l xo thng, l xo xon, gim chn thng,
gim chn xon.
3. Trng lc (Gravity)
Trng lc c p dng cho ton b m hnh. Trng lc c xc nh
khi cho bit phng v gi tr. Mc nh, g c gi tr bng 9,81m/s2,
hng tc dng theo chiu m ca trc Y ca h trc to .
 Cc lnh to cc ti trng
1. Lnh to l xo thng

ngha:
L xo thng dng m t lc tc dng gia hai khu vi mt khong
cch theo mt phng xc nh. Cn phi ch r v tr ca l xo trn hai
khu. Dynamic Designer tnh ton lc n hi trn c s khong cch
gia hai im ni l xo, cng l xo v chiu di t do ca l xo.
Khi to mt l xo, bao gi cng phi ch ti lc v phn lc do n
gy nn. Vi l xo ko nn thun tu, phng trnh lc tc dng ca n
l F = -k*x (k l cng do ngi dng nh ngha).
Khi l xo b ko dn th lc n hi s mang du m v ngc li.
Dng lnh:
to l xo thng, c th tin hnh theo mt s dng lnh nh sau:
T trnh n Motion trn thanh cng c, chn Forces, ri chn
Spring...
Trn trnh duyt Browser, chn nhnh Forces, nhn chut phi ln
Springs v chn Add Linear Spring.
Trn trnh duyt Browser, chn nhnh Parts, nhn chut phi ln
khu mun gn l xo, chn nhnh Add Forces, v chn Linear Spring:
Gii thch:
Hp thoi Insert Spring s xut hin, bao gm cc trang hi thoi.
Trang hi thoi Definition: ch nh v nh ngha cc thng tin v l
xo:
Select 1st Component: Chn khu th nht s gn l xo.
Select 2sd Component: Chn khu th hai s gn l xo.
Select Point on 1st Component: Ch nh im gn l xo trn khu
th nht.
 Select Point on 2sd Component: Ch nh im gn l xo trn khu
th hai. Vi ch rng: im th nht phi nm trn khu th nht, v
im th hai phi nm trn khu th hai. Nu khng l xo c nh
ngha ra s khng lm vic nh ta mong mun.
Stiffness: cng ca l xo.
Length: La chn Design, s cho php ta nh ngha chiu di t do
ca l xo. Nu bt th chiu di t do ca l xo s t ng c xc
nh theo khong cch ga hai im ni, nu la chn l tt th chiu
di t do ca l xo s do ngi dng ch nh.
Ch : Chiu di t do ca l xo l khong cch gia hai im khi khi
to c cu.
Force: C th ch nh trc ti trng trn l xo qua Force.
Coil Diameter: ng knh vng l xo.
Number of Coils: S vng ca l xo.
Wire Diameter: ng knh thn l xo.
2. Lnh to l xo xon

ngha:
L xo xon l l xo quay trn tc dng gia hai khu. Cn ch r v tr
v hng xon ca l xo. Vi l xo xon, Dynamic Designer quy nh
mmen xon trn khu th nht l mmen tc ng, cn mmen c
cng tr s nhng ngc chiu trn khu th hai l mmen phn lc.
Vi l xo xon tuyn tnh, phng trnh tc ng ca mmen l
M= -k*theta (k l cng xon c ch nh bi ngi dng). Khi l
xo b ko dn so vi v tr t do th mmen xon mang du m.
Dng lnh:
to l xo xon, c th tin hnh theo mt s dng lnh nh sau:
T trnh n Motion trn thanh cng c, chn Forces, ri chn
Torsion Spring...
Trn trnh duyt Browser, chn nhnh Forces, nhn chut phi ln
Springs v chn Add Torsion Spring.
Trn trnh duyt Browser, chn nhnh Parts, nhn chut phi ln
khu mun gn l xo, chn nhnh Add Forces, v chn Torsion
Spring:
Gii thch:
Hp thoi Insert Spring s xut hin, bao gm cc trang hi thoi.
Trang hi thoi Definition:
Select 1st Component: Chn khu th nht s gn l xo.
Select 2sd Component: Chn khu th hai s gn l xo.
Select Location: Ch nh v tr gn l xo.
Select Direction: Chn hng tc ng ca l xo thng qua la chn
cc cnh hoc cc b mt.
 Stiffness: iu chnh cng ca l xo trn ny.
Angle: C th khai bo trc gc chu ti ca l xo qua thoi Angle.
Mc nh, gc c tr s bng khng.
Torque: Cng c th ch nh trc mmen xon trn l xo qua
Torque.
Nhn nt Apply to l xo v ng hp thoi Insert Spring Torque.
3. Lnh to gim chn thng

ngha:
Gim chn thng dng lm trn ho (mm ho) s dao ng ca cc
ti trng ngoi. in hnh l gim chn c dng chung vi l xo
cn li cc rung ng do l xo gy ra. Ti trng do gim chn sinh ra
khng ph thuc vo chuyn v nh vi l xo, m n c to ra trn c
s vn tc tc thi gia hai im cui c ch nh.
Vi gim chn tuyn tnh thng, phng trnh lc tc dng c xc
nh trc bng F = -c*v, vi c l h s cn do ngi dng ch nh.
Dng lnh:
to gim chn thng, c th tin hnh theo mt s dng lnh nh
sau:
T trnh n Motion trn thanh cng c, chn Forces, ri chn
Damper...
Trn trnh duyt Browser, chn nhnh Forces, nhn chut phi ln
Dampers v chn Add Linear Damper.
Trn trnh duyt Browser, chn nhnh Parts, nhn chut phi ln
khu mun gn gim chn thng, chn nhnh Add Forces, v chn
Linear Damper:
Gii thch:
Hp thoi Insert Damper s xut hin, bao gm cc trang hi thoi.
Trang hi thoi Definition:
Select 1st Component: Chn khu th nht s gn gim chn.
Select 2sd Component: Chn khu th hai s gn gim chn.
Select Point on 1st Component: Ch nh im gn gim chn trn
khu th nht.
 Select Point on 2sd Component: Ch nh im gn l xo trn khu
th hai. Vi ch rng: im th nht phi nm trn khu th nht, v
im th hai phi nm trn khu th hai. Nu khng l xo c nh
ngha ra s khng lm vic nh ta mong mun.
Damper: iu chnh h s cn trn Damper.
Nhn nt Apply to gim chn v ng hp thoi Insert Damper.
4. Lnh to gim chn xon

ngha:
Gim chn xon l mt gim chn quay trn tc ng gia hai
khu. Cn ch r v tr ca gim chn v phng ca mmen cn.
Vi loi gim chn ny Dynamic Designer quy nh mmen xon
trn khu th nht l mmen tc ng, v mmen xon c cng tr
s nhng ngc chiu trn kkhu th hai gi l mmen phn lc.
Vi gim chn xon, phng trnh mmen xon c nh ngha
trc nh sau: M= -c*w vi c l h s cn xon.
Dng lnh:
to gim chn xon, c th tin hnh theo mt s dng lnh nh sau:
Ttrnh n Motion trn thanh cng c, chn Forces, ri chn Torsion
Damper...
Trntrnh duyt Browser, chn nhnh Forces, nhn chut phi ln
Dampers v chn Add Torsion Damper.
Trntrnh duyt Browser, chn nhnh Parts, nhn chut phi ln khu
mun gn gim chn thng, chn nhnh Add Forces, v chn Torsion
Damper:
Gii thch:
Hp thoi Insert Damper s xut hin, bao gm cc trang hi thoi.
Trang hi thoi Definition:
Select 1st Component: Chn khu th nht s gn gim chn.
Select 2sd Component: Chn khu th hai s gn gim chn.
Select Location: Chn v tr gn gim chn trn khu.
Select Direction: Chn hng tc ng ca gim chn.
Damper: iu chnh h s cn nh mong mun trn Damper.
5. Lnh to ti trng tp trung

ngha:
Ti trng tp trung c dng nh ngha ti trng m tc dng ca
n ln khu khin khu c c chuyn ng nht nh.
Mi ti trng tp trung lun c ch nh ti mt im v ch trn mt
khu, khng tc dng ln bt k khu no khc na.
Ti trng tp trung c th c khai bo l hng s, hm bc, hm
iu ho, ng a tuyn (spline), hoc cc hm ADAMS.
Dng lnh:
to ti trng tp trung, c th tin hnh theo mt s dng lnh nh
sau:
T trnh n Motion trn thanh cng c, chn Forces, ri chn Action
Only Force...
Trn trnh duyt Browser, chn nhnh Forces, nhn chut phi ln
Dampers v chn Add Action Only Force.
Trn trnh duyt Browser, chn nhnh Parts, nhn chut phi ln khu
mun gn gim chn thng, chn nhnh Add Forces, v chn Action
Only Force:
Gii thch:
Hp thoi Insert Action Only Force s xut hin, bao gm cc trang hi
thoi.
Trang hi thoi Definition:
Select Component to which Force is Applied: Chn khu s chu tc
ng ca ti trng.
 Select Reference Component is orient Force: Chn khu th hai
hoc mt khu gi no lm c s tham chiu cho ti trng.
Select Location: Ch nh v tr chu ti.
Select Direction: Ch nh phng tc dng ca ti.
Trang hi thoi FEA v Properties: la chn tnh ton FEA v
cc ch hin th ca ti trng trong m phng.
Trang hi thoi Function: nh ngha dng ti trng hoc hm ti
trng tc dng, n cng bao gm cc tham s nh khi thao tc vi
chuyn ng ca khp.
Nhn nt Apply to ti trng v ng hp thoi Insert Action-Only
Force.
6. Lnh to mmen tp trung

ngha:
Mmen tp trung c dng khai bo mt dng ti trng tc
dng ln cc khu khin khu c c mt chuyn ng nht nh
no . Mmen tp trung ch tc ng ti mt im v trn mt khu
duy nht. Tr s ca mmen tp trung c th l hng s, hm bc,
hm iu ho, hm a tuyn (spline), hoc cc hm ADAMS.
Dng lnh:
to mmen tp trung, c th tin hnh theo mt s dng lnh nh
sau:
T trnh n Motion trn thanh cng c, chn Forces, ri chn
Action Only Moment...
Trn trnh duyt Browser, chn nhnh Forces, nhn chut phi ln
Dampers v chn Add Action Only Moment.
Trn trnh duyt Browser, chn nhnh Parts, nhn chut phi ln
khu mun gn gim chn thng, chn nhnh Add Forces, v chn
Action Only Moment:
Gii thch:
Trang hi thoi Definition:
Select Component to which Force is Applied: Chn khu s chu
tc ng ca mmen tp trung.
Select Reference Component is orient Force: Chn khu th hai
hoc mt khu gi no lm c s tham chiu cho ti trng.
 Select Location: Ch nh v tr tc ng ca mmen.
Select Direction: Ch nh phng tc dng ca mmen.
Trang hi thoi Function: khai bo tr s ca mmen tp trung.
Trang hi thoi FEA v Properties: la chn tnh ton FEA v
cc ch hin th ca mmen trong m phng.
Nhn nt Apply to mmen v ng hp thoi Insert Applied-
Only Force.
7. Lnh to lc-phn lc

ngha:
Lc-phn lc l ti trng tc dng gia hai im trn hai khu ring
bit. Lc tc dng ln khu th nht c cng tr s nhng ngc chiu
vi phn lc tc ng ln khu th hai.
Dng lnh:
to lc-phn lc, c th tin hnh theo mt s dng lnh nh sau:
T trnh n Motion trn thanh cng c, chn Forces, ri chn
Action/Reaction Force...
Trntrnh duyt Browser, chn nhnh Forces, nhn chut phi ln
Dampers v chn Action/Reaction Force.
Trn trnh duyt Browser, chn nhnh Parts, nhn chut phi ln khu
mun gn gim chn thng, chn nhnh Add Forces, v chn
Action/Reaction Force.
Gii thch:
Trang hi thoi Definition:
Force Type: Chn kiu ti trng trn ny l Linear.
Select 1st Component: Chn khu thnh phn th nht chu ti.
Select 2sd Component: Chn khu thnh phn th hai chu ti.
Select Point on 1st Component: Ch nh v tr tc ng ca ti trng
trn khu th nht.
Select Point on 2sd Component: Ch nh v tr tc ng ca ti trng
trn khu th hai.
Ch : Khi la chn phi ch rng: im th nht phi thuc khu th
nht, im th hai phi thuc khu th hai. Nu khng m bo nh vy
c cu sau ny c th lm vic khng nh mong mun.
8. Lnh to mmen-mmen phn lc
ngha:
Mmen-mmen phn lc l mt mmen
xon tc dng gia hai im trn hai khu
ring bit. Mmen xon tc dng trn khu
th nht c cng tr s nhng ngc chiu
mmen xon phn lc trn khu th hai.

Dng lnh:
C th tin hnh theo mt s dng lnh nh sau:
T trnh n Motion trn thanh cng c, chn Forces, ri chn
Action/Reaction Moment...
Trntrnh duyt Browser, chn nhnh Forces, nhn chut phi ln
Dampers v chn Action/Reaction Force.
Trn trnh duyt Browser, chn nhnh Parts, nhn chut phi ln
khu mun gn gim chn thng, chn nhnh Add Forces, v chn
Action/Reaction Force
Gii thch:
Trang hi thoi Definition:
Force Type: Chn kiu ti trng trn ny l Torsion.
Select 1st Component: Ch nh khu thnh phn th nht chu tc
ng ca mmen.
Select 2sd Component: Ch nh khu thnh phn th hai chu tc
ng ca mmen.
Select Location: Ch nh v tr tc ng ca mmen trn mi khu.
Select Direction: Ch nh phng tc dng ca mmen.
9. Lnh to lc va chm im
Lc va chm dng m t va chm gia hai khu. Khi hai khu tip
xc nhau th lc va chm xut hin, v lc vi cc tham s va chm s
tc ng ln c hai khu va chm.
S va chm ph thuc vo vt liu v dng hnh hc ca cc chi tit va
chm. Ta dng mt l xo gim chn phi tuyn thay th cho ti trng
tip xc ti im tip xc.
Lc va chm c xc nh theo:

vi c c nh ngha nh mt hm bc.
Dng lnh:
T trnh n Motion trn thanh cng c, chn Forces, ri chn
Action/Reaction Impact...
Trntrnh duyt Browser, chn nhnh Forces, nhn chut phi ln
Dampers v chn Action/Reaction Force.
Trn trnh duyt Browser, chn nhnh Parts, nhn chut phi ln khu
mun gn gim chn thng, chn nhnh Add Forces, v chn
Action/Reaction Force:
Gii thch:
Trang hi thoi Definition:
Force Type: Chn kiu ti trng trn ny l Torsion.
Select 1st Component: Ch nh khu thnh phn th nht chu va chm.
Select 2sd Component: Ch nh khu thnh phn th hai chu va chm.
Select Point on 1st Component: Ch nh v tr va chm trn khu th
nht.
Select Point on 2sd Component: Ch nh v tr va chm trn khu th hai.
Trang hi thoi Contact: iu chnh cc thng s v va chm.
Khung hi thoi Impact: Mt s thng s v va chm. La chn Use
Material cho php bt/tt ch dng cc tham s mc nh ca vt liu cc
khu, hay do ngi dng t ch nh.
Khung hi thoi: Ch nh khong cch gia hai khu qua la chn
Design.
Nhn nt Apply to lc va chm v ng hp thoi.
Ch : Tr s trn Length cn phi khc 0