ADAMS Training File

Basic ADAMS Full Simulation Training Guide
VERSION 12.0
PART NUMBER
120VIEWTR-01
Visit us at: www.adams.com
U.S. Government Restricted Rights: If the Software and Documentation are provided in connection with a government contract, then they are provided with RESTRICTED RIGHTS. Use, duplication or disclosure is subject to restrictions stated in paragraph (c)(1)(ii) of the Rights in Technical Data and Computer Software clause at 252.227-7013. Mechanical Dynamics, Incorporated, 2300 Traverwood Drive, Ann Arbor, Michigan 48105. The information in this document is furnished for informational use only, may be revised from time to time, and should not be construed as a commitment by Mechanical Dynamics, Incorporated. Mechanical Dynamics, Incorporated, assumes no responsibility or liability for any errors or inaccuracies that may appear in this document. This document contains proprietary and copyrighted information. Mechanical Dynamics, Incorporated permits licensees of ADAMS software products to print out or copy this document or portions thereof solely for internal use in connection with the licensed software. No part of this document may be copied for any other purpose or distributed or translated into any other language without the prior written permission of Mechanical Dynamics, Incorporated. 2002 by Mechanical Dynamics, Incorporated. All rights reserved. Printed in the United States of America. ADAMS is a registered United States trademark of Mechanical Dynamics, Incorporated. All other product names are trademarks of their respective companies.
Copyright
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A Brief History of ADAMS 10 About Mechanical Dynamics 11 Content of Course 12 Getting Help at Your Job Site 13
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Virtual Prototyping Process 18 Workshop 1Stamping Mechanism 19
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Model Hierarchy 28 Renaming Objects 29 ADAMS/View Interface 30 Simple Simulations 31 Saving Your Work 32 Getting Help 34 Workshop 2ADAMS/View Interface Overview 36
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PostProcessing Interface Overview 48 Animating 49 Plotting 50 Reporting 51 Workshop 3ADAMS/PostProcessor Overview 52
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Coordinate Systems 64 Part Coordinate System 65 Coordinate System Marker 66 Differences Between Parts and Geometry 67 Parts, Geometry, and Markers 68 Types of Parts in ADAMS 69 Part Mass and Inertia 70 Measures 71 Workshop 4Falling Stone 72
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Part Initial Conditions 82 Initial Velocities 83 Point Trace 84 System-Level Design 85 Workshop 5Projectile Motion 86
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Constraints 96 Use of Markers in Constraints 97 Degrees of Freedom (DOF) 98 Joint Initial Conditions (ICs) 99 Merging Geometry 100 Angle Measures 101 Workshop 6One DOF Pendulum 102
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Euler Angles (Rotation Sequence) 118 Precise Positioning: Rotate 119 Modeling Friction 120 Measures in LCS 123 Workshop 7Inclined Plane 124
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Building Geometry 138 Construction Geometry Properties 140 Solid Geometry 142 Precise Positioning: Move 143 Workshop 8Lift Mechanism I 144
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Applying Motion 154 Joint Motion 155 Functions in ADAMS 156 Workshop 9Lift Mechanism II 157
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Types of Joint Primitives 164 Perpendicular Joint Primitive 165 Workshop 10Lift Mechanism III 166
Contents
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Applying Point Motions 172 Workshop 11Suspension System I 173
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Taking Measurements 180 Displacement Functions 181 Importing CAD-Based Geometry 182 Workshop 12Suspension System II 183
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Add-On Constraints 192 Couplers 193 Assembling Subsystem Models 194 Workshop 13Suspension-Steering System 195
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Assemble Simulation 204 Simulation Hierarchy 205 Types of Simulations 206 Forces in ADAMS 208 Spring Dampers in ADAMS 209 Workshop 14Spring Damper 211
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Single-Component Forces: Action-Reaction 218 Spline functions 219 AKISPL Function 220 Workshop 15Nonlinear Spring 221
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Bushings 228 Workshop 16Suspension-Steering System II 229
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Impact Functions 236 Velocity Functions 238 Workshop 17Hatchback I 239
Contents
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STEP Function 248 Scripted Simulations 249 ADAMS/Solver Commands 250 Workshop 18Hatchback II 251
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ADAMS/Solver Overview 258 Files in ADAMS/Solver 259 Example of an ADAMS/Solver Dataset (.adm) File 260 Stand-Alone ADAMS/Solver 261 Formulation of the Equations of Motion 262 Example: 2D Pendulum 263 Phases of Solution 265 Debug/Eprint 270 Workshop 19Hatchback III 271
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Sensors 280 Design Variables 281 Workshop 20Hatchback IV 282
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Splines from Traces 290 Curve Constraints 291 Automated Contact Forces 292 Flexible PartsADAMS/AutoFlex 294 Workshop 21Cam-Rocker-Valve 295
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Multi-Component Forces 310 Design Studies 312 Workshop 22Target Practice 315
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General Approach to Modeling 328 Modeling Practices: Parts 329 Modeling Practices: Constraints 330 Modeling Practices: Compliant Connections 331 Modeling Practices: Run-time Functions 332 Debugging Tips 334
Contents
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Constraints Tables (Incomplete) 364 Forces Tables (Incomplete) 365 Constraint Tables (Completed) 366 Forces Tables (Completed) 367
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Contents
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Contents
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ADAMS Full Simulation Package is a powerful modeling and simulating environment that lets you build, simulate, refine, and ultimately optimize any mechanical system, from automobiles and trains to VCRs and backhoes. Basic ADAMS Full Simulation Package training teaches you how to build, simulate, and refine a mechanical system using Mechanical Dynamics, Inc.s ADAMS Full Simulation Package.
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A Brief History of ADAMS, 10 About Mechanical Dynamics, 11 Content of Course, 12 Getting Help at Your Job Site, 13
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Welcome to Basic ADAMS Training
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http://www.adams.com/solutions/vp.htm
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http://www.adams.com/mdi/product/partner.htm
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Or your local support center
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http://support.adams.com/kb/faq.asp?ID=kb9587.dasp
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Demo ADAMS products, CAD integration, training reference
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Build ADAMS models of moderate complexity. Understand ADAMS product nomenclature and terminology. Understand basic modeling principles and extend your proficiency by creating progressively more complex models. Use the crawl-walk-run approach to virtual prototyping. Debug your models for the most common modeling challenges (for example, redundant constraints, zero masses, and so on). Use and be informed about all methods of ADAMS product support. Use the product documentation optimally.
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This guide is organized into modules that get progressively more complex. Each module focuses on solving an engineering-based problem and covers mechanical system simulation (MSS) concepts that will help you use ADAMS most optimally. The earlier workshops provide you with more step-by-step procedures and guidance, while the later ones provide you with less. Each module is divided into the following sections:
1 2 3 4
Problem statement Concepts Workshop Module review
12
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To access the online help:
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Press F1 when a dialog box is active From the Help menu, select ADAMS/View Help
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To access the online guides:
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From the Help menu, select ADAMS/View Guides To display the ADAMS products home page, Road Map to ADAMS Documentation, from the Help menu, select Online Guides
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Access help on help by selecting the:
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Help on Help bookmark in any ADAMS guide Help tool
on the Road Map to ADAMS Documentation or the Road Map to ADAMS/View Documentation
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The course CD includes the files you will need to complete each workshop, a set of completed workshop files, the course guide in pdf format, as well as the related ADAMS/View documentation.
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Go to http://support.adams.com/services/consulting.shtm
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In order for the links to the guides to work (indicated by a book icon), the training guide must be installed within the help/view directory. Within the help/view directory, create a new directory, view_bas_train, which will include the training guide. Inform students that we will use each of the ADAMS help tools during the course. Show the students how they can search the guide to find text much as they would search through an index.

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To receive more consistent, targeted news and information, go to http://my.adams.com/cgi-bin/ myadams.cgi, a Web personalization site. Some of the news channels this site provides are:
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Case studies - Practical application stories Company news - Mechanical Dynamics corporate and financial information Events - Seminars, user conferences, and trade shows Product alerts - Known problems, workarounds, and Service Packs
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To find your support center, go to http://support.adams.com/services/support/
support_centers.shtm
To read the Service Level Agreement, go to http://support.adams.com/services/support/

sla_agree.shtm
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Go to http://support.adams.com/kb For a quick tour, go to http:// www.adams.com/mdi/news/dyndim/ vol3_kbtour.htm
14
Give outline of class module with workshop at end Cover the Organization of guide section in detail, and reinforce this layout as you go over each module. MDI Technical Support: Discuss what is available through your local office or headquarters, if appropriate. Demonstrate the Customer Support Web site (knowledge base, ASK list and registration process, and so on). Demonstrate how to log CRs.

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To join the community of ADAMS users, go to http://ask.adams.com
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Explain the ASK tool and guide the students to register during class.
16
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Understand the virtual prototyping process by improving the design of the stamping mechanism shown next:
Control link Stamp Inking pad
Parcels
Conveyor
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Virtual Prototyping Process, 18 Workshop 1Stamping Mechanism, 19

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Module review, 25
17
In each module, review the problem statement and explain that you will use the concepts described below to solve it. Return to the problem statement after each concept to make the connection.
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DESIGN PROBLEM Build
...a model of your design using Bodies Forces Contacts Joints Motion generators ...your design using Measures Animations Simulations Plots
Cut time and costs
Test
Validate
...your model by Importing test data Superimposing test data
Do results compare with measured data?
No
...your model by adding Friction Forcing functions Flexible parts Control systems ...your design through variations using Parametrics Design variables
Yes
Refine Increase quality Iterate
Optimize Increase efficiency Automate IMPROVED PRODUCT

18
...your design using DOEs Optimization ...your design process using Custom menus Macros Custom dialog boxes
Stamping Mechanism
This course does not cover all the steps in the virtual prototyping process. It covers all steps up through Iterate. It does not cover Optimize or Automate. Through the course, seek opportunities to use the visual effect of the white board. Map out the process shown here one phase at a time, to emphasize it. Capture the students attention by using all the available tools (white board sketches, guide text, demos using ADAMS/View, KBA, online docs, and so on).
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Understand the virtual prototyping process by improving the design of the stamping mechanism shown next:
Control link Stamp Inking pad
Parcels
Conveyor
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This model represents a mechanism for stamping parcels that are moving along a conveyor belt. During the work cycle, the stamp does not contact the parcels that it is supposed to label. To fix this design flaw, modify the length of the control link.
Stamping Mechanism
19
Review the problem statement. Objective of the exercise is to demonstrate the typical ADAMS process. We have built a model, parameterized it, and automated it. Students must use this customized version of ADAMS to make changes to the model, iterate, and optimize it. There is a file named aview.cmd in that directory that tells ADAMS/View what to do to build the model and put all the automation in place. Before starting, ask if there are any questions.

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Your first step will be to start ADAMS/View from the directory exercise_dir/mod_01_stamper. When you start ADAMS/View from that directory, it automatically builds the model stamp and a fully customized version of ADAMS/View. We provide separate instructions for starting ADAMS/View in UNIX and Windows. Follow the set of instructions below depending on the platform you are using. ,I \RX DUH XVLQJ :LQGRZV WR VWDUW $'$069LHZ
1
From the Start menu, point to Programs, point to ADAMS 12.0, point to AView, and then select ADAMS - View. ADAMS/View starts and the Welcome dialog box appears.
2 3
From the Welcome dialog box, select Import a file. Click the file folder. The Select Directory dialog box appears.
4 5
Find and select the directory mod_01_stamper (exercise_dir/mod_01_stamper). Select OK. The File Import dialog box appears.
6 7
Set File Type to ADAMS/View command file (*.cmd). Right-click the File to read text box, and then select Browse. The Select File dialog box appears.
8 9
Select the file, aview.cmd, and then select Open. Select OK. ADAMS/View imports the commands to build:
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Model named stamp. Fully customized version of ADAMS/View.
After importing the commands, an Information window appears.

10 Read the information describing the model, and then, in the upper right corner, select
Close.
20
Stamping Mechanism
You may want to make a rough sketch of the model on the white board and identify the variable that well change (length of control arm) and the criteria were using to gauge our success--the penetration of the stamping face on the parcels.

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At the command prompt, enter the command to start the ADAMS Toolbar, and then press Enter. The standard command that MDI provides is adamsx, where x is the version number, for example adams12, which represents ADAMS 12.0. From the ADAMS toolbar, right-click the ADAMS/View tool Select Change Settings for A/View. The Change Settings for A/View dialog box appears. .
2 3
4 5
Select Working directory. Right-click the Working directory text box, and then select Select a Directory. The Select a Directory dialog box appears.
6 7 8 9
Select the directory mod_01_stamper (exercise_dir/mod_01_stamper). Select OK. From the Change Settings for A/View dialog box, select OK. From the ADAMS toolbar, select the ADAMS/View tool. ADAMS/View starts and automatically imports the commands to build:
I I
Model named stamp. Fully customized version of ADAMS/View.
After importing the commands, an Information window appears.

10 Read the information describing the model, and then, in the upper right corner, select
Close.
Stamping Mechanism
21

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In this section, you see how you can change the length of the control link (control_link). 7R FKDQJH WKH PRGHO
1
From the Stamper menu, select Setting Up Model. The Stamper_Setup dialog box appears.
Use the arrow buttons to modify the length of the control_link.

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The buttons shift the location of the top of the control_link upward and downward 3 mm at a time. The parts connected to the control_link are parameterized in such a way as to move the appropriate amount automatically whenever you adjust the length of control_link.
3 4
Watch the model change as you press these buttons. To reset your model to the original configuration, select Reset. Leave the Stamper_Setup dialog box open and continue with the next step.
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Now, youll simulate the model to see how it behaves. 7R VLPXODWH WKH PRGHO
1
From the Stamper menu, select Simulate. The Stamper_Simulate dialog box appears.
2 3
To simulate the current design variation, ensure that Single is selected. To solve the equations of motion for the current design, select Apply.
Note: You selected to display the model at every output step. If you were to change
Model Update from At Every Output Step to Never, the model would not update on the
screen but would solve faster. When a single simulation is completed, ADAMS/View tells you what the penetration was during the simulation. A positive number indicates penetration.
4 5
To continue, select OK. Leave the Stamper_Simulate dialog box open and continue with the next step.
Stamping Mechanism
22

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Now youll look at the results of the simulation as an animation and a plot. 7R LQYHVWLJDWH UHVXOWV
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From the Stamper menu, select Investigate Results. The Stamper_Investigate dialog box appears.
To see the motion resulting from your last simulation, select Animate Results. If necessary, use the stop sign in the lower right corner of the window to stop an animation before it has completed.
To plot the vertical travel of the stamper with respect to the parcel tops versus time, as calculated from your last simulation, select Measure Stamp Height Above Parcels. A strip chart appears, in which ADAMS plots the height of the stamp above the parcels.
To save an existing curve so that the next simulation curve will not overwrite the existing curve, but will be superimposed on the saved curve, select Save Curve.
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Now change the model again to find the correct height at which the stamp makes minimal contact with the parcels. 7R ILQG WKH FRUUHFW KHLJKW
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Repeat the steps on the previous page until you can identify the control_link length at which the stamp makes contact with the parcels, using 3 mm increments. Use this value to answer Question 1 in Module review, on page 25. If stamp_height > 0, stamper does not make contact with parcels. If stamp_height < 0, stamper makes contact with parcels.
Stamping Mechanism
23

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Now youll perform a design study. The design study automatically analyzes the model using the specified upper and lower limits for control_link length, and the specified number of runs. Default values are given, but you can modify them if desired. 7R SHUIRUP D GHVLJQ VWXG\
1 2 3
On the Stamper_Simulate dialog box, select Design Study. To speed up the simulation, set Model Update to Never. Select Apply to submit the design study. The design study automatically analyzes the model and a strip chart and Information window appears when the study is complete.
From the Information window, identify the range of the control_link length values within which the stamp makes contact with the parcels. Use this range to answer Question 2 in Module review, on page 25. Close the Information window.
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Now, youll perform an optimization study. During an optimization study, ADAMS/View systematically varies the control_link length and runs a number of simulations until the specified penetration is achieved to within a set tolerance. 7R SHUIRUP DQ RSWLPL]DWLRQ VWXG\
1 2
On the Stamper_Simulate dialog box, select Optimization. Set the Desired Penetration to 4 mm.
Note: Notice that ADAMS wraps the 4 mm in parentheses () to denote an expression. If
you did not enter units, ADAMS uses the default units set for the model.
3 4
Set Model Update to Never. Select Apply to submit the optimization study. The Information window appears, displaying the control_link length for a maximum penetration of 4.00.
From the displayed value of the control link length, note the maximum penetration. Use this value to answer Question 3 in Module review, on page 25.
Stamping Mechanism
24

6
Select OK. The value on the Stamper_Setup dialog box also updates to the optimized value.
Exit ADAMS/View:
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From the File menu, select Exit. From the dialog box that appears, select Exit, dont Save.
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1
Using 3 mm increments, at what control link length do you first notice penetration?
From the design study, what control link length results in penetration? How does this compare with your previous results?
If you specify a maximum desired penetration of 4 mm, what is the optimal length of the control link? How close is the maximum actual penetration from the maximum desired penetration?
How many moveable parts does the model consist of?
How many joints does the model consist of?
What would happen if you deleted the conveyor belt?
Stamping Mechanism
25
(Did anyone notice what happened if you went past 270 mm in length?) Emphasize that the results reflect a 3 mm incremental setting. The workshop should have demonstrated that this is a loose setting. This could have been set up with a much smaller increment setting. It is up to the engineer to set tolerances such as this. The last three questions provide a translation to model hierarchy, which is the first concept of the next module. Leave the mechanism open to use to demonstrate early concepts of next module.
26
Stamping Mechanism
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Use the ADAMS/View graphical-user interface (GUI) to manipulate, simulate, review, and refine the model shown next:
Rocker
Rod Guide (ground) Cam Valve
For more information, see the guide, Learning ADAMS/View Basics.

I I I I I I I
Model Hierarchy, 28 Renaming Objects, 29 ADAMS/View Interface, 30 Simple Simulations, 31 Saving Your Work, 32 Getting Help, 34 Workshop 2ADAMS/View Interface Overview, 36
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Module review, 45
27
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Review the problem statement. Explain that the objective of this module is to become familiar with the graphical-user interface (GUI) of ADAMS/View. Ask them to explore and experiment, and to focus on understanding how the software is set up.
Notes: I Focus only on the GUI. I Do not get into detailed explanation of functionality. I This module has the potential to take too much time if you start to answer all of the students questions. I Tell them that you will answer their questions later when the content is covered. I Do not jump ahead.
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ADAMS/View names objects based on this model hierarchy. For example, ADAMS/View names geometry as .model_name.part_name.geometry_name. To change the parent for an object, rename the object.
Model Simulations Objects Measures Constraints Parts More Forces
Analyses Markers Results Sets Construction Points Geometry
Components
Are not saved in model command files (.cmd)
See also: Assembling Subsystem Models, on page 194
28
ADAMS/View Interface Overview
Draw figure on board. Demonstrate: In the stamping mechanism, display the names of parts to illustrate the model hierarchy. Right-click the parcels part. Show how it is made up of several geometries. While right-clicking, reiterate that in ADAMS/View, clicking the left-clicking selects objects while right-clicking displays a menu.
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.mod Simulations Objects .mod.meas_1 .mod.joint_1 .mod.part_1 More .mod.spring_1
.mod.run_1 .mod.part_1.mar_1 .mod.run_1.joint_1 .mod.part_1.point_1 .mod.part_1.box_1
.mod.run_1.joint_1.fx
Are not saved in model command files (.cmd)
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Renamed
Not renamed
29
Zoom in on bottom half of the page and stress the importance of renaming parts, joints, and so on. Stress that giving descriptive names to objects makes debugging much easier.
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Main Toolbox Model name Menus Working grid
Tool Arrow denotes toolstack
Toolbox container View triad Status bar
30
Create a simple pendulum and demonstrate all the items called out in the figure above. Demonstrate the Main Toolbox: Toolstacks - Accessed by right-clicking a tool. Container - Appears in the bottom half of the toolbox when a tool is selected. Demonstrate the Status bar: Ask them to look at the Status bar for directions from ADAMS. Also explain: The view triad provides a visual reference; it is not an object and cannot be selected.
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Simulations are solutions to equations of motion describing a mechanical system. Animations display a graphical playback of previously completed simulations.
Simulation tool Animation tool
Simulation time interval Duration: relative amount of time to simulate over End time: absolute point in time to stop simulation Forever: continues until stopped or until ADAMS/ Solver can no longer solve the equations of motion Simulation output Step size: amount of time between steps Steps: total number of steps in a specified amount of time
For more information, see Running an Interactive Simulation, on page 91 and Viewing and Controlling Animations, on page 157 in the guide, Simulating Models in ADAMS/View.
31
Simulate the pendulum and then animate it for a graphical playback. Explain how the time interval and the output options work.
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ADAMS/View database files (.bin) For more information, see Saving Your Modeling Database, on page 147 in the guide, Learning ADAMS/View Basics.
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Include the entire modeling session including models, simulation results, plots, and so on. Are typically very large. Are platform independent in ADAMS 11.0 and 12.0 but all other versions are platform dependent.
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ADAMS/View command files (.cmd) For more information, see Importing and Exporting ADAMS/View Command Files, on page 29 in the guide, Exchanging Data in ADAMS.
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Include only model elements and their attributes. Are relatively small, editable text files. Are platform independent.
32
Demonstrate Export Versus Save Database: Use the pendulum you created earlier. Once both .cmd and .bin files are created, illustrate the difference in the size of the two files. Open the .cmd file in a text editor to show how simple it is but do not get into details about the commands.
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ADAMS/Solver input files (.adm) Geometry files (STEP, IGES, DXF, DWG, Wavefront, Stereolithography) Test and spreadsheet data files Simulation results files (.msg, .req, .out, .gra, .res).
33
The other formats will be discussed in greater detail later in the course.
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While working in any ADAMS/View dialog box, you can press F1 to display online help specific to that dialog box. Once the online help is displayed, you can also search for any terms you are looking for or browse through the index or table of contents.
Enter a search term Select, and then select the Index tab
34
Demonstrate the online help. Press F1. Read the FAQ for online help. Mention to students that they can search the online help as shown on this page. If they dont find what they are looking for, they can search the pdf guides as shown on the next page.
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35
Perform a global search in the ADAMS/View guides. Search all guides for something such as contact or friction. Explain that the only printed guides that are shipped with the software are installation and getting started guides. If customers want printed guides, they can print them from .pdf or order them through local sales person. Search and select text in Acrobat Reader: Search in displayed guide: Select text: Global search: Zoom in: Zoom out: press Ctrl +
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Use ADAMS/View to manipulate, simulate, review, and refine the following model:
rocker
rod ground_engineblock
cam
valve
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The model represents a valvetrain mechanism. The cam is being rotated at a given velocity. The rod (follower) moves translationally based on its constraint to the cam. The rocker pivots about a pin attached to the engine block. The spring is always in compression to try and keep the rod in contact with the cam. The valve moves vertically as the rocker rotates. When the valve moves, it lets small amounts of air into the chamber below it (not modeled here).
36
Illustrate the problem statement. Identify the stiffness variable and the valve displacement measure.

7LSV EHIRUH \RX VWDUW
While working on this exercise, notice:
I I I I
The use of the right mouse button. The function of single-clicks and double-clicks. The messages on the Status bar. The animation options.
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Start ADAMS/View from the directory exercise_dir/mod_02_aview_interface and import the model command file valve.cmd. It contains commands to build a model named valve. 7R VWDUW $'$069LHZ LQ :LQGRZV
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On the Start menu, point to Programs, point to ADAMS 12.0, point to AView, and then select ADAMS - View.
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From the ADAMS Toolbar, select the ADAMS/View tool
7R ORDG WKH ZRUNVKRS ILOHV

1 2
From the Welcome dialog box, select Import a file. Click the file folder. The Find Directory dialog box appears.
Find and select the directory mod_02_aview_interface (exercise_dir/mod_02_aview_interface). Select OK. The File Import dialog box appears.
5 6
37

7 8
Find and select the file, valve.cmd and then select Open. Select OK.
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Now youll learn how you can view models from different angles using the keyboard shortcuts for zooming, translating, and rotating. 7R YLHZ WKH PRGHO IURP GLIIHUHQW DQJOHV
1
To view a list of keyboard shortcuts, move the cursor away from the model, and then right-click in the ADAMS/View window. A menu appears, listing the keyboard shortcuts. To close the menu, left-click away from the menu. In the space below, write the shortcut keys for performing the following view operations. Rotate: Translate: Zoom in and out: Zoom into a specific area: Fit: Front view: Press the key representing the desired view operation, and follow the instructions in the Status bar.
38
Rotate: r Translate: t Zoom in and out: z Zoom into a specific area (window): w Fit: f (lower case) Front View: F (upper case)

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Now youll rename the parts to match the names given in the figure in the problem statement on page 36. As you go through these instructions, notice that right-clicking always gives you a list of choices, while left-clicking selects an object. 7R UHQDPH SDUWV
1
Move the cursor over a part and right-click. (For example, move the cursor over the rocker part.) Point to Part:PART_<x>, and then select Rename. The Rename Object dialog box appears. In the New Name text box, enter .valve.<part name>, and then select OK. (For example, for the rocker, you would enter: .valve.rocker.) See the problem statement on page 36 for a listing of part names. Continue renaming parts.
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Now inspect the model to determine the number and type of constraints in the model and check if the model verified correctly. Use the values to answer Question 1 in Module review, on page 45. 7R GHWHUPLQH WKH QXPEHU DQG W\SH RI FRQVWUDLQWV
1
Right-click the Information toolstack on the right side of the Status bar, and then select the Model topology by constraints tool.
Model topology by constraints tool
39

The Information window appears as shown next:
Note the number and type of constraints and use them to answer Question 1 in Module review, on page 45. Select Close.
40

7R FKHFN LI WKH PRGHO YHULILHG VXFFHVVIXOO\
1
Right-click the Information toolstack again, and then select the Verify tool.
Verify tool
The Information window appears as shown next:
Note that the text Model verified successfully appears in the Information window.
2
Select Close.
41

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In this section, youll run a simulation for 2 seconds with 100 steps, and save the simulation results. 7R UXQ D VLPXODWLRQ
1
From the Main Toolbox, select the Simulation tool
Simulation tool
In the container that appears in the lower portion of the Main Toolbox:
I I I
Select Default. Select End Time, and in the text box, below End Time, enter 2.0. In the text box below Steps, enter 100. . .
3 4
Select the Play tool
When the simulation is complete, select the Reset tool
7R VDYH WKH VLPXODWLRQ UHVXOWV

1
From the Simulate menu, select Interactive Controls. The Simulation Control dialog box appears.
To save the last simulation results to the database under a new name, select the Save
Simulation tool
The Save Run Results dialog box appears.

3 4 5
In the Name text box, enter a name for the simulation results, such as first_results. Select OK. Close the Simulation Control dialog box.
42

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In this section, youll review the results of the simulation as an animation, which is a graphical playback of a simulation. Youll use the built-in ADAMS/View tools to run the animation. Optionally, you could use the ADAMS/PostProcessor tools to run animations. $QLPDWH WKH PRGHO ZLWK LFRQV WXUQHG RII GHIDXOW
1 2 3
From the Main Toolbox, select the Animation tool Select the Play tool.
When the animation is complete, select the Reset tool.
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1
From the Review menu, select Animation Controls. The Animation Controls dialog box appears.
2 3 4 5
At the bottom of the Animation Controls dialog box, select Icons. Select the Play tool. When the animation is complete, select the Reset tool. Close the Animation Controls dialog box.
43

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Now youll save your work so the saved file contains only the model information. 7R VDYH \RXU ZRUN
1 2 3 4 5 6
From the File menu, select Export. Set File Type to ADAMS/View command file. In the File Name text box, enter valve1. In the Model Name text box, enter valve. Select OK. If you want to further explore the model, as suggested in the next section, leave the model open. Otherwise, proceed with the next step. From the File menu, select Exit. From the dialog box that appears, select Exit, dont Save.
7 8
2SWLRQDO WDVNV
+DYH IXQ ZLWK WKH PRGHO This exercise introduces you to the ADAMS/View interface. Manipulate the model and experiment with it as much as you want.
44

0RGXOH UHYLHZ
1
How many constraints are there in this system? What type of constraints are they?
Is it possible to have more than one model in a database?
Is part geometry a direct child of a model? If not, what is part geometry a child of?
If you are in the middle of an operation and you are not sure what input ADAMS/View wants next, where should you look?
If you are working with our technical support staff and you want them to look at one of your files, what file format would you send them, a .cmd or .bin? Why?
What is the difference between the two search tools (the ones with binoculars) available in Adobe Acrobat Reader, which is the software we use to view the online guides?
45
46
$'$063267352&(6625 ,17(5)$&( 29(59,(:

Use the ADAMS/PostProcessor interface to simulate, review, and refine the model shown next:
Rocker
Rod Guide (ground) Cam Valve
For more information, see Getting Started Using ADAMS/PostProcessor, on page 5 in the guide, Using ADAMS/PostProcessor.

I I I I I
PostProcessing Interface Overview, 48 Animating, 49 Plotting, 50 Reporting, 51 Workshop 3ADAMS/PostProcessor Overview, 52

N
Module review, 62
47
I I
Review the problem statement. Explain that the objective of this module is to become familiar with the graphical-user interface of ADAMS/PPT. Ask them to explore and experiment, and to focus on understanding how the software is set up.
Notes: I Focus only on the interface. I Do not get into detailed explanation of functionality. I This module has the potential to take too much time if you start to answer all of the students questions. I Tell them that you will answer their questions later when the content is covered. I Do not jump ahead.
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Animation Plotting Report
([DPSOH
The tools in the Main toolbar change if you switch between the modes, as shown on the next few pages.
48
ADAMS/PostProcessor Interface Overview
Notes: Focus only on the interface. Do not get into detailed explanation of functionality. This module has the potential to take too much time if you start to answer all of the students questions. Tell students that you will answer their questions at the point in the class when the relevant content is covered. Do not allow the students questions to force you to jump ahead too far.
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Treeview Main toolbar Mode type Viewport
Property editor
Dashboard
For more information, see Animating Results, on page 53 in the guide, Using ADAMS/PostProcessor.
49
Use the pendulum example from Module 2 to demo PPT features. Simulate with the Save files option on. You will use the output to demo the new Report option. Demo the Animation option after a simulation of the pendulum.
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Treeview Main toolbar Mode type Viewport
Property editor
Dashboard
For more information, see Plotting Results, on page 87 in the guide, Using ADAMS/PostProcessor.
50
Demo creating a plot.
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Treeview Mode type Main toolbar Viewport
For more information, see Viewing Reports, on page 165 in the guide, Using ADAMS/PostProcessor.
51
Demo loading a report. Load the file ADAMS.res.
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Use ADAMS/PostProcessor to manipulate, review, and refine the results of the valvetrain model you simulated in the previous module.
Rocker
Rod Guide (ground) Valve Cam
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The model represents a valvetrain mechanism. The cam is being rotated at a given velocity. The rod (follower) moves translationally based on its constraint to the cam. The rocker pivots about a pin attached to the engine block. The spring is always in compression to try and keep the rod in contact with the cam. The valve moves vertically as the rocker rotates. When the valve moves, it lets small amounts of air into the chamber below it (not modeled here).
52
Review model description. Draw the model and identify the variables, K of spring and displacement of the valve.

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Start ADAMS/View from the directory exercise_dir/mod_03_ppt_interface and import the model command file valve1.cmd. This is the command file you created in the previous workshop. The command file contains commands to build a model named valve. 7R VWDUW WKH ZRUNVKRS
1 2 3
Start ADAMS/View. From the Welcome dialog box, select Import a file. Click the file folder. The Find Directory dialog box appears.
4 5
Find and select the directory mod_03_ppt_interface (exercise_dir/mod_03_ppt_interface). Select OK. The File Import dialog box appears.
6 7
Find and select the file, valve1.cmd, which you created in the previous workshop, and then select Open. Note that the model file is not in the current working directory. It is in the directory
exercise_dir/mod_02_aview_interface.
If you need a fresh copy of the model, import the command file valve1_completed.cmd from the directory exercise_dir/mod_02_aview_interface/completed.
9
Select OK. For more information, see Specifying Working Directory, on page 42 in the guide, Learning ADAMS/View Basics.
53

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Run a simulation for 2 seconds with 100 steps, and then save the simulation results. 7R UXQ D VLPXODWLRQ
1
From the Main Toolbox, select the Simulation tool.

Tip: If you closed the Main Toolbox, you can display it again by clicking the Main
Toolbox tool
2
on the Status bar.
From the container in the Main Toolbox:

I I I
Select Default. Select End Time, and in the text box, below End Time, enter 2.0. In the Steps text box, enter 100.
3 4 5
Select the Play tool. When the simulation is complete, select the Reset tool. Save the simulation results, with the name second_results, just as you did on page 42 of Workshop 2ADAMS/View Interface Overview.
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Now youll plot the results using ADAMS/PostProcessor. You will plot:
I
Displacement of the valve versus time. ADAMS/View tracks this data through a measure called valve_displacement. Force in the spring versus time. ADAMS/View tracks this data through a measure called force_in_spring.
54

7R SORW WKH UHVXOWV
1
From the Main Toolbox, select the ADAMS/PostProcessor tool
or press F8.
ADAMS/PostProcessor tool
ADAMS/PostProcessor starts.
2
At the bottom of the window in the dashboard, from the Simulation list, select the name of the results set you saved in the previous section. Set Source to Measures. From the Measure list, select Valve_Displacement. In the right corner of the dashboard, select Add Curves. From the toolbar, select the Create a New Page tool .
3 4 5 6
The following figure shows the Create a New Page tool and other page tools.
Create a New Page Delete a Page
Previous Page
Next Page
In the treeview, shown on the left side of the ADAMS/PostProcessor window, you now have two pages.
7 8 9
From the Measure list, select Force_in_Spring. Select Add Curves. To return to ADAMS/View, in the upper right corner of the main toolbar, select the
ADAMS/View tool
or press F8.
Note: If you resized the ADAMS/PostProcessor window, the ADAMS/View tool is no
longer visible. To display the tool, stretch the window.
55

0DQLSXODWH PRGHO FKDUDFWHULVWLFV
Youll first find the spring stiffness coefficient, and then youll modify the spring stiffness to 200 lbf/foot. 7R ILQG WKH VSULQJ VWLIIQHVV FRHIILFLHQW
1
Zoom in on the spring by typing a lowercase w, and then drawing a window around the spring. Right-click the spring, point to Spring:SPRING_1, and then select Info. The Information window appears.
3 4 5
Note the value of the stiffness coefficient. Use the value to answer Question 2 in Module review, on page 62. Select Close.
7R PRGLI\ WKH VSULQJ VWLIIQHVV WR OEIIRRW

1
Right-click the spring, point to Spring:SPRING_1, and then select Modify. The Modify a Spring-Damper Force dialog box appears.
In the Stiffness Coefficient text box, enter 200 (lbf/foot).

Note: In the value you entered, the parentheses () are necessary because you enter
compound fractional units.

3 4
Select OK. Fit the model on the screen by typing a lowercase f.
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Run a simulation for 2 seconds with 100 steps, and then save the simulation results (as third_results), just as you did in Simulate the model, on page 54.
56

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Now you are going to overlay the results of both of your simulations to see the differences between the spring forces. 7R RYHUOD\ SORWV
1 2 3 4 5 6
From the Main Toolbox, select the ADAMS/PostProcessor tool
From the Simulation list, select the new simulation in your session. Set Source to Measures. From the Measure list, select Force_in_Spring. Below the heading Independent Axis:, ensure that Time is selected. Select Add Curves. Notice the dashboard settings in the next figure.
57

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Now youll use the online guides to find out how to get plot statistics and then find the plot statistics for the force_in_spring value.
Note: When using ADAMS/PostProcessor from ADAMS/View, you can also access its
online help. To access the online help, press F1. 7R XVH WKH JXLGHV WR KHOS \RX JHW SORW VWDWLVWLFV
1 2
From the Help menu, select ADAMS/PostProcessor Guide. Search for the phrase plot statistics and see where it leads you. If you are unable to find the phrase ask the instructor for help.
Use the Plot Statistics toolbar to find the maximum Force_in_Spring value in the second simulation. Once you find the Force_in_Spring value, use it to answer Question 3 in Module review, on page 62.
0RGLI\ WKH SORW JUDSKLFV

Now youll modify the graphics of the plot to make the information in it more readable. 7R JLYH WKH SORW D WLWOH
1 2 3 4
In the treeview, expand page_2 by clicking the + sign. Expand plot_2. Select title. In the property editor below the treeview, clear the current title valve, and then enter the new title Spring Force vs. Time. Select Enter.
7R ODEHO WKH YHUWLFDO D[LV DV 6SULQJ )RUFH OEI

1 2 3
In the treeview, select vaxis. In the property editor, select Labels. Change the label to Spring Force (lbf).
58

7R PRGLI\ WKH OHJHQG WH[W DQG LWV SODFHPHQW
1 2 3 4 5
In the treeview, select curve_1. In the property editor below, change the Legend text box to k=100(lbf/foot). Change the legend for curve_2 to k=200. In the treeview, select legend_object. In the property editor, set Placement to Top Right.
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ADAMS/PostProcessor lets you display animations and plots at the same time. In this section, youll add an animation next to your plot. You can also run the animation and watch the results appear in the plot. 7R DGG DQ DQLPDWLRQ QH[W WR \RXU SORW
1 2
In the treeview, select page_2. Split the screen by right-clicking on the Page Layout toolstack in the main toolbar, and selecting the Split Screen tool.
Split Screen
Set the new viewport to Animation by right-clicking in the viewport and choosing Load
Animation from the pop-up menu.
59
Remind students of the difference between Find and Search.

4
From the Database Navigator, select one of the simulation results that you want to animate. Select OK.
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Adjust your view of the model on your screen using the tools in the main toolbar. The figure below highlights some of the tools that are available. Try experimenting with the rotate, zoom, and translate tools.
Center Dynamic Translate Dynamic Rotate Select View Zoom View Fit Front View
60

7R SOD\ DQ DQLPDWLRQ RI WKH UHVXOWV
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Play an animation of your model using the tools that are located above the viewport and in the dashboard. Experiment with the play and pause tools.
Pause Animation Play Animation Play Animation Backward Reset Animation Record Animation
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1 2
From the dashboard, select the View tab. Experiment with the available options.
7R FKDQJH WKH FRORU RI WKH FDP

1 2 3
From the treeview, expand the model by clicking on the + sign. Select cam. In the property editor, set Color to Coral.
7R HQODUJH WKH JUDSKLFV WKDW LOOXVWUDWH IRUFH

1
From the Edit menu, select Preferences. The PPT Preferences dialog box appears.
2 3
In the Force Scale text box, enter a value that is greater than 50, and then select Close. Experiment with changing the scale of the force graphics.
7R FKDQJH WKH YLHZ IURP VKDGHG WR ZLUHIUDPH

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On the main toolbar, select the Wireframe/shaded tool
61

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1 2
Return to ADAMS/View. Save your work and then exit ADAMS/View.
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1
What is the mass of the valve? What is this mass currently based on?
What is the stiffness coefficient of the spring?
What was the maximum spring force when the spring coefficient was 200 lbf/foot?
62
)$//,1* 6721(
Find the displacement, velocity, and acceleration of a stone after one second, when the stone, with zero initial velocity, falls under the influence of gravity.
mm g = 9810 -------s2

I I I I I I I I I
Coordinate Systems, 64 Part Coordinate System, 65 Coordinate System Marker, 66 Differences Between Parts and Geometry, 67 Parts, Geometry, and Markers, 68 Types of Parts in ADAMS, 69 Part Mass and Inertia, 70 Measures, 71 Workshop 4Falling Stone, 72
N
Module review, 80
63
I I
Review the problem statement. Then, review the concepts while relating them to the problem statement. For example, review the problem statement, click on the link Part Coordinate Systems. Review the concept page, then use the link at the bottom of the page, Falling Stone, to come back to this page. Repeat this with each concept.
Keep returning to the title page as you go through the module. Continue this throughout the course.
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A coordinate system is essentially a measuring stick to define kinematic and dynamic quantities.
Point P
yG
R
Point O
R = Rx x + Ry y + Rz z
xG
zG
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Global coordinate system (GCS):

N N
Rigidly attaches to the ground part. Defines the absolute point (0,0,0) of your model and provides a set of axes that is referenced when creating local coordinate systems.
Local coordinate systems (LCS):

N N
Part coordinate systems (PCS) Markers
For more information, see Types of Coordinate Systems, on page 31 in the guide, Learning ADAMS/View Basics.
64
Falling Stone
Specify that we will be dealing with Cartesian coordinates all week.
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They are created automatically for every part. Only one exists per part. Location and orientation is specified by providing its location and orientation with respect to the GCS.
Part coordinate system Part 1 at location (10, 5.5, 0)
y P1 x P1
5.5
z P1 yG xG
10
zG
Global coordinate system Ground body at location (0, 0, 0)
When created, each parts PCS has the same location and orientation as the GCS.
Falling Stone
65
Create a sphere with the cm off of the origin, and then display information on one of its markers (cm or anchor marker) to show that it has its own PCS. This PCS is not visible, but by default it is at the global origin. Move the sphere by moving its anchor marker, to demonstrate how the PCS changes locations and is no longer at the global origin.
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It attaches to a part and moves with the part. Several can exist per part. Its location and orientation can be specified by providing its location and orientation with respect to GCS or PCS. y P1
-5
Marker 1 on Part 1 at location (- 5, -1, 0)
y M1
-1
Part coordinate system Part 1 at location (10, 5.5, 0)
yG z M1 zG
I
x M1 xG
z P1
x P1
Ground body at location (0, 0, 0)
It is used wherever a unique location needs to be defined. For example:

N N
The location of a parts center of mass. The reference point for defining where graphical entities are anchored.
It is used wherever a unique direction needs to be defined. For example:

N N N
The axes about which part mass moments of inertia are specified. Directions for constraints. Directions for force application.
By default, in ADAMS/View, all marker locations and orientations are expressed in GCS. For more information, see Defining Coordinate System Markers, on page 21 in the guide, Building Models in ADAMS/View.
66
Falling Stone
Simulate the falling of this sphere then start ADAMS/PostProcessor. On the same plot put Results Set PART_2_XFORM, Component Y and Object PART_2, Characteristic CM_Position, Component Y. Note the .res plot is with respect to LCS, while the .obj plot is with respect to GCS. If the sphere were created with the cm at the origin, these two measures would be the same. Explain that markers are local coordinate systems located relative to GCS and PCS.
'LIIHUHQFHV %HWZHHQ 3DUWV DQG *HRPHWU\

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Define bodies (rigid or flexible) that can move relative to other bodies and have the following properties:
I I I I
Mass Inertia Initial location and orientation (PCS) Initial velocities
*HRPHWU\
I
Is used to add graphics to enhance the visualization of a part using properties such as:
N N N
Length Radius Width
Is not necessary for most simulations.

Note: Simulations that involve contacts do require the part geometry to define when the contact force will turn on or off. We will discuss contact forces in
Module 20.
.model_1.UCA (Part)
.model_1.UCA.cyl_1 (Geometry)
.model_1.UCA.sphere_1 (Geometry)
Falling Stone
67
All of the parts that are used in this course will be rigid bodies.
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To understand the relationship between parts, geometry, and markers in ADAMS/View, it is necessary to understand the dependencies shown next:
Model .mod
Part .mod.pend
Geometry .mod.pend.sph
Marker .mod.pend.mar_1
Marker .mod.pend.cm
Marker .mod.pend.mar_2
Geometry .mod.pend.cyl
pend mar_2
cyl
cm
sph
mar_1
68
Falling Stone
Demonstrate: Right-click any part, and then select Modify. Review the Part Modify dialog box in detail.
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Are movable parts. Possess mass and inertia properties. Cannot deform.
)OH[LEOH ERGLHV EH\RQG WKH VFRSH RI WKLV FRXUVH

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Are movable parts. Possess mass and inertia properties. Can bend when forces are applied to them.
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Must exist in every model and is automatically created when a model is created in ADAMS/View. Defines the GCS and the global origin and, therefore, remains stationary at all times. Acts as the inertial reference frame for calculating velocities and acceleration. For more information, see About Parts, on page 5 in the guide, Building Models in ADAMS/View.
I I
Falling Stone
69
Demonstrate: Use the Verify tool to find the DOF of the model. You will cover DOF in detail when you cover constraints.
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ADAMS/View automatically calculates mass and inertial properties only for threedimensional rigid bodies. ADAMS/View calculates the total mass and inertia of a part based on the parts density and the volume of its geometry. You can change these properties manually. ADAMS/View assigns mass and inertial properties to a marker that represents the parts center of mass (cm) and principal axes. You can change the position and orientation of the parts cm marker.
I I
Part 1
Part 1
cm marker cm marker (shifts as new geometry is added to the part)

I
The orientation of the cm marker also defines the orientation of inertial properties Ixx, Iyy, Izz. For more information, see Modifying Parts, on page 81 in the guide, Building Models in ADAMS/View.
70
Falling Stone
Mention the use of the Table Editor to change mass properties of multiple parts.
0HDVXUHV
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Represent data that you would like to quantify during a simulation, such as:
N N N N
Displacement, velocity, or acceleration of a point on a part Forces in a joint Angle between two bodies Other data resulting from a user-defined function
Capture values of measured data at different points in time over the course of the simulation.
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Measure pre-defined measurable characteristics of parts, forces, and constraints in a model.
3DUW PHDVXUH FKDUDFWHULVWLFV I CM position

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6SULQJ PHDVXUH FKDUDFWHULVWLFV I Deformation

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-RLQW PHDVXUH FKDUDFWHULVWLFV I Relative velocity

I I I
CM velocity Kinetic energy Others
Force
Force Torque Others
For more information, see Using Measures, on page 11 in the guide, Simulating Models in ADAMS/View.
Falling Stone
71
Demonstrate: Right-click any model element (part, joint) in a model, and then select Measure. Review the basics of the Measure dialog box. Review the problem statement. Quiz them on what steps they would take to solve the problem. Ask if there are any questions before starting. Remind them to change directories.
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Find the displacement, velocity, and acceleration of a stone after one second, when the stone with zero initial velocity, falls under the influence of gravity.
mm g = 9810 -------s2
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First, start ADAMS/View and create a model in the directory exercise_dir/mod_04_falling_stone. Executing ADAMS/View in that directory ensures that all saved data gets stored there. 7R VWDUW WKH ZRUNVKRS
1 2
Start ADAMS/View. In the Welcome dialog box:

I I I I I
Under the heading, How would you like to proceed, select Create a new model. Set the directory to exercise_dir/mod_04_falling_stone. Name the model projectile. Verify that Gravity is set to Earth Normal (-Global Y). Verify that Units are set to MMKS - mm, Kg, N, s, deg.
Select OK.
72
Falling Stone
Introduce the closed-form solution in this module. You do not need to cover closed-form solutions in subsequent modules. Students can review them if they like. Demonstration: Start a new session and demonstrate the Welcome to ADAMS dialog box. Choose Create a new model to show initial environment parameters. Once the new model opens, demonstrate the use of the Settings menu (Coordinate system, Units, and Gravity dialog boxes).

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Use the Sphere tool to create a stone part with a 50 mm radius and its center at the global origin. Youll also rename the part and set its mass to 1 kg. 7R EXLOG WKH VWRQH
1 2
To view the coordinates as you create the sphere so you know its size, from the View menu, select Coordinate Window. From the Main Toolbox, right-click the Rigid Body toolstack, and then select the
Sphere tool
.
Rigid Body toolstack
Follow the Status bar instructions and pick the center of the sphere at the global origin, then drag the cursor until you create a sphere with a 50 mm radius.
7R UHQDPH LW
1 2
Right-click the sphere, point to Part:PART_2, and then select Rename. In the New Name text box, enter .projectile.Stone, and then select OK.
7R VHW WKH PDVV WR NJ

1 2 3 4 5
Right-click the sphere, point to Part:Stone, and then select Modify. In the Define Mass by text box, select User Input. If an alert box opens, select Close. In the Mass text box, enter 1.0. Select OK.
Falling Stone
73

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To calculate the vertical displacement, velocity, and acceleration of the stones cm marker in the y g ,direction, youll create three object (part) measures. Youll set Y as the component to measure. For more information, see Creating an Object Measure, on page 21 in the guide, Simulating Models in ADAMS/View.
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1 2 3 4 5 6 7
Right-click the stone, point to Part:Stone, and then select Measure. In the Measure Name text box, enter displacement. Set Characteristic to CM position. Set Component to Y. Set From/At to .projectile.Stone.cm. Select Create strip chart. Select OK. A measure strip chart appears. It is empty because you need to run a simulation before ADAMS has the necessary information for the chart.
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1 2 3 4 5 6 7
Right-click the stone, and select Measure. In the Measure Name text box, enter velocity. Set Characteristic to CM velocity. Set Component to Y. Set From/At to .projectile.Stone.cm. Select Create strip chart. Select OK.
74
Falling Stone

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Follow the instructions above but set Measure Name to acceleration, and Characteristic to CM acceleration.
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Now youll verify the model. When you verify the model, ADAMS/View checks for error conditions such as misaligned joints, unconstrained parts, or massless parts in dynamic systems and alerts you to other possible problems in the model. For more information, see Verifying Your Model, on page 96 in the guide, Simulating Models in ADAMS/View. 7R YHULI\ WKH PRGHO
1
In the right corner of the Status bar, right-click the Information toolstack the Verify tool .
, and then select
2 3
In the Information window, check that the model has verified successfully. Close the Information window.
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Now youll zoom out the display so that the falling stone is clearly visible while it simulates. Youll then simulate it for 1 second with 50 steps. 7R ]RRP RXW
1 2
Select the Select tool
to display the view control options in the toolbox.
Select the Zoom tool , and then click and drag the mouse to zoom out until the entire working grid is visible. Select the Translate tool , and then drag the working grid to the top of the screen.
Falling Stone
75

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1 2 3
In the Main Toolbox, select the Simulation tool
In the End Time text box, enter 1.0 and in the Steps text box, enter 50. Select the Play tool. As the stone falls, ADAMS/View plots the corresponding data on the displacement, velocity, and acceleration graphs.
4 5
When the simulation ends, reset the model to the input, or design configuration by selecting the Reset tool. Animate the simulation to replay the simulation without simulating again.
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Now youll use ADAMS/PostProcessor to find the stones displacement, velocity, and acceleration after 1 second. 7R UXQ $'$063RVW3URFHVVRU
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Right-click the blank area inside the strip chart .projectile.displacement, point to Plot:scht1, and then select Transfer to Full Plot. ADAMS/PostProcessor replaces the ADAMS/View window.
7R ILQG WKH YDOXH RI WKH VWRQHV GLVSODFHPHQW

1 2 3 4 5
In ADAMS/PostProcessor, from the main toolbar, select the Plot Tracking tool
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; this is your answer. Compare this value of Y to the results given in the closed-form solution on page 79. Use the value to answer Question 1 in Module review, on page 80.
76
Falling Stone

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1
Select Surf. This lets you view a selected measure without using the Add Curves button.
2 3 4 5 6 7
Set Source to Measures. From the Measure list, select velocity. 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 appears. It is 1. Note the value of Y; this is your answer. Compare this value of Y to the results given in the Closed-form solution, on page 79. Use the value to answer Question 2 in Module review, on page 80.
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1 1 2 3 4 5 6 7
Set Source to Measures. From the Measure list, select acceleration. To display the acceleration plot, select Surf. 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 will be displayed as 1. Note the value of Y; this is your answer. Compare this value of Y to the results given in the Closed-form solution, on page 79. Use the value to answer Question 3 in Module review, on page 80. To return to ADAM/View and close all three plots, select the ADAMS/View tool.
Falling Stone
77

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Now save your work such that the file contains only the model information. You will use this model in the next module.
Tip: Save the model as a command file.
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1 2 3
From the File menu, select Export, and then select OK. If you want to further explore the model, as suggested in the next section, leave the model open. Otherwise, proceed with the next step. Exit ADAMS/View.
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Save your work before performing these tasks. Do not save your work after performing these tasks because you will use this model in the next module. If you must save the model after performing these tasks, give the model a different name. 7R LQVSHFW WKH EHKDYLRU RI WKH VWRQH DIWHU FKDQJLQJ LWV PDVV
1 2 3 4 5
Change the mass of the stone to 2 kg. Simulate the model. Compare the results of this simulation with the results of the simulation where the mass of the stone was 1 kg. Does changing the mass affect the displacement, velocity, or acceleration? Measure the kinetic energy of the stone. Do these results make sense? K.E. = (1/2)m*v2
Exit ADAMS/View.
78
Falling Stone
KE solution is in units of N*mm. In ADAMS/Solver, a conversion from mm to m occurs.

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Displacement after 1 sec = -4903.3 mm Velocity after 1 sec = -9806.6 mm/sec Acceleration after 1 sec = -9806.6 mm/sec2
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$QDO\WLFDO VROXWLRQ s = (at2) = 4903.325 mm v = at = 9806.65 mm/sec a= g = 9806.65 mm/sec2 KE = (1/2)*1kg ** 9806.65mm/sec)2 = 4.8085e7(kg*mm2/s2) conversion to N: 1 N = 1 (kg*m/s2) KE = 4.80852e7[(kg*mm/s2)(1m/100mm)]*mm = 48085.2 N*mm :KHUH s = Distance (mm) a = Acceleration (mm/sec2) t = Time (sec) v = Velocity (mm/sec) m = mass (kg)
Falling Stone
79

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1
What is the displacement of the stone after one second?
What is the velocity of the stone after one second?
What is the acceleration of the stone after one second?
What are the most basic building blocks in ADAMS, which are used in parts, constraints, forces, and measures?
Why is the ground part automatically created?
Can ADAMS/View generate mass properties for two-dimensional geometry? Why?
80
Falling Stone
352-(&7,/( 027,21
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, as shown next.
6 m/s
A
= 60o
R

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Part Initial Conditions, 82 Initial Velocities, 83 Point Trace, 84 System-Level Design, 85 Workshop 5Projectile Motion, 86
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Module review, 94
81
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Review the problem statement. At regular intervals, ask if there are any questions.
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The design configuration of all the parts (their part coordinate systems) in a model defines their initial locations and orientations. You can fix a parts location and orientation to be used during the assembly simulation (covered later). For more information, see Modifying Initial Location and Orientation, on page 121 in the guide, Building Models in ADAMS/View.
82
Projectile Motion
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In ADAMS, a part initially moves (at t = 0) as follows:
Is an initial velocity specified?
No
Yes
Yes
Are there constraints acting on the part?

No
Are there motions/constraints acting on the part?

No
Yes
ADAMS uses a default of zero ADAMS calculates initial velocity; it may or may not be zero
ADAMS uses the initial velocity specified ADAMS uses initial velocity due to the motions/constraints
For more information, see Modifying Initial Velocities, on page 118 in the guide, Building Models in ADAMS/View.
Projectile Motion
83
Consider illustrating the above flowchart on board. Demonstration: Create a block and constrain it to ground with a translational joint. Right-click the part and set its initial velocity. Simulate the model so you can watch it move. Right-click the joint and set its initial velocity opposite that of the parts. Simulate again to show precedence of the joint IC.
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Tracks the location of a marker during an animation. Can be used to visualize the clearance between two bodies during a simulation.
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Trajectory of a ball.
Boom!
For more information, see Tracing the Paths of Points During Animations, on page 173 in the guide, Simulating Models in ADAMS/View.
84
Projectile Motion
Demonstrate: Review Animation Controls Trace Marker
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Do not build the entire mechanism at once. As you add a new component, make sure that it works correctly. Check your model at regular intervals.
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Projectile Motion
85
Stress the importance of the crawl-walk-run approach. Specify that MDI Technical Support recommends users to follow this approach. When a user contacts Technical Support, they ask for two copies of the model, one copy of the model in working condition, and one copy of the model that does not work. Comparing the two models is essential for debugging. Following the crawl-walk-run approach makes it easy to provide Technical Support with essential information.
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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, as shown next.
6 m/s A
= 60o
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In this workshop, you use the model you built in Workshop 4Falling Stone, on page 72.
86
Projectile Motion
Illustrate the problem statement. Ask the students to give steps to complete workshop. Ask for questions.

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To start the workshop, import the model that you created in the previous module. 7R VWDUW WKH ZRUNVKRS
1
In the Welcome dialog box, under the heading, How would you like to proceed, select Import a
file.
Set the directory to exercise_dir/mod_05_projectile. Executing ADAMS/View in this directory ensures that all saved data gets stored here. Select OK. Find and select the model file, projectile.cmd, which you completed in the previous workshop. Note that the model file is not in the current working directory. It is in the directory
exercise_dir/mod_04_falling_stone.
3 4
If you need a fresh copy of the model, import the command file stone_completed.cmd from the directory exercise_dir/mod_04_falling_stone/stone_completed.
5
Select OK.
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In this section, youll build a plane using the Box tool dimensions:
I I I
. The plane will have the following
Length: 3500 mm Height: 100 mm On ground
Before building the plane, youll set up the display by resetting the working grid to 4000 mm x 3000 mm with spacing of 50 mm, and zooming out. For more information, see Setting Up the Working Grid, on page 129 in the guide, Learning ADAMS/View Basics.
Projectile Motion
87

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1 2 3 4 5
From the Settings menu, select Working Grid. In the Size: X text box, enter 4000. In the Size: Y text box, enter 3000. In the Spacing text boxes, enter 50, and then select OK. Zoom out by typing a lowercase z, and then clicking and dragging the mouse to zoom out and view the entire working grid.
7R EXLOG WKH SODQH

1 2
Turn on the coordinate window (from the View menu, select Coordinate Window). From the Main Toolbox, right-click the Rigid Body toolstack, and then select the Box tool . In the toolbox container:
I I I
Select On Ground. Select Length, and then in the Length text box, enter 3500 mm. Select the Height and Depth options, and then in the Height and Depth text boxes, enter 100 mm.
Use the mouse to select the corner of the box at 0, -150, 0. The stone should appear to be balanced at the upper left corner of the plane in a front view.
88
Projectile Motion

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Now set initial velocity conditions for the stone as follows:
I
Vx Vy
= 6000*cos(60o) = 3000 mm/sec = 6000*sin(60o) = 5196 mm/sec
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1 2 3 4
Reset the Main Toolbox by selecting the Select tool
Right-click the stone, point to Part:Stone, and then select Modify. Set Category to Velocity Initial Conditions. Under Translational velocity along, select X axis, and in the X axis text box, enter (6*cos(60d)(m/sec)) or (3000(mm/sec)). Under Translational velocity along, select Y axis, and in the Y axis text box, enter (6*sin(60d)(m/sec)) or (5196(mm/sec)). Select OK.
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Next, create an object (part) measure to calculate the horizontal displacement, center of mass (cm) marker when it is projected. 7R FUHDWH D PHDVXUH
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xg
, of the stones
Right-click the stone, point to Part:Stone, and then select Measure. In the Measure Name text box, enter R_displacement. Set Characteristic to CM position. Set Component to X. Set From/At to .projectile.Stone.cm. Select Create strip chart. Select OK.
Projectile Motion
89

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Run a simulation for 1.5 seconds, using a sampling rate of .02 seconds. 7R UXQ D VLPXODWLRQ
1 2 3 4
From the Main Toolbox, select the Simulation tool. In the End Time text box, enter 1.5. In the Step Size text box enter 0.02. Select the Play tool. ADAMS/View runs the simulation and plots the corresponding data in a strip chart.
When the simulation ends, select the Reset tool.
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Using animation tools, determine the time at which the stone encounters the plane. Use the time value to answer Question 1 in Module review, on page 94. 7R ILQG WKH UDQJH
1 2 3 4
From the Main Toolbox, select the Animation tool Select the Play tool.
When the stone makes contact with the plane, select the Stop tool Use the Step Forward and Step Backward stone makes contact with the plane.
tools to obtain the exact point at which the
Note the time at which the stone makes contact with the plane in the plot. (ADAMS displays the time in the upper left corner of the ADAMS window.) Select the Reset tool.
90
Projectile Motion

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Create a point trace to view the trajectory of the projectile during an animation. 7R FUHDWH D SRLQW WUDFH
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On the Review menu, select Animation Controls. Select Icons. Set No Trace to Trace Marker. Right-click the empty text box that appears, select Marker, and then select Browse. From the Database Navigator, select Stone.cm. Note that the marker name is entered into the text box, and then select the Play tool. Close the Animation Control dialog box.
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In ADAMS/PostProcessor, use the Plot Tracking tool to return the horizontal displacement corresponding to the time step determined earlier. Use the value to answer Question 2 in Module review, on page 94. 7R ILQG WKH KRUL]RQWDO GLVSODFHPHQW
1
Right-click a blank area inside the R_displacement strip chart, point to Plot: scht1, and then select Transfer to Full Plot. ADAMS/PostProcessor replaces ADAMS/View. Select the Plot Tracking tool .
2 3
Because you want to know the displacement when the stone makes contact with the plane, move the cursor over the plot until the value of X is equal to the time at which contact was made. Note the value of displacement, Y. This is your answer for Question 2 in Module review, on page 94. Compare this value of Y to the results given in the closed-form solution on page 93. Return to ADAMS/View.
4 5 6
Projectile Motion
91

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Save your work such that the file contains not only the model information, but also the results and plots. 7R VDYH \RXU ZRUN
1 2
From the File menu, select Save Database As. In the File Name text box, enter projectile, and then select OK. ADAMS/View creates a binary file that contains not only the model information but also the results and plots.
If you want to further explore the model, as suggested in the next section, leave the model open. Otherwise, proceed with the next step. Exit ADAMS/View.
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Save your work before performing these tasks. Do not save your work after performing these tasks. If you must save the model after performing these tasks, give the model a different name. 7R IROORZ WKH VWRQH GXULQJ DQ DQLPDWLRQ
1 2
Zoom in on the stone. From the Review menu, select Animation Controls. Now change the reference frame while animating.
On the Animation Controls dialog box, change Fixed Base to Base Part. Select the part to which you want to fix the camera. Go to the online ADAMS/View guides and look up the Animation Controls dialog box to read about the other functionality available.
92
Projectile Motion

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R = 3180 mm (Can vary slightly depending on several factors, most likely the sampling rate.)
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$QDO\WLFDO VROXWLRQ The analytical solution for R, the range covered by the projectile, is as follows: xo = 0 xf = R yo = 0 yf = 0
V x = 6000 cos 60 = 3000 mm/sec
o
V y = 6000 sin 60 = 5196 mm/sec

o
1 2 y f = y o + V y t -- gt o 2 0 = 0 + 5196t 0.5 9806 t 0

2
( 5196 4905t )t
t = 1.06 sec xf = x o + V x t
o
R = 0 + 3000 1.06 R = 3180 mm
Projectile Motion
93

0RGXOH UHYLHZ
1
At what time does the stone encounter the plane?
What is the range, R, as defined in the problem statement?
If a parts initial velocity conflicts with a system constraint, which will take precedence during a simulation?
What modifications would be necessary to convert the stone into a pendulum?
94
Projectile Motion
21( '2) 3(1'8/80

Find the initial force supported by a pin at A for a bar that swings in a vertical plane, given the initial angular displacement ( 0 ) and initial angular velocity ( 0 ). Also, find the pendulum frequency.
A
L= 45 0
2 kgs
mm
0 = 30 0 = 300/sec

I I I I I I I
Constraints, 96 Use of Markers in Constraints, 97 Degrees of Freedom (DOF), 98 Joint Initial Conditions (ICs), 99 Merging Geometry, 100 Angle Measures, 101 Workshop 6One DOF Pendulum, 102
N
Module review, 115
95
I I
Review the problem statement. Return to the problem statement after each concept to make the connection.
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Restricts relative movement between parts. Represents idealized connections. Removes rotational and/or translational DOF from a system.
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Wall Wall
Door Door
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Zw Yw Xw XD ZD
XD XW = 0 YD YW = 0 YD ZD ZW = 0
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D W = 0 (about x-axis) D W = 0 (about y-axis)

Therefore, D and W are free For more information, see About Constraining Your Model, on page 131 in the guide, Building Models in ADAMS/View.
96 One DOF Pendulum
Explain how ADAMS took the four inputs (two bodies, one location, and one vector) and created a constraint. Highlight the markers that ADAMS/View creates when you add constraints. Explain that these two markers control the location and orientation of the pin joint. Explain that the two special markers that ADAMS created are called I and J. Demonstrate: Build a pendulum in ADAMS. Explain importance of 2 Bodies - 1 Location. Explain difference between Normal to Grid and Pick Feature.
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Constraints are represented as algebraic equations in ADAMS/Solver. These equations describe the relationship between two markers. Joint parameters, referred to as I and J markers, define the location, orientation, and the connecting parts:
N N
First marker, I, is fixed to the first part. Second marker, J, is fixed to the second part.
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Model
(.model)
Part
Constraint
Part
(.model.door)
(.model.hinge)
(.model.wall)
I marker
J marker
(.model.door.hinge_I_mar)
(.model.wall.hinge_J_mar)
One DOF Pendulum
97
Demonstrate: Display information on joint to demonstrate how to find out which two markers are used in a joint. Highlight each marker individually and emphasize their alignment. Also note that blue axis (z-axis of application) is indicator of the allowable DOF.
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Each DOF in mechanical system simulation (MSS) corresponds to at least one equation of motion. A freely floating rigid body in three-dimensional space is said to have six DOF. A constraint removes one or more DOF from a system, depending on its type. y
Rigid body
I I
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I
ADAMS will provide an estimated number of system DOF by using the Grueblers Count: System DOF = ( number of movable parts 6 DOF/ part ) [ # Constraints # DOF (Constraint) ]
i = type
ADAMS also provides the actual number of system DOF, as it checks to see if:
N N N
Appropriate parts are connected by each constraint. Correct directions are specified for each constraint. Correct type of DOF (translational versus rotational) are removed by each constraint. There are any redundant constraints in the system.
See also: DOF removed by a revolute joint, on page 364
98
One DOF Pendulum
Demonstrate: Use the Verify tool to display the model DOF and Grueblers Count. Illustrate four-bar link mechanism; solve the system using the Gruebler Count equation to show result of -2 DOF. The KBA at http://support.adams.com/kb/ faq.asp?ID=8711 illustrates such a mechanism. Actual count is 1 DOF. Gruebler Count indicates overconstraints. Optional demonstration: Create four-bar link (complete with rotational constraints) and verify. Use the link at the bottom of the slide to display the Constraints table. Quiz the students and ask them to enter the appropriate information about the revolute joint in the Constraints table in their guides.
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I
You can specify displacement and velocity initial conditions for revolute, translational, and cylindrical joints. ADAMS uses the specified initial conditions of the joint while performing a simulation, regardless of any other forces acting on the joint. If you do not specify joint ICs, ADAMS calculates the conditions of the connecting parts while performing a simulation depending on the other forces acting on the joint.
Question: What would happen if the joint initial conditions in a system were different from
the part initial conditions?
One DOF Pendulum
99
Demonstrate: Use the pendulum model. Explain a positive rotation with respect to a negative rotationit is very important that they understand this relationship. Answer: To illustrate the answer, set the part initial conditions to be different from the joint initial conditions.
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I
Using fixed joint to constrain geometric objects.
Adding new geometry to an existing part.
Note: ADAMS/Solver handles simulations better if you merge geometry on a rigid part
as opposed to constraining multiple parts.

Question: When you merge geometry is the overlapping volume accounted for?
For more information, see Merging Geometry, on page 63 in the guide, Building Models in ADAMS/View.
100
One DOF Pendulum
Illustrate/explain using image provided: Two parts with one fixed joint equals 18 equations of motion (6/part and 6/constraint) One part with two geometries equals six equations of motion. Answer to question: No, there will exist overlapping geometry if you use merge (Add to Part). Minimize overlap when possible. Yes, if you use Boolean operations (unite two bodies). Demonstrate merge versus Boolean.

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Basic ADAMS Full Simulation Training Guide

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Welcome to Basic ADAMS Training

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To read the Service Level Agreement, go to http://support.adams.com/services/support/

Go to http://support.adams.com/kb For a quick tour, go to http:// www.adams.com/mdi/news/dyndim/ vol3_kbtour.htm

Welcome to Basic ADAMS Training

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To join the community of ADAMS users, go to http://ask.adams.com

Welcome to Basic ADAMS Training

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Welcome to Basic ADAMS Training

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Virtual Prototyping Process, 18 Workshop 1Stamping Mechanism, 19

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Cut time and costs

...your model by Importing test data Superimposing test data

Do results compare with measured data?

Refine Increase quality Iterate

Optimize Increase efficiency Automate IMPROVED PRODUCT

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Model named stamp. Fully customized version of ADAMS/View.

After importing the commands, an Information window appears.

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Model named stamp. Fully customized version of ADAMS/View.

After importing the commands, an Information window appears.

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Use the arrow buttons to modify the length of the control_link.

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