Adm Simulation

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MD Adams Basic Full Simulation

ADM701 Course Notes
Part Number: MDAM*R3*Z*BF S*Z*SM-ADM701-NT Copyright 2008 MSC.Software C orporation

Sept 2008
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CONTENTS
Section Page
0.0 Introduction
A Brief History of Adams …………………………………………………………………………………………. 0-5
About MSC.Softw are ...…………………………………………………………………………………………… 0-7
Content of Course …...……………………………………………………………………………………………. 0-8
Getting Help ………...……………………………………………………………………………………………… 0-10
1.0 Virtual Prototyping Process
Virtual Prototyping Process ………...……………………………………………………………………………..1-3
2.0 Adams/View Interface Overview

Model Hierarchy …………...………...………………………………………….………………………..……….. 2-4
Renaming Objects ……...………...………………………………….……………………………..…………….. 2-5
Adams/View Interface ………………………………………………….………………………..………………. 2-7
Simple Simulations ………………………………………..…………..…………………………..……….……… 2-8
Saving Your Work …………………………………………..…………..………………………..……...…………2-9
3.0 Adams/PostProcessor Interface Overview

PostProcessing Interface Overview ………………………………………………….…………………………..3-3
Animating ………………………………………………………………………………….……………………….. 3-5
Plotting …………………………………………………………………………………….……………………….. 3-6
Reporting ………………………………………………………………………………….……………………….. 3-7
4.0 Parts and Coordinate Systems
Coordinate Systems ………...…………………..………………………………………….…………………….. 4-4
Part Coordinate System ………...………………………………………………………….…………………….. 4-6
Coordinate System Marker ………...…………………………………………………………………………….. 4-7
Differences Between Parts and Geometry….…………………………………………….…………………….. 4-9
Parts, Geometry, and Mar kers …...……………………………………………………….……….…………….. 4-12
Types of Parts in Adams/View …..……………………………………………………….……………………… 4-14
Part Mass and Inertia ………...…………………………………………………………….…………………….. 4-15
Measures ……………………...…………………………………………………………….…………………….. 4-17

CONTENTS (cont.)
Section Page
5.0 Initial Conditions and Point Trace

Part Initial Conditions …………………………………………………………………………………..…………. 5-4
Initial Velocities ………………………………………………………………………………………..……………5-5
Point Trace ..…………………………..……………………………………………………………...……………. 5-6
6.0 Constraints
Constraints …………….…………………………………………………………….…………………………….. 6-3
Use of Markers in Constraints …………………………………………………………………………..……….. 6-6
Degrees of Freedom (DOF) ………………………………………………………………………………..…….. 6-8
Joint Initial Conditions …………….……………………………………………………………..……………….. 6-10
Merging Geometry …………….………………………………………………………………….……………….. 6-11
Angle Measures …………….……………………………………………………………………….…………….. 6-13
7.0 Rotation and Friction

Euler Angles …………….…………………………………………………………………………………………..7-4
Precise Positioning: Rotate .……………………………………………………………………..……………….. 7-6
Modeling Friction ………….……………………………………………………………………………………….. 7-7
Measures in LCS …………….………………………………………………………………...………………….. 7-11
8.0 Geometry and Precise Positioning
Building Geometry …………….………………………………………………………………….……………….. 8-4
Construction Geometry Properties……………………………………………………………………………….. 8-6
Solid Geometry …………….………………………………………………………………………..…………….. 8-8
Precise Positioning: Move …….………………………………………………………………………………….. 8-10
9.0 Joint Motion and Functions

Applying Motion …………….……………………………………………………………………….…………….. 9-4
Joint Motion …………….………………………………………………………………………………………….. 9-5
Functions in Adams …….……………………………………………………………..………………………….. 9-7
10.0 Joint Prim itives
Types of Joint Primitives ……….…………………………………………………………………………...……..10-4
Perpendicular Joint Pr imitive …….………………………………………………………………………………..10-6

CONTENTS (cont.)
Section Page
11.0 Point Motions and System-level Design

Applying Point Motions .……………………………………………………………………..……………………. 11-4
System-Level Design …………………………………………………………………………….……...…………11-6
12.0 Measurements, Displacement Functions, and CAD Geometry
Taking Measurements …………….…………………………………………………………………..………….. 12-4
Displacement Functions …………………………………………………………………………..………..…….. 12-6
Importing CAD-Based Geometry …………………………………………………………………….………….. 12-8
13.0 Add-on Constraints, Couplers, and Assembling Models

Add-On Constraints …………….……………………………………………………………………...………….. 13-4
Couplers .………………………………………………………………………………………..…….…..……….. 13-6
Assembling Subsystem Models ………….…………………………………………………………..………….. 13-8
14.0 Simulations
Assemble Simulation …………….………………………………………………………………………….…….. 14-4
Simulation Hierarchy ……………………………………………………………………………………..……….. 14-6
Types of Simulations …………….……………………………………………………………………….……….. 14-7
Forces in Adams …………….…………………………………………………………………..…………..…….. 14-11
Spring Dampers in Adams ……….………………………………………………………………………………..14-12
Magnitude of Spring Dampers ….……………………………………………………………………….……….. 14-14
15.0 Forces and Splines
Single-Component Forces: Action-Reaction ……………………………………………………………..…….. 15-4
Spline Functions …………….………………………………………………………………………….…………..15-6
AKISPL Function …….………………………………………………………………………….……………...…..15-8
16.0 Bushings
Bushings ……….…………………………………..………………………………………………………………..16-4
17.0 Impact
Impact Functions ………………..…………………………………………………………………………………. 17-4
Velocity Functions ……………………………………………..………………………………...…………………17-8

CONTENTS (cont.)
Section Page
18.0 Step Functions and Simulation Scripts
STEP Function …………….…………..……………………………………………………………………….….. 18-4
Scripted Simulations ……………………………….………………………………………………………….….. 18-7
Adams/Solver Commands ……………………………………………………………..………………….…….. 18-9
19.0 Adams/Solver
Adams/Solver Overview ……….……………………………………………………………………………..….. 19-4
Files in Adams/Solver ………………………………………………………………………………..……….….. 19-5
Example of Adams/Solver Dataset (.adm) File ………………………………………………………….…….. 19-6
Stand-Alone Adams/Solver …………………….……………………………………………………………….. 19-7
Solver Compatibility ……………………………………………………………………………………………….. 19-8
Example: 2D Pendulum ………………………….……………………………………………………………….. 19-9
For mulation of the Equations of Motion …………………………………………………………………...……..19-12
Phases of Solution …………………………………………………………………..…………………………….. 19-13
Debug/Eprint ( Dynamics) …………………………..…………………………………………………………….. 19-20
20.0 Sensors and Design Variables

Sensors …………….…………………………………………………………………………………..….……….. 20-4
Design Variables ………..………………………………………………………………………………..……….. 20-6
21.0 Splines and Contraints

Splines from Traces …………………………….………………………………………………………..……….. 21-4
Curve Constraints ………………….………………………………………………………………………..…….. 21-5
Automated Contact Forces …….…………………………………………………………………………..…….. 21-7
Flexible Parts – Adams/AutoFlex ….……………………………………………………………………..…….. 21-10
22.0 Multi-Component Forces and Design Studies

Multi- Component Forces …..………………………..………………………………………..……….…………..22-4
Design Studies …….…………………………………..…………………………………………….…………….. 22-8

CONTENTS (cont.)
Section Page
23.0 Recommended Practices

General Approach to Modeling ……………………………………………………………………………..……. 23-4
Modeling Practices: Parts ……………………………………..…………………………………………..………23-5
Modeling Practices: Constraints ………………..………………………………………………………….……. 23-7
Modeling Practices: Compliant Connections …………..…………………………………………………..…… 23-9
Modeling Practices: Run-time Functions ……………………………………………………………….………. 23-10
Debugging Tips ……………………………………………..…………………………………………...………… 23-14
Appendix A Tables

INTRODUCTION
ADM701, Introduction, September 2008

Copyright2008 MSC.Software Corporation S0-1
WELCOME TO ADAMS BASIC TRAINING
● What’s in this section:

● A Brief History of Adams
● About MSC.Software
● Content of Course
● Getting Help

WELCOME TO ADAMS BASIC TRAINING
● 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.
● The Adams Basic Full Simulation Package training
guide teaches you how to build, simulate, and refine a
mechanical system using MSC.Software’s Adams Full
Simulation Package.

A BRIEF HISTORY OF ADAMS
● Adams: Automatic Dynamic Analysis of Mechanical

Systems.
● Technology was implemented about 25 years ago.
● Mechanical Dynamics Incorporated (MDI) formed by
researchers who developed the base Adams code at
University of Michigan, Ann Arbor, MI, USA. MDI has
been part of MSC.Software Corporation since 2002.
● Large displacement code.

A BRIEF HISTORY OF ADAMS (CONT.)
● Systems-based analysis.
● Original product was Adams/Solver, an application that
solves nonlinear numerical equations. You build models
in text format and then submit them to Adams/Solver.
● In the early 90’s, Adams/View was released, which
allowed users to build, simulate, and examine results in
a single environment.
● Today, industry-specific products are being produced,
such as Adams/Car and Adams/Chassis.

ABOUT MSC.SOFTWARE
● Find a list of MSC.Software products at:

● http://www.mscsoftware.com/products/products.cfm
● Find a list of Adams products at:
● http://www.mscsoftware.com/products/mdadams.cfm?Q=396&Z
=455
● Find additional training at:
● http://www.engineering-e.com/training/
● Or your local support center
● Run through verification problems at:
● http://support.mscsoftware.com/kb/results_kb.cfm?S_ID=1-
KB9587

CONTENT OF COURSE
● After taking this course you will be able to:
● Build Adams/View 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.

ORGANIZATION OF MANUAL
● This manual 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:

● Problem statement
● Concepts
● Workshop
● Optional tasks
● Module review

GETTING HELP
● Online Help
● To access the online help, do either of the following:
● From the Help menu, select Adams/View Help to display the home
page for the Adams/View online help.
● While working in any Adams/View dialog box, press F1 to display
online help specific to that dialog box.
● Once the online help is displayed, you can browse through the
table of contents or the index, or search for any terms.

GETTING HELP (CONT’D)
Index/search for entire
Contents of
Adams/View help
selected tab
Table of contents

GETTING HELP (CONT.)
● Technical support
● To find your support center, go to
http://www.mscsoftware.com/support/contacts/index.cfm
● To read the Service Level Agreement, go to
http://www.mscsoftware.com/support/pdf/MSC_Tech_Suppo
rt_Guide_2006.pdf
● Knowledge base
● Go to http://support.mscsoftware.com/kb
● Consulting services
● http://www.mscsoftware.com/services/esg/

● MSC Virtual Product Development Community

● To join the community of MSC.Software users, go to:
http://forums.mscsoftware.com.
● Select Adams to view the Adams discussions.
● Select MSC News to view product alerts and company news
and events.


SECTION 1
VIRTUAL PROTOTYPING
PROCESS
ADM701, Section 1, September 2008

VIRTUAL PROTOTYPING PROCESS
DESIGN Increase Increase

Cut time and IMPROVED
PROBLEM costs quality efficiency PRODUCT
Build Test Review Improve
● Build a model of your design using:

● Bodies
● Forces
● Contacts
● Joints
● Motion generators
VIRTUAL PROTOTYPING PROCESS (CONT.)
PROBLEM quality efficiency
costs PRODUCT
● Test your design using:

● Measures
● Simulations
● Animations
● Plots
● Validate your model by:
● Importing test data
● Superimposing test data
DESIGN Cut time and Increase Increase IMPROVED
PROBLEM quality efficiency
costs PRODUCT
● Review your model by adding:

● Friction
● Forcing functions
● Flexible parts
● Control systems
● Iterate your design through variations using:
● Parametrics
● Design Variables
PROBLEM costs quality efficiency PRODUCT
● Improve your design using:

● DOEs
● Optimization
● Automate your design process using:
● Custom menus
● Macros
● Custom dialog boxes
SECTION 2
ADAMS/VIEW INTERFACE
OVERVIEW

ADAMS/VIEW INTERFACE OVERVIEW
● What’s in this module:
● Model Hierarchy
● Renaming Objects
● Adams/View Interface
● Simple Simulations
● Saving Your Work

MODEL HIERARCHY
● Adams/View Modeling Hierarchy
● 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 More
Measures Constraints Parts Forces
Analyses
Markers Construction Geometry

Points
Results Sets
Components Are not saved in model

command files (.cmd)
See Also: Assembling Subsystem Models in Section 13

RENAMING OBJECTS
● Adams/View naming conventions:
.mod
Simulations Objects More
.mod.meas_1 .mod.joint_1 .mod.part_1 .mod.spring_1
.mod.run_1
.mod.part_1.mar_1 .mod.part_1.point_1 .mod.part_1.box_1

.mod.run_1.joint_1
.mod.run_1.joint_1.fx Are not saved in model

command files (.cmd)

RENAMING OBJECTS (CONT.)
● Renaming objects clarifies model topology as follows:
Renamed
Not renamed

ADAMS/VIEW INTERFACE
Adams/View Main Window
Model name Working grid
Main Toolbox Menus
Tool
Arrow denotes
tool stack
Toolbox container
ADM701, Section 2, September 2008 View triad

Copyright2008 MSC.Software Corporation Status bar
S2-7
SIMPLE SIMULATIONS
● Simulation versus animation
● 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 Simulation output
End Time: absolute point Step Size: amount of time

in time to stop simulation between steps
Duration: relative amount Steps: total number of
of time to simulate over steps in a specified
amount of time

SAVING YOUR WORK
● Most common formats in which you can save Adams/View
models
● Adams/View database files (.bin)
● Include the entire modeling session including models, simulation results,
plots, and so on.
● Are typically very large.
● Are platform independent in Adams, as of version 11.0, but all other
versions are platform dependent.
● Adams/View command files (.cmd)
● Include only model elements and their attributes.
● Are relatively small, editable text files.
● Are platform independent.

SAVING YOUR WORK (CONT.)
Adams/View database
files (.bin)
Adams/View command
files (.cmd)

SAVING YOUR WORK (CONT.)
● Other formats in which you can import and export data
● 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).

SECTION 3
ADAMS/POSTPROCESSOR
INTERFACE OVERVIEW

POSTPROCESSING INTERFACE OVERVIEW
● PostProcessing Interface Overview
● Animating
● Plotting
● Reporting
For more information, see the Adams/PostProcessor online help.

POSTPROCESSING INTERFACE OVERVIEW
● Adams/PostProcessor has three modes:
● Animation
● Plotting
● Report
● Plot 3D (Available only for Adams/Vibration analyses)
● Example:
● The tools in the Main toolbar change if you switch between the modes,
as shown on the next few pages.

ANIMATING
Mode type Treeview Main toolbar Viewport
Property editor
Dashboard
For more information, see the Animate tab in the Adams/PostProcessor online help.

PLOTTING
Mode type Treeview Main toolbar Viewport
Property editor
Dashboard
For more information, see the Plot tab in the Adams/PostProcessor online help.

REPORTING
Mode type Treeview Viewport
Main toolbar
For more information, see the Report tab in the Adams/PostProcessor online help.

SECTION 4
PARTS AND COORDINATE
SYSTEMS

PARTS AND COORDINATE SYSTEMS
● Coordinate Systems
● Part Coordinate System
● Coordinate System Marker
● Differences Between Parts and Geometry
● Parts, Geometry, and Markers
● Types of Parts in Adams/View
● Part Mass and Inertia
● Measures

COORDINATE SYSTEMS
● Definition of a coordinate system (CS)
● A coordinate system is essentially a measuring stick to define
kinematic and dynamic quantities.

COORDINATE SYSTEMS (CONT.)
● Types of coordinate systems
● Global coordinate system (GCS):
● 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):
● Part coordinate systems (PCS)
● Markers

PART COORDINATE SYSTEMS
● Definition of part coordinate systems (PCS)
● 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.
● When created, each part’s PCS has the same location and orientation
as the GCS.

COORDINATE SYSTEM MARKER
● Definition of a marker
● 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.

COORDINATE SYSTEM MARKER (CONT.)
● Definition of a marker (cont.)
● It is used wherever a unique location needs to be defined. For
example:
● The location of a part’s 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:
● 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.

DIFFERENCES BETWEEN PARTS AND
GEOMETRY
● Parts
● Define bodies (rigid or flexible) that can move relative to
other bodies and have the following properties:
●Mass
●Inertia
●Initial location and orientation (PCS)
●Initial velocities

GEOMETRY (CONT.)
● Geometry
● Used to add graphics to enhance the visualization of a
part using properties such as:
●Length
●Radius
●Width
● 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 Workshop 20 - Hatchback IV.

GEOMETRY (CONT.)
.model_1.UCA (Part)
.model_1.UCA.cyl_1 (Geometry)
.model_1.UCA.sphere_1 (Geometry)

PARTS, GEOMETRY, AND MARKERS
● Dependencies in Adams
● To understand the relationship between parts, geometry, and
markers in Adams/View, it is necessary to understand the
dependencies shown below:
Model
.mod
Part
.mod.pend
Geometry Marker Marker Marker Geometry

.mod.pend.sph .mod.pend.mar_1 .mod.pend.cm .mod.pend.mar_2 .mod.pend.cyl

PARTS, GEOMETRY, AND MARKERS (CONT.)
pend
mar_2
cyl
cm sph
mar_1

TYPES OF PARTS IN ADAMS/VIEW
● Rigid bodies
● Are movable parts.
● Possess mass and inertia properties.
● Cannot deform.
● Flexible bodies
● Are movable parts.
● Possess mass and inertia properties.
● Can bend when forces are applied to them.
● Ground part
● 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.

PART MASS AND INERTIA
● Mass and inertia properties
● Adams/View automatically calculates mass and inertial properties only
for three-dimensional rigid bodies.
● Adams/View calculates the total mass and inertia of a part based on
the part’s 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 part’s center of mass (cm) and principal axis.
● You can change the position and orientation of the part’s cm marker.
● The orientation of the cm marker also defines the orientation of inertial
properties Ixx, Iyy, Izz.

PART MASS AND INERTIA (CONT.)
Part 1 Part 1
cm marker
cm marker (shifts as
new geometry is
added to the part)

MEASURES
● Measures in Adams
● Represent data that you would like to quantify during a simulation such
as:
● 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.

MEASURES (CONT.)
● Definition of object measures
● Measure pre-defined measurable characteristics of parts, forces, and
constraints in a model.

SECTION 5
INITIAL CONDITIONS AND POINT
TRACE

INITIAL CONDITIONS AND POINT TRACE
● Part Initial Conditions
● Initial Velocities
● Point Trace

PART INITIAL CONDITIONS
● Initial location and orientation
● The design configuration of all the parts (their part coordinate systems)
in a model defines their initial locations and orientations.
● You can fix a part’s location and orientation so it can be used during
the assemble simulation procedure (covered later).

INITIAL VELOCITIES
● Initial velocities
● In Adams, a part initially moves (at t = 0) as follows:
Adams uses a Adams uses the

default of zero Initial velocity specified
Adams calculates Adams uses

initial velocity; It may initial velocity due to
or may not be zero the motions/constraints

POINT TRACE
● Definition of a point trace
● Tracks the location of a marker during an animation.
● Can be used to visualize the clearance between two bodies during a
simulation.
● Example of a point trace
● Trajectory of a ball.

SECTION 6
CONSTRAINTS

CONSTRAINTS
● Constraints
● Use of Markers in Constraints
● Degrees of Freedom (DOF)
● Joint Initial Conditions (ICs)
● A ball is rolling down an inclined plane (no slip). Which constraints will
you use?
● Angle Measures

CONSTRAINTS
● Definition of a constraint
● Restricts relative movement between parts.
● Represents idealized connections.
● Removes rotational and/or translational DOF from a system.

CONSTRAINTS EXAMPLE

USE OF MARKERS IN CONSTRAINTS
● Constraint equations in Adams
● 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:
● First marker, I, is fixed to the first part.
● Second marker, J, is fixed to the second part.

USE OF MARKERS IN CONSTRAINTS (CONT.)
● Anatomy of a constraint in Adams

DEGREES OF FREEDOM (DOF)
● Constraints and DOF
● 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.

DEGREES OF FREEDOM (DOF) (CONT.)
● Determining the number of system DOF
● Adams/View provides an estimated number of system DOF by using
the Gruebler’s Count:
SystemDOF (numberof movable parts

DOF/part)
[# Constraints 
# DOF(Constraint)]
i type
● Adams/View also provides the actual number of system DOF, as it
checks to see if:
● 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 in Appendix A.

JOINT INITIAL CONDITIONS (ICS)
● Characteristics of joint initial conditions
● You can specify displacement and velocity initial conditions for
revolute, translational, and cylindrical joints.
● Adams/View 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/Solver 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?

MERGING GEOMETRY
● Methods of attaching multiple geometry to a part
● Using fixed joint to constrain geometric objects.

MERGING GEOMETRY (CONT.)
● 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?

ANGLE MEASURES
● Definition of angle measures:
They are used to measure the included angle, θ:
● Between two vectors
● Defined by three markers
● Defined throughout a simulation

ANGLE MEASURES (CONT.)
● Notes:
● The units used for angle measures are in current Adams/View angle
units (degrees or radians).
● The sign convention (+/-) is defined such that the first nonzero value is
positive.

SECTION 7
ROTATION AND FRICTION

ROTATION AND FRICTION
● Euler Angles (Rotation Sequence)
● Precise Positioning: Rotate
● Modeling Friction
● Measures in LCS

EULER ANGLES (ROTATION SEQUENCE)
● Definition of Euler angles
● Adams/View uses three angles to perform three rotations about the
axes of a coordinate system.
● These rotations can be space-fixed or body-fixed and are
represented as Body [3 1 3], Space [1 2 3], and so on, where:
● 1 = x axis
● 2 = y axis For rotation about these axes,
● 3 = z axis use the right hand rule
● Default in Adams is Body [3 1 3].

EULER ANGLES (ROTATION SEQUENCE) (CONT.)
● Example of body [3 1 3]: [90
, -90
, 180
]:
● Example of space [3 1 3]: [90

, -90
, 180
]:

PRECISE POSITIONING: ROTATE
● To rotate objects about an axis in Adams/View, specify:
● The objects to rotate.
● The axis about which the objects are rotated.
● The angle through which the objects are rotated.
● Note: Be careful with the sign of the angle. Adams/View uses the
right-hand rule. You can rotate several objects at once about the same
axis.
MODELING FRICTION
● Joint friction can be applied to:
● Translational joints (Translational Joint, DOF Removed by, see
Appendix A)
● Revolute joints
● Cylindrical joints
● Hooke/Universal joints
● Spherical joints
● Friction forces (Ff)
● Are independent of the contact area between two bodies.
● Act in a direction opposite to that of the relative velocity between the
two bodies.
● Are proportional to the normal force (N) between the two bodies by a
constant (μ).
● Ff = μN
MODELING FRICTION (CONT.)
● Phases that define friction forces
● Stiction
● Transition
● Dynamic

● Idealized Case
● Stiction |Vrel| = 0
0 < μ< μs
● Transition 0 < |Vrel| = V1
μd < μ< μs
● Dynamic V1 < |Vrel|
μ= μd
● Adams/Solver case
● Stiction |Vrel| < ΔVs
0 < μ< μs
● Transition ΔVs < |Vrel| < 1.5ΔVs
μd < μ< μs
● Dynamic 1.5ΔVs < |Vrel|
μ= μd
● Effect of maximum deformation on friction
● Input forces to friction

● Always include preload and reaction force.
● Bending and torsional moment are possible (however, advanced uses
of joint friction are beyond the scope of this course).

MEASURES IN LCS
● Measures can be represented in:
● Global coordinate system (GCS) (default)
● A marker’s local coordinate system (LCS)
● Example
● When a ball falls due to gravity:

MEASURES IN LCS (CONT.)
● Acceleration due to gravity in the GCS using symbols ˆ
xg,
ŷg, zˆ
g to represent the global x, y, and z components is:
● Acceleration due to gravity in MAR_1's coordinate system

is:

SECTION 8
GEOMETRY AND PRECISE
POSITIONING

GEOMETRY AND PRECISE POSITIONING
● Building Geometry
● Construction Geometry Properties
● Solid Geometry
● Precise Positioning: Move

BUILDING GEOMETRY
● Properties of geometry
● It must belong to a part and moves with the part.
● It is used to add graphics to enhance the visualization of a part.
● It is not necessary for performing simulations.
● Locations and orientations are defined indirectly by parts using anchor
markers.
● Note: If you move an anchor marker, all associated geometry moves

with it. Conversely, anchor markers move when you move the
associated geometry.
BUILDING GEOMETRY (CONT.)
● Types of geometry in Adams/View
● Construction geometry
● Includes objects that have no mass (spline, arc, and so on).
● Is used to define other geometry.
● Solid geometry
● Includes objects with mass (box, link, and so on).
● Can be based on construction geometry.
● Is used to automatically calculate mass properties for the parent part.

CONSTRUCTION GEOMETRY PROPERTIES
● Marker geometry has
● Anchor marker, which is itself
● Parent: part
● Orientation and location
● Point geometry has
● No anchor marker
● Parent: part
● Location

CONSTRUCTION GEOMETRY PROPERTIES
(CONT.)
● Polyline geometry has
● No anchor marker
● Parent: part
● One line or multiple lines
● Open or closed
● Length, vertex points, and angle
● Arc geometry has
● Anchor marker
● Parent: part
● Start and end angle, radius
● Spline geometry has
● Anchor marker
● Parent: part
● Segment count, open/closed, points

SOLID GEOMETRY
● Block geometry has
● Anchor marker, which is the corner marker
● Parent: part
● Length (x), height (y), depth (z) with respect to corner marker
● Torus geometry has
● Anchor marker, which is the center marker
● Parent: part
● Radius of ring (xy plane), radius of circular cross section ( to xy
plane)
● Extrusion geometry has
● Anchor marker, which is the reference marker
● Parent: part
● Open/closed profile, depth, forward/backwards

SOLID GEOMETRY (CONT.)
● Cylinder Geometry has
● Anchor marker, which is the center marker (placed at first end)
● Parent: part
● Length (z), radius

PRECISE POSITIONING: MOVE
● To move objects in Adams/View, specify:
● The object being moved (or copied).
● And:
● Either, a point on the object, and the location to which the selected point
will be moved.
● Or, a vector and a distance along the vector.

PRECISE POSITIONING: MOVE (CONT.)
The moved object maintains its orientation.

SECTION 9
JOINT MOTION AND FUNCTIONS

JOINT MOTION AND FUNCTIONS
● Applying Motion
● Joint Motion
● Functions in Adams

APPLYING MOTION
● Adams/View provides two types of motions
● Joint motion
● Point motion
● Joint motion
● There are two types:
● Translational: applied to translational or cylindrical joints (removes 1 DOF).
● Rotational: applied to revolute or cylindrical joints (removes 1 DOF).
● You define the joint to which motion is applied.
● Adams automatically uses the joint’s I and J markers, bodies, and
single DOF.
● You define function for magnitude.
● Questions: How does a motion remove DOF? Does this mean that a
motion is considered a constraint?

JOINT MOTION
● Marker usage in joint motions
● The I and J markers (and, therefore, the parts to which they belong)
referenced in the joint move with respect to each other as follows:

JOINT MOTION (CONT.)
● The I and J markers overlap when motion θt = 0.
● During simulation, the z-axes of both markers are aligned.
● You can define motion magnitude as a:
● Displacement
● Velocity
● Acceleration function of time

FUNCTIONS IN ADAMS
● Definition of functions in Adams
● You use functions to define magnitudes of input vectors used in:
● Motion drivers
● Applied forces
● Functions can depend on time or other system states such as
displacement, velocity, and reaction forces.
● Every function evaluates to a single value at each particular point in
time.
● Motion drivers can only be a function of time:
● M = f(time)
● Functions defining motion driver magnitudes can be:
● Displacement (time)
● Velocity (time)
● Acceleration (time)

FUNCTIONS IN ADAMS (CONT.)
● Note:
● You can use the Function Builder to create and verify functions in
Adams/View. To access the Function Builder, right-click any text box
that expects a function.
Display the Function Builder and press F1 to learn about creating functions

SECTION 10
JOINT PRIMITIVES

JOINT PRIMITIVES
● Types of Joint Primitives
● Perpendicular Joint Primitive

TYPES OF JOINT PRIMITIVES

TYPES OF JOINT PRIMITIVES (CONT.)
See also: DOF removed by joint primitives, Appendix A

PERPENDICULAR JOINT PRIMITIVE
● Example using inline and parallel primitives

PERPENDICULAR JOINT PRIMITIVE (CONT.)
● Example of I and J markers in a perpendicular joint primitive

PERPENDICULAR JOINT PRIMITIVE (CONT.)
● I marker:
● Parent part: Bucket
● Its yz-plane is coplanar to the ground plane.
● J marker:
● Parent part: ground
● Its z-axis is perpendicular to the z-axis of the I marker.
● When constrained, the z-axes of the I and J markers are
always perpendicular during simulation.
● Use the construction method 2 Bod-2 Loc.
● Question: Would the lift mechanism behave any differently if
the J marker’s parent part was Base?

SECTION 12
MEASUREMENTS, DISPLACEMENT
FUNCTIONS AND CAD GEOMETRY

MEASUREMENTS, DISPLACEMENT
FUNCTIONS, AND CAD GEOMETRY
● Taking Measurements
● Displacement Functions
● Importing CAD-Based Geometry

TAKING MEASUREMENTS
● Point-to-point measures
● Measure kinematic characteristics of one point relative to another
point, such as the relative velocity or acceleration.
● To define them, you specify:
● Characteristic (displacement, velocity, or acceleration)
● To-point marker location (I marker)
● From-point marker location (J marker, default is global origin)
● Represent coordinates in marker coordinate system (R marker, default is
GCS)
● Component to return (x, y, z, or magnitude)
● Adams/View uses displacement, velocity, or acceleration functions.

TAKING MEASUREMENTS (CONT.)
● Function measures
● Lets you evaluate arbitrary, user-defined expressions of interest during
solution runtime, such as:
● Flow rate
● Aerodynamic pressure
● Stress
● You can create them in the Function Builder.
● Unlike other measures, function measures let you specify plotting
attributes.

DISPLACEMENT FUNCTIONS
● Displacement functions
● For translational displacement, return scalar portions of vector
components (measurements are taken to I, from J, resolved in R’s
CS), as shown on the next slide.
● For rotational displacement, return angles associated with a particular
rotation sequence.

DISPLACEMENT FUNCTIONS (CONT.)
● Example:

IMPORTING CAD-BASED GEOMETRY

● Supported File Formats

● Stereolithography (*.stl) and render (*.slp) files - Polygonal
representation of surfaces.
● Shell (*.shl) files - Geometry representations. Adams specific.
● CAD Files – Require Adams/Exchange. You can import and export
the following geometry formats: STEP, IGES, DXF, DWG, and
Parasolid.
● Wavefront (*.obj) files - Set of output files that contain a description
of the model graphics and motion data.
● Note: Adams/Exchange is MSC’s optional software to Adams/View
that lets you import and export geometric data in CAD format.

● Recommendation for CAD File formats
● For CAD systems based on the Parasolid kernel, there are many benefits
to transferring geometry in Parasolid files. Adams/View creates solid
bodies from the Parasolid information that allows for further Boolean
operations as well as the selection of geometric features such as the
center of a circle.
● The simpler the representation of the geometric information the better.
This is why we often recommend that you use Stereolithography over
formats such as IGES and STEP. Other simple formats include render and
shell files.
● Successful transfer of IGES and STEP files from CAD systems to
Adams/View depends on both systems. Some CAD systems export
information that is easily processed by Adams/View while other CAD
systems generate files that are difficult or impossible for Adams/View to
import.
● For comparison of CAD file formats and recommendations for exporting
CAD data please refer to the online Help.

SECTION 13
ADD-ON CONSTRAINTS,
COUPLERS, AND ASSEMBLING
MODELS

ADD-ON CONSTRAINTS, COUPLERS, AND
ASSEMBLING MODELS
● Add-on Constraints
● Couplers
● Assembling Subsystem Models

ADD-ON CONSTRAINTS
● Add-on (complex) constraints
● Set up relationships between existing constraints in a system.
● Connect parts directly and indirectly.
● Types of Add-on constraints

ADD-ON CONSTRAINTS (CONT.)
● Types of Add-on constraints (cont.)

COUPLERS
● Definition of couplers
● Couplers connect multiple parts indirectly by coupling 2 joints.
● Couplers remove 1 DOF.
● Couplers can be defined:
● By displacements
● By scales
● User defined
● Modeling of couplers requires two joints (applicable types are
translation, revolute, and cylindrical)

COUPLERS (CONT.)
● Example of a coupler
For help on defining By Displacement and User Defined, press F1.

ASSEMBLING SUBSYSTEM MODELS
● When you assemble models
● Any number of models can be assembled.
● Assembling models will create a new model.
● All assembled models (model1, model2) will continue to exist in the
database along with the new model (model3).

ASSEMBLING SUBSYSTEM MODELS (CONT.)

ASSEMBLING SUBSYSTEM MODELS (CONT.)
● Parts in assembled models
● They maintain their global location and orientation, unless otherwise
specified.
● If parts have the same name in different merged models, Adams/View
will either:
● Merge them into one part.
● Rename the parts.
● See also: Model Hierarchy in Section 2

SECTION 14
SIMULATIONS

SIMULATIONS
● Assemble Simulation
● Simulation Hierarchy
● Types of Simulations
● Forces in Adams
● Spring Dampers in Adams

ASSEMBLE SIMULATION
● Definition of assemble simulation
● Attempts to resolve any conflicts in the initial conditions specified for
the entities in the model (for example, broken joints).
● Also known as an initial conditions simulation.
● Initial location and orientation of parts
● You specify the initial position and orientation for a part when you
create it.
● For a part to be held fixed during the assemble simulation, you can
specify up to three positions (xg, ŷg, zg) and up to three orientations
(psi, theta, phi).

ASSEMBLE SIMULATION (CONT.)
● Note: Use initial positions sparingly. If you fix the initial positions of too
many parts, the assemble simulation can fail.

SIMULATION HIERARCHY
Assembl e Si mulation
Assemble
Nonl inear Li near
Motio n Study Equil ibrium

Calcul ation(s)
Def ault* Static*
Nonlinear
DOF = 0 DOF > 0 Eigensol ution

or State Matri ces
Kinematic* Dynamic*
Linear
* Automatically performs an assemb le simulatio n
● Note: Often a linear simulation is used after a static equilibrium or

dynamic simulation.
While working in any Adams/View dialog box, press F1 to display online help specific
to that dialog box.

TYPES OF SIMULATIONS
● Static
● System DOF > 0.
● All system velocities and accelerations
are set to zero.
● Can fail if the static solution is a long way
from the initial condition.
● Dynamic
● System DOF > 0.
● Driven by a set of external forces and
excitations.
● Nonlinear differential and algebraic
equations (DAEs) are solved.

TYPES OF SIMULATIONS (CONT.)
● Kinematic
● System DOF = 0.
● Driven by constraints (motions).
● Only constraint (algebraic) equations are being solved.
● Calculate (measure) reaction forces in constraints.

● Linear
● Adams/Solver can linearize the system of nonlinear equations of
motion about a particular operating point.
● From the linear set of equations, you can ask for an eigen-simulation
to obtain eigenvalues and eigenvectors for the linearized system to:
● Visualize the natural frequencies and mode shapes of your system.
● Compare with test data or results data from FEA.

● Example of linear simulation
● Must linearize about an operating point (often the equilibrium).
● Extraction of natural frequency.
● Natural frequency =

FORCES IN ADAMS
● Definition of forces
● Try to make parts move in certain ways.
● Do not perfectly connect parts together the way constraints do.
● Do not absolutely prescribe movement the way motion drivers do.
● Neither add nor remove DOF from a system.
● Characteristics of forces

SPRING DAMPERS IN ADAMS
● Definition of spring dampers
● They are pre-defined forces.
● They represent compliance:
● Between two bodies.
● Acting over a distance.
● Along or about one particular direction.

SPRING DAMPERS IN ADAMS (CONT.)
● Characteristics of spring dampers
● See Also: Characteristics of a spring damper, Appendix A

MAGNITUDE OF SPRING DAMPERS
● Magnitude based on stiffness and damping coefficients
● Linear spring-damping relationship can be written as:
ForceSPDP = -k(q – q0) – cq + F0
where:
q - Distance between the two locations that define the spring damper
q - Relative speed of the locations along the line-of-sight
between them
k - Spring stiffness coefficient (always > 0)
c - Viscous damping coefficient (always > 0)
F0 - Reference force of the spring (preload)
q0 - Reference length (at preload, always > 0)
t - Time

MAGNITUDE OF SPRING DAMPERS (CONT.)
● In Adams/Solver, the user-defined equation is:

-k * (DM(I, J) – q0) – c * VR(I, J) + F0
● Spring-damper forces become ill-defined if endpoints become

coincident because of undefined direction.
SECTION 15
FORCES AND SPLINES

FORCES AND SPLINES
● Single-Component Forces: Action-Reaction
● Spline Functions
● AKISPL Function

SINGLE-COMPONENT FORCES: ACTION-
REACTION
● Characteristics of action-reaction single-component forces
(Sforces)

SINGLE-COMPONENT FORCES: ACTION-
REACTION (CONT.)
See Also: Characteristics of an action-reaction S-force, Appendix A
Note: Adams applies action and reaction forces to the I and J markers that it
automatically creates.
SPLINE FUNCTIONS
● Test data that can be incorporated into a simulation includes
● Empirical data from suppliers or standard tables for:
● Nonlinear compliances (force versus velocity).
● Curves for torque versus motor speed (torque versus angular velocity).
● Data taken from physical prototype simulations for:
● Accelerometer data (acceleration versus time).
● Tire lateral force as a function of normal force and slip angle.
● To incorporate data into a simulation

● First, create a spline from either:
● Data points entered manually into the Spline Editor.
● Imported test data from a file.

SPLINE FUNCTIONS (CONT.)
● Then, reference the spline through a spline function used in a motion

or force. Several interpolation methods are available (using the
function type):
● Cubic-fitting method (CUBSPL)
● Akima-fitting method (AKISPL)
● B-spline method (CURVE)

AKISPL FUNCTION
● Syntax for AKISPL function
AKISPL (x, z, spline, iord)
● x - Independent variable specifying the value along the x-axis.
● z - Optionally, a second independent variable specifying the value
along the z-axis of the surface being interpolated.
● spline - Spline used to map the one-to-one correspondence of the
dependent variables (y) against independent variable values (x or z).
● iord - An integer variable that specifies the order of the interpolated
point (usually 0, but can be 1 or 2).

AKISPL FUNCTION (CONT.)
● Example of an AKISPL function
AKISPL (DM(I, J), 0, spline_1, 0)
● Note: You can create the CUBSPL and CURVE functions exactly as you
create the AKISPL function.

SECTION 16
BUSHINGS

BUSHINGS
● Bushings

BUSHINGS
● Definition of a bushing
● Pre-defined force
● Represents compliance:
● Between two bodies
● Along or about three vectors

BUSHINGS (CONTINUED)
● Characteristics of a bushing
● See Also: Forces Tables (Incomplete), Appendix A

SECTION 17
IMPACT

IMPACT
● Impact Functions
● Velocity Functions

IMPACT FUNCTIONS
● Impact functions in Adams
● Used with user-defined force elements to model contacts, impacts,
collisions, and so on.
● Mimic nonlinear spring and damping forces that turn on and off
depending on the distance between two objects.
● Just like a compression-only spring damper, Adams turns the force
on when the distance between two objects, q, becomes less than
the user-specified reference distance, q0:

IMPACT FUNCTIONS (CONT.)
● Applications of one-sided impact functions (IMPACT)
● Applications of two-sided impact functions (BISTOP)

● Syntax for IMPACT function
● IMPACT(q, q, q0, k, e, cmax, d)
where :
q - Actual distance between the two objects (defined with a displacement
function)
q - Time rate of change of the variable q
q0 - Trigger distance used to determine when the contact force turns on and
off; it should be specified as a real, constant value
k - Stiffness coefficient
e - Stiffness force exponent
c - Damping coefficient
d - Damping ramp-up distance

● In Adams, the one-sided impact force is calculated as

VELOCITY FUNCTIONS
● Definition of velocity and acceleration functions
● Returns scalar portions of velocity or acceleration vector components
(translational or rotational).
● Syntax for velocity functions
● VM(I,[J], [L])
● VR(I,[J], [L])
● VX, VY, VZ(I,[J],[R], [L])
● Notes:
● Velocity function, VR, is used to define velocity along the line of sight,
which is commonly used in spring dampers.
● If the markers are separating: VR > 0.
● If the markers are approaching: VR < 0.

SECTION 18
STEP FUNCTIONS AND

SIMULATION SCRIPTS

STEP FUNCTIONS AND SIMULATION SCRIPTS
● STEP Function
● Scripted Simulations
● Adams/Solver Commands

STEP FUNCTION
● Definition of a STEP function
● In Adams, the STEP function approximates an ideal mathematical step
function (but without the discontinuities).
● Avoid discontinuous functions because they lead to solution
convergence difficulties.
● The STEP function steps quantities, such as motions or forces, up and
down, or on and off.
● Note: A STEP function is used when a value needs to be
changed from one constant to another.

STEP FUNCTION (CONT.)
● Syntax for STEP function
● STEP (q, q1, f1, q2, f2)
● where:
q - Independent variable
q1 - Initial value for q
f1 - Initial value for f
q2 - Final value for q
f2 - Final value for f
Note: q1 < q2

STEP FUNCTION EXAMPLE
● Example

SCRIPTED SIMULATIONS
● In Adams/View there are two ways to run a simulation
● Scripted
● Interactive
● Simulation scripts
● Let you program the simulation before submitting the simulation.
● Let you quickly repeat a simulation with the same set of parameters.
● Let you perform more sophisticated simulations.
● Are required for design studies, design of experiments, and
optimization simulations.
● Simulation scripts are children of a model, and are, therefore, saved in
a command file.

SCRIPTED SIMULATIONS (CONT.)
● Types of scripted simulations in Adams/View
● Simple run
● Adams/View commands
● Adams/Solver commands

ADAMS/SOLVER COMMANDS
● Scripted simulations based on Adams/Solver commands
● Adams/Solver commands let you perform sophisticated simulations,
such as:
● Changing model parameters during a simulation.
● Using different output step sizes over different simulation intervals (versus
specifying only one duration and output step size).
● Using different solution parameters (such as convergence tolerance) over
different intervals.

ADAMS/SOLVER COMMANDS (CONT.)
● Example of a simulation script that changes model topology while you
work on your model:
simulate/dynamic, end=3.0, steps=30
deactivate/joint, id=3
simulate/dynamic, duration=2.0, steps=200

SECTION 19
ADAMS/SOLVER

ADAMS/SOLVER
● Adams/Solver Overview
● Files in Adams/Solver
● Example of an Adams/Solver Dataset (.adm) File
● Stand-Alone Adams/Solver
● Example: 2D Pendulum
● Formulation of the Equations of Motion
● Phases of Solution
● Debug/Eprint (dynamics)

ADAMS/SOLVER OVERVIEW
Adams/View
Integrated
Adams/Solver
Import Export
Analysis files Dataset

. out .gra . adm
. req .res
Output Input
Interactive
Input Solv er
commands
Adams/Solver
OR
Adams
Command file
Input
.acf
Output
Message file
. msg
FILES IN ADAMS/SOLVER
● Adams/Solver dataset files (.adm)
● Statements define an element of a model such as a part, constraint,
force, and so on.
● Functions are numeric expressions that define the magnitude of an
element such as a force or motion.
For more information, see the Adams/Solver online help.
● Adams/Solver command files (.acf)

● Commands define an action that needs to be taken during a
simulation.
● See also: Adams/Solver Commands in Section 18

EXAMPLE OF AN ADAMS/SOLVER DATASET
(.ADM) FILE

STAND-ALONE ADAMS/SOLVER
● Simulations in stand-alone Adams/Solver
● Interactive:
● Not scripted: enter commands one by one.
● Scripted: use an Adams/Solver command file (.acf).
● Batch - Run multiple jobs in the background using an Adams/Solver
command file (.acf).
● Note: Adams/Solver command files must start with the name of the
model to be analyzed and must end with a STOP command.
● You can run simulations externally in Adams/Solver from
within Adams/View

SOLVER COMPATIBILITY
● With Adams, the new Adams/Solver (C++) version has added
significant functionality. With these additions, Adams/Solver
(C++) now supports some entities that are not supported for
Adams/Solver (FORTRAN). For this reason, a solver-
compatibility check has been added. When using
Adams/View, this check is called as each object is created.
● The check is also called for:
● Each object as it is created when a .cmd file is imported
● The entire model when an .adm file is imported
● The entire model before simulation

EXAMPLE: 2D PENDULUM
● Adams Implementation: Euler-Lagrange Equations
● Description
● A link of mass M, moments of inertia I, and length 2L is attached to
ground using a revolute joint at the global origin O. The joint is oriented
in such a way that motion is only allowed in the X-Y plane of the global
coordinate system.
● The coordinates of the center of mass of the link, with respect to the
global origin, are represented by the states (x,y).
● A coordinate system (Op-Xp-Yp) is attached at the center of mass of
the link, such that Xp is along the length of the link. The angle between
Xp and Xg is denoted by θ.

EXAMPLE: 2D PENDULUM (CONT.)

EXAMPLE: 2D PENDULUM (CONT.)
● Force balance equations
● Momentum equations (only in θ)
● Kinematic differential equations
● Constraint equations

FORMULATION OF THE EQUATIONS OF MOTION
● Nonlinear system - Nine differential and algebraic equations
(DAE’s)
Equations of Motion Unknown
Force balances
Momenta
Kinematics

PHASES OF SOLUTION
● Task
● Solve the differential and algebraic equation:
● Two major components: Predictor and Corrector
● Phase 1:
● Predict an initial solution
● Phase 2:
● Correct the prediction
● Phase 3:
● Evaluate quality of solution (accept solution)
● Phase 4:
● Prepare for next step

PHASES OF SOLUTION (CONT.)
● Task
● Phase 1:
● Predict an initial value using an explicit method.
● The predictor is simply looking at past values to guess the solution at the
next time. The governing equations for G are not satisfied.
● This is simply a good starting point for the next phase.
● Phase 2:
● Phase 3:
● Phase 4:
● Task
● Phase 1:
● Phase 2:
● Evaluate G. If G is near zero, corrector is finished. Go to phase 3.
● Use the Newton-Raphson method to correct the prediction.
● Solve for ∆y. Update y.
● Repeat iteration until ||∆y|| < corrector error tolerance

● Example:
As a first guess, set q=2
● The exact answer is q = 1.0

● Phase 3:
● Phase 4:

● Task
● Phase 1:
● Phase 2:
● Phase 3:
● Estimate local truncation error
● if estimated < (ε
L)
● Yes – Accept solution. Go to phase 4
● No – Reject solution and repeat phase 1 and 2 with new step size

● Global Error (εG)
● The difference between the current
solution and the true solution
● Local Truncation Error (ε L)
● The error introduced in a single step
● Phase 4:

● Task
● Phase 1:
● Phase 2:
● Phase 3:
● Phase 4:
● Prepare for the next step
● Update higher order derivatives used in prediction for the next step
● Determine step size and order for next step
● Go back to phase 1, and start a new step

DEBUG/EPRINT (DYNAMICS)
● Each GSTIFF integrator step consists of two phases:
● Phase 1: a forward step in time (the predictor for dynamics)
1. The step number - A running count of the number of steps taken and can
be used as a measure of how hard Adams/Solver is working.
2. The order of the predictor for dynamics - Corresponds to the order of the
polynomial Adams/Solver uses to predict the solution at the end of the
integration step.
3. The value of time at the beginning of the step.
4. The size of the step.

DEBUG/EPRINT (DYNAMICS) (CONT.)
● Phase 2: the solution of the equations of motion (the corrector for
dynamics).
5. The cumulative number of iterations - A running count of the iterations
needed to solve the equations of motion and can be used as a measure of
how many computations Adams/Solver is performing.
6. The iteration number - One at the beginning of each step and increments
by one until Adams/Solver converges to a solution or exceeds the
maximum allowable number of iterations.
7. Absolute value of largest equation residual error - This number is an
indicator of how far Adams/Solver is from a solution. This number should
decrease after every iteration in healthy simulations.
8. Dataset element associated with #7 - The equation that has the largest
equation residual error for the above dataset element.
9. Equation associated with #8.

10.Absolute value of the largest change in a variable - The final iteration
should not need to change variables very much. This number is an
indicator of how far Adams/Solver needs to change variables to approach
a solution. Ideally, this number should decrease after every iteration.
11.Dataset element associated with #10.
12.Variable with the largest change for #11.
13.Jacobian updates - If Adams/Solver has updated the Jacobian, YES
appears under the new Jacobian header.

3. Time at beginning of step
1. Running count of successful steps
2. Order of predicting polynomial
5.
4.
6. 7. 8. 9. 10. 11. 12. 13.

Corrector information

SECTION 20
SENSORS AND DESIGN
VARIABLES

SENSORS AND DESIGN VARIABLES

● Sensors
● Design Variables

SENSORS
● Sensors
● Monitor any quantity of interest in a model during a simulation, and
take a specified action when the quantity reaches or exceeds a critical
value.
● Take one of the following actions:
● Completely stop the simulation.
● If used with a script, sensors halt the current simulation and continue with
the next command in the script.
● Can be used to evaluate certain expressions when the required condition
is met. You can access this value using the Adams/Solver function,
SENVAL. See the following Knowledge Base Articles:
● Using SENVAL to count full rotations of a spinning part:
http://support.mscsoftware.com/kb/results_kb.cfm?S_ID=1-KB10703
● Finding min/max of a state using a SENSOR:
http://support.mscsoftware.com/kb/results_kb.cfm?S_ID=1-KB12377

SENSORS (CONTINUED)
● A sensor basically represents an If/Then statement:
● If quantity = value (+/- tolerance)
● Then take a specified action
● Example of using sensors with scripts

● Monitor the reaction force in a constraint and deactivate the constraint
when the force exceeds a specified value.
● Monitor the distance between two objects and reduce the solution step
size just before contact, to avoid convergence problems.

DESIGN VARIABLES
● Design variables
● Define independent parameters that can be tied to objects.
● Organize the critical parameters of the design into a concise list of
values that can be easily reviewed and modified.
● Example
● You can create a design variable called cylinder_length to control the
lengths of all three cylinders as shown in the next slide:

DESIGN VARIABLES (CONTINUED)
Note: You can also use parametric analyses to automatically run a

series of simulations that vary your design variables, which you will do
in Workshop 22.
SECTION 21
SPLINES AND CONSTRAINTS

SPLINES AND CONSTRAINTS
● Splines from Traces
● Curve Constraints
● Automated Contact Forces
● Flexible Parts - Adams/Flex

SPLINES FROM TRACES
● Definition of spline from a trace
● A point trace tracks a location of a marker or circle over time with
respect to another part.
● Adams/View can create a two- or three-dimensional spline from a
trace.
● Creating a spline from a trace is used to back-calculate (reverse
engineer) the shape of an existing part based on its motion (cam
synthesis).
● Notes:
● When you trace an object and create a spline from it, the point or circle
should move in a smooth, even path.
● If the path is closed, you should simulate for one cycle only.

CURVE CONSTRAINTS
● Types of curve constraints in Adams
● Point-on-curve
● Curve-on-curve
● Curve-on-curve constraints
● Used where a curved edge on one part always follows a curved edge
on a different part.
● Remove two DOF.
● Modeling of curve-on-curve constraints requires:
● Two parts
● Two curves that will always remain in contact
● Typical applications include general cam-to-cam systems.

CURVE CONSTRAINTS (CONT.)
Note: Curve-on-curve constraints do not allow lift off.

See Also: DOF removed by curve constraints in Appendix A
AUTOMATED CONTACT FORCES
● Contact forces
● Special forces acting on parts that are activated when part geometries
come in contact with each other.
● Have values that are determined by a set of contact parameters
identical to those in the IMPACT function.
● Multiple contact forces can be combined to create more complex
contacts.

AUTOMATED CONTACT FORCES (CONT.)
● Contact pairs in Adams

AUTOMATED CONTACT FORCES (CONT.)
● Things to note while creating automated contact forces
● Point-to-curve
● Curve-to-curve The xy planes of the two reference
markers must be parallel.
● Sphere-to-plane
● Curve-to-plane The z-axis of the reference marker of the plane
(the plane’s normal vector) must point away
● Point-to-plane from the plane and at the circle or sphere.

FLEXIBLE PARTS – ADAMS/FLEX
● Better loading predictions for durability analyses
● The flexible component is the focus of your attention.
● Basically asking the question: "What is the system doing to my flexible
component?"
● Improved system performance
● The model fidelity is the focus of your attention. Component flexibility is
just another parameter of the system design.
● Basically asking the question: "What is the flexible component doing to
my system?"

FLEXIBLE PARTS – ADAMS/FLEX (CONT.)
● Allows you to create flexible bodies in the Adams
environment
● Allows for easy substitutions of flexible bodies for rigid bodies
in your Adams models
● Can perform quick modifications on the flexible bodies to
perform multiple iterations of the flexible body model
To run through a workshop, see the Adams/Flex Examples. For more

information, see the Adams/Flex online help.

SECTION 22
MULTI-COMPONENT FORCES
AND DESIGN STUDIES

MULTI-COMPONENT FORCES AND DESIGN
STUDIES
● Multi-Component Forces
● Design Studies

MULTI-COMPONENT FORCES
● Types of multi-component forces
● Vector force (three translational components)
● Vector torque (three rotational components)
● General force vector (three translational, three rotational components)
● Characteristics of vector force

MULTI-COMPONENT FORCES (CONT.)
● Notes:
● The floating J marker always maintains the same location as the I
marker.
● The characteristics of other multi-component forces conceptually work
the same way.

● Example of a force vector
● A vector force representing a contact between a ball and a cantilever:

● Because the J marker belongs to part B, the force acts on part B when
the bodies collide.
● Because the J marker moves with the I marker, part B knows where to
apply the reaction force.
● Note: In the example, the J and R markers must belong to the same
part. However, the R marker can belong to any part.
● See Also: Characteristics of a multi-component force, in
Appendix A

DESIGN STUDIES
● Trial and error method (manual iterations)
Model
Parts S imulate V iew results
Joints
Forces
Is the
Loop is repeated design Yes
several t imes optimal?
Manually change No Completed

the variable

DESIGN STUDIES (CONT.)
● Design study method (automated iterations)
Design Variable Model Results

(V) Parts Simulate automatically
generated
Joints
Objective (O) Forces
Is this
Variable the final
Model gets changes No iteration?
updated automatically (i=n)
Yes
The loop goes through specified
number of iterations (i=1,…n) Tabular Plot O versus V
report (for each iteration)

● Definition of a design study
● Varies a single design variable (V) across a range of values.
● Runs a simulation at each value.
● Reports the performance measure for each simulation.
● From the results generated, you can determine:
● The best value for V among the values simulated.
● The approximate design sensitivity of V (rate of change of performance
measure with respect to V).

● Sensitivity, S, at iteration, I
● Looking at Trial 4 (i = 4):
● S4 is the approximate slope at Trial 4 (tip_y_loc=10.6) in the plot.


SECTION 23
RECOMMENDED PRACTICES

RECOMMENDED PRACTICES
● General Approach to Modeling
● Modeling Practices: Parts
● Modeling Practices: Constraints
● Modeling Practices: Compliant Connections
● Modeling Practices: Run-time Functions
● Debugging Tips

GENERAL APPROACH TO MODELING
● Crawl-walk-run
● Try to understand the mechanism from a physical standpoint.
● Use building blocks of concepts that have worked in the past.
● Add enhancements to the model while testing periodically.
● Build kinematic models before building dynamic models.
● Use motions to check models before applying forces.
● Use motions which start with zero velocity.
● Verify enhancements to a complex model on a simpler model first.

MODELING PRACTICES: PARTS
● Geometry associativity errors
● Geometry may be added to the wrong part.
● Mass properties
● Using imported CAD-created geometry (IGES, STL, and so on) can
yield inaccurate mass properties.
● Ensure inertia matrix is realistic.
● Use aggregate mass for a quick check of system mass and inertia.
● Use the Table Editor to do a quick check and potentially fix individual
part masses and inertia.
● Small part mass and inertia lead to unrealistically high frequencies.
● Initial velocities
● Check to see that part initial velocities are consistent (look in the .out
file).
MODELING PRACTICES: PARTS (CONT.)
● Dummy parts
● Whenever possible, avoid using them.
● If absolutely needed, constrain all six DOF and assign a mass of 0.0
(not 1e-20).
● Design configuration
● Build a model close to assembled position.
● Build a model close to a stable equilibrium position, if possible.

MODELING PRACTICES: CONSTRAINTS
● Fixed joints
● Not needed, since two or more parts can be combined or merged into
a single part.
● An extra part with a fixed joint adds unnecessary equations to your
system.
● When locking a part to ground, enormous torque may develop due to
large moment arms.
● If absolutely needed, then add fixed joints at the center-of-mass (cm)
location of lightest part.
● If locking a part to ground, consider assigning a very large mass/inertia
to it so it can behave like ground.
● Note: Whenever possible, avoid using fixed joints.

MODELING PRACTICES: CONSTRAINTS (CONT.)
● Universal joints
● When a universal joint is at 90º, you get a singular matrix.
● Motion
● Motion elements should only be functions of time.
● Note: Avoid redundant constraints.

MODELING PRACTICES: COMPLIANT
CONNECTIONS
● Spring dampers
● Ensure that the marker endpoints (DM(I,J)) are never superimposed.
● Watch out for springs with very stiff spring constants.
● Watch out for springs with no damping.
● Bushings
● Watch out for bushings with large rotations.

MODELING PRACTICES: RUN-TIME FUNCTIONS
● Function Builder
●Assists in building functions.
●Assists in function verification.
●Has function plot capability.
● Velocity
●Make sure velocities are correct in force expressions. For example,
in the damping function: -c*VX(i, j, j, _), the fourth term is missing.
● Splines
●Approximate forces with smooth, continuous splines.
●Extend the range of spline data beyond the range of need.
●Cubic splines (CUBSPL) work better on motions than Akima.
●Akima splines (AKISPL) work better on forces than Cubic.
●The Akima interpolation method is faster and can be defined as a
surface, but its derivatives are generally discontinuous.

MODELING PRACTICES: RUN-TIME
FUNCTIONS (CONT.)
● IMPACTs/BISTOPs
● Do not use 1.0 for exponent on IMPACT or BISTOP functions.
● Models with IMPACTs/BISTOPs should have slight penetration in
design position when doing statics.
● Measures
● Set up measures of your run-time functions.
● Set up measures of components of your run-time functions.
● Ensure that your function will not try to divide by zero.

FUNCTIONS (CONT.)
● Contacts
● Do not use 1.0 for exponent on IMPACT or BISTOP functions.
● Models with contacts should have slight penetration in design position
when doing statics.
● Tires
● Models with tires should have slight penetration in model position
when doing statics.
● If only rear tires penetrate, the static position could be a “handstand.”

FUNCTIONS (CONT.)
● Units
● Use consistent units throughout the model (time, mass, stiffness,
damping, and so on).
● Choose units (mass, force, time, and so on) that do not require using
very large or very small numbers.
● Be wary when your model contains numbers like 1e+23 or 1e-20.
● Use appropriate units—when modeling large models such as an
aircraft landing on a runway, length units of millimeters may not be
appropriate. Conversely, when modeling small models such as a
power window switch (made up of small moving parts), using length
units of meters may not be appropriate.
● Use reasonable time units—high frequencies may be better modeled
with time units of milliseconds rather than seconds.
● Gravity
● Check magnitude and direction.
● Check for multiple gravity elements.
DEBUGGING TIPS
● Model verify
● Lists number of moving parts, number of each type of constraint.
● Lists Gruebler's count and actual DOF count.
● Lists redundant constraints.
● Reports misaligned forces/force elements, joints, and so on.
● Helps identify and eliminate causes for input warning (don't ignore).
● Model topology
● Text or graphical model topology.
● Table Editor provides spreadsheet-like overview of model content.

DEBUGGING TIPS
● Icon Feedback
● Broken icon in design configuration probably means incorrectly defined
joint or force.
● Table Editor
● Convenient way to inspect and modify models (particularly large ones).
● Interactive Simulation
● By default is turned on.

DEBUGGING TIPS (CONT.)
● Model display update
● As Adams/Solver performs the simulation, you have the option to get
immediate graphical feedback of the simulation at every:
● Output step
● Integration step
● Iteration
● Icons visible during simulation

● This may help you monitor behavior of model components.

● Subroutines
● Check for their existence.
● While debugging a model, eliminate user subroutines so that they are
not the source of the error.
● Gravity
● Turning gravity off can accentuate modeling errors and make
debugging easier.

● Statics
● When applicable, perform an initial static simulation first.
● If static solution fails:
● Turn on Model display update = at every iteration to provide additional
insight.
● Identify and eliminate the undesired static configuration—there could be
more than one static configuration and Adams/Solver could be finding the
undesired one.
● Check to see if there are any floating parts.
● Check the signs of applied forces.
● Experiment with Alimit/Tlimit/Maxit/Stability.
● Check if impacts are initially in contact; if not, they should be.
● Running an initial dynamic simulation can help you determine why the
model is not finding static equilibrium.
● Dynamics
●If integrator fails to start-up:
● Check sign and magnitude of forces.
● Look at accelerations to understand what is happening.
● Perform initial static analysis first.
● Try a quasi-static simulation.
● Try changing integrator parameter - HINIT.
● Try a different integrator.
●If integrator fails in the middle of a simulation:
● Look at animation and plots until failure, to understand simulation.
● Decrease integrator parameter - HMAX.
● Do not let the integrator step over important events.
● Short duration events, such as an impulse can be captured by setting
the maximum time step, HMAX, to a value less than the impulse width.
● Use HMAX so Adams/Solver acts as a fixed-step integrator
● Decrease error.
● Try a different integrator.

● If integrator takes very small steps:
● Look for sudden changes in force and motion input.
● Rescale model to get more uniform numbers.
● Velocities at time=0
● Check initial velocities using the .out file.

APPENDIX A
TABLES
ADM701, Appendix A, September 2008

Copyright2008 MSC.Software Corporation Appendix A-1
TABLES
● What’s in this appendix:
● Constraints Tables (Incomplete)
● Forces Tables (Incomplete)
● Constraints Tables (Completed)
● Forces Tables (Completed)

CONSTRAINT TABLES (INCOMPLETE)

CONSTRAINT TABLES (INCOMPLETE)

FORCE TABLES (INCOMPLETE)

FORCE TABLES (INCOMPLETE)

CONSTRAINT TABLES (COMPLETED)

CONSTRAINT TABLES (COMPLETED)

FORCES TABLES (COMPLETED)

FORCE TABLES (COMPLETED)


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What is discussed in the appendices?

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MSC.

MD Adams Basic Full Simulation

Part Number: MDAM*R3*Z*BF S*Z*SM-ADM701-NT Copyright 2008 MSC.Software C orporation

Copyright 2008 MSC.Software C orporation

2.0 Adams/View Interface Overview

3.0 Adams/PostProcessor Interface Overview

Copyright 2008 MSC.Software C orporation

5.0 Initial Conditions and Point Trace

7.0 Rotation and Friction

9.0 Joint Motion and Functions

Copyright 2008 MSC.Software C orporation

11.0 Point Motions and System-level Design

13.0 Add-on Constraints, Couplers, and Assembling Models

Copyright 2008 MSC.Software C orporation

20.0 Sensors and Design Variables

21.0 Splines and Contraints

22.0 Multi-Component Forces and Design Studies

Copyright 2008 MSC.Software C orporation

23.0 Recommended Practices

Copyright 2008 MSC.Software C orporation

ADM701, Introduction, September 2008

● What’s in this section:

ADM701, Introduction, September 2008

● Adams Full Simulation Package is a powerful modeling

ADM701, Introduction, September 2008

● Adams: Automatic Dynamic Analysis of Mechanical

ADM701, Introduction, September 2008

ADM701, Introduction, September 2008

● Find a list of MSC.Software products at:

ADM701, Introduction, September 2008

ADM701, Introduction, September 2008

● Each module is divided into the following sections:

ADM701, Introduction, September 2008

ADM701, Introduction, September 2008

ADM701, Introduction, September 2008

ADM701, Introduction, September 2008

● MSC Virtual Product Development Community

ADM701, Introduction, September 2008

ADM701, Introduction, September 2008

ADM701, Section 1, September 2008

DESIGN Increase Increase

Build Test Review Improve

● Build a model of your design using:

Build Test Review Improve

● Test your design using:

Build Test Review Improve

● Review your model by adding:

Build Test Review Improve

● Improve your design using:

ADM701, Section 2, September 2008

ADM701, Section 2, September 2008

Simulations Objects More

Measures Constraints Parts Forces

Markers Construction Geometry

Components Are not saved in model

Part Number: MDAMR3Z*BF SZSM-ADM701-NT Copyright 2008 MSC.Software C orporation