Basic ADAMS Full

Simulation Training
Guide

VERSION 12.0
PART NUMBER
120VIEWTR-01

Visit us at: www.adams.com

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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
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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.

2 Copyright
 &217(176

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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
6WDPSLQJ0HFKDQLVP17
Virtual Prototyping Process 18
Workshop 1—Stamping 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 2—ADAMS/View Interface Overview 36
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PostProcessing Interface Overview 48
Animating 49
Plotting 50
Reporting 51
Workshop 3—ADAMS/PostProcessor Overview 52
)DOOLQJ6WRQH63
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 4—Falling Stone 72

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Part Initial Conditions 82
Initial Velocities 83
Point Trace 84
System-Level Design 85
Workshop 5—Projectile Motion 86
2QH'2)3HQGXOXP95
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 6—One DOF Pendulum 102
,QFOLQHG3ODQH117
Euler Angles (Rotation Sequence) 118
Precise Positioning: Rotate 119
Modeling Friction 120
Measures in LCS 123
Workshop 7—Inclined Plane 124
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Building Geometry 138
Construction Geometry Properties 140
Solid Geometry 142
Precise Positioning: Move 143
Workshop 8—Lift Mechanism I 144
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Applying Motion 154
Joint Motion 155
Functions in ADAMS 156
Workshop 9—Lift Mechanism II 157
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Types of Joint Primitives 164
Perpendicular Joint Primitive 165
Workshop 10—Lift Mechanism III 166

4 Contents

■
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6XVSHQVLRQ6\VWHP,171
Applying Point Motions 172
Workshop 11—Suspension System I 173
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Taking Measurements 180
Displacement Functions 181
Importing CAD-Based Geometry 182
Workshop 12—Suspension System II 183
6XVSHQVLRQ6WHHULQJ6\VWHP191
Add-On Constraints 192
Couplers 193
Assembling Subsystem Models 194
Workshop 13—Suspension-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 14—Spring Damper 211
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Single-Component Forces: Action-Reaction 218
Spline functions 219
AKISPL Function 220
Workshop 15—Nonlinear Spring 221
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Bushings 228
Workshop 16—Suspension-Steering System II 229
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Impact Functions 236
Velocity Functions 238
Workshop 17—Hatchback I 239

Contents 5
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STEP Function 248
Scripted Simulations 249
ADAMS/Solver Commands 250
Workshop 18—Hatchback 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 19—Hatchback III 271
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Sensors 280
Design Variables 281
Workshop 20—Hatchback IV 282
&DP5RFNHU9DOYH289
Splines from Traces 290
Curve Constraints 291
Automated Contact Forces 292
Flexible Parts—ADAMS/AutoFlex 294
Workshop 21—Cam-Rocker-Valve 295
7DUJHW3UDFWLFH309
Multi-Component Forces 310
Design Studies 312
Workshop 22—Target Practice 315
5HFRPPHQGHG3UDFWLFHV327
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

6 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 7
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8 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

9
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10 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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■ http://support.adams.com/services/training.shtm
■ Or your local support center

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■ http://support.adams.com/kb/faq.asp?ID=kb9587.dasp

Welcome to Basic ADAMS Training 11

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 Problem statement
2 Concepts
3 Workshop
4 Module review

12 Welcome to Basic ADAMS Training

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To access the online help:
■ 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:
■ 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:
■ Help on Help bookmark in any ADAMS guide

■ Help toolon 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

Welcome to Basic ADAMS Training 13

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:

■ 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 Welcome to Basic ADAMS Training

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

Welcome to Basic ADAMS Training 15

Explain the ASK tool and guide the students to register during class.
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16 Welcome to Basic ADAMS Training

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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 1—Stamping Mechanism, 19

◆ 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
...a model of your design using
Bodies Forces
Build Contacts Joints
Motion generators

Cut time ...your design using

Test Measures Animations
and costs Simulations Plots Do results
compare with
measured
data?
...your model by
Validate Importing test data
Superimposing test data
No

Yes
...your model by adding
Friction Forcing functions
Refine
Flexible parts
Control systems
Increase
quality ...your design through
variations using
Iterate Parametrics
Design variables

...your design using

Optimize DOEs
Optimization
Increase
efficiency ...your design process using
Custom menus
Automate
Macros
Custom dialog boxes

IMPROVED
PRODUCT

18 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.

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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 From the Welcome dialog box, select Import a file.
3 Click the file folder.
The Select Directory dialog box appears.
4 Find and select the directory mod_01_stamper (exercise_dir/mod_01_stamper).
5 Select OK.
The File Import dialog box appears.
6 Set File Type to ADAMS/View command file (*.cmd).
7 Right-click the File to read text box, and then select Browse.
The Select File dialog box appears.
8 Select the file, aview.cmd, and then select Open.
9 Select OK.
ADAMS/View imports the commands to build:
■ 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 we’ll change
(length of control arm) and the criteria we’re using to gauge our success--the penetration of the stamping face on the
parcels.
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1 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.
2 From the ADAMS toolbar, right-click the ADAMS/View tool .
3 Select Change Settings for A/View.
The Change Settings for A/View dialog box appears.
4 Select Working directory.
5 Right-click the Working directory text box, and then select Select a Directory.
The Select a Directory dialog box appears.
6 Select the directory mod_01_stamper (exercise_dir/mod_01_stamper).
7 Select OK.
8 From the Change Settings for A/View dialog box, select OK.
9 From the ADAMS toolbar, select the ADAMS/View tool.
ADAMS/View starts and automatically imports the commands to build:
■ 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).

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1 From the Stamper menu, select Setting Up Model.

The Stamper_Setup dialog box appears.
2 Use the arrow buttons to modify the length of the control_link.
■ 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 Watch the model change as you press these buttons.
4 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, you’ll simulate the model to see how it behaves.

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1 From the Stamper menu, select Simulate.

The Stamper_Simulate dialog box appears.
2 To simulate the current design variation, ensure that Single is selected.
3 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 To continue, select OK.
5 Leave the Stamper_Simulate dialog box open and continue with the next step.

22 Stamping Mechanism
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Now you’ll look at the results of the simulation as an animation and a plot.

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1 From the Stamper menu, select Investigate Results.

The Stamper_Investigate dialog box appears.
2 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.
3 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.
4 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.

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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 you’ll 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.
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1 On the Stamper_Simulate dialog box, select Design Study.

2 To speed up the simulation, set Model Update to Never.
3 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.
4 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.
5 Close the Information window.

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Now, you’ll 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.
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1 On the Stamper_Simulate dialog box, select Optimization.
2 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 Set Model Update to Never.
4 Select Apply to submit the optimization study.
The Information window appears, displaying the control_link length for a maximum
penetration of 4.00.
5 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.

24 Stamping Mechanism
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6 Select OK.
The value on the Stamper_Setup dialog box also updates to the optimized value.
7 Exit ADAMS/View:
■ From the File menu, select Exit.
■ From the dialog box that appears, select Exit, don’t Save.

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1 Using 3 mm increments, at what control link length do you first notice penetration?

2 From the design study, what control link length results in penetration? How does this
compare with your previous results?

3 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?

4 How many moveable parts does the model consist of?

5 How many joints does the model consist of?

6 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.
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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.

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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 2—ADAMS/View Interface Overview, 36

◆ Module review, 45

27

■ Review the problem statement. Notes:

■ Focus only on the GUI.
■ Explain that the objective of this module is to become
familiar with the graphical-user interface (GUI) of ■ Do not get into detailed explanation of functionality.
ADAMS/View. ■ This module has the potential to take too much time if you

■ Ask them to explore and experiment, and to focus on start to answer all of the students’ questions.
understanding how the software is set up. ■ Tell them that you will answer their questions later when
the content is covered.
■ 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 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, 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 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)

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Renamed

Not
renamed

ADAMS/View Interface Overview 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 ADAMS/View Interface Overview

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
Simulation
amount of time to
output
simulate over
End time: absolute Step size: amount of
point in time to stop time between steps
simulation Steps: total number of
Forever: continues until steps in a specified
stopped or until ADAMS/ amount of time
Solver can no longer
solve the equations of
motion

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.

ADAMS/View Interface Overview 31

Simulate the pendulum and then animate it for a graphical playback.

Explain how the time interval and the output options work.
6DYLQJ<RXU:RUN
0RVWFRPPRQIRUPDWVLQZKLFK\RXFDQVDYH$'$069LHZPRGHOV
■ ADAMS/View database files (.bin)

For more information, see Saving Your Modeling Database, on page 147 in the
guide, Learning ADAMS/View Basics.

◆ 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.

■ 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.

◆ Include only model elements and their attributes.

◆ Are relatively small, editable text files.

◆ Are platform independent.

32 ADAMS/View Interface Overview

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.
6DYLQJ<RXU:RUN
2WKHUIRUPDWVLQZKLFK\RXFDQLPSRUWDQGH[SRUWGDWD
■ 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).

ADAMS/View Interface Overview 33

The other formats will be discussed in greater detail later in the course.
*HWWLQJ+HOS

5HIHUHQFLQJWKHRQOLQHKHOS
■ 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 ADAMS/View Interface Overview

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 don’t find what they are
looking for, they can search the pdf guides as shown on the next page.
*HWWLQJ+HOS
5HIHUHQFLQJWKHRQOLQH$'$069LHZJXLGHV

'RLQJJOREDOVHDUFKHVRQDQ\RQOLQH$'$06JXLGH

ADAMS/View Interface Overview 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: Global search:
Select text: Zoom in: Zoom out: press Ctrl +
:RUNVKRS³$'$069LHZ,QWHUIDFH2YHUYLHZ
3UREOHPVWDWHPHQW
Use ADAMS/View to manipulate, simulate, review, and refine the following model:

rocker

rod

ground_engineblock

valve
cam

0RGHOGHVFULSWLRQ
■ 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 ADAMS/View Interface Overview

Illustrate the problem statement. Identify the stiffness variable and the valve displacement measure.
:RUNVKRS³$'$069LHZ,QWHUIDFH2YHUYLHZ
7LSVEHIRUH\RXVWDUW
While working on this exercise, notice:
■ The use of the right mouse button.
■ The function of single-clicks and double-clicks.
■ The messages on the Status bar.
■ The animation options.

6WDUWWKHZRUNVKRS
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.

7RVWDUW$'$069LHZLQ:LQGRZV
■ On the Start menu, point to Programs, point to ADAMS 12.0, point to AView, and then
select ADAMS - View.

7RVWDUW$'$069LHZLQ81,;

■ From the ADAMS Toolbar, select the ADAMS/View tool .

7RORDGWKHZRUNVKRSILOHV

1 From the Welcome dialog box, select Import a file.

2 Click the file folder.
The Find Directory dialog box appears.
3 Find and select the directory mod_02_aview_interface
(exercise_dir/mod_02_aview_interface).
4 Select OK.
The File Import dialog box appears.
5 Set File Type to ADAMS/View command file (*.cmd).
6 Right-click the File to read text box, and then select Browse.
The Select File dialog box appears.

ADAMS/View Interface Overview 37

:RUNVKRS³$'$069LHZ,QWHUIDFH2YHUYLHZ
7 Find and select the file, valve.cmd and then select Open.
8 Select OK.

9LHZWKHPRGHO
Now you’ll learn how you can view models from different angles using the keyboard shortcuts
for zooming, translating, and rotating.

7RYLHZWKHPRGHOIURPGLIIHUHQWDQJOHV

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.
2 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:

3 Press the key representing the desired view operation, and follow the instructions in the
Status bar.

38 ADAMS/View Interface Overview

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)
:RUNVKRS³$'$069LHZ,QWHUIDFH2YHUYLHZ
5HQDPHSDUWV
Now you’ll 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.
7RUHQDPHSDUWV
1 Move the cursor over a part and right-click. (For example, move the cursor over the rocker
part.)
2 Point to Part:PART_<x>, and then select Rename.
The Rename Object dialog box appears.
3 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.
4 Continue renaming parts.

,QVSHFWWKHPRGHO
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.

7RGHWHUPLQHWKHQXPEHUDQGW\SHRIFRQVWUDLQWV

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

ADAMS/View Interface Overview 39

:RUNVKRS³$'$069LHZ,QWHUIDFH2YHUYLHZ
The Information window appears as shown next:

2 Note the number and type of constraints and use them to answer Question 1 in Module
review, on page 45.
3 Select Close.

40 ADAMS/View Interface Overview

:RUNVKRS³$'$069LHZ,QWHUIDFH2YHUYLHZ
7RFKHFNLIWKHPRGHOYHULILHGVXFFHVVIXOO\

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.

ADAMS/View Interface Overview 41

:RUNVKRS³$'$069LHZ,QWHUIDFH2YHUYLHZ
6LPXODWHWKHPRGHO
In this section, you’ll run a simulation for 2 seconds with 100 steps, and save the simulation
results.

7RUXQDVLPXODWLRQ
1 From the Main Toolbox, select the Simulation tool .

Simulation tool

2 In the container that appears in the lower portion of the Main Toolbox:
■ 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 Select the Play tool .
4 When the simulation is complete, select the Reset tool .

7RVDYHWKHVLPXODWLRQUHVXOWV

1 From the Simulate menu, select Interactive Controls.

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

42 ADAMS/View Interface Overview

:RUNVKRS³$'$069LHZ,QWHUIDFH2YHUYLHZ
$QLPDWHWKHUHVXOWV
In this section, you’ll review the results of the simulation as an animation, which is a graphical
playback of a simulation. You’ll use the built-in ADAMS/View tools to run the animation.
Optionally, you could use the ADAMS/PostProcessor tools to run animations.

$QLPDWHWKHPRGHOZLWKLFRQVWXUQHGRIIGHIDXOW

1 From the Main Toolbox, select the Animation tool .

2 Select the Play tool.
3 When the animation is complete, select the Reset tool.

$QLPDWHWKHPRGHOZLWKLFRQVWXUQHGRQ

1 From the Review menu, select Animation Controls.

The Animation Controls dialog box appears.
2 At the bottom of the Animation Controls dialog box, select Icons.
3 Select the Play tool.
4 When the animation is complete, select the Reset tool.
5 Close the Animation Controls dialog box.

ADAMS/View Interface Overview 43

:RUNVKRS³$'$069LHZ,QWHUIDFH2YHUYLHZ
6DYH\RXUZRUN
Now you’ll save your work so the saved file contains only the model information.

7RVDYH\RXUZRUN

1 From the File menu, select Export.

2 Set File Type to ADAMS/View command file.
3 In the File Name text box, enter valve1.
4 In the Model Name text box, enter valve.
5 Select OK.
6 If you want to further explore the model, as suggested in the next section, leave the model
open. Otherwise, proceed with the next step.
7 From the File menu, select Exit.
8 From the dialog box that appears, select Exit, don’t Save.

2SWLRQDOWDVNV
+DYHIXQZLWKWKHPRGHO
This exercise introduces you to the ADAMS/View interface. Manipulate the model and
experiment with it as much as you want.

44 ADAMS/View Interface Overview

:RUNVKRS³$'$069LHZ,QWHUIDFH2YHUYLHZ
0RGXOHUHYLHZ
1 How many constraints are there in this system? What type of constraints are they?

2 Is it possible to have more than one model in a database?

3 Is part geometry a direct child of a model? If not, what is part geometry a child of?

4 If you are in the middle of an operation and you are not sure what input
ADAMS/View wants next, where should you look?

5 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?

6 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?

ADAMS/View Interface Overview 45

:RUNVKRS³$'$069LHZ,QWHUIDFH2YHUYLHZ

46 ADAMS/View Interface Overview

  $'$063267352&(6625,17(5)$&(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.

:KDW·VLQWKLVPRGXOH
■ PostProcessing Interface Overview, 48

■ Animating, 49

■ Plotting, 50

■ Reporting, 51

■ Workshop 3—ADAMS/PostProcessor Overview, 52

◆ Module review, 62

47

■ Review the problem statement. Notes:

■ Focus only on the interface.
■ Explain that the objective of this module is to become
familiar with the graphical-user interface of ■ Do not get into detailed explanation of functionality.
ADAMS/PPT. ■ This module has the potential to take too much time if you

■ Ask them to explore and experiment, and to focus on start to answer all of the students’ questions.
understanding how the software is set up. ■ Tell them that you will answer their questions later when
the content is covered.
■ Do not jump ahead.
3RVW3URFHVVLQJ,QWHUIDFH2YHUYLHZ
$'$063RVW3URFHVVRUKDVWKUHHPRGHV
■ 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.
$QLPDWLQJ

Treeview
Main toolbar Viewport

Mode type

Property
editor Dashboard

For more information, see Animating Results, on page 53 in the guide, Using
ADAMS/PostProcessor.

ADAMS/PostProcessor Interface Overview 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.
3ORWWLQJ

Treeview
Main toolbar Viewport

Mode type

Property
editor Dashboard

For more information, see Plotting Results, on page 87 in the guide, Using
ADAMS/PostProcessor.

50 ADAMS/PostProcessor Interface Overview

Demo creating a plot.

5HSRUWLQJ

Treeview Main toolbar Viewport

Mode type

For more information, see Viewing Reports, on page 165 in the guide, Using
ADAMS/PostProcessor.

ADAMS/PostProcessor Interface Overview 51

Demo loading a report. Load the file ADAMS.res.

:RUNVKRS³$'$063RVW3URFHVVRU2YHUYLHZ
3UREOHPVWDWHPHQW
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

0RGHOGHVFULSWLRQ
■ 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 ADAMS/PostProcessor Interface Overview

Review model description. Draw the model and identify the variables, K of spring and displacement of the valve.
:RUNVKRS³$'$063RVW3URFHVVRU2YHUYLHZ
6WDUWWKHZRUNVKRS
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.

7RVWDUWWKHZRUNVKRS

1 Start ADAMS/View.
2 From the Welcome dialog box, select Import a file.
3 Click the file folder.
The Find Directory dialog box appears.
4 Find and select the directory mod_03_ppt_interface (exercise_dir/mod_03_ppt_interface).
5 Select OK.
The File Import dialog box appears.
6 Set File Type to ADAMS/View command file (*.cmd).
7 Right-click the File to read text box, and then select Browse.
The Select File dialog box appears.
8 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.

ADAMS/PostProcessor Interface Overview 53

:RUNVKRS³$'$063RVW3URFHVVRU2YHUYLHZ
6LPXODWHWKHPRGHO
Run a simulation for 2 seconds with 100 steps, and then save the simulation results.

7RUXQDVLPXODWLRQ
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 on the Status bar.

2 From the container in the Main Toolbox:

■ Select Default.
■ Select End Time, and in the text box, below End Time, enter 2.0.
■ In the Steps text box, enter 100.
3 Select the Play tool.
4 When the simulation is complete, select the Reset tool.
5 Save the simulation results, with the name second_results, just as you did on page 42 of
Workshop 2—ADAMS/View Interface Overview.

3ORWWKHUHVXOWV
Now you’ll plot the results using ADAMS/PostProcessor. You will plot:
■ 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 ADAMS/PostProcessor Interface Overview

:RUNVKRS³$'$063RVW3URFHVVRU2YHUYLHZ
7RSORWWKHUHVXOWV

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.
3 Set Source to Measures.
4 From the Measure list, select Valve_Displacement.
5 In the right corner of the dashboard, select Add Curves.
6 From the toolbar, select the Create a New Page tool .
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 From the Measure list, select Force_in_Spring.
8 Select Add Curves.
9 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.

ADAMS/PostProcessor Interface Overview 55

:RUNVKRS³$'$063RVW3URFHVVRU2YHUYLHZ
0DQLSXODWHPRGHOFKDUDFWHULVWLFV
You’ll first find the spring stiffness coefficient, and then you’ll modify the spring stiffness to
200 lbf/foot.
7RILQGWKHVSULQJVWLIIQHVVFRHIILFLHQW
1 Zoom in on the spring by typing a lowercase w, and then drawing a window around the
spring.
2 Right-click the spring, point to Spring:SPRING_1, and then select Info.
The Information window appears.
3 Note the value of the stiffness coefficient.
4 Use the value to answer Question 2 in Module review, on page 62.
5 Select Close.

7RPRGLI\WKHVSULQJVWLIIQHVVWROEIIRRW

1 Right-click the spring, point to Spring:SPRING_1, and then select Modify.

The Modify a Spring-Damper Force dialog box appears.
2 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 Select OK.
4 Fit the model on the screen by typing a lowercase f.

6LPXODWHWKHPRGHO
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 ADAMS/PostProcessor Interface Overview

:RUNVKRS³$'$063RVW3URFHVVRU2YHUYLHZ
2YHUOD\SORWVRIIRUFHLQVSULQJIRUERWKVLPXODWLRQV
Now you are going to overlay the results of both of your simulations to see the differences
between the spring forces.

7RRYHUOD\SORWV

1 From the Main Toolbox, select the ADAMS/PostProcessor tool .

2 From the Simulation list, select the new simulation in your session.
3 Set Source to Measures.
4 From the Measure list, select Force_in_Spring.
5 Below the heading Independent Axis:, ensure that Time is selected.
6 Select Add Curves.
Notice the dashboard settings in the next figure.

ADAMS/PostProcessor Interface Overview 57

:RUNVKRS³$'$063RVW3URFHVVRU2YHUYLHZ
*HWSORWVWDWLVWLFV
Now you’ll 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.

7RXVHWKHJXLGHVWRKHOS\RXJHWSORWVWDWLVWLFV

1 From the Help menu, select ADAMS/PostProcessor Guide.

2 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.
3 Use the Plot Statistics toolbar to find the maximum Force_in_Spring value in the second
simulation.
4 Once you find the Force_in_Spring value, use it to answer Question 3 in Module review,
on page 62.

0RGLI\WKHSORWJUDSKLFV
Now you’ll modify the graphics of the plot to make the information in it more readable.

7RJLYHWKHSORWDWLWOH

1 In the treeview, expand page_2 by clicking the + sign.

2 Expand plot_2.
3 Select title.
4 In the property editor below the treeview, clear the current title valve, and then enter the
new title Spring Force vs. Time.
5 Select Enter.

7RODEHOWKHYHUWLFDOD[LVDV6SULQJ)RUFHOEI

1 In the treeview, select vaxis.

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

58 ADAMS/PostProcessor Interface Overview

:RUNVKRS³$'$063RVW3URFHVVRU2YHUYLHZ
7RPRGLI\WKHOHJHQGWH[WDQGLWVSODFHPHQW

1 In the treeview, select curve_1.

2 In the property editor below, change the Legend text box to k=100(lbf/foot).
3 Change the legend for curve_2 to k=200.
4 In the treeview, select legend_object.
5 In the property editor, set Placement to Top Right.

$GGDQDQLPDWLRQ
ADAMS/PostProcessor lets you display animations and plots at the same time. In this section,
you’ll add an animation next to your plot. You can also run the animation and watch the results
appear in the plot.

7RDGGDQDQLPDWLRQQH[WWR\RXUSORW

1 In the treeview, select page_2.

2 Split the screen by right-clicking on the Page Layout toolstack in the main toolbar, and
selecting the Split Screen tool.

Split Screen

3 Set the new viewport to Animation by right-clicking in the viewport and choosing Load
Animation from the pop-up menu.

ADAMS/PostProcessor Interface Overview 59

Remind students of the difference between Find and Search.

:RUNVKRS³$'$063RVW3URFHVVRU2YHUYLHZ
4 From the Database Navigator, select one of the simulation results that you want to
animate.
5 Select OK.

9LHZLQJUHVXOWV
7RYLHZDQDQLPDWLRQRIWKHUHVXOWV
■ 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 View Zoom
Dynamic Rotate View Fit
Select Front View

60 ADAMS/PostProcessor Interface Overview

:RUNVKRS³$'$063RVW3URFHVVRU2YHUYLHZ
7RSOD\DQDQLPDWLRQRIWKHUHVXOWV
■ 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 Backward Play Animation

Reset Animation Record Animation

0RGLI\LQJWKHJUDSKLFVRI\RXUDQLPDWLRQ
7RPRGLI\WKHJUDSKLFVVHWWLQJVRI\RXUDQLPDWLRQ

1 From the dashboard, select the View tab.

2 Experiment with the available options.
7RFKDQJHWKHFRORURIWKHFDP

1 From the treeview, expand the model by clicking on the + sign.

2 Select cam.
3 In the property editor, set Color to Coral.
7RHQODUJHWKHJUDSKLFVWKDWLOOXVWUDWHIRUFH

1 From the Edit menu, select Preferences.

The PPT Preferences dialog box appears.
2 In the Force Scale text box, enter a value that is greater than 50, and then select Close.
3 Experiment with changing the scale of the force graphics.

7RFKDQJHWKHYLHZIURPVKDGHGWRZLUHIUDPH

■ On the main toolbar, select the Wireframe/shaded tool .

ADAMS/PostProcessor Interface Overview 61

:RUNVKRS³$'$063RVW3URFHVVRU2YHUYLHZ
6DYH\RXU$'$063RVW3URFHVVRUVHVVLRQ
7RVDYH\RXUVHVVLRQ

1 Return to ADAMS/View.
2 Save your work and then exit ADAMS/View.

0RGXOHUHYLHZ
1 What is the mass of the valve? What is this mass currently based on?

2 What is the stiffness coefficient of the spring?

3 What was the maximum spring force when the spring coefficient was 200 lbf/foot?

62 ADAMS/PostProcessor Interface Overview

  )$//,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

:KDW·VLQWKLVPRGXOH
■ 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 4—Falling Stone, 72

◆ Module review, 80

63

■ Review the problem statement. ■ Keep returning to the title page as you go through the
■ Then, review the concepts while relating them to the module. Continue this throughout the course.
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.
&RRUGLQDWH6\VWHPV
'HILQLWLRQRIDFRRUGLQDWHV\VWHP&6
■ A coordinate system is essentially a measuring stick to define kinematic and dynamic
quantities.

Point P
ŷ G
R
R = R x x̂ + R y ŷ + R z ẑ
Point O
x̂ G
ẑ G

7\SHVRIFRRUGLQDWHV\VWHPV
■ 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

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.

3DUW&RRUGLQDWH6\VWHP
'HILQLWLRQRISDUWFRRUGLQDWHV\VWHPV3&6
■ 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 ŷ P1

Part 1 at location (10, 5.5, 0)

ẑ P1 x̂ P1

5.5
ŷ G

10
x̂ G
ẑ G
Global coordinate system
Ground body at location (0, 0, 0)

■ When created, each part’s 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.
&RRUGLQDWH6\VWHP0DUNHU
'HILQLWLRQRIDPDUNHU
■ 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.

ŷ P1 Part coordinate system

Marker 1 on Part 1 ŷ M1 Part 1 at location (10, 5.5, 0)
at location (- 5, -1, 0) -5
-1
ŷ G x̂ P1
x̂ M1 ẑ P1
ẑ M1

x̂ G
ẑ G Ground body at location (0, 0, 0)

■ 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.

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 SetÆ PART_2_XFORM, Component Y and Object Æ 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%HWZHHQ3DUWVDQG*HRPHWU\
3DUWV
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

*HRPHWU\
■ Is used to add graphics to enhance the visualization of a part using properties such as:
◆ 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.
3DUWV*HRPHWU\DQG0DUNHUV
'HSHQGHQFLHVLQ$'$06
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 Marker Marker Marker Geometry

.mod.pend.sph .mod.pend.mar_1 .mod.pend.cm .mod.pend.mar_2 .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.
7\SHVRI3DUWVLQ$'$06
5LJLGERGLHV

■ Are movable parts.

■ Possess mass and inertia properties.
■ Cannot deform.

)OH[LEOHERGLHVEH\RQGWKHVFRSHRIWKLVFRXUVH

■ Are movable parts.

■ Possess mass and inertia properties.
■ Can bend when forces are applied to them.

*URXQGSDUW
■ 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.

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.
3DUW0DVVDQG,QHUWLD
0DVVDQGLQHUWLDSURSHUWLHV
■ 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 axes.
■ You can change the position and orientation of the part’s cm marker.

Part 1 Part 1

cm marker
cm marker
(shifts as new geometry
is added to the part)

■ 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
0HDVXUHVLQ$'$06
■ 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.

'HILQLWLRQRIREMHFWPHDVXUHV
Measure pre-defined measurable characteristics of parts, forces, and constraints in a model.

3DUWPHDVXUH 6SULQJPHDVXUH -RLQWPHDVXUH

FKDUDFWHULVWLFV FKDUDFWHULVWLFV FKDUDFWHULVWLFV
■ CM position ■ Deformation ■ Relative velocity
■ CM velocity ■ Force ■ Force
■ Kinetic energy ■ Torque
■ Others ■ 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.
:RUNVKRS³)DOOLQJ6WRQH
3UREOHPVWDWHPHQW
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

6WDUWWKHZRUNVKRS
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.

7RVWDUWWKHZRUNVKRS

1 Start ADAMS/View.
2 In the Welcome dialog box:
■ 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.

3 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).
:RUNVKRS³)DOOLQJ6WRQH
%XLOGWKHVWRQH
Use the Sphere tool to create a stone part with a 50 mm radius and its center at the global
origin. You’ll also rename the part and set its mass to 1 kg.

7REXLOGWKHVWRQH

1 To view the coordinates as you create the sphere so you know its size, from the View menu,
select Coordinate Window.
2 From the Main Toolbox, right-click the Rigid Body toolstack, and then select the
Sphere tool .

Rigid Body toolstack

3 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.

7RUHQDPHLW

1 Right-click the sphere, point to Part:PART_2, and then select Rename.

2 In the New Name text box, enter .projectile.Stone, and then select OK.

7RVHWWKHPDVVWRNJ

1 Right-click the sphere, point to Part:Stone, and then select Modify.

2 In the Define Mass by text box, select User Input.
3 If an alert box opens, select Close.
4 In the Mass text box, enter 1.0.
5 Select OK.

Falling Stone 73
:RUNVKRS³)DOOLQJ6WRQH
&UHDWHPHDVXUHVIRUWKHIDOOLQJVWRQH
To calculate the vertical displacement, velocity, and acceleration of the stone’s cm marker in
the ŷ g ,direction, you’ll create three object (part) measures. You’ll 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.

7RFDOFXODWHWKHGLVSODFHPHQWRIWKHVWRQHLQWKH \ˆ J GLUHFWLRQ

1 Right-click the stone, point to Part:Stone, and then select Measure.

2 In the Measure Name text box, enter displacement.
3 Set Characteristic to CM position.
4 Set Component to Y.
5 Set From/At to .projectile.Stone.cm.
6 Select Create strip chart.
7 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.

7RFDOFXODWHWKHYHORFLW\RIWKHVWRQHLQWKH \ˆ J GLUHFWLRQ

1 Right-click the stone, and select Measure.

2 In the Measure Name text box, enter velocity.
3 Set Characteristic to CM velocity.
4 Set Component to Y.
5 Set From/At to .projectile.Stone.cm.
6 Select Create strip chart.
7 Select OK.

74 Falling Stone
:RUNVKRS³)DOOLQJ6WRQH
7RFDOFXODWHWKHDFFHOHUDWLRQRIWKHVWRQHLQWKH \ˆ J GLUHFWLRQ

■ Follow the instructions above but set Measure Name to acceleration, and Characteristic to
CM acceleration.

9HULI\WKHPRGHO
Now you’ll 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.

7RYHULI\WKHPRGHO

1 In the right corner of the Status bar, right-click the Information toolstack , and then select
the Verify tool .
2 In the Information window, check that the model has verified successfully.
3 Close the Information window.

6HWXSDQGUXQDVLPXODWLRQ
Now you’ll zoom out the display so that the falling stone is clearly visible while it simulates.
You’ll then simulate it for 1 second with 50 steps.

7R]RRPRXW

1 Select the Select tool to display the view control options in the toolbox.
2 Select the Zoom tool , and then click and drag the mouse to zoom out until the entire
working grid is visible.

3 Select the Translate tool , and then drag the working grid to the top of the screen.

Falling Stone 75
:RUNVKRS³)DOOLQJ6WRQH
7RUXQDVLPXODWLRQIRUVHFRQGZLWKVWHSV

1 In the Main Toolbox, select the Simulation tool .

2 In the End Time text box, enter 1.0 and in the Steps text box, enter 50.
3 Select the Play tool.
As the stone falls, ADAMS/View plots the corresponding data on the displacement,
velocity, and acceleration graphs.
4 When the simulation ends, reset the model to the input, or design configuration by
selecting the Reset tool.
5 Animate the simulation to replay the simulation without simulating again.

)LQGWKHYDOXHVRIGLVSODFHPHQWYHORFLW\DQGDFFHOHUDWLRQ
Now you’ll use ADAMS/PostProcessor to find the stone’s displacement, velocity, and
acceleration after 1 second.

7RUXQ$'$063RVW3URFHVVRU
■ 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.

7RILQGWKHYDOXHRIWKHVWRQH·VGLVSODFHPHQW

1 In ADAMS/PostProcessor, from the main toolbar, select the Plot Tracking tool .
2 Because you want to know the final conditions after 1 second, move the cursor over the
end point of the plot.
3 In the area below the menu bar, the value of X is displayed as 1. Note the value of Y; this
is your answer.
4 Compare this value of Y to the results given in the closed-form solution on page 79.
5 Use the value to answer Question 1 in Module review, on page 80.

76 Falling Stone
:RUNVKRS³)DOOLQJ6WRQH
7RILQGWKHYDOXHRIWKHVWRQH·VYHORFLW\DIWHUVHFRQG

1 Select Surf.
This lets you view a selected measure without using the Add Curves button.
2 Set Source to Measures.
3 From the Measure list, select velocity.
4 Because you want to know the final conditions after 1 second, move the cursor over the
end point of the plot.
5 In the area below the menu bar, the value of X appears. It is 1. Note the value of Y; this is
your answer.
6 Compare this value of Y to the results given in the Closed-form solution, on page 79.
7 Use the value to answer Question 2 in Module review, on page 80.

7RILQGWKHYDOXHRIVWRQH·VDFFHOHUDWLRQDIWHUVHFRQG
1 Set Source to Measures.
1 From the Measure list, select acceleration.
2 To display the acceleration plot, select Surf.
3 Because you want to know the final conditions after 1 second, move the cursor over the
end point of the plot.
4 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.
5 Compare this value of Y to the results given in the Closed-form solution, on page 79.
6 Use the value to answer Question 3 in Module review, on page 80.
7 To return to ADAM/View and close all three plots, select the ADAMS/View tool.

Falling Stone 77
:RUNVKRS³)DOOLQJ6WRQH
6DYH\RXUZRUN
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.

7RVDYH\RXUZRUN

1 From the File menu, select Export, and then select OK.
2 If you want to further explore the model, as suggested in the next section, leave the model
open. Otherwise, proceed with the next step.
3 Exit ADAMS/View.

2SWLRQDOWDVNV
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.

7RLQVSHFWWKHEHKDYLRURIWKHVWRQHDIWHUFKDQJLQJLWVPDVV

1 Change the mass of the stone to 2 kg.

2 Simulate the model.
3 Compare the results of this simulation with the results of the simulation where the mass
of the stone was 1 kg.
4 Does changing the mass affect the displacement, velocity, or acceleration?
5 Measure the kinetic energy of the stone. Do these results make sense?

K.E. = (1/2)m*v2

6 Exit ADAMS/View.

78 Falling Stone

KE solution is in units of N*mm. In ADAMS/Solver, a conversion from mm to m occurs.

:RUNVKRS³)DOOLQJ6WRQH
$'$06UHVXOWV
■ Displacement after 1 sec = -4903.3 mm
■ Velocity after 1 sec = -9806.6 mm/sec

■ Acceleration after 1 sec = -9806.6 mm/sec2

&ORVHGIRUPVROXWLRQ
$QDO\WLFDOVROXWLRQ

s = ½ (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
:RUNVKRS³)DOOLQJ6WRQH
0RGXOHUHYLHZ
1 What is the displacement of the stone after one second?

2 What is the velocity of the stone after one second?

3 What is the acceleration of the stone after one second?

4 What are the most basic building blocks in ADAMS, which are used in parts,
constraints, forces, and measures?

5 Why is the ground part automatically created?

6 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 θ = 60o B

:KDW·VLQWKLVPRGXOH
■ Part Initial Conditions, 82

■ Initial Velocities, 83

■ Point Trace, 84

■ System-Level Design, 85

■ Workshop 5—Projectile Motion, 86

◆ Module review, 94

81

■ Review the problem statement.

■ At regular intervals, ask if there are any questions.
3DUW,QLWLDO&RQGLWLRQV
,QLWLDOORFDWLRQDQGRULHQWDWLRQ
■ 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 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
,QLWLDO9HORFLWLHV
,QLWLDOYHORFLWLHV
In ADAMS, a part initially moves (at t = 0) as follows:

No
Is an
initial velocity Yes
specified?

Are there Are there

Yes constraints acting motions/constraints Yes
on the part? acting on the
part?

No No

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

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.
3RLQW7UDFH
'HILQLWLRQRIDSRLQWWUDFH
■ Tracks the location of a marker during an animation.
■ Can be used to visualize the clearance between two bodies during a simulation.

([DPSOHRIDSRLQWWUDFH
■ 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 Æ Animation Controls Æ Trace Marker
6\VWHP/HYHO'HVLJQ

7KHFUDZOZDONUXQDSSURDFK
■ 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.

$YRLGWKHQHHGIRUFRPSOH[GHEXJJLQJE\IROORZLQJWKH
FUDZOZDONUXQDSSURDFK

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.
:RUNVKRS³3URMHFWLOH0RWLRQ

3UREOHPVWDWHPHQW
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 θ = 60o B

0RGHOGHVFULSWLRQ
In this workshop, you use the model you built in Workshop 4—Falling Stone, on page 72.

86 Projectile Motion

Illustrate the problem statement.

Ask the students to give steps to complete workshop.
Ask for questions.
:RUNVKRS³3URMHFWLOH0RWLRQ
6WDUWWKHZRUNVKRS
To start the workshop, import the model that you created in the previous module.

7RVWDUWWKHZRUNVKRS

1 In the Welcome dialog box, under the heading, How would you like to proceed, select Import a
file.
2 Set the directory to exercise_dir/mod_05_projectile. Executing ADAMS/View in this
directory ensures that all saved data gets stored here.
3 Select OK.
4 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.
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.

%XLOGWKHSODQH
In this section, you’ll build a plane using the Box tool . The plane will have the following
dimensions:
■ Length: 3500 mm
■ Height: 100 mm
■ On ground
Before building the plane, you’ll 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
:RUNVKRS³3URMHFWLOH0RWLRQ
7RVHWWKHGLVSOD\
1 From the Settings menu, select Working Grid.
2 In the Size: X text box, enter 4000.
3 In the Size: Y text box, enter 3000.
4 In the Spacing text boxes, enter 50, and then select OK.
5 Zoom out by typing a lowercase z, and then clicking and dragging the mouse to zoom out
and view the entire working grid.

7REXLOGWKHSODQH

1 Turn on the coordinate window (from the View menu, select Coordinate Window).
2 From the Main Toolbox, right-click the Rigid Body toolstack, and then select the
Box tool .
3 In the toolbox container:
■ 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.
4 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
:RUNVKRS³3URMHFWLOH0RWLRQ
6HWLQLWLDOFRQGLWLRQV
Now set initial velocity conditions for the stone as follows:

■ Vx
o
= 6000*cos(60o) = 3000 mm/sec

■ Vy
o
= 6000*sin(60o) = 5196 mm/sec

7RVHWLQLWLDOFRQGLWLRQV

1 Reset the Main Toolbox by selecting the Select tool .

2 Right-click the stone, point to Part:Stone, and then select Modify.
3 Set Category to Velocity Initial Conditions.
4 Under Translational velocity along, select X axis, and in the X axis text box, enter
(6*cos(60d)(m/sec)) or (3000(mm/sec)).
5 Under Translational velocity along, select Y axis, and in the Y axis text box, enter
(6*sin(60d)(m/sec)) or (5196(mm/sec)).
6 Select OK.

&UHDWHPHDVXUHVIRUSURMHFWLOHPRWLRQ

Next, create an object (part) measure to calculate the horizontal displacement, x̂ g , of the stone’s
center of mass (cm) marker when it is projected.

7RFUHDWHDPHDVXUH

1 Right-click the stone, point to Part:Stone, and then select Measure.

2 In the Measure Name text box, enter R_displacement.
3 Set Characteristic to CM position.
4 Set Component to X.
5 Set From/At to .projectile.Stone.cm.
6 Select Create strip chart.
7 Select OK.

Projectile Motion 89
:RUNVKRS³3URMHFWLOH0RWLRQ
5XQDVLPXODWLRQ
Run a simulation for 1.5 seconds, using a sampling rate of .02 seconds.

7RUXQDVLPXODWLRQ

1 From the Main Toolbox, select the Simulation tool.

2 In the End Time text box, enter 1.5.
3 In the Step Size text box enter 0.02.
4 Select the Play tool.
ADAMS/View runs the simulation and plots the corresponding data in a strip chart.
5 When the simulation ends, select the Reset tool.

)LQGWKHUDQJH5
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.

7RILQGWKHUDQJH

1 From the Main Toolbox, select the Animation tool .

2 Select the Play tool.
3 When the stone makes contact with the plane, select the Stop tool .

4 Use the Step Forward and Step Backward tools to obtain the exact point at which the
stone makes contact with the plane.
5 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.)
6 Select the Reset tool.

90 Projectile Motion
:RUNVKRS³3URMHFWLOH0RWLRQ
&UHDWHDSRLQWWUDFH
Create a point trace to view the trajectory of the projectile during an animation.
7RFUHDWHDSRLQWWUDFH

1 On the Review menu, select Animation Controls.

2 Select Icons.
3 Set No Trace to Trace Marker.
4 Right-click the empty text box that appears, select Marker, and then select Browse.
5 From the Database Navigator, select Stone.cm.
6 Note that the marker name is entered into the text box, and then select the Play tool.
7 Close the Animation Control dialog box.

)LQGKRUL]RQWDOGLVSODFHPHQW
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.

7RILQGWKHKRUL]RQWDOGLVSODFHPHQW

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.
2 Select the Plot Tracking tool .
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.
4 Note the value of displacement, Y. This is your answer for Question 2 in Module review,
on page 94.
5 Compare this value of Y to the results given in the closed-form solution on page 93.
6 Return to ADAMS/View.

Projectile Motion 91
:RUNVKRS³3URMHFWLOH0RWLRQ
6DYH\RXUZRUN
Save your work such that the file contains not only the model information, but also the results
and plots.

7RVDYH\RXUZRUN

1 From the File menu, select Save Database As.

2 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.
3 If you want to further explore the model, as suggested in the next section, leave the model
open. Otherwise, proceed with the next step.
4 Exit ADAMS/View.

2SWLRQDOWDVNV
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.

7RIROORZWKHVWRQHGXULQJDQDQLPDWLRQ

1 Zoom in on the stone.

2 From the Review menu, select Animation Controls.
Now change the reference frame while animating.
3 On the Animation Controls dialog box, change Fixed Base to Base Part. Select the part to
which you want to fix the camera.
4 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
:RUNVKRS³3URMHFWLOH0RWLRQ
$'$06UHVXOWV
R = 3180 mm (Can vary slightly depending on several factors, most likely the sampling rate.)

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$QDO\WLFDOVROXWLRQ
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

2
0 = 0 + 5196t – 0.5 × 9806 × t

0 = ( 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
:RUNVKRS³3URMHFWLOH0RWLRQ
0RGXOHUHYLHZ
1 At what time does the stone encounter the plane?

2 What is the range, R, as defined in the problem statement?

3 If a part’s initial velocity conflicts with a system constraint, which will take precedence
during a simulation?

4 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 ( θ 0 ) and initial angular velocity
·
( θ 0 ). Also, find the pendulum frequency.

A
θ 2 kgs
L=
45
0 mm
θ 0 = 30°
B
·
θ 0 = 300°/sec

:KDW·VLQWKLVPRGXOH
■ 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 6—One DOF Pendulum, 102

◆ Module review, 115

95

■ Review the problem statement.

■ Return to the problem statement after each concept to
make the connection.
&RQVWUDLQWV
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■ Restricts relative movement between parts.
■ Represents idealized connections.
■ Removes rotational and/or translational DOF from a system.

([DPSOH

Wall

Wall

Door

Door

7UDQVODWLRQDOFRQVWUDLQWVRIWKHKLQJH
Zw XD – XW = 0
ZD
Yw YD – YW = 0

ZD – ZW = 0
Xw YD
XD 5RWDWLRQDOFRQVWUDLQWVRIWKHKLQJH

Φ D – Φ W = 0 (about x-axis)

θ D – θ W = 0 (about y-axis)

Therefore, φ D and φ 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.
8VHRI0DUNHUVLQ&RQVWUDLQWV

&RQVWUDLQWHTXDWLRQVLQ$'$06
■ 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.

$QDWRP\RIDFRQVWUDLQWLQ$'$06

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.
'HJUHHVRI)UHHGRP'2)
&RQVWUDLQWVDQG'2)
■ 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.
ŷ

Rigid body

ẑ x̂

'HWHUPLQLQJWKHQXPEHURIV\VWHP'2)
■ ADAMS will provide an estimated number of system DOF by using the Gruebler’s
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:
◆ 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 Gruebler’s 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.
-RLQW,QLWLDO&RQGLWLRQV,&V
&KDUDFWHULVWLFVRIMRLQWLQLWLDOFRQGLWLRQV
■ 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 rotation—it 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.
0HUJLQJ*HRPHWU\
0HWKRGVRIDWWDFKLQJPXOWLSOHJHRPHWU\WRDSDUW
■ 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.
$QJOH0HDVXUHV
'HILQLWLRQRIDQJOHPHDVXUHV
They are used to measure the included angle, θ:

■ Between two vectors

■ Defined by three markers
■ Defined throughout a simulation

ŷ 3

ẑ 3 Third point
x̂ 3

ŷ 2
Second point x̂ 2 θ
ŷ 1
ẑ 2
First point
ẑ 1 x̂ 1

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.

For more information, see Measuring Included Angle Characteristics, on page 36 in

the guide, Simulating Models in ADAMS/View.

One DOF Pendulum 101

Demonstrate:
Æ
Build an angle measure using the Build menu (Build Measure Angle New). Æ Æ
Explain that for a pendulum you have to create a new marker on ground to use as a reference.
:RUNVKRS³2QH'2)3HQGXOXP
3UREOHPVWDWHPHQW
Find the initial force supported by the pin at A for a bar that swings in a vertical plane, given
the initial angular displacement ( θ 0 ) and initial angular velocity ( θ· 0 ). Also, find the pendulum
frequency.

A
θ 2 kgs
L=
45
0m
m
θ 0 = 30°
B
·
θ 0 = 300°/sec

6WDUWWKHZRUNVKRS
First, you’ll start ADAMS/View from the directory exercise_dir/mod_06_pendulum and then
you’ll create a new model. Executing ADAMS/View in this directory ensures that all saved data
gets stored here.

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■ Start ADAMS/View:
◆ Set the directory to exercise_dir/mod_06_pendulum.
◆ Create a new model named pendulum, with Gravity set to Earth Normal (-Global Y),
and Units set to MMKS - mm, Kg, N, s, deg.

102 One DOF Pendulum

Review the problem statement.

Quiz the students on how they would solve the problem in ADAMS.
Before they start, ask for questions.
For small displacements, the following approximation could apply:
l
T = 2π ---
g
Our model swings through a large angle, however.
:RUNVKRS³2QH'2)3HQGXOXP
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Now, build the link section of the pendulum using the following parameters:
■ Width: 20 mm
■ Depth: 27.5mm
■ Endpoints: (0, 0, 0) and (450, 0, 0)

7REXLOGWKHOLQN

1 Turn on the coordinate window.

2 From the Main Toolbox, right-click the Rigid Body toolstack, and then select the
Link tool .
3 In the container:
■ Select New Part.
■ Select Length, and in the Length text box, enter 450 mm, and then press Enter.
■ Select Width, and in the Width text box, enter 20 mm, and then press Enter.
■ Select Depth, and in the Depth text box, enter 27.5 mm, and then press Enter.
4 Using the mouse, select 0, 0, 0 and 450,0,0 as the endpoint locations.
Tip: Use the Location Event (right-click away from the model) to help select the
endpoints. When you right-click, the Location Event appears in the lower left corner
of the ADAMS window. Enter the coordinates for the link in the upper text box and
then press Enter.

One DOF Pendulum 103

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Next, build the sphere section of the pendulum using the following parameters:
■ Add to Part
■ Radius: 25 mm
■ Centerpoint: 450, 0, 0

7REXLOGWKHVSKHUHVHFWLRQ

1 From the Main Toolbox, right-click the Rigid Body toolstack, and then select the
Sphere tool .
2 In the container:
■ Select Add to part.
■ Select Radius, and in the Radius text box, enter 25 mm, and then press Enter.
3 Using the mouse, select PART_2, which is the link, as the part to add to.
4 Using the mouse, select 450,0,0 as the location.

5HQDPHWKHSHQGXOXP
Now you’ll rename the pendulum from PART_2 to Pendulum.

7RUHQDPHWKHSHQGXOXP

1 Right-click the link, point to Part:PART_2, and then select Rename.

The Rename Object dialog box appears.
2 In the New Name text box, enter .pendulum.pendulum, and then select OK.

104 One DOF Pendulum

:RUNVKRS³2QH'2)3HQGXOXP
6HWWKHPDVVRIWKHSHQGXOXP
Now, set the mass of the pendulum to 2 kg, set all three inertias (Ixx, Iyy, Izz) to 0, and change
the location of the center of mass.

7RVHWWKHPDVVRIWKHSHQGXOXP

1 Right-click the pendulum, point to Part: pendulum, and then select Modify.
2 Set Define Mass by to User Input.
An alert box will appear. Close it.
3 In the Mass text box, enter 2.0, and then select Apply.
4 In the Inertia text boxes (Ixx, Iyy, Izz), enter 0.
5 Select Apply.
6 Right-click the Center of Mass Marker text box, point to pendulum.pendulum.cm, and then
select Modify.
7 In the Location text box, enter 450, 0, 0.
8 Select OK in both dialog boxes.
Your model should look like this (with shading turned on):

One DOF Pendulum 105

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%XLOGWKHSLYRW
In this section, you’ll build the pivot by creating a revolute joint between ground and the
pendulum at location A, as shown in the figure on the page 96, and rename it Pivot.

7REXLOGWKHSLYRW

1 From the Main Toolbox, right-click the Joint toolstack, and then select the
Revolute joint tool .

Joint toolstack

For more information, see Revolute Joints, on page 148 in the guide, Building
Models in ADAMS/View.

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

For more information, see Creating a Simple Idealized Joint, on page 159 in the
guide, Building Models in ADAMS/View.

3 Select the pendulum as the first body.

4 Select the ground as the second body.
5 Select 0, 0, 0 as the location.

7RUHQDPHWKHMRLQW

1 Right-click the revolute joint, point to Joint:JOINT_1, and then select Rename.
2 In the New Name text box, enter .pendulum.pivot, and then select OK.

106 One DOF Pendulum

:RUNVKRS³2QH'2)3HQGXOXP
&UHDWHPHDVXUHV
Create two object (joint) measures to track the force supported by the pin, resolved in the x̂ g
and ŷ g directions.

7RFUHDWHREMHFWPHDVXUHV
1 Right-click the pivot joint, point to Joint:pivot, and then select Measure.
2 In the dialog box:
■ In the Measure Name text box, enter pivot_force_x.
■ Set Characteristic to Force, and select X as the Component.
■ Be sure .pendulum.MARKER_4 and Create Strip Chart are selected.
■ Select Apply.
A strip chart displays the force during simulation and animation.
3 In the dialog box:
■ In the Measure Name text box, enter pivot_force_y.
■ Set Characteristic to Force, select Y as the Component.
■ Be sure .pendulum.MARKER_4 and Create Strip Chart are selected.
■ Select OK.
A strip chart displays the force during simulation and animation.

One DOF Pendulum 107

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&UHDWHDUHIHUHQFHPDUNHU
Create a marker on ground to use as a reference location for the angle measure you will create
in the next section. Instead of right-clicking on the marker to change its name, you’ll use the Edit
menu.

7RFUHDWHDUHIHUHQFHPDUNHU

1 On the Main Toolbox, right-click the Rigid Body toolstack, and then select the
Marker tool .
2 In the container, be sure that Add to ground and Global XY are selected.
3 Using the mouse, select 450, 0, 0 as the location.
4 With the marker still selected, from the Edit menu, select Rename.
5 In the New Name text box, enter .pendulum.ground.angle_ref, and then select OK.

&UHDWHDQJOHPHDVXUH
Now, create the angle measure to track the angular displacement of the pendulum, θ.

7RFUHDWHDQDQJOHPHDVXUH

1 From the Build menu, point to Measure, point to Angle, and then select New.
2 In the Measure Name text box, enter pend_angle.
3 Right-click the First Marker text box, point to Marker, and then select Pick.
4 On the screen, pick a marker that is on the pendulum and at its end (for example, select
the cm marker).
Tip: Right-click the end of the pendulum to select the cm marker.

5 Right-click the Middle Marker text box, point to Marker, and then select Pick.
6 Pick a marker that is at the pivot location.
7 Right-click the Last Marker text box, point to Marker, and then select Pick.

108 One DOF Pendulum

:RUNVKRS³2QH'2)3HQGXOXP
8 Pick the marker that is on the ground and at the end of the pendulum (this is the marker
that you created in the previous section, .pendulum.ground.angle_ref).

Note: By aligning the marker .pendulum.ground.angle_ref with the cm marker, the initial
value of the measure will be zero.
9 Select OK.

6SHFLI\LQLWLDOFRQGLWLRQV
In this section, you’ll specify the following joint initial conditions:

■ Displacement initial condition of θ0 = 30o

■ Initial velocity condition of ·

θ0 = 300o/sec

7RVSHFLI\WKHLQLWLDOFRQGLWLRQV

1 Right-click the pivot joint, point to Joint:pivot, and then select Modify.
2 Select Initial Conditions.
3 In the Joint Initial Conditions dialog box:
■ Select Rot. Displ and, in the Rot Displ. text box, enter -30.
■ Select Rot. Velo. and, in the Rot Velo. text box, enter -300.
4 Select OK in both dialog boxes.

One DOF Pendulum 109

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Before simulating your model, verify it.

7RYHULI\\RXUPRGHO

1 Select the Verify tool (in the Information toolstack , on the right side of the Status
bar).
The Information window appears as shown next:

You also receive a warning that the initial conditions for the joint position does not match
the design configuration. This is what we expect.
2 Close the Information window.

6LPXODWH\RXUPRGHO
Run a simulation for 2 seconds.

7RVLPXODWH\RXUPRGHO
■ Run a simulation for 2 seconds with 100 steps, just as you did in Simulate the model,
on page 54.

110 One DOF Pendulum

:RUNVKRS³2QH'2)3HQGXOXP
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Now, determine the global components (x, y) of the initial force supported by the pivot. Use the
value to answer Question 1 in Module review, on page 115.

7RGHWHUPLQHJOREDOFRPSRQHQWV

1 Right-click the blank area inside the pend_angle strip chart, point to Plot: scht1, and then
select Transfer to Full Plot.
ADAMS/PostProcessor replaces ADAMS/View.

2 Select the Plot Tracking tool .

3 Move the cursor over the plot at t =0.
4 In the area below the main toolbar, note the value of Y.
5 In the dashboard, select Clear Plot.
6 Set Source to Measures.
7 From the Measure list, select pivot_force_x.
8 Select Surf.
9 Move the cursor over the plot at t =0.
10 In the area below the main toolbar, note the value of Y.

11 From the Measure list, select pivot_force_y.

12 Move the cursor over the plot at t =0.

13 In the area below the main toolbar, note the value of Y.

One DOF Pendulum 111

:RUNVKRS³2QH'2)3HQGXOXP
'HWHUPLQHWKHIUHTXHQF\RIWKHSHQGXOXP
Estimate the frequency by determining the period (seconds) and then inverting that value to
obtain Hertz. This is the answer to Question 2 in Module review, on page 115.

7RGHWHUPLQHIUHTXHQF\

1 From the Measure list, select pend_angle.

2 Estimate the period of the curve.
3 Invert the period to find Hertz.
4 Return to ADAMS/View.

6DYH\RXUZRUN
7RVDYH\RXUZRUN

1 Use the Save As option to save your modeling session such that the saved file 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.
2 Exit ADAMS/View.

112 One DOF Pendulum

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2SWLRQDOWDVNV
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.

7RILQGWKHIUHTXHQF\RIWKHSHQGXOXPDXWRPDWLFDOO\E\SHUIRUPLQJD)DVW
)RXULHU7UDQVIRUPDWLRQ))7RQWKHSORWRIWKHWDYHUVXVWLPH

1 Set up for the FFT by simulating the model based on current findings:
◆ End time = 1.65 (approximate time of one period)
◆ Steps = 127
When preparing for an FFT operation, we recommend that:
■ The number of points be an even power of two (for example, 128, 256, 512, and so
on). By solving the equation and asking for 127 steps, you will get 128 data points;
127 + 1 for the initial conditions.
■ You set Window Type to Rectangle.
■ You select Detrend Input Data.
You should get approximately the same frequency as you did by calculating it manually.
The peak value of the resultant curve is the frequency.
2 In ADAMS/PostProcessor, from the Plot menu, select FFT.
The FFT dialog box appears.
3 Accept the default values in the FFT dialog box, and then select Apply. To learn more
about these values, press F1.
You should get the same frequency as you did by calculating it manually.
The peak value of the resultant curve is at the natural frequency.
4 Return to ADAMS/View.
5 Exit ADAMS/View.

One DOF Pendulum 113

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■ Horizontal force supported by the pivot at A = -29.86 N.
■ Vertical force supported by the pivot at A = 17.24 N.

&ORVHGIRUPVROXWLRQ
At
I A = I zz + mr
2 ω 0 = 300°/sec
An
2 ω 0 = 5.24rad/sec
pt. A θ0 I A = 0 + mL

m
ω o, α

mg

The analytical solution for the force supported by the pivot at A when θ0 = 30o and
ω0 = 300 degrees/sec:

2
ΣM A = I A α – mg ( L cos 30 ) = ( mL )α

g cos 30 = Lα

g
α = – --- cos 30
L

2
α = – 18.88 rad/sec

ΣF t = mrα mg cos 30 – A t = mLα

A t = m ( g cos 30 – Lα )

A t = 0N

2 2
ΣF n = mrω A n – mg sin 30 = mLω

2
A n = m ( g sin 30 + Lω )

A n = 34.53N

114 One DOF Pendulum

:RUNVKRS³2QH'2)3HQGXOXP
Horizontal force supported by pivot at: A = -An cos30
Fx = -29.90N

Vertical force supported by pivot at: A = An sin30

Fy = 17.27N

0RGXOHUHYLHZ
1 What are the global components of the initial force supported by the pivot?

2 What is the frequency of the pendulum using the initial conditions in the problem
statement?

3 If the initial velocity of a part can be set through a connecting joint and the part itself,
which will ADAMS/View use if they are both set?

4 If a model (human_hip) had two parts (femur and hip_bone) constrained by a

joint, I and J markers would be created by ADAMS. If one marker were
named MAR_1, and the other MAR_2, what would the complete name of the I and J
markers be?

5 Can the I and J markers for a joint belong to the same part? Why?

One DOF Pendulum 115

Question 4: Draw it out on the board in the hierarchy format.

:RUNVKRS³2QH'2)3HQGXOXP

116 One DOF Pendulum

  ,1&/,1('3/$1(

Find the minimum inclination that will ensure that a crate slides off an inclined
plane, using the properties shown next:
2
g = 32.2 ft/sec

µ s = 0.3 10 in
µ d = 0.25 Crate 2 in
4 in

Mass = 100 lbs

46 in
Ramp

8 in

:KDW·VLQWKLVPRGXOH
■ Euler Angles (Rotation Sequence), 118

■ Precise Positioning: Rotate, 119

■ Modeling Friction, 120

■ Measures in LCS, 123

■ Workshop 7—Inclined Plane, 124

◆ Module review, 136

117

■ Review the problem statement.

■ Ask the students to enter the appropriate information
about translational joints into the Constraints table.
■ Demonstrate translational joints.
(XOHU$QJOHV5RWDWLRQ6HTXHQFH
'HILQLWLRQRI(XOHUDQJOHV
■ 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
For rotation about these axes, use the
◆ 2 = y axis right-hand rule
◆ 3 = z axis
■ Default in ADAMS is Body [3 1 3].

([DPSOHRIERG\>@>°°°@
Initial Orientation After 1st After 2nd After 3rd Rotation
(Base CS) Rotation Rotation (Positioned CS)
ŷ x̂ ′ x̂ ″
ẑ
- + ŷ ″
x̂ ŷ ′ ẑ ″
+ ŷ
x̂
ẑ ẑ ′
+90° about - 90° about +180° about
the z-axis the x´-axis the z´´-axis

([DPSOHRIVSDFH>@>°°°@
Initial Orientation After 1st After 2nd After 3rd Rotation
(Base CS) Rotation Rotation (Positioned CS)
ŷ x̂ ′ ẑ ″
x̂
- x̂ ″
x̂ ŷ ′
+ ŷ ″ ŷ
+
ẑ ẑ ′
+90° about - 90° about +180° about ẑ
the base CS the base CS the base CS
z-axis x-axis z-axis

For more information, see About Orientation Angles and Rotations, on page 34 in the
guide, Learning ADAMS/View Basics.

118 Inclined Plane

Give an overview of rotation sequences and explain that there are different types of rotation sequences. Do not review
the slide in detail. Take questions individually. Mention other methods of determining orientation (Along axis,
inplane).
Demonstrate:
You can use this demonstration or recreate first example above. Create two markers that are both initially aligned
with global orientation (0,0,0). Assign one of the two markers the Body [313] orientation described above, as follows:
Modify one of the marker’s orientation to be 90,0,0, and then compare the two.
Then modify its orientation to be 90,-90,0, and then compare the two.
Then modify it to have the third and final rotation, 90,-90,180.
3UHFLVH3RVLWLRQLQJ5RWDWH
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■ The objects to rotate.
■ The axis about which the objects are rotated.
■ The angle through which the objects are rotated.

45o

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.

For more information, see Rotating Objects About or Aligning with Grid or Features,
on page 460 in the guide, Building Models in ADAMS/View.

Inclined Plane 119

Demonstrate:
Rotate an object. Use the Position: Rotate objects... tool in the toolstack in lower left side of the Main Toolbox. Then,
rotate multiple objects at once using the select list.
Question:
In the figure, what information would you give ADAMS to rotate the objects?
Answer:
You could rotate either body, but, in this case, rotate the link (the lower part).
Create a marker on the link on the edge closest to the cylinder, and rotate the link about the axis of the marker that
runs along the long edge of the link. -45o (note negative sign)
0RGHOLQJ)ULFWLRQ
-RLQWIULFWLRQFDQEHDSSOLHGWR
■ Translational joints (Translational Joint, DOF Removed by, see page 364)
■ Revolute joints
■ Cylindrical joints
■ Hooke/Universal joints
■ Spherical joints

)ULFWLRQIRUFHV)I
■ 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).

F = µN
f

3KDVHVWKDWGHILQHIULFWLRQIRUFHV
■ Stiction
■ Transition

■ Dynamic

For more information, see FRICTION, on page 126 in the guide,

Using ADAMS/Solver.

120 Inclined Plane

Demonstrate:
Add joint friction to any constraint.
Point out that the images on the next page exaggerate the stiction phase to better illustrate it.
Bending and torsional moments are beyond the scope of this course. Do not explain these.
Demonstrate the Joint Friction dialog box using the online documentation.
In the online documentation, use the global search tool to find Joints: adding Friction to, and explain:
Stiction threshold velocity, max stiction displacement, and preloads
Go back to the module cover page to review the problem statement again, then continue.
0RGHOLQJ)ULFWLRQ
,GHDOL]HGFDVH
µ
■ Stiction: V rel = 0 Transition Dynamic
µs
0 < µ < µs µd

■ Transition: 0 < V rel = V 1 Stiction

Vrel
µd < µ < µs -V1 V1

■ Dynamic: V 1 < V rel −µd

−µs
µ = µd

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µ
■ Stiction: V rel < ∆V s Transition Dynamic
Stiction
0 < µ < µs µs
µd

■ Transition: ∆V s < V rel < 1.5∆V s

Vrel
µ d < µ < µs
-1.5∆Vs−∆Vs ∆Vs 1.5∆Vs

■ Dynamic: 1.5∆V s < V rel

−µd
−µs
µ = µd

Inclined Plane 121

Use the illustrations to identify stiction threshold velocity and relate it to the maximum stiction deformation.
0RGHOLQJ)ULFWLRQ
(IIHFWRIPD[LPXPGHIRUPDWLRQRQIULFWLRQ
µ
µs
µd

Vrel

−µd ∆Xs ∆Xs ∆Xs

−µs

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■ 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).

122 Inclined Plane

0HDVXUHVLQ/&6
0HDVXUHVFDQEHUHSUHVHQWHGLQ
■ Global coordinate system (GCS) (default)
■ A marker’s local coordinate system (LCS)

([DPSOH
■ When a ball falls due to gravity:
Gravity

ŷG
ŷ 1 ẑ 1
ẑG θ = 30°

x̂G
x̂ 1
Global MAR_1

■ Acceleration due to gravity in the GCS using x̂ g ,ŷ g ,ẑ g symbols to represent the
global x, y, and z components is:

m
g = ( 0x̂ g – 9.81ŷ g + 0ẑ g ) ---2-
s
■ Acceleration due to gravity in MAR_1's coordinate system is:

m
g = ( 0x̂ 1 – ( 9.81 sin 30 ° ) ŷ 1 – ( 9.81 cos 30 ° )ẑ 1 ) ---2-
s
m
g = ( 0x̂ 1 + –4.91ŷ 1 1 –1 8.50 ẑ 1 ) ----2
s

For more information, see Creating an Object Measure, on page 21 in the guide,
Simulating Models in ADAMS/View.

Inclined Plane 123

Demonstrate:
Use a model in which you can use a reference marker in the Modify Measurement dialog box. The reference marker
could be any marker in the model. It could be attached to the object being measured.
Question:
Compare the acceleration of a ball in the y-direction of two different CS. Why are they different?
Because:
In the global case, all of the ball’s acceleration is in the y-direction, and the acceleration in the x- and
z-directions is zero. In MARKER_1’s case, only a portion of the acceleration is in the y-direction, the remaining
acceleration is in the z-direction, and the acceleration in the x-direction is zero.
:RUNVKRS³,QFOLQHG3ODQH
3UREOHPVWDWHPHQW
Find the minimum inclination that will ensure that a crate slides off an inclined plane, using the
properties shown next:

g = 386.4 in/sec2 (32.2 ft/sec2)

µ s = 0.3 10 in
µ d = 0.25 Crate 2 in
4 in

Mass = 100 lbs

46 in
Ramp

8 in

6WDUWWKHZRUNVKRS
First, you’ll start ADAMS/View from the directory exercise_dir/mod_07_inclined_plane and
then create a new model.

7RVWDUWWKHZRUNVKRS
■ Start ADAMS/View:
◆ Set the directory to exercise_dir/mod_07_inclined_plane.
◆ Create a new model named inclined_plane, with Gravity set to Earth Normal
(-Global Y), and Units set to IPS - inch, lb, lbf, s, deg.

124 Inclined Plane

Illustrate the problem statement and quiz students on what they think needs to be done to complete the workshop.
Before they start, ask if there are any questions.
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Now adjust the spacing and orientation of the working grid.

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1 From the Settings menu, select Working Grid.

2 Set Spacing to 1 in in the x and y direction.
3 Make sure that the working grid is oriented along the global XY direction (default setting
when you open ADAMS/View). The Set Orientation option menu allows you to choose
Global XY, YZ, XZ, or custom orientation.
4 Select OK.

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When creating parts, use an inclination angle of 0o. You will rotate the parts to the desired
inclination angle later in the exercise. Be sure to set the ramp geometry to be on ground.

7REXLOGWKHSDUWV

1 Build the ramp geometry using the following parameters:

◆ On ground
◆ Length: 46 in
◆ Height: 2 in
◆ Depth: 8 in
2 Build the crate geometry using the following parameters:
◆ New part
◆ Length: 10 in
◆ Height: 4 in
◆ Depth: 8 in

Crate

Ramp

Inclined Plane 125

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7RPRGLI\WKHSDUWV

1 Rename the crate and the ramp geometry as shown in the figure on page 124.
Note: Make sure that you rename just the geometry and not the ground part.
2 Set the Mass of the crate to 100 lbm:
■ Right-click the crate, point to Part:crate, and then select Modify.
■ Set Define Mass by to User Input.
■ In the Mass text box, enter 100 lbm.
■ Select OK.

6HWWKHPRGHO·VLQFOLQDWLRQDQJOH
Now you are going to rotate the model 15o. Because the ramp is on ground and you cannot rotate
ground, to rotate the ramp, you are going to change the orientation of the ramp’s corner marker
to 15, 0, 0. The orientation of this marker sets the orientation for the ramp. You’ll use the Rotate
tool to rotate the crate since it is not on ground. You’ll rotate the crate about the same axis that
you rotated the ramp about.

7RURWDWHWKHUDPSWRθ R

1 Right-click the ramp’s corner marker, point to the marker name, and then select Modify.
2 In the Orientation text box, change 0,0,0 to 15,0,0.
Figure 1. Model of Inclined Plane

Ramp
Crate

Corner marker

126 Inclined Plane

:RUNVKRS³,QFOLQHG3ODQH
7RURWDWHWKHFUDWHR

1 In the Main Toolbox, from the Move toolstack, select the Align & Rotate tool .

Move
toolstack

2 In the container, in the Angle text box, enter 15 as the increment by which to rotate the
crate.
3 Select the crate as the object to rotate.
4 Select an axis perpendicular to the view plane (should be the z-axis), on the ramp’s
corner marker, as the axis about which to rotate.
Tip: To easily select the z-axis, it helps if you slightly rotate the view around the x-axis.

Select the z-axis

Inclined Plane 127

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&RQVWUDLQWKHPRGHO
Now you’ll create a translational joint between the ramp and the crate.

7RFRQVWUDLQWKHPRGHO

1 From the Main Toolbox, right-click the Joint toolstack, and then select the Translational
Joint tool .
2 Set the location of the translational joint at the crate geometry’s base marker.
3 Set the vector so it points up the ramp.

For more information, see Translational Joints, on page 149 in the guide,
Building Models in ADAMS/View.

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7RFUHDWHDPHDVXUH
■ Create an object (part) measure for the crate’s acceleration along the ramp as you did
in To create object measures:, on page 107:
◆ Characteristic: CM acceleration

◆ Component: X

◆ Represent coordinates in: corner marker (for the location of the corner marker, see
Figure 1 on page 126).

9HULI\WKHPHFKDQLVPFUDZOZDONUXQ
7RYHULI\WKHPHFKDQLVP

1 Simulate the model for 1 second and 50 steps.

2 Find the value of the crate’s (constant) acceleration.
To verify this value, see Without friction in the Closed-form solution, on page 134.

If the values do not match, check the units in the closed-form solution and in the model.

128 Inclined Plane

Some students might get values greater than 0 for acceleration plots when the crate shouldn’t be moving. To solve
this problem. Reduce the step size of the simulation for greater accuracy of calculations.
:RUNVKRS³,QFOLQHG3ODQH
5HILQHWKHPRGHO
In this section, you’ll add joint friction to the translational joint using the µs, µd values from the
problem statement on page 124. You’ll then simulate the model to see if the crate slides off the
ramp.

Tip: Be sure that the only friction forces to consider are those resulting from reaction forces.

7RDGGIULFWLRQDQGVLPXODWH

1 Display the joint’s modify dialog box (right-click the translational joint, point to
Joint:JOINT_1, and then select Modify).

2 In the lower right corner of the Modify dialog box, select the Friction tool .
3 Fill in the coefficients of friction provided on page 124.
4 Leave the remaining friction parameters at their default values.
5 In the Input Forces to Friction section, be sure that only reaction forces are used to calculate
friction force.
6 Simulate the model and note if the crate slides off the ramp.

Inclined Plane 129

:RUNVKRS³,QFOLQHG3ODQH

5RWDWHWKHUDPSDQGFUDWHWRWKHWD R
To rotate the ramp and crate, you’ll create a group consisting of the crate part, joints, and
geometry making up the ramp. You’ll then select that group and rotate it.

7RFUHDWHDJURXS

1 From the Build menu, select Group.

2 Make a group, named rotated_objects, containing:
■ The crate part.
■ The joint.
■ All of the geometry (including markers) on the ramp, but not the ground part itself,
because, remember, you cannot rotate ground.

Tip: Right-click the Objects in Group text box, and browse for the objects you need. The
next figure shows the objects you should select:

130 Inclined Plane

Do not include friction in the group. It is dependent on the joint and will automatically move with the joint.
:RUNVKRS³,QFOLQHG3ODQH
7RURWDWHWKHJURXS

1 In the Main Toolbox, from the Move toolstack, select the Precision Move tool .
2 Set Relocate the to group.
3 In the text box to the right of Relocate the, enter the group name.
4 Set the menus in the second row to About the and marker.
5 In the text box to the right of these menus, enter the anchor marker of the ramp.
The Precision Move tool rotates objects in increments about a specified axis of the marker
you just selected.
6 Select the Z-axis box. Note that you can select the axis box (either X, Y, or Z) to rotate a
group to the desired orientation.
7 Do not select OK or Apply.
The following shows the Precision Move dialog box after you’ve entered the values in
steps 2 through 5.

Because you’ve already rotated the ramp to 15 degrees,

and now you want to rotate it to 20, enter 5 as the angle.

For more information on the Precision Move dialog box, press F1 or see Using
the Precision Move Dialog Box, on page 464 in the guide, Building Models in
ADAMS/View.

Inclined Plane 131

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7RILQGWKHLQFOLQDWLRQDQJOH

1 Simulate the model and note if the crate slides off the ramp.
For an end time of 0.5 seconds, verify
that the crate acceleration versus time
strip chart matches the adjoining figure.

inches/sec2
The initial spike is due to the acceleration
(due to gravity) present at t=0.

sec

2 Through trial and error, find the approximate angle (within 0.5o) at which the crate starts
to slide off the ramp. Use it to answer Question 1 in Module review, on page 136.

6DYH\RXUZRUN
Save your model and, unless you want to further explore the model as suggested in the next
section, exit ADAMS/View.

132 Inclined Plane

:RUNVKRS³,QFOLQHG3ODQH
2SWLRQDOWDVNV
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.

7RYLHZDQDQLPDWLRQDQGLWVFRUUHVSRQGLQJSORWVLPXOWDQHRXVO\

1 Open ADAMS/PostProcessor.
2 Create two views by right-clicking the Window layout tool on the toolbar and selecting
the 2 Views, side by side tool .
3 Select the left view.
4 Plot crate acceleration versus time.
5 Select the right view, and then change the Plotting menu to Animation.
6 Right-click the right view, and then select Load Animation.
7 Run the animation.

Inclined Plane 133

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m⋅g
ŷ
x̂

Ff
θ
N
:LWKRXWIULFWLRQ

ΣF x = max : – mg ⋅ sin θ = ma x

a x = – g sin θ

For θ = 15° , a x = – 32.2 sin ( 15° )

a x = – 99.96 in/sec2 (-8.33 ft/sec2)

:LWKIULFWLRQ

ΣF y = 0 : – mg ⋅ cos θ + N = 0

N = mg ⋅ cos θ

Maximum angle (θmax) at which crate will not slide:

ΣF x = 0 : F f – mg ⋅ sin θ max = 0

µ s ⋅ N – mg ⋅ sin θ max = 0

µ s ⋅ mg ⋅ cos θ max – mg ⋅ sin θ max = 0

µ s – tan θ max = 0

θ max = atan ( µ s ) = atan ( 0.30 ) = 16.7°

134 Inclined Plane

:RUNVKRS³,QFOLQHG3ODQH
Once the crate starts sliding,

ΣF x = ma x : F f – mg ⋅ sin θ = max

µ k ⋅ N – mg ⋅ sin θ = ma x

µ k ⋅ mg ⋅ cos θ – mg ⋅ sin θ = ma x

ax
µ k ⋅ cos θ – sin θ = -----
g

a x = ( µ k cos θ – sin θ ) ⋅ g

For θ = 20o, a x = ( 0.25 ⋅ cos 20° – sin 20° ) ⋅ 32.2 ft/sec 2

a x = – 40.3 in/sec2 (-3.45 ft/sec2)

$'$06UHVXOWV

■ At angle θ = 15o, a = 6.63e

–5 ≈0

■ At angle θ = 20o, the crate accelerates down the inclined plane at

a = -41.35 in/sec2 (-3.45 ft/sec2)

■ Based on the angular increments of 0.5o,

(16.5o < θmax < 17.0o)

Inclined Plane 135

:RUNVKRS³,QFOLQHG3ODQH
0RGXOHUHYLHZ
1 What is the approximate angle (within 0.5o) at which the crate starts to slide
off the ramp?

2 Which are the joints to which you cannot add friction in an automated way? How can you
tell?

3 What are I and J markers?

4 If a joint with friction enabled crosses its stiction threshold velocity ( ∆ V s ),

how does the maximum stiction displacement ( ∆ X s ) affect the system?

136 Inclined Plane

  /,)70(&+$1,60,

Use ADAMS/View to create each moving part of the lift mechanism shown
next:

Bucket

Boom
Shoulder

Base

Mount

:KDW·VLQWKLVPRGXOH
■ Building Geometry, 138

■ Construction Geometry Properties, 140

■ Solid Geometry, 142

■ Precise Positioning: Move, 143

■ Workshop 8—Lift Mechanism I, 144

◆ Module review, 151

137

■ Review the problem statement.

■ The objective of this module is to learn how to create
geometry in ADAMS/View.
■ After this module you will not spend much time working
with geometry.
■ Asking the students to divide into groups to work through
modules 8 through 10 might help them get through those
modules faster and understand them better.
%XLOGLQJ*HRPHWU\
3URSHUWLHVRIJHRPHWU\
■ 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.

138 Lift Mechanism I

Demonstrate:
Display a Part Modify dialog box and a Geometry Modify dialog box.
Highlight that the part tracks information such as mass and inertia, while the geometry tracks shape using parameters
such as radius and length.
%XLOGLQJ*HRPHWU\

7\SHVRIJHRPHWU\LQ$'$069LHZ
■ 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.

For more information, see Creating Parts, on page 17 in the guide, Building Models
in ADAMS/View.

Lift Mechanism I 139

Demonstrate building various geometries to show the anchor markers.

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0DUNHUJHRPHWU\
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ŷ
■ Anchor marker, which is itself
x̂
■ Parent: part
ẑ
■ Orientation and location

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■ No anchor marker
■ Parent: part
■ Location

140 Lift Mechanism I

&RQVWUXFWLRQ*HRPHWU\3URSHUWLHV
3RO\OLQHJHRPHWU\
+DV
■ No anchor marker
■ Parent: part
■ One line or multiple lines
■ Open or closed
■ Length, vertex points, and angle

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■ Anchor marker
■ Parent: part
■ Start and end angle, radius

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■ Anchor marker
■ Parent: part
■ Segment count, open/closed, points

Lift Mechanism I 141

6ROLG*HRPHWU\
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■ Anchor marker, which is the corner marker
■ Parent: part
■ Length (x), height (y), depth (z) with respect
to corner marker

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■ Anchor marker, which is the center marker
■ Parent: part
■ Radius of ring (xy plane), radius of circular
cross section ( to xy plane)

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+DV
■ Anchor marker, which is the reference marker
■ Parent: part
■ Open/closed profile, depth,
forward/backwards

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■ Anchor marker, which is the center marker
(placed at first end)
■ Parent: part
■ Length (z), radius

142 Lift Mechanism I

All geometry has anchor markers.

In the case of the cylinder, the anchor marker is referred to as a center marker. A sphere also has a center marker. The
anchor marker for a block is called a corner marker.
Sometimes, you have to move parts around by moving the anchor marker.
Demonstrate how a link and plate are different from other solid geometries.
Demonstrate:
Create a cylinder and then identify the anchor marker at one end of the cylinder that defines the cylinder’s location
and orientation. Move the anchor marker to demonstrate that the cylinder moves with it. Rotate the marker and the
cylinder also rotates.
3UHFLVH3RVLWLRQLQJ0RYH
7RPRYHREMHFWVLQ$'$069LHZVSHFLI\
■ 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.

From
point
To point

The moved object maintains its orientation.

For more information, see Translating and Rotating Objects Graphically, on page 458
in the guide, Building Models in ADAMS/View.

Lift Mechanism I 143

You can move geometry by moving anchor markers, but there is a tool that allows you to translate any object, not just
geometry.
This tool is called the Position: Move - Translate Objects tool, and it is available in the Main Toolbox.
Three other tools that you can use to move geometry are:
Location event (demonstrate this).
Working Grid (demonstrate the setting for Location and Orientation).
Precision Move (demonstrate this).
:RUNVKRS³/LIW0HFKDQLVP,
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Use ADAMS/View to create each moving part of the lift mechanism shown next:

Bucket

Boom
Shoulder

Base

Mount

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If you’d like a challenge, build this model without going through the detailed steps presented on
the following pages. Use the dimensions shown on page 146 to:
■ Create the base
■ Create the mount
■ Create the shoulder
■ Create the boom
■ Fillet the mount to round off corners
■ Create the bucket
■ Chamfer the bottom corners of the bucket
■ Hollow out the bucket

Otherwise, continue by following the detailed instructions.

144 Lift Mechanism I

Review the problem statement and quiz the students on what they think needs to be done to complete the workshop.
Demonstrate the fillet, chamfer, and hollow tools.
Before they start, ask for questions.
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■ The following diagrams provide the dimensions for building the lift mechanism.
■ All units are in meters.

7LSVEHIRUH\RXVWDUW
■ Check the three-dimensional view of the model at regular intervals to verify that the
parts are being placed in the right location.
■ Rename parts as soon as you build them.
■ You should save your model periodically throughout the modeling process. This
becomes more important as you start to build complex models (recall the crawl-walk-
run approach introduced in System-Level Design, on page 85).

6WDUWWKHZRUNVKRS
First, you’ll start ADAMS/View from the directory exercise_dir/mod_08_lift_mech_1 and
create a new model.

7RVWDUWWKHZRUNVKRS
■ Start ADAMS/View:
◆ Set the directory to exercise_dir/mod_08_lift_mech_1.
◆ Create a new model named lift_mech, with Gravity set to Earth Normal (-Global Y), and
Units set to MKS - m, kg, N, s, deg.

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Now you’ll set up the ADAMS environment to make it easier to build the model.

7RVHWXSWKHZRUNLQJHQYLURQPHQW

1 Adjust the grid based on the measurements given in the images on page 145. The grid
must be slightly larger than the maximum heigth and width of the model. (A 20 m x 20 m
grid, with 1 m spacing in each direction should be good.)
2 Because the grid spacing is much greater than the default, you’ll have to zoom out to see
the grid on your screen.

Lift Mechanism I 145

:RUNVKRS³/LIW0HFKDQLVP,

Top View of Lift Mechanism

Base

1.5
0.25 Mount
Shoulder
Boom

8.0
3.5
4.0

Bucket
0.25 1.0 dia

x̂G 2.0 dia

ẑG
Front View of Lift Mechanism

4.5
0.5
0.25
Bucket 13.0
1.5
10.0
1.5

Mount
3.0

Shoulder

1.5 1.5
Boom

8.5 (y dimension)
0.25
Base
4.0

ŷ
G 12.0
16.75 (x dimension)
x̂G

146 Lift Mechanism I

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In this section, you’ll create all the parts except the bucket. For information on how to build the
parts, refer to the diagrams in Background mechanism information, on page 145.

7REXLOGWKHSDUWV

1 Build the base part.

Tip: Note the orientation of the block with respect to the xy plane.

2 Be default, the screen icons are set for models in millimeters. Because your model is in
meters, you should adjust the icon sizes so you can see the icons. To adjust the icons,
from the Settings menu, select Icons, and then set New Size to 1.
3 Build the main feature of the mount part by creating a block.
4 Inspect your model. Note that the mount must be centered on the base. If necessary, use
the vector option of the Point-to-Point tool (also known as the Position: Move-
Translate tool) on the Move toolstack to slide the mount along the base, in the global z
direction, by 2.25 m.
5 Before building the shoulder, set the working grid to cut through the center of the block:
Settings Æ Working Grid Æ Set Location Æ Pick, and then select the cm marker of the block.
6 Change the size of the working grid to .5 m. If you do not change the size, you will notice
that when you try to create the shoulder part, ADAMS/View snaps to the nearest grid
point, thus building the shoulder in a position that is not parallel to the base part.
7 Use the Cylinder tool to build the shoulder part.
8 Build the boom part.
9 Use the Location Event, as you did in Build the pendulum link, on page 103, to start the
cylinder 2 meters over from the center-of-mass (cm) marker of the mount part.

Lift Mechanism I 147

:RUNVKRS³/LIW0HFKDQLVP,

10 Apply fillets to the mount part using the Fillet tool :

■ In both the Radius and End Radius text boxes, enter 1.5 m.
■ Left-click each vertex, and then right-click to create. Refer to the next figure to see
the vertices you should select.
Select the top vertices

x x

The filleted mount part should look as shown next:

148 Lift Mechanism I

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Now build the bucket.

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1 Build a block with the largest dimensions of the bucket:

■ Length: 4.5 m

■ Height: 3.0 m

■ Depth: 4.0 m

2 Chamfer the front and back, bottom corners of the block using the Chamfer tool :
■ In the Width text box, enter 1.5 m.
■ Left-click each vertex, and then right-click to create. Refer to the next figure to see
the vertices you should select.

x x

Select the
bottom vertices

Lift Mechanism I 149

:RUNVKRS³/LIW0HFKDQLVP,
The chamfered bucket should look as shown next:

3 Hollow out the solid bucket using the Hollow tool :

■ In the Thickness text box, enter 0.25 m.

■ Pierce the top face of the bucket.
The hollowed bucket should look as shown next:

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■ Check model topology by parts (from the Information toolstack, select the Model
topology by parts tool ) to ensure that there are no floating parts that are not
accounted for.
There should be six parts, including ground.

6DYH\RXUZRUN
Save your work such that the saved file contains only the model topology and not the results
(File Æ Export).

150 Lift Mechanism I

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7RUHILQHWKHJHRPHWU\RIWKHOLIWPHFKDQLVP

1 Using the Torus tool, add tires to the lift mechanism.

2 Using the Fillet tool, round the edges of the base.

0RGXOHUHYLHZ
1 What is the basic difference between construction geometry and solid geometry?

2 What are the four methods for moving geometry?

Lift Mechanism I 151

:RUNVKRS³/LIW0HFKDQLVP,

152 Lift Mechanism I

  /,)70(&+$1,60,,

Constrain the lift mechanism model by adding joints and motions as shown
next:

Boom with Mount with

respect to respect to base
shoulder

Boom with
respect to
bucket

Shoulder with
respect to mount

:KDW·VLQWKLVPRGXOH
■ Fixed Joint, DOF Removed by, 364

■ Applying Motion, 154

■ Joint Motion, 155

■ Functions in ADAMS, 156

■ Workshop 9—Lift Mechanism II, 157

◆ Module review, 162

153

■ Review the problem statement. ■ Asking the students to divide into groups to work through
■ In this module, you will not only constrain the modules 8 through 10 might help them get through those
mechanism but you will also actuate it. modules faster and understand them better.

■ The first concept in this module introduces the fixed joint.

Use the Fixed Joints link on the slide, to display the
Constraints table. Ask the students to add the information
about the fixed joint to the Constraints table.
$SSO\LQJ0RWLRQ
$'$069LHZSURYLGHVWZRW\SHVRIPRWLRQV

For more information, see Applying Motion, on page 203 in the guide, Building
Models in ADAMS/View.

■ Joint motion
■ Point motion

-RLQWPRWLRQ
■ 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?

154 Lift Mechanism II

Demonstrate: Build a pendulum and simulate it with gravity turned on. Verify that the model has one DOF. Then,
add a rotational joint motion to the revolute joint to show how the motion moves the pendulum. Verify again that the
model has zero DOF.
ADAMS/Solver uses radians for angle values in function expressions.
To define motions using degrees, add a “d” after the number and ADAMS recognizes the value as degrees.
Answer: Yes, a motion is a constraining factor as it removes one DOF.
Example: If you want 55o, enter 55d. ADAMS takes the value 55, multiplies it by pi/180, and converts it to radians
before using it.
-RLQW0RWLRQ
0DUNHUXVDJHLQMRLQWPRWLRQV

For more information, see Imposing Joint Motion, on page 207 in the guide, Building
Models in ADAMS/View.

■ 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:

ŷ i, ŷ j

ŷ i
ŷ j

ẑ i, ẑ j

x̂ i, x̂ j x̂ i

θ
x̂ j

ẑ i, ẑ j

■ 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

Lift Mechanism II 155

)XQFWLRQVLQ$'$06
'HILQLWLRQRIIXQFWLRQVLQ$'$06
■ 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)

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.

For more information, see the guide, Using the ADAMS/View Function Builder.

156 Lift Mechanism II

You use the Function Builder to create and verify functions in ADAMS/View. You access the Function Builder from
any text box in which you can enter a function.
Demonstrate:
Display the Function Builder.
Explain the verify feature, the menus, the assist button--and pressing F1 to get help on the Assist dialog box, and so
on. For help with the Function Builder or with function syntax, press F1 or display the online guide, Using the
ADAMS/View Function Builder. Go to the Simple Harmonic Function (SHF) in the guide, Using the ADAMS/View
Function Builder. In this course, you work with run-time functions. Other types of functions listed, such as design-
time functions, are beyond the scope of this course.
:RUNVKRS³/LIW0HFKDQLVP,,
3UREOHPVWDWHPHQW
Constrain the lift mechanism model by adding joints and motions as shown next:

Boom with Mount with

respect to respect to base
shoulder

Boom with
respect to
bucket

Shoulder with
respect to mount

:RUNVKRSFKDOOHQJH
If you’d like a challenge, add the following joints and motions without going through the
detailed steps presented on the following pages:
■ Rotational motion to the mount-to-base joint. D(t) = 360d*time
■ Rotational motion to the shoulder-to-mount joint. D(t) = STEP(time, 0, 0, 0.10, 30d)
■ Translational motion to the boom-to-shoulder joint. D(t) = STEP(time, 0.8, 0, 1, 5)
■ Rotational motion to the bucket-to-boom joint. D(t) = 45d*(1-cos(360d*time))

Otherwise, continue by following the detailed instructions.

Lift Mechanism II 157

Review the problem statement and quiz the students on what they think needs to be done to complete the workshop.
Before they start, ask for questions.
:RUNVKRS³/LIW0HFKDQLVP,,
0RGHOGHVFULSWLRQ
In this workshop, you use the model you built in Workshop 8—Lift Mechanism I, on page 144.

7LSVEHIRUH\RXVWDUW
■ Use the figure on page 157 to find out what type of constraints you need.
■ Simulate the model at regular intervals to check the constraints.
■ Rename joints as soon as you create them.
■ Adjust icon sizes whenever necessary (see Set up the working environment, on page
145 of Workshop 8—Lift Mechanism I.)

6WDUWWKHZRUNVKRS
Note that the file for this exercise is not in the current working directory.

7RVWDUWWKHZRUNVKRS
■ Start ADAMS:
◆ Set the directory to exercise_dir/mod_09_lift_mech_2.
◆ From the directory exercise_dir/mod_08_lift_mech_1, import the model that you
created in the previous module.
If you need a fresh copy of the model, import the command file
lift_mech_I_completed.cmd from the directory exercise_dir/mod_08_lift_mech_1/
completed.

158 Lift Mechanism II

:RUNVKRS³/LIW0HFKDQLVP,,
&RQVWUDLQWKHSDUWV
In this section, you’ll constrain the parts that you created in the previous workshop. The figure
in the Problem statement, on page 157, shows how you should constrain the parts.

7RFRQVWUDLQWKHSDUWV

1 Use the Fixed joint tool to fix the base to ground.

For more information, press F1 or see Fixed Joints, on page 155 in the guide,
Building Models in ADAMS/View.

2 Constrain mount to base:

■ Use the options 2 Bodies - 1 Loc and Pick Feature.
■ Place the joint at the mount’s cm marker.
■ Select the + y-axis as the axis for the rotation.
3 Constrain shoulder to mount:
■ Use the option Normal To Grid.
■ Right-click to select the cylinder’s anchor marker.
4 Constrain the boom to the shoulder:
■ Use the option Pick Feature.
■ Select the x-axis as the axis for the translation.
5 Constrain the bucket to the boom:
■ Use the option Normal To Grid.
■ Select the end point of the cylinder.

Lift Mechanism II 159

:RUNVKRS³/LIW0HFKDQLVP,,
9HULI\WKHPRGHOFUDZOZDONUXQ
Before continuing, check your work by checking model topology and by performing a
simulation.

7RYHULI\\RXUPRGHO

1 Check model topology by constraints (from the Information toolstack, select the Model
topology by constraints tool ) to ensure that all the parts are constrained as expected.
2 Perform a simulation.
Are the visual results of the simulation (the animation), what you expected?

$GGMRLQWPRWLRQVWR\RXUPRGHO
When adding motions, follow the instructions in the Status bar. The Status bar instructs you to
select a legitimate joint for the particular type of motion (for example, a revolute joint for
rotational motion). When your cursor hovers over a potential joint, its name appears in the
working window. To select a joint, simply left-click the joint, once its name appears.
Note: Build the joint motions using the default expressions in the Main Toolbox container and
then modify the expressions using the Rotational Joint Motion Modify dialog box
(right-click the joint, point to the joint name, and then select Modify).

7RDGGMRLQWPRWLRQV

1 Use the Rotational Joint Motion tool to add a motion to the mount-to-base joint such that:
D(t) = 360d*time
2 Add a motion to the shoulder-to-mount joint such that:
D(t) = -STEP(time, 0, 0, 0.10, 30d)
Note: By using Normal to Grid, the motion will be opposite the illustration in Problem
statement, on page 157 (by the right-hand rule). When a motion is opposite of
what you expect, add a negative sign in front of the expression, in the Modify
Motion dialog box.
We will discuss the specifics of the STEP function in the next module, Lift Mechanism III,
on page 163.

160 Lift Mechanism II

:RUNVKRS³/LIW0HFKDQLVP,,
3 Add a translational motion to the boom-to-shoulder joint such that:
D(t) = STEP(time,0.8,0,1, 5)
4 Add a motion to the bucket-to-boom joint such that:
D(t) = 45d*(1-cos(360d*time))

5XQDVLPXODWLRQ
7RUXQDVLPXODWLRQ
Run a simulation such that the mount achieves one full rotation.

6DYH\RXUZRUN
7RVDYH\RXUZRUN
■ Save the model such that the saved file contains only the model topology and not the
results (File Æ Export).

2SWLRQDOWDVNV
If you did not already do so as explained in the Optional tasks, on page 151, for Lift
Mechanism I:
■ Add tires to your model using the Torus tool.
■ Constrain the tires to the base using revolute joints.

Lift Mechanism II 161

:RUNVKRS³/LIW0HFKDQLVP,,
0RGXOHUHYLHZ
1 What are the markers that a joint refers to called?

2 When motion is applied to a joint, what dictates its direction (positive versus
negative)?

3 Are motions considered a constraint? Why?

4 Is it possible to determine the torque required to achieve a prescribed motion

imposed on a revolute joint? How?

162 Lift Mechanism II

  /,)70(&+$1,60,,,

Constrain the bucket such that the base of the bucket always maintains its
horizontal orientation (therefore, keeping the bucket-passenger safe) as shown
next:

:KDW·VLQWKLVPRGXOH
■ Types of Joint Primitives, 164

■ Perpendicular Joint Primitive, 165

■ Workshop 10—Lift Mechanism III, 166

◆ Module review, 169

163

■ Review the problem statement.

■ Asking the students to divide into groups to work through
modules 8 through 10 might help them get through those
modules faster and understand them better.
7\SHVRI-RLQW3ULPLWLYHV

Description: DOF removed: Illustration:

Inline - One point can only move Two translational

along a straight line
First part Second part

Inplane - One point can only One translational

move in a particular plane First part

Second part

Orientation - One coordinate Three rotational

system cannot rotate with
respect to another

Second part First part

Perpendicular - One coordinate One rotational

system can rotate about two axes

First part

Second part

Parallel axis - One coordinate Two rotational

system can rotate about one axis
First part

Second part

See also: DOF removed by joint primitives, on page 364

For more information, see Working with Joint Primitives, on page 178 in the guide,
Building Models in ADAMS/View.

164 Lift Mechanism III

Use the online help (F1) or guides to assist with defining joint primitives. Do not review all the joint primitives in
detail.
Ask if the students can think of a situation where an idealized constraint won’t work (example: a link that rotates about
the global z, but translates about the global y). In such a case, the only solution is a combination of joint primitives.
Question: For this problem statement, which of these joint primitives best meets our needs? (It might help to ask them
this: “To keep the bucket oriented such that a passenger would not fall out, how many and what types of degrees of
freedom should we constrain?”) Answer: The perpendicular joint primitive. Help the students figure out why other
joint primitives won’t work. The parallel joint primitive will work, but will overconstrain by 1 DOF.
3HUSHQGLFXODU-RLQW3ULPLWLYH
([DPSOHRI,DQG-PDUNHUVLQDSHUSHQGLFXODUMRLQWSULPLWLYH

Bucket

ẑ 3
Bucket
ẑ 2

Bucket

ẑ 1 I marker

ẑ 1, 2 ,3
J marker

on ground

■ I marker:
◆ Parent part: Bucket
◆ Its xy-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 Bodies - 2 Locations.

Question: Would the lift mechanism behave any differently if the J marker’s parent
part was Base?

Lift Mechanism III 165

Demonstrate:
Add a perpendicular joint primitive to the lift mechanism, as shown here.
Display just the I and J markers of the perpendicular joint.
Illustrate how you might need to reorient one of the two markers to achieve the desired effect.
Review the question at the bottom of the page.
:RUNVKRS³/LIW0HFKDQLVP,,,
3UREOHPVWDWHPHQW
Constrain the bucket such that the base of the bucket always maintains its horizontal orientation
(thus keeping the bucket passenger safe) as shown next:

0RGHOGHVFULSWLRQ
In this workshop, you use the model you saved in Workshop 9—Lift Mechanism II, on page 157.

166 Lift Mechanism III

Because you have already shown them how to do the problem, there is probably no need to review the problem
statement again.
Before they start, ask for questions.
:RUNVKRS³/LIW0HFKDQLVP,,,
6WDUWWKHZRUNVKRS
Note that the file for this exercise is not in the current working directory.

7RVWDUWWKHZRUNVKRS

1 Start ADAMS/View from the directory exercise_dir/mod_10_lift_mech_3.

2 From the directory exercise_dir/mod_09_lift_mech_2, import the model that you created in
the previous module.
If you need a fresh copy of the model, import the command file
lift_mech_II_completed.cmd from the directory exercise_dir/mod_09_lift_mech_2/
completed.

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Now you will constrain the bucket to ground using the appropriate joint primitive.

7RFRQVWUDLQWKHEXFNHW

1 Delete the motion on the bucket-to-boom joint.

2 Verify the model. The model should have only one degree of freedom.
3 From the Build menu, select Joints.
4 Select the appropriate joint primitive and use it to constrain the bucket:
■ Use the construction method 2 Bodies - 2 Locations and refer to Example of I and J
markers in a perpendicular joint primitive, on page 165 for assistance.

■ Select the bucket and then select the ground.

■ When selecting the markers, note that I marker can be any marker on the bucket part
and the J marker can be any ground marker (note that there is one at the fixed joint
location).
■ When selecting the direction, select the first direction as the x direction of the
I marker, and the second direction as the y direction of the J marker.

Lift Mechanism III 167

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9HULI\LQJWKHRULHQWDWLRQ
Now you will verify the orientation of the I and J markers in the joint primitive.

7RYHULI\WKHRULHQWDWLRQ

1 In the right corner of the Status bar, select the Information tool .
2 Note the names of the I and J marker and select Close.
3 Select the I marker (on the bucket) and check that the z-axis of the marker on the bucket
is pointing in the (positive or negative) global x direction.
4 Select the J marker (at the fixed joint location) and check that the z-axis of the marker on
ground is pointing in the (positive or negative) global y direction.

9HULI\WKHPRGHODQGWKHQUXQDVLPXODWLRQ
In this section, you will perform a simulation with icons on.

7RYHULI\WKHPRGHODQGUXQDVLPXODWLRQ

1 Verify the model. The model should have zero degrees of freedom.
2 From the Settings menu, point to Solver, and then select Display.
3 Set Icons to On.
4 Simulate the model.

6DYH\RXUZRUN
7RVDYH\RXUZRUN

1 Save the model such that the saved file contains only the model topology and not the
results (File Æ Export).
2 Unless you want to further experiment with the model, as instructed in the next section,
exit ADAMS/View.

168 Lift Mechanism III

:RUNVKRS³/LIW0HFKDQLVP,,,
2SWLRQDOWDVNV
7RFRPSOHWHH[WUDWDVNVIURPSUHYLRXVPRGXOH
If you did not already do so as mentioned in the Optional tasks, on page 151, for Lift
Mechanism 1:
■ Add tires to your model using the Torus tool.
■ Constrain the tires to the base using revolute joints.

7RPDNHWKHEXFNHWWUDQVSDUHQW

1 From the View menu, select Render Mode, and then select Shaded.
2 Right-click the bucket, point to Part: bucket, and then select Appearance.
3 To set the transparency of the part, use the slider bar:
0%: fully visible, 100%: completely invisible.

7RFKHFNJUDSKLFDOWRSRORJ\RIWKHPRGHO

1 From the Tools menu, select Database Navigator.

2 Set the menu at the top of the Database Navigator to Graphical Topology.
3 Browse to the bucket and notice how many constraints act on the bucket.

0RGXOHUHYLHZ
1 When you use the construction method of 2 Bodies - 2 Locations, how does the order in
which you select parts affect the order in which you select the locations and orientations?

Lift Mechanism III 169

:RUNVKRS³/LIW0HFKDQLVP,,,

170 Lift Mechanism III

  6863(16,216<67(0,

Set up the suspension such that it moves 80 mm in jounce and rebound.

strut_upper
upper_arm

body_ground
strut_lower
steering_rack
tie_rod

lower_arm

spindle_wheel

:KDW·VLQWKLVPRGXOH
■ Applying Point Motions, 172

■ Workshop 11—Suspension System I, 173

◆ Module review, 178

171

■ The given model represents a quarter-car suspension with Demonstrate:

most of the required constraints already in place. ■ The spherical and hooke constraints haven’t been used
■ Model has been built using construction points. before. Use the Spherical and Hooke Joints link to go to
Construction points (or hardpoints) are used to the Constraints table.
parameterize the model. ■ Ask the students to fill out the spherical and hooke fields
■ The tie rod needs to be constrained. in the Constraints table and demonstrate these joints.
■ To constrain the tie rod, use spherical and hooke ■ Be prepared to discuss the differences between the hooke,
constraints. universal, and constant velocity joints.
■ Open the model for this workshop.
$SSO\LQJ3RLQW0RWLRQV
3RLQWPRWLRQV

For more information, see Imposing Point Motion, on page 212 in the guide, Building
Models in ADAMS/View.
■ There are two types:
◆ Single-point motion (removes 1 DOF)
◆ General-point motion (removes 1 to 6 DOF)
■ You define:
◆ I and J markers to which motion is applied (via two bodies, location and
orientation).
◆ Constraint nature of the motion (between 1 and 6 DOF).

◆ Functions for magnitudes of motion.

ŷ i, ŷ j

ŷ i
ŷ j

ẑ i, ẑ j

x̂ i, x̂ j x̂ i

θ x̂ j

ẑ i, ẑ j

See also: Spherical Joint, DOF Removed by, on page 364 and Hooke Joint, DOF Removed
by, on page 364

172 Suspension System I

You will use a point motion to drive the spindle and wheel up and down to test the model.
Demonstrate:
Illustrate the single point motion.
Explain that the default direction for a translational point motion is along the z-axis of the J marker.
:RUNVKRS³6XVSHQVLRQ6\VWHP,
3UREOHPVWDWHPHQW
Inspect the toe angle that the wheel exhibits throughout its vertical travel of 80 mm in jounce
and rebound.
strut_upper

upper_arm
body_ground
strut_lower

steering_rack
tie_rod

lower_arm

spindle_wheel

0RGHOGHVFULSWLRQ
■ The given model is a geometric representation of a short-long arm (SLA) suspension
subsystem.
■ The steering_rack and body_ground are constrained as shown in the following figure:
◆ A translational joint connects the steering_rack to the body_ground.

◆ A fixed joint connects the body_ground to ground.

body_ground
steering_rack
HP-12
tie_rod Translational joint
HP-13
Fixed joint

Suspension System I 173

You will use construction points in this workshop.

Explain construction points, and how to use them.
You will not create any, but you will reference existing construction points while building joints.
Construction points are named HP1, HP2, and so on. HP stands for hardpoint.
Demo the Table Editor and show the students how to access the hardpoint locations.
:RUNVKRS³6XVSHQVLRQ6\VWHP,
■ The lower_arm and lower_strut are constrained as shown next:
◆ A spherical joint connects the lower_strut to the lower_control_arm.
◆ A revolute joint connects the lower_arm to the body_ground.

lower_strut

spindle_wheel tie_rod

HP-5

HP-6 lower_arm
HP-10
Spherical Spherical
joint HP-4
joint Revolute joint

■ The upper_arm and upper_strut are constrained as shown next:

◆ A revolute joint connects the upper_arm to the body_ground.
◆ A hooke joint connects the upper_strut to the body_ground.

HP-9
Hooke joint

HP-2
upper_arm Revolute joint

HP-13
Spherical HP-1
joint HP-11
Translational joint

upper_strut

174 Suspension System I

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6WDUWWKHZRUNVKRS
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1 Start ADAMS/View from the directory exercise_dir/mod_11_suspension_1.

2 Import the model command file suspension_parts_start.cmd.

This file contains commands to build a model named suspension and the following parts
with geometric representation:
strut_upper

upper_arm
body_ground

strut_lower

steering_rack
tie_rod

lower_arm

spindle_wheel

Suspension System I 175

Illustrate jounce and rebound on the board, so the students know what result they should be looking for.
:RUNVKRS³6XVSHQVLRQ6\VWHP,
,QVSHFWWKHPRGHO
In this section, you’ll investigate the model to note its movement and topology, especially that
of the part tie_rod.

7RLQVSHFWWKHPRGHO

1 Simulate the model, noting the movement of tie_rod.

2 From the Tools menu, select Database Navigator.
3 Set the option menu at the top of the Database Navigator to Graphical Topology.
4 Double-click suspension, and then select tie_rod.

&RQVWUDLQWKHVXVSHQVLRQVXEV\VWHPPRGHO
Constrain the tie rod as shown next:

HP13 steering_rack

tie_rod
body_ground
Spherical joint
HP7
Hooke joint
HP8

When constraining the tie_rod, use the ADAMS/View hardpoints provided with the model.

7RFRQVWUDLQWKHPRGHO

1 Create a spherical joint :

For more information, see Spherical Joints, on page 151 in the guide,
Building Models in ADAMS/View.
■ Select the 2 Bod-1 Loc option.
■ Set the location to HP8.

176 Suspension System I

:RUNVKRS³6XVSHQVLRQ6\VWHP,

2 Use the Hooke joint tool to create a hooke joint:

For more information, see Hooke/Universal Joint, on page 157 in the guide,
Building Models in ADAMS/View.
■ Select the 2 Bod-1 Loc option.
■ Set the location to HP7.
■ Set the first direction from vector HP7 to HP8.
■ Set the second direction from vector HP7 to HP13.

Tip: When setting the direction, move your cursor in the direction of the ending vector
(HP8 and HP13, respectively), until its name appears on the screen. When the name
appears, left-click to select it.

3 Inspect the tie rod again, and notice the connection representations to the steering_rack
and spindle_wheel.
4 Simulate the model.

$SSO\PRWLRQV
7RDSSO\PRWLRQV

1 At the marker .Spindle_Wheel.Center, apply a point motion , in the y direction of the

Spindle_Wheel.Center.

Tip: Make sure Construction is set to 1 Location, Pick Feature.

2 Modify the motion to use the function, Displacement(time) = 80*sin(360d*time).

3 Modify the translational joint, rck_body_joint, between the steering_rack and the
body_ground to be a fixed joint, so that the steering_rack is unable to translate during a
simulation.

rck_body_joint

Suspension System I 177

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9HULI\DQGVLPXODWHWKHPRGHO
Now, to see the model’s full range of motion, simulate it.

7RYHULI\DQGVLPXODWHWKHPRGHO

1 Verify the model.

2 Run a one-second, 50-step simulation.

6DYH\RXUZRUN
1 Save your model as suspension_parts.cmd.
If you want to further explore the model, as suggested in the next section, leave the model
open. Otherwise, proceed with the next step.
2 Exit ADAMS/View.

2SWLRQDOWDVNV
7RPRGLI\KDUGSRLQWORFDWLRQV

For more information, see Defining Points, on page 18 in the guide, Building Models
in ADAMS/View.

1 From the Tools menu, select Table Editor.

2 From the options along the bottom of the Table Editor, select Points.
3 Change the Loc Y value of HP3 from 351.05 to 400.
As you make this change, note how the upper arm’s connection to the spindle changes.

0RGXOHUHYLHZ
1 What is the difference between a point motion and a joint motion?

178 Suspension System I

 6863(16,216<67(0,,

Inspect the toe angle that the wheel exhibits throughout its vertical travel of
80 mm in jounce and rebound.

strut_upper

upper_arm

strut_lower body_ground

steering_rack
tie_rod

lower_arm

spindle_wheel

:KDW·VLQWKLVPRGXOH
■ Taking Measurements, 180

■ Displacement Functions, 181

■ Importing CAD-Based Geometry, 182

■ Workshop 12—Suspension System II, 183

◆ Module review, 189

179
7DNLQJ0HDVXUHPHQWV
3RLQWWRSRLQWPHDVXUHV

For more information, see Measuring Point-to-Point Characteristics, on page 27 in

the guide, Simulating Models in ADAMS/View.
■ 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.

)XQFWLRQPHDVXUHV

For more information, see Working with User-Defined Measures, on page 39 in the
guide, Simulating Models in ADAMS/View.
■ Let you evaluate arbitrary, user-defined expressions of interest during solution run-
time, 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.

180 Suspension System II

In this module, you will use a point-to-point measure to create the wheel height measurement and a function measure
to create the toe angle measure
Demonstrate:
Create a Point-to-Point measure. To Point and From Point boxes in the dialog box are of different colors, because you
must fill in the white boxes, while the gray boxes are optional. In blank gray boxes, ADAMS/View uses defaults.
Demonstrate:
Create a function measure. Display the Function Builder instead of a dialog box when you create a function measure.
Explain the plot attributes section and the function menus in the Function Builder.
'LVSODFHPHQW)XQFWLRQV
'LVSODFHPHQWIXQFWLRQV
■ For translational displacement, return scalar portions of vector components
(measurements are taken to I from J, resolved in R’s CS), as shown below.
■ For rotational displacement, return angles associated with a particular rotation
sequence.

([DPSOH

ŷ ŷ
I x̂ DM(I,J) J x̂

(+) (-)
DY(I,J,R) DX(I,J,R)

ŷ x̂

For more information, see Distance Along X (DX), on page 552 in the guide, Using
the ADAMS/View Function Builder.

Suspension System II 181

Explain that the displacement function is the same as a point-to-point measure, but because it is a function you can
use it as part of another function.
In this module, you use a displacement function to create the toe angle measure.
,PSRUWLQJ&$'%DVHG*HRPHWU\

&RQFHSWXDO 'HVLJQ
'HVLJQ 9DOLGDWLRQ
0HWKRG CAD Assembly 0HWKRG
Dynamic Motion! Dynamic Motion!

Import Import
.res .res
■ Rigid Bodies
■ Mass Properties
■ Detailed Geometry
ADAMS/Solver or
■ Joints
ADAMS/View ■ Springs ADAMS/View with
without Geometry ■ Applied Forces Geometry
■ Kinematic Motion

Export

.cmd +
.adm
.adm +
.shl, .slp
■ Rigid Bodies ■ Rigid Bodies
■ Mass Properties ■ Mass Properties
■ Joints ■ Detailed Geometry
■ Springs ■ Joints
■ Applied Forces ■ Springs
■ Advanced Modeling ■ Applied Forces
■ Dynamic Motion ■ Advanced Modeling
■ Dynamic Motion

182 Suspension System II

Explain how geometry is used in ADAMS when interfacing with CAD packages.
Explain the two methods shown here.
The only difference between the two methods is that CAD geometry is used in the design validation method but not in
the conceptual design method.
CAD geometry is only graphics; it does not affect the results of the simulation.
:RUNVKRS³6XVSHQVLRQ6\VWHP,,

3UREOHPVWDWHPHQW
Inspect the toe angle that the wheel exhibits throughout its vertical travel of 80 mm in jounce
and rebound.

strut_upper

upper_arm

strut_lower body_ground
tie_rod
steering_rack

lower_arm

spindle_wheel

0RGHOGHVFULSWLRQ
In this workshop, you use the model you built in Workshop 11—Suspension System I, on
page 173.

Suspension System II 183

Be sure to point out that the model does not contain the spindle geometry. They will add the geometry at the end of
the workshop.
:RUNVKRS³6XVSHQVLRQ6\VWHP,,
6WDUWWKHZRUNVKRS
Note that the file for this workshop is not in the current working directory.

7RVWDUWWKHZRUNVKRS

1 Start ADAMS/View from the directory exercise_dir/mod_12_suspension_2.

2 From the directory exercise_dir/mod_11_suspension_1, import the model that you created in
the previous workshop.
If you need a fresh copy of the model, import the command file
suspension_1_completed.cmd from the directory exercise_dir/mod_11_suspension_1/
completed.
3 Simulate the model to verify the motion.

&UHDWHPHDVXUHV
7RFUHDWHPHDVXUHV

1 Create a point-to-point measure, named .suspension.Wheel_Height, for the relative wheel

displacement in the ŷG direction using the markers Spindle_Wheel.Center and ground.WH_ref.

Tip: From the Build menu, point to Measure, point to Point-to-Point, and then select New.

2 Run a one-second, 50-step simulation.

ADAMS/View displays the relative wheel displacement as shown next.

184 Suspension System II

:RUNVKRS³6XVSHQVLRQ6\VWHP,,
3 Using an ADAMS/Solver function measure, create a toe angle measure using the markers
Spindle_Wheel.Center and Spindle_Wheel.TA_ref (see Figure 2 on page 186):

■ From the Build menu, point to Measure, point to Function, and then select New.
■ Fill in the Function Builder as shown next.

To get help while working in the Function Builder, press F1.

Use the Assist option to help you define the DZ and DX functions

Before selecting OK, select Verify

to check the syntax of your function

Note: You must run a simulation after creating the function to view its plot.

Suspension System II 185

:RUNVKRS³6XVSHQVLRQ6\VWHP,,
Figure 2. Markers for Toe Angle Measure

φ, toe angle

.Center .Center
(provided
∆Z
with model)
.TA_ref ∆X .TA_ref
(provided
with model) φ, toe angle
ẑ G
– 1 ∆Z
φ = tan  -------
 ∆X
x̂ G

ADAMS/View updates the measure stripchart.

4 In ADAMS/PostProcessor, plot toe angle versus wheel height.

■ Set Independent Axis to Data.
■ Select Wheel Height.
■ Select OK.
■ Select Add Curves.

186 Suspension System II

:RUNVKRS³6XVSHQVLRQ6\VWHP,,
,PSRUW&$'EDVHGJHRPHWU\
Now, you’ll import more realistic, CAD-based spindle/wheel geometry, as shown next.

knuckle

wheel

The two geometry files that make up the spindle/wheel are:

■ wheel.slp
■ knuckle.slp
They are render files, which have an extension of .slp. They were created in Pro/ENGINEER.
By default, when you import the files, ADAMS/View names the geometry based on the
Pro/ENGINEER assembly from which they came and not based on their file names. In this case,
the CAD geometry came from a model named suspensn. Therefore, ADAMS/View names the
geometry suspensn and suspensn_2.
When you export your model, ADAMS/View exports one .cmd file (suspension.cmd) and one
.shl file for each CAD geometry (suspensn.shl and suspensn_2.shl).

7RLPSRUWWKHJHRPHWU\

1 Import the geometry files located in exercise_dir/mod_12_suspension_2/

suspension_cad. Make sure you import one file, select Apply, and then import the other:

■ From the File menu, select Import.

■ Set File Type to Render.
■ Attach the geometry to the part named Spindle_Wheel.

Suspension System II 187

:RUNVKRS³6XVSHQVLRQ6\VWHP,,
2 Turn off the appearance of ADAMS/View spindle geometry so that only the CAD
geometry is visible:
◆ From the Tools menu, select Database Navigator.
◆ Set the menu at the top of the Database Navigator to Display Attribute.
◆ Highlight the name of the geometry whose appearance you want to turn off.
◆ Change the Visibility setting to Off.
◆ At the bottom of the Database Navigator, select Apply.

6DYH\RXUZRUN
7RVDYH\RXUZRUN

1 Save your model as suspension_parts.cmd.

If you want to further explore the model, as suggested in the next section, leave the model
open. Otherwise, proceed with the next step.
2 Exit ADAMS/View.

188 Suspension System II

:RUNVKRS³6XVSHQVLRQ6\VWHP,,
2SWLRQDOWDVNV
5HSODFHRWKHU$'$069LHZJHRPHWU\ZLWK&$'JHRPHWU\

1 From the directory exercise_dir/mod_12_suspension/suspension_cad/more_susp_cad, import

the rest of the CAD-based suspension component geometry.
These geometry files are called render files, which have an extension of .slp. There is one
file for each ADAMS part.

2 Turn off the appearance of ADAMS/View geometry so that only the CAD geometry is
visible.

0RGXOHUHYLHZ
1 Is there any difference between a point-to-point measure and a function measure using a
displacement function (for example, DX(I, J, R))?

2 Where does a CAD file fall in the model hierarchy? What is the CAD file a child of?

Suspension System II 189

:RUNVKRS³6XVSHQVLRQ6\VWHP,,

190 Suspension System II

 6863(16,2167((5,1*6<67(0

Assemble a suspension-steering system and inspect the toe angle that the
wheel exhibits at steering wheel angles of 45o, 0o, and -45o.

:KDW·VLQWKLVPRGXOH
■ Add-On Constraints, 192

■ Couplers, 193

■ Assembling Subsystem Models, 194

■ Workshop 13—Suspension-Steering System, 195

◆ Module review, 202

191
$GG2Q&RQVWUDLQWV
$GGRQFRPSOH[FRQVWUDLQWV
■ Set up relationships between existing constraints in a system.
■ Connect parts directly and indirectly.

7\SHVRIDGGRQFRQVWUDLQWV

6FUHZ-RLQWV Axis of
translation
and rotation Pitch

First
Part

Second
Part φj
xj

&RXSOHUV
Joint 2

Joint 1

*HDUV Joint 2
Joint 1

192 Suspension-Steering System

Tell the students that we will examine the coupler. The screw and the gear complex constraints are implemented the
same way.
&RXSOHUV
'HILQLWLRQRIFRXSOHUV

For more information, see Working with Coupler Joints, on page 174 in the guide,
Building Models in ADAMS/View.

■ Couplers connect multiple parts

indirectly by coupling 2 joints.
Joint 6 q2 ■ Couplers remove 1 DOF, based on the
following equation:
S1q1 + S2q2 = 0
Joint 4
where:
q1
◆ S1, S2 - scalar multipliers

◆ q1 - allowable DOF in the driver

joint
◆ q2 - allowable DOF in coupled
joints

0RGHOLQJRIFRXSOHUVUHTXLUHV
■ Two joints
■ Two scalar multipliers
Note: In ADAMS/View, S1= -1.
It is also possible to use a three-joint coupler.

([DPSOHRIDFRXSOHU

As the steering shaft rotates

the rack translates

Suspension-Steering System 193

$VVHPEOLQJ6XEV\VWHP0RGHOV
:KHQ\RXDVVHPEOHPRGHOV
■ 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).

model_1 model_2

rack
rack

model_3

rack

3DUWVLQDVVHPEOHGPRGHOV
■ 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, on page 28

194 Suspension-Steering System

:RUNVKRS³6XVSHQVLRQ6WHHULQJ6\VWHP
3UREOHPVWDWHPHQW
Assemble a suspension-steering system and inspect the toe angle that the wheel exhibits at
steering wheel angles of 45o, 0o, and -45o.

0RGHOGHVFULSWLRQ
■ You will use the following two models in this workshop:
◆ A geometric representation of a short-long arm (SLA) suspension subsystem.
◆ A geometric representation of a rack-and-pinion steering system.
■ The rack-and-pinion steering model is constrained as shown next:

HP-17
Hooke joint
HP-18
Revolute joint between
steering-wheel-column
and body_ground
HP-16
HP-13 Hooke joint
Translational joint
between steering_rack
and body_ground HP-15
Cylindrical joint
between steering-shaft and body_ground
Fixed joint between
body_ground and ground

Suspension-Steering System 195

Quiz students about the steps required to complete the workshop.

:RUNVKRS³6XVSHQVLRQ6WHHULQJ6\VWHP
6WDUWWKHZRUNVKRS
Note that the file for this workshop is not in the current working directory.

7RVWDUWWKHZRUNVKRS

1 Start ADAMS/View from the directory exercise_dir/mod_13__susp_steer.

2 From the directory exercise_dir/mod_12_suspension_2, import the model that you created in
the previous module.
If you need a fresh copy of the model, change your working directory to
exercise_dir/mod_12_suspension_2/completed, then import the command file
suspension_2_completed.cmd.

&KDQJHZRUNLQJGLUHFWRU\
Change the directory to exercise_dir/mod_13_susp_steer. Running ADAMS/View in this
directory ensures that all saved data gets stored there.

7RFKDQJHWKHZRUNLQJGLUHFWRU\

1 From the File menu, select Select Directory.

2 Change to exercise_dir/mod_13_susp_steer.

196 Suspension-Steering System

:RUNVKRS³6XVSHQVLRQ6WHHULQJ6\VWHP
,PSRUWWKHVWHHULQJPRGHO
Import the steering model, shown below. It is in the command file steering_parts_start.cmd.
The file contains a model named rack_and_pinion_steering.

steering_wheel_colum

intermittent_shaft

steering_shaft

body_ground

steering_rack

7RLPSRUWWKHPRGHO
■ Import the ADAMS model command file steering_parts_start.cmd.

Suspension-Steering System 197

:RUNVKRS³6XVSHQVLRQ6WHHULQJ6\VWHP
&RQVWUDLQWKHVWHHULQJPRGHO
Now you’ll constrain the steering model. Each time you add a modeling element, you’ll
simulate the model to verify its movement.

7RFRQVWUDLQWKHVWHHULQJPRGHO

1 Apply a rotational joint motion ( ) to the revolute joint, strwheel_body_rev, on the

steering_wheel_column.

strwheel_body_rev

2 Right-click the motion icon, point to Motion: MOTION_1, and then select Modify.
3 In the Function (time) text box, enter the following function:
Displacement(time) = 45d*sin(360d*time)
4 Run a one-second, 50-step simulation.

5 Use the Coupler tool to couple the rotation (strshft_body_cyl) of the steering_shaft with
the translation (rck_body_trans) of the steering_rack.

198 Suspension-Steering System

The difference between merging two models and assembling models is found in the command
line help. Type help Æ model Æ assemble to get a description of the merge and assemble
differences.
:RUNVKRS³6XVSHQVLRQ6WHHULQJ6\VWHP
6 Right-click the coupler icon, point to Coupler: COUPLER_1, and then select Modify.

coupler

7 Modify the coupler so that for every 7o of rotation the steering_rack travels 1 mm:

8 To verify that the steering_rack travels as expected, simulate the model.

Suspension-Steering System 199

For the coupler scale value, tell students to use:

In 10.0: (7d)/(1mm)
In 12.0: (7*pi/180)/(1mm)
In v10.1, the ability to use d in there was taken away. There is a CR logged to change this to something more
intuitive. Until that time, this is the way to do it.
:RUNVKRS³6XVSHQVLRQ6WHHULQJ6\VWHP
$VVHPEOHWKHVXVSHQVLRQDQGVWHHULQJPRGHOV
7RDVVHPEOHWKHPRGHOV

1 Assemble the rack_and_pinion_steering model with the suspension model:

■ From the Tools menu, select Command Navigator.
■ In the Command Navigator, double-click model, and then double-click assemble.
■ Name the model steering_suspension.
■ Right-click the Model Names text box, point to Guesses, and then select *. Selecting *
prompts ADAMS/View to include in the text box every item that is displayed under
the Guesses option.
2 To display the assembled model, from the View menu, select Model.
3 Double-click steering_suspension.

9HULI\WKHPRGHO
Verify the model to ensure it is not overconstrained. To ensure that the model is not
overconstrained, look for duplicate joints as explained next.

7RYHULI\WKHPRGHO

1 From the Tools menu, select Database Navigator.

2 Set the top option menu in the Database Navigator to Graphical Topology.
3 Double-click the new model name, steering_suspension, and then select body_ground.
4 Delete the unwanted joints by right-clicking them and selecting Delete (make sure that
Highlight is not selected):
■ Delete one of the fixed joints between body_ground and ground.
■ Delete the fixed joint between body_ground and steering_rack.
Note: Leave both the rotational motion and the revolute joint between body_ground
and steering_wheel_column because both are needed.

200 Suspension-Steering System

:RUNVKRS³6XVSHQVLRQ6WHHULQJ6\VWHP
5 To redisplay the measures you created in Create measures, on page 184, from the Build
menu, point to Measure, and then select Display.
6 Select both measures, Wheel_Height and Toe_Angle.

5XQDQGFRPSDUHDVHULHVRIVLPXODWLRQV
In this section, you’ll run three simulations, each with different steering wheel angles. You’ll
then compare the results of the simulations.

7RUXQDQGFRPSDUHDVHULHVRIVLPXODWLRQV

1 Modify the motion you created in step 3 on page 198 to be a constant 45o steering wheel
angle (Displacement(time) = 45d).
2 Simulate the model.
3 Save the simulation results as right_turn. Save the results just as you did in To save the
simulation results:, on page 42 of Workshop 2—ADAMS/View Interface Overview.

4 Run a simulation with a 0o steering wheel angle (Displacement(time) = 0d).

5 Save the simulation results as straight.

6 Run a simulation with a -45o steering wheel angle (Displacement(time) = -45d).

7 Save the simulation results as left_turn.
8 Start ADAMS/PostProcessor.
9 Plot toe_angle versus wheel height for all three simulations, on the same plot, just as you
did on page 186.

Suspension-Steering System 201

:RUNVKRS³6XVSHQVLRQ6WHHULQJ6\VWHP
6DYH\RXUZRUN
7RVDYH\RXUZRUN

1 Save your model.

2 Exit ADAMS/View.

0RGXOHUHYLHZ
1 What information do you need to provide ADAMS/View to create a coupler?

2 What is the default name that ADAMS/View assigns to simulation results?

202 Suspension-Steering System

 635,1*'$03(5

Create and investigate the linear spring-damper system shown in the following
figure, using different types of simulations in ADAMS.

M: 187.224 Kg
K: 5.0 N/mm
K C C: 0.05 N-sec/mm
L L0: 400 mm
F0: 0

:KDW·VLQWKLVPRGXOH
■ Assemble Simulation, 204

■ Simulation Hierarchy, 205

■ Types of Simulations, 206

■ Forces in ADAMS, 208

■ Spring Dampers in ADAMS, 209

■ Workshop 14—Spring Damper, 211

◆ Module review, 216

203
$VVHPEOH6LPXODWLRQ
'HILQLWLRQRIDVVHPEOHVLPXODWLRQ
■ Attempts to resolve any conflicts in the initial conditions specified for the entities in
the model (for example, broken joints).
■ Is also known as an initial conditions simulation.

,QLWLDOORFDWLRQDQGRULHQWDWLRQRISDUWV
■ 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 ( x̂ , ŷ , ẑ ) and up to three orientations (psi, theta, phi).
G G G

Note: Use initial positions sparingly. If you fix the initial positions of too many parts,
the assemble simulation can fail.

204 Spring Damper

Demonstrate:
Use the example of a 2 bodies - 2 locations joint to demonstrate the assemble simulation and the initial location and
orientation of parts.
6LPXODWLRQ+LHUDUFK\

Assemble Simulation

Assemble

Nonlinear Linear

Motion Study Equilibrium

Calculation(s)

Default* Static*

Nonlinear

DOF = 0 DOF > 0 Eigensolution

or State Matrices
Kinematic* Dynamic*

Linear

* Automatically performs an assemble simulation

Note: Often a linear simulation is used after a static equilibrium or dynamic simulation.

For more information, see Types of Simulations, on page 87 in the guide,

Simulating Models in ADAMS/View.

Spring Damper 205

The assemble simulation must precede all simulations.

ADAMS performs the assemble simulation automatically for all simulations except linear.
Mention that to run a linear simulation, they must have a license of ADAMS/Linear.
For a linear simulation, you must indicate the operation point about which ADAMS/Solver should linearize.
For example, to linearize about the equilibrium position of a model, perform a static equilibrium simulation
immediately followed by a linear simulation.
7\SHVRI6LPXODWLRQV
6WDWLF

■ 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.

'\QDPLF

■ System DOF > 0.

■ Driven by a set of external forces and
excitations.
■ Nonlinear differential and algebraic
equations (DAEs) are solved.

NLQHPDWLF
■ System DOF = 0.
■ Driven by constraints (motions).
■ Only constraint (algebraic) equations
are being solved.
■ Calculate (measure) reaction forces in
constraints.

206 Spring Damper

Compare the three simulations.

Demonstrate a static simulation.
7\SHVRI6LPXODWLRQV
/LQHDU
■ ADAMS 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.

([DPSOHRIOLQHDUVLPXODWLRQ

M ■ Must linearize about an operating point (often

the equilibrium).
■ Extraction of natural frequency.
K
K
■ Natural frequency = ----- .
M

Spring Damper 207

Demonstrate:
Perform an equilibrium simulation followed by a linear simulation.
)RUFHVLQ$'$06
'HILQLWLRQRIIRUFHV
■ 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.

&KDUDFWHULVWLFVRIIRUFHV

The characteristic: Defines:

Bodies Which parts are affected

Points of application Where the parts are affected
Vector components How many vector components there are
Orientation How the force is oriented
Magnitude If the force is pre-defined or user-defined

For more information, see Applying Forces to Your Model, on page 221 in the guide,
Building Models in ADAMS/View.

208 Spring Damper

The given table applies to all forces in ADAMS.

This table will be used whenever you discuss a new force element.
Explain all five items in detail.
6SULQJ'DPSHUVLQ$'$06
'HILQLWLRQRIVSULQJGDPSHUV

■ They are pre-defined forces.

■ They represent compliance:
◆ Between two bodies. I marker

◆ Acting over a distance. B

A
◆ Along or about one J marker (+)
particular direction.

&KDUDFWHULVWLFVRIVSULQJGDPSHUV

The characteristic: Defines:

Bodies Two (A, B)

Points of application Two (I and J marker)
Vector components One
Orientation (only for Acts along the line of sight between the I and J markers:
translational)
■ Positive force repels the two parts
■ Negative force attracts the two parts
Magnitude Pre-defined equation based on either:
■ Stiffness and damping coefficients (linear)
■ Splines based on test data (nonlinear)

See also: Characteristics of a spring damper, on page 367

For more information, see Working with Translational Spring-Dampers, on page 260
in the guide, Building Models in ADAMS/View.

Spring Damper 209

Demonstrate:
Create a spring by hanging a mass on a spring. Then, simulate the model and watch it oscillate.
The markers you select as the end points of the spring determine the bodies to which the spring is attached and the
location of the spring.
Open the Modify Spring dialog box and explain all the text boxes. Press F1 to show they can always use the online
help to learn about the text boxes.
Explain “length at preload” and “free length” and explain the difference between the two.
Use the link near the bottom of the slide to go to the forces table. Ask the students to fill in the appropriate
information for a spring damper.
0DJQLWXGHRI6SULQJ'DPSHUV
0DJQLWXGHEDVHGRQVWLIIQHVVDQGGDPSLQJFRHIILFLHQWV
■ Linear spring-damping relationship can be written as:

ForceSPDP = − k(q - q0) − c q· + 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
■ In ADAMS, the user-defined equation is:
- k*(DM(I, J) - q0) - c*VR(I, J) + F0

Linear Spring Linear Damper

Fk Fc

kq0+F0
Fk = −k(q-q0) + F0 Fc = −c(dq/dt)
−c
F0 -k
r dq/dt
q0 free length

■ Spring-damper forces become ill-defined if endpoints become coincident because of

undefined direction.

210 Spring Damper

The second equation on the page defines how ADAMS writes the spring-damper equation.
You need this equation to replace the pre-defined spring damper with a user-defined single-component force in the
next workshop.
:RUNVKRS³6SULQJ'DPSHU
3UREOHPVWDWHPHQW
Create and investigate the linear spring-damper system shown next, using different types of
simulations in ADAMS.

M: 187.224 Kg
K: 5.0 N/mm
K C C: 0.05 N-sec/mm
L L0: 400 mm
F0: 0

6WDUWWKHZRUNVKRS
7RVWDUWWKHZRUNVKRS

1 Start ADAMS/View from the directory exercise_dir/mod_14_spring_damper.

2 Create a new model named spring_mass.

%XLOGDQGFRQVWUDLQWKHPRGHO
7REXLOGDQGFRQVWUDLQWKHPRGHO

1 Build the block with the given mass.

Tip: Right-click the part and select Modify. Set Define Mass By to User Input.

2 Constrain the block to move only in the ŷ G direction.

Tip: Add a translational joint.

3 To verify the expected behavior, simulate the model.

Spring Damper 211

Review the problem statement.

Quiz the students on what steps they would take to solve the problem.
Before they start, ask if there are any questions.
:RUNVKRS³6SULQJ'DPSHU
$GGWKHSUHGHILQHGVSULQJGDPSHU
7RDGGDSUHGHILQHGVSULQJGDPSHU

1 Use the Translational spring damper tool to create the spring damper, aligned along the
ŷ direction, between the cm marker of the block and a point on ground 400 mm above it
G

(make sure to use the K and C values from Problem statement, on page 211).

Tips: To ensure that the spring damper is aligned with the ŷ G direction, move the working
grid to the cm of the block prior to creating the spring (see Build all parts except for
the bucket, on page 147).

Consider using the Location Event, see Build the pendulum link, on page 103, or the
Coordinate window (F4) to find the exact location of the second marker of the spring
damper.

2 To ensure that the spring damper has a free length (qo) of 400 mm with a preload of 0,
from the Tools menu, select Measure Distance to measure the spring.

)LQGWKHIRUFHLQVSULQJGDPSHUDWVWDWLFHTXLOLEULXP
7RILQGWKHIRUFHDWVWDWLFHTXLOLEULXP

1 Use the Static Equilibrium tool to run a static equilibrium simulation.

2 Note the value of the force graphic.
Tip: To display the force value, from the Settings menu, select Force Graphics. Select
Display Numeric Values.
3 Zoom out until you can see the force value.
The block’s mass is 187.224 kg. Therefore, to balance the force of gravity, the spring
damper must generate:
187.224kg*9806.65mm/s2(=1836.04 N)

212 Spring Damper

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5XQDVLPXODWLRQDQGFUHDWHDPHDVXUH
7RFUHDWHDPHDVXUHDQGUXQDVLPXODWLRQ

1 Create a point-to-point measure, named Spring_Length, to measure the spring’s length.

Measure the upper spring-damper attachment point, with respect to the block’s cm marker.

The measured value at t=0 should be 400 mm.

2 To see the oscillation, run a 2-second, 50-step dynamic simulation.

)LQGWKHQDWXUDOIUHTXHQF\
7RILQGWKHQDWXUDOIUHTXHQF\

1 Run another static equilibrium simulation ( ).

2 Select Close but do not reset the model.
3 From the Simulation menu, select Interactive Controls.

4 Select the Compute Linear Modes tool .

5 View the results.
6 Note the natural frequency, and compare this value with that given in Closed-form
solution, on page 215.

Spring Damper 213

:RUNVKRS³6SULQJ'DPSHU
6DYH\RXUZRUN
7RVDYH\RXUZRUN

1 Save the model.

If you want to further explore the model, as suggested in the next section, leave the model
open. Otherwise, proceed with the next step.
2 Exit ADAMS.

2SWLRQDOWDVNV
$GGD'2)WRWKHPRGHO

1 Modify the translational joint to be a cylindrical joint.

2 Linearize about the static equilibrium position.
Do the resulting modes make sense?
3 Add a torsional spring damper that resists the rotation of the cylindrical joint.
4 Linearize about the static equilibrium position.
Are the results different from those above (no torsional spring damper)?
5 Do not save your work.

$'$06UHVXOWV
ω n = 0.8222 Hz

ω n = ( 0.8222 Hz ) ( 2 ⋅ π rad ) = 5.168 rad/sec

214 Spring Damper

:RUNVKRS³6SULQJ'DPSHU
&ORVHGIRUPVROXWLRQ
&KHFNLQJWKHQDWXUDOIUHTXHQF\RIWKHV\VWHP
At equilibrium:

mx·· + cx· + kx = 0

c k
x·· + ---- x· + ---- x = 0
m m

Laplace Transform is:

2 c k 2 2
s + ---- s + ---- = 0 ⇔ s + 2 ζω n s + ω n = 0
m m

Therefore:

2 k
ω n = ----
m

k
ωn = ----
m

k = 5 N/mm = 5000 N/m

m = 187.224 kg

5000
ωn = ------------------- rad/sec
187.224

ω n = 5.168 rad/sec

Spring Damper 215

:RUNVKRS³6SULQJ'DPSHU
0RGXOHUHYLHZ

1 At design configuration, do the ẑ directions of markers referenced in a revolute joint have

to be aligned? Does this information get reported when verifying a model?

216 Spring Damper

 121/,1($5635,1*

Investigate the differences between a linear spring and a nonlinear spring using
a spline function.

M: 187.224 Kg
K: 5.0 N/mm
K C C: 0.05 N-sec/mm
L L0: 400mm
F0: 0

:KDW·VLQWKLVPRGXOH
■ Single-Component Forces: Action-Reaction, 218

■ Spline functions, 219

■ AKISPL Function, 220

■ Workshop 15—Nonlinear Spring, 221

◆ Module review, 226

217
6LQJOH&RPSRQHQW)RUFHV$FWLRQ5HDFWLRQ
&KDUDFWHULVWLFVRIDFWLRQUHDFWLRQVLQJOHFRPSRQHQW
IRUFHV 6IRUFHV

I marker

c e
B Sfor A

J marker (+)

The characteristic: Defines:

Bodies Two (A, B)

Points of application Two (I and J markers)

Vector components One

Orientation Acts along the line of sight (between the I and J

markers)
◆ Positive force repels the two parts
◆ Negative force attracts the two parts
Magnitude User-defined

See also: Characteristics of an action-reaction S-force, on page 321

Note: ADAMS applies action and reaction forces to the I and J markers that it automatically
creates.

For more information, see Single-component Force, on page 232 in the guide,
Building Models in ADAMS/View.

218 Nonlinear Spring

Demonstrate:
Replace the spring damper you created earlier with an action-reaction single-component force set to custom.
Open the Modify dialog box and review it.
Open the Function Builder from the Function text box and show how you can use the displacement and velocity
functions available in the Function Builder to create a spring-damper force.
Use the link on the slide to go to the Forces table and fill in the appropriate information on action-reaction single-
component forces.
6SOLQHIXQFWLRQV
7HVWGDWDWKDWFDQEHLQFRUSRUDWHGLQWRDVLPXODWLRQLQFOXGHV
■ 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.

7RLQFRUSRUDWHGDWDLQWRDVLPXODWLRQ
■ First, create a spline from either:
◆ Data points entered manually into the Spline Editor.
◆ Imported test data from a file.

(x3,y3)
(xn,yn)
(x2,y2)

(x1,y1) Independent Variable - x

■ 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)

Nonlinear Spring 219

Demonstrate:
Æ
Import data to create a spline (File Import).
Æ Æ Æ
Use the Spline Editor (Build Data Element Spline Modify).
AKISPL)XQFWLRQ
6\QWD[IRUAKISPLIXQFWLRQ

For more information, see Akima Fitting Method (AKISPL), on page 515 in the guide,
Using the ADAMS/View Function Builder.

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).

([DPSOHRIDQAKISPLIXQFWLRQ
AKISPL (DM(I, J), 0, spline_1, 0)
DM (I, J) Force
Force
x y
150 -1000 y
200 -200
x
250 -50
300 0 300 DM (I, J)
350 50
400 200
450 100

Note: You can create the CUBSPL and CURVE functions exactly as you create the
AKISPL function.

220 Nonlinear Spring

Demonstrate:
Use spline functions in the Function Builder. Press F1 to show them the online help for the Function Builder.
Display the online guide, Using the ADAMS/View Function Builder, for more information on spline functions.
:RUNVKRS³1RQOLQHDU6SULQJ

3UREOHPVWDWHPHQW
Investigate the differences between a linear spring and a nonlinear spring using a spline
function.

M: 187.224 Kg
K: 5.0 N/mm
K C C: .05 N-sec/mm
L L0: 400mm
F0: 0

6WDUWWKHZRUNVKRS
Start by importing the model you created in the last workshop. Note that this file is not in the
current working directory.

7RVWDUWWKHZRUNVKRS

1 Start ADAMS/View from the directory exercise_dir/mod_15_spring.

2 From the directory exercise_dir/mod_14_spring_damper, import the model that you created
in the previous module.
If you need a fresh copy of the model, import the command file
spring_damper_completed.cmd from the directory
exercise_dir/mod_14_spring_damper/completed.

Nonlinear Spring 221

Review the problem statement.

:RUNVKRS³1RQOLQHDU6SULQJ
5HSODFHWKHSUHGHILQHGVSULQJGDPSHU
Now you will replace the spring damper, that is already in the model, with a user-defined linear
spring damper.

7RUHSODFHWKHVSULQJGDPSHU

1 Delete the predefined spring damper.

2 To see what a spring-damper function should look like, create a user-defined spring using
a single-component, action-reaction force (Run-time Direction: Two Bodies; Characteristic: K
and C).
3 Right-click SFORCE_1 and select Info. Note that the syntax of the function matches that of
a spring damper, introduced on page Magnitude based on stiffness and damping
coefficients, on page 210.
4 Create another SFORCE, with Characteristic: Custom.
Tip: In the Function Builder, create the same expression for your SFORCE using the DM
and VR assist dialog boxes. Press F1 on the Assist dialog box to learn more about
building the function.
5 Right-click SFORCE_2 to modify the force function so it behaves like a linear spring:

■ Select the Function Builder tool .

■ Use the I and J markers of the force object to define the displacement magnitude
function within the spring force calculation. You may want to rename these markers
for easier reference from within the Function Builder.
6 Delete SFORCE_1.
7 Right-click SFORCE_2 and select Measure.
8 Create a measure, named spring_force, to measure the force magnitude in the single-
component force.
9 To see oscillations, run a 2-second, 50-step simulation.

222 Nonlinear Spring

:RUNVKRS³1RQOLQHDU6SULQJ
10 Plot spring_force versus Spring_Length.
Note that the slope at the beginning of this plot is 5 (K). The time-dependency of damping
(C=.05) results in a deviation from a slope of 5 (slope ~ stiffness +/- damping).

11 Save the simulation results ( ) as linear_force.

&KDQJHWKHOLQHDUVSULQJWRDQRQOLQHDUVSULQJ
In this section, you change the spring damper you just created to a nonlinear spring. You’ll
import spring stiffness data to define the spring properties.

7RFKDQJHWKHVSULQJ

1 To import the spring stiffness data, from the File menu, select Import.
2 Set the following parameters, and then select OK.
■ File type: Test Data
■ Create Splines
■ File to Read: exercise_dir/mod_15_spring/spring_data.txt

■ Independent Column Index: 1 (Because the first column is the independent column.)

■ Units: Force

■ Model Name: .spring_mass

3 To open SPLINE_1 in the Spline Editor, from the Build menu, point to Data Elements, point
to Spline, and then select Modify.

Nonlinear Spring 223

:RUNVKRS³1RQOLQHDU6SULQJ
4 View the plot to understand the relationship between the deformation (x-axis) and
stiffness force (y-axis).

Tip: In the upper right corner, set View As to Plot.

5 Right-click SFORCE_1 and select Modify to replace the force function describing the single-
component force with an Akima spline function.
Ensure that:
◆ Independent variable takes into account the spring’s free length.
◆ Signs are correct.
◆ As the spring lengthens, the single-component force should apply a negative force
(tension).

The I and J markers in the DM function might be different in your model.

224 Nonlinear Spring

:RUNVKRS³1RQOLQHDU6SULQJ
&RPSDUHWKHOLQHDUDQGQRQOLQHDUIRUFHV
7RFRPSDUHWKHIRUFHV

1 Verify that the nonlinear spring is working properly by running a 2-second, 50-step dynamic
simulation.
2 Save the simulation results as non_linear_force.
3 Overlay the two plots:
■ spring_force vs. Spring_Length for the linear_force simulation

■ spring_force vs. Spring_Length for the non_linear_force simulation

Note that in the nonlinear case, the curve changes slope as Spring_Length increases.

6DYH\RXUZRUN
7RVDYH\RXUZRUN

1 Save your model.

If you want to further explore the model, as suggested in the next section, leave the model
open. Otherwise, proceed with the next step.
2 Exit ADAMS/View.

Nonlinear Spring 225

:RUNVKRS³1RQOLQHDU6SULQJ
2SWLRQDOWDVNV
1 Create a spline in the Spline Editor to represent a nonlinear damping force versus velocity:
From the Build menu, point to Data Element, point to Spline, and then select New.
2 Add the spline function representing a damping force to the single-component force
function so you have a nonlinear spring-damper in between the mass and ground.

0RGXOHUHYLHZ
1 What are the four inputs for a spline function?

226 Nonlinear Spring

 6863(16,2167((5,1*6<67(0,,

Investigate the effect on toe angle when you replace the idealized constraint
between the lower control arm and ground with bushings, while the steering
wheel is held at an angle of 0o.

:KDW·VLQWKLVPRGXOH
■ Bushings, 228

■ Workshop 16—Suspension-Steering System II, 229

◆ Module review, 234

227
%XVKLQJV

'HILQLWLRQRIDEXVKLQJ

For more information, see Working with Bushings, on page 253 in the guide, Building
Models in ADAMS/View.
■ Pre-defined force.
■ Represents compliance:
◆ Between two bodies.
◆ Along or about three vectors.

&KDUDFWHULVWLFVRIDEXVKLQJ

Characteristic: Description:

Bodies Two
Points of application Two (action force at I marker and reaction force at
J marker)
Vector components Three translational and three rotational
Orientations Based on the J marker
Magnitudes Pre-defined equation based on:
(Fx, Fy, Fz + Tx, Ty, Tz)
■ Stiffness matrix, K
■ Damping matrix, C

See also: Forces Tables (Incomplete), on page 365

228 Suspension-Steering System II

Demonstrate creating a bushing.

:RUNVKRS³6XVSHQVLRQ6WHHULQJ6\VWHP,,
3UREOHPVWDWHPHQW
Investigate the effect on toe angle when you replace the idealized constraint between the lower
control arm and ground with bushings, while the steering wheel is held at an angle of 0o.

0RGHOGHVFULSWLRQ
■ The model is the short-long-arm front suspension model combined with a steering
model that you created in the previous workshop.
■ A spring damper has been added to represent the force input of a coil-over shock.
■ Currently, a revolute joint connects the lower control arm to the frame of the vehicle.
■ You are going to replace the revolute joint with two bushings and investigate the
differences.

Suspension-Steering System II 229

:RUNVKRS³6XVSHQVLRQ6WHHULQJ6\VWHP,,
6WDUWWKHZRUNVKRS
7RVWDUWWKHZRUNVKRS

1 Start ADAMS/View from the directory exercise_dir/mod_16_susp_steer_2.

2 Import the command file susp_steer_2_start.cmd.

5XQDEDVHOLQHVLPXODWLRQ
You’ll start by running a simulation with the model as it currently is to see how it performs with
a revolute joint.

7RUXQDEDVHOLQHVLPXODWLRQ

1 Verify that the steering wheel angle is a constant 0o (Displacement(time) = 0d).

2 Run a simulation for 1 second with 50 output steps.

3 Save the simulation results ( ) as with_joint.

'HDFWLYDWHWKHUHYROXWHMRLQW
Now, instead of removing the revolute joint, you’ll just deactivate it so it is not used in
simulations.

7RGHDFWLYDWHWKHUHYROXWHMRLQW

1 Right-click the lowerarm_grnd_rev revolute joint that currently exists between Lower_Arm
and ground.
2 Select (De)activate.
3 Clear the selection of Object Active.

230 Suspension-Steering System II

:RUNVKRS³6XVSHQVLRQ6WHHULQJ6\VWHP,,
&UHDWHEXVKLQJVEHWZHHQ/RZHUB$UPDQGJURXQG
You will need to create two bushings because there are two connection points between
Lower_Arm and ground.

7RFUHDWHEXVKLQJV

1 From the Main Toolbox, point to the Create Forces toolstack, and select the
Bushing tool.
2 Create the rear bushing with the following properties, using the options 2 Bod - 1 Loc, Pick
Feature:
■ First Part: Lower_Arm
■ Second Part: ground
■ Location: HP4
■ Direction Vector (+z axis): Z-direction of marker .Lower_Arm.bushing_ref.

Tip: To easily find the marker .Lower_Arm.bushing_ref, display the Database Navigator,
locate the marker under Lower_Arm, and then select Highlight from the bottom of the
Database Navigator. Back in your model, right-click at the marker location, and then
select .Lower_Arm.bushing_ref.Z.

3 Modify the bushing to reflect the following properties:

Kmatrix Cmatrix Preloadmatrix

2.9e7 0 0 0 0 0 7.3e5 0 0 0 0 0 0
0 2.9e7 0 0 0 0 0 7.3e5 0 0 0 0 0
0 0 1e8 0 0 0 0 0 1.5e6 0 0 0 0
0 0 0 1e6 0 0 0 0 0 4e5 0 0 0
0 0 0 0 1e6 0 0 0 0 0 4e5 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0

Translational K Translational C
Rotational K Rotational C

Suspension-Steering System II 231

:RUNVKRS³6XVSHQVLRQ6WHHULQJ6\VWHP,,
4 Create the forward bushing with the following properties:
■ First Part: Lower_arm
■ Second Part: ground
■ Location: HP5
■ Direction Vector (+z axis): Z-direction of marker .Lower_Arm.bushing_ref
5 Modify the bushing to reflect the properties given in step 3 on page 231.

5XQDVLPXODWLRQWRYLHZWKHHIIHFWRIDGGLQJWKHEXVKLQJ
7RUXQDVLPXODWLRQ

1 Run a static simulation ( ) followed by a dynamic simulation for 1 second with 50 output
steps.
2 Save the simulation results as with_bushings.

5HYLHZWKHUHVXOWV
7RUHYLHZWKHUHVXOWV

1 Launch ADAMS/PostProcessor.
2 Create a plot that contains the Toe_Angle measure using the simulation results with_joint
and with_bushings as a function of time.

232 Suspension-Steering System II

:RUNVKRS³6XVSHQVLRQ6WHHULQJ6\VWHP,,
3 Estimate the difference in the maximum toe angle between the two simulations and use it
to answer Question 1 in Module review, on page 234.

6DYH\RXUZRUN
7RVDYH\RXUZRUN

1 Save your model.

If you want to further explore the model, as suggested in the next section, leave the model
open. Otherwise, proceed with the next step.
2 Exit ADAMS/View.

2SWLRQDOWDVNV
1 Replace the revolute joint between Upper_Arm and ground with two bushings. Use the
same bushing properties given for the bushing between Lower_Arm and ground.
2 Run a static simulation followed by a dynamic simulation for 1 second with 50 output
steps.
3 Save the simulation results as with_all_bushings.
4 Compare these toe_angle results with those from the previous two simulations.

Suspension-Steering System II 233

:RUNVKRS³6XVSHQVLRQ6WHHULQJ6\VWHP,,
0RGXOHUHYLHZ
1 What was the approximate difference in the maximum toe angle that was a result of
removing the revolute joint and replacing it with bushings?

2 Why did you perform a static simulation before the dynamic simulation after you added
the bushings?

3 Why did you not have to perform a static simulation before the dynamic simulation when
the Lower_Arm was constrained with the revolute joint?

234 Suspension-Steering System II

 +$7&+%$&N,
Create the forces required to open the hatchback for the given Mazda MX-6
model.
lid

left_cylinder

left_shortarm left_piston

left_longarm

ground

:KDW·VLQWKLVPRGXOH
■ Impact Functions, 236

■ Velocity Functions, 238

■ Workshop 17—Hatchback I, 239

◆ Module review, 246

235
,PSDFW)XQFWLRQV
,PSDFWIXQFWLRQVLQ$'$06
■ Are 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:

F IMPACT = Off , if q > q0

F IMPACT = On , if q < q0

$SSOLFDWLRQVRIRQHVLGHGLPSDFWIXQFWLRQV,03$&7

$SSOLFDWLRQVRIWZRVLGHGLPSDFWIXQFWLRQV%,6723

236 Hatchback I

Provide an overall idea of what the IMPACT and BISTOP functions are.
Explained in detail on the next page.
,PSDFW)XQFWLRQV
6\QWD[IRU,03$&7IXQFWLRQ

IMPACT(q, q· , q1, k, e, cmax, d)

■ q - Actual distance between the two objects (defined with a displacement function)

■ q· - Time rate of change of the variable q

■ q1 - 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

,Q$'$06WKHRQHVLGHGLPSDFWIRUFHLVFDOFXODWHGDV
F = 0 if q > q1
e
F = k ( q 1 – q ) – c max q· *STEP(q, q 1 – d, 1, q 1, 0) if q < q1

Compression-only spring force from Compression-only damping force from

one-sided IMPACT function one-sided IMPACT function
Fk = f(q) C = f(q)
e=1 e>1 Cmax d

e<1

q1 - 1 q1 q q1 - d q1 q

For more information, see One-sided Impact (IMPACT), on page 578 in the guide,
Using the ADAMS/View Function Builder.

Hatchback I 237

See Demonstration on next page.

Question: If added to the equation, should e>1 or e<1? Which is more realistic?
Answer: e>1, and this is easier on Solver. It results in a nonlinear stiffness force. Write the equation for damping.
Question: Why is the damping portion not C*qdot?
Answer: The damping force would go from 0 to some value on contact. This would cause discontinuities. As the ball
penetrated and slowed down, the damping force would decrease. This is unrealistic. Therefore, the damping
coefficient is a function of q.
C=Cmax*STEP(q,q1-d,1,q1,0), which results in the plot on the right side of the slide.
This C function is then multiplied by qdot to provide a nonlinear damping force.
9HORFLW\)XQFWLRQV
'HILQLWLRQRIYHORFLW\DQGDFFHOHUDWLRQIXQFWLRQV
■ Returns scalar portions of velocity or acceleration vector components (translational or
rotational).

6\QWD[IRUYHORFLW\IXQFWLRQV
■ 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.

238 Hatchback I
:RUNVKRS³+DWFKEDFN,
3UREOHPVWDWHPHQW
Create the forces required to open the hatchback for the given Mazda MX-6 model.

lid

left_cylinder

left_shortarm left_piston

left_longarm
ground

Hatchback I 239

Review the problem statement. Quiz students about the steps needed to complete the workshop.
:RUNVKRS³+DWFKEDFN,
0RGHOGHVFULSWLRQ
■ When compressed, the force in each gas shock is 460 Newtons.
■ The motion of the assembly is limited by stops in the gas shocks at full extension.
■ Parts are constrained as shown next:

Location: Parts: Type:

POINT_1 left_shortarm and ground Revolute

POINT_4 left_longarm and ground Revolute
POINT_2 left_shortarm and lid Spherical
POINT_6 left_cylinder and lid Spherical
POINT_8 right_cylinder and lid Spherical
POINT_3 lid and left_longarm Hooke
POINT_5 ground and left_piston Hooke
POINT_7 ground and right_piston Hooke
POINT_56 left_piston and left_cylinder Translational
POINT_78 right_piston and right_cylinder Translational

6WDUWWKHZRUNVKRS
7RVWDUWWKHZRUNVKRS

1 Run ADAMS/View from the directory exercise_dir/mod_17_hatchback_1.

2 Import the model command file hatchback_start.cmd.

240 Hatchback I

Tell students: The step where they have to create the single-component forces (SFORCE) causes the most
confusion.
To create an SFORCE, select two parts and two points on the respective parts in the same order.
For example, if you first select the piston, and then select the cylinder, then you should select the pis_impact marker
before the cyl_impact marker. If you select the markers in the wrong order and simulate the model, it runs fine until
the IMPACT is triggered. When the IMPACT is triggered, instead of the two ends of the objects repelling each other,
they attract each other. In this case, the SFORCE is incorrectly defined, and not the IMPACT function.
Therefore, modify the SFORCE and change the order of the parts by switching the action and reaction bodies.
:RUNVKRS³+DWFKEDFN,
'HDFWLYDWHPRYDEOHSDUWVQRWXVHGIRUVLPXODWLRQ
You must deactivate the parts on the right side of the model because they are not needed to
constrain the model. The constraints from the left side of the model are sufficient to constrain
this rigid-body model.

7RGHDFWLYDWHSDUWV

1 Deactivate right_shortarm.
Tip: Right-click the part and select De(activate). Clear the selection of Object Active.

2 Deactivate right_longarm.

&UHDWHIRUFHVWRUHSUHVHQWJDVVKRFNVZLWKOLPLWVWRSV
In this section, you will practice debugging your model. To ensure that your model is running
correctly, run a simulation after you add each new force.

7RFUHDWHJDVVKRFNV

1 Create a marker, named lpiston_ref, at POINT_5, located on left_piston.

2 Create a marker, named lcyl_ref at POINT_6, located on left_cylinder.
You will use these markers to create the spring damper in the next step.
3 Create a spring damper between left_piston and left_cylinder using the markers lpiston_ref
and lcyl_ref, with the following parameters:
■ Stiffness: 0.21578 (N/mm)

■ Damping: 2.0 (N-sec/mm)

4 Modify the spring damper to add a preload of 550 N.
5 Create a marker, named rpiston_ref, at POINT_7, located on right_piston.
6 Create a marker, named rcyl_ref at POINT_8, located on right_cylinder.
You will use these markers to create the spring damper in the next step.

Hatchback I 241
:RUNVKRS³+DWFKEDFN,
7 Create a spring damper between right_piston and right_cylinder using the markers rpiston_ref
and rcyl_ref, with the following parameters:
■ Stiffness: 0.21578 (N/mm)

■ Damping: 2.0 (N-sec/mm)

8 Modify the spring damper to add a preload of 550 N.

7RFUHDWHOLPLWVWRSV

1 Create an SFORCE, on the left piston/cylinder, described by an impact function to stop the
hatchback motion:
■ Use the two bodies method.
■ Use the existing markers, pis_impact (located on left_piston) and cyl_impact (located on
left_cylinder), as shown next.

cyl_impact pis_impact

left_cylinder 25mm
left_piston trigger distance

Tip: Make sure that you select the parts and markers in the same order. If you select the
piston to be the action body, and the cylinder to be the reaction body, you should use
the same order when selecting the action point (pis_impact) and the reaction point
(cyl_impact).

242 Hatchback I
:RUNVKRS³+DWFKEDFN,
2 Modify the SFORCE and use the Function Builder to create a one-sided impact function.
The impact functions are located in the Contact category in the Function Builder.
■ The displacement parameter is equal to the magnitude of the distance between the
markers, pis_impact and cyl_impact (use the DM function).
■ The velocity parameter is equal to the velocity along the line of sight between the
markers, pis_impact and cyl_impact (use the VR function).

Note: Do not enter units into the Function Builder.

■ Stiffness Coefficient: 1e5 (N/mm)

■ Stiffness Force Exponent: 1.01

■ Damping Coefficient: 100 (N-sec/mm)

■ Trigger for Displacement Variable: 25 mm

■ Damping Ramp-up Distance: 1e-3 mm

3 While still in the Function Builder, verify the function to make sure that the syntax is
correct.
The function should look as shown next:

Note: This syntax reflects the cylinder as the action part. If you chose the piston as the
reaction part, the syntax should be opposite.

Hatchback I 243
:RUNVKRS³+DWFKEDFN,
4 Create another SFORCE, on the right piston/cylinder, described by an impact function to
stop the hatchback motion:
■ Use the two bodies method.
■ Use the existing markers, pis_impact (located on right_piston) and cyl_impact (located on
right_cylinder).

Tip: Make sure that you select the parts and markers in the same order. If you select the
piston to be the action part, and the cylinder to be the reaction part, you should use
the same order in the force definition.

5 Modify the SFORCE and use the Function Builder to create a one-sided impact function.
The impact functions are located in the Contact category in the Function Builder.
■ The displacement parameter is equal to the magnitude of the distance between the
markers, pis_impact and cyl_impact (use the DM function).
■ The velocity parameter is equal to the velocity along the line of sight between the
markers, pis_impact and cyl_impact (use the VR function).
■ Stiffness Coefficient: 1e5 (N/mm)

■ Stiffness Force Exponent: 1.01

■ Damping Coefficient: 100 (N-sec/mm)

■ Trigger for Displacement Variable: 25 mm

■ Damping Ramp-up Distance: 1e-3 mm

244 Hatchback I
:RUNVKRS³+DWFKEDFN,
6 While still in the Function Builder, verify the function to make sure that the syntax is
correct.
The function should look as shown next:

Note: This syntax reflects the piston as the action part. If you chose the cylinder as the
action part, the syntax should be opposite.

6HOHFWLQJSDUDPHWHUVIRUDUHDOOLIHPRGHO
For information on how to select parameters for a real-life model, see the following Knowledge
Base articles:
■ Modeling Impact: http://support.adams.com/kb/faq.asp?ID=8230
■ Suggestions for debugging your IMPACT function:
http://support.adams.com/kb/faq.asp?ID=7301

■ Example of using Hertzian Contact Theory to estimate contact stiffness:

http://support.adams.com/kb/faq.asp?ID=8470

■ Ballpark values for 3D automated contact between various materials:

http://support.adams.com/kb/faq.asp?ID=9629

Hatchback I 245
:RUNVKRS³+DWFKEDFN,
6LPXODWHWKHPRGHO
Simulate the model to make sure that the hatchback opens and stops at a reasonable angle.

6DYH\RXUZRUN
7RVDYH\RXUZRUN

1 Save your model.

If you want to further explore the model, as suggested in the next section, leave the model
open. Otherwise, proceed with the next step.
2 Exit ADAMS/View.

0RGXOHUHYLHZ
1 Are there any limitations to the trigger distance used in an IMPACT function? In other
words, can you choose any value?

2 Could you use the IMPACT function to represent a hardening

compression-only spring?

246 Hatchback I
 +$7&+%$&N,,

Find the approximate maximum force at the winglet required to close the lid
in three seconds, for the given Mazda MX-6 hatchback model.

lid

left_cylinder

left_shortarm left_piston

left_longarm

ground

:KDW·VLQWKLVPRGXOH
■ STEP Function, 248

■ Scripted Simulations, 249

■ ADAMS/Solver Commands, 250

■ Workshop 18—Hatchback II, 251

◆ Module review, 256

247
67(3)XQFWLRQ
'HILQLWLRQRID67(3IXQFWLRQ
■ 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.

6\QWD[IRU67(3IXQFWLRQ
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

([DPSOH
STEP (time,1,5,3,10)

Time

For more information, see STEP, on page 414 in the guide, Using the ADAMS/View
Function Builder.

248 Hatchback II

Draw the example given here on the board and highlight the relationship between q1 and f1 and between q2 and f2.
6FULSWHG6LPXODWLRQV
,Q$'$069LHZWKHUHDUHWZRZD\VWRUXQDVLPXODWLRQ
■ Scripted
■ Interactive

6LPXODWLRQVFULSWV
■ 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.

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■ Simple run
■ ADAMS/View commands

■ ADAMS/Solver commands

For more information, see About Simulation Scripts, on page 112 in the guide,
Simulating Models in ADAMS/View.

Hatchback II 249

Demonstrate:
Æ Æ
Create a script (Simulate Simulation Script New). Use the Append ACF menu on the Create Simulation Script dialog
box.
Æ
Run a Scripted Simulation (Simulate Scripted Controls).
$'$066ROYHU&RPPDQGV
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■ 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.
■ 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

Before: After:

250 Hatchback II
:RUNVKRS³+DWFKEDFN,,
3UREOHPVWDWHPHQW
Find the approximate maximum force at the winglet required to close the lid in three seconds,
for the given Mazda MX-6 hatchback model.

lid

left_cylinder

left_shortarm left_piston

left_longarm
ground

0RGHOGHVFULSWLRQ
In this workshop, you will use the model you built in Hatchback I, on page 235.

6WDUWWKHZRUNVKRS
7RVWDUWWKHZRUNVKRS

1 Start ADAMS/View from the directory exercise_dir/mod_18_hatchback_2.

2 From the directory exercise_dir/mod_17_hatchback_1, import the model that you created in
the previous module.
If you need a copy of the model, import the command file hatchback_1_completed.cmd
from the directory exercise_dir/mod_17_hatchback_1/completed.

Hatchback II 251

Review problem statement.

Quiz the students about the steps needed to complete this workshop.
:RUNVKRS³+DWFKEDFN,,
'HWHUPLQHVWHDG\VWDWHURWDWLRQRIOHIWBVKRUWDUP
7RPHDVXUHWKHURWDWLRQRIWKHOLG

1 Right-click l_shortarm_rev joint and create a measure, named shortarm_rotation, of the

rotational displacement:
■ Characteristic: Ax/Ay/Az Projected Rotation

■ Component: Z

■ From/At: .ground.MAR_7
2 Run a 5-second, 50-step simulation.
3 In ADAMS/PostProcessor, plot the shortarm_rotation versus time.

4 From the shortarm_rotation plot, use the Plot Tracking tool to determine the steady-state
angle of the left_shortarm.

&ORVHWKHOLG
Currently the lid opens because of the preload in the springs and stops opening because of the
impact forces.
To close the lid, you will rotate the left_shortarm part back to its original position, as shown
next. To rotate the left_shortarm, apply a joint motion to the left_shortarm_rev joint, as
explained next.

lid closing
lid

closing motion
on left_shortarm

lid closed

lid
lid
left_shortarm

252 Hatchback II
:RUNVKRS³+DWFKEDFN,,
7RFUHDWHDPRWLRQWRFORVHWKHOLG

1 Create a joint motion on the joint l_shortarm_rev, named closing_motion.

2 Use a STEP function to modify the motion to drive the lid back to its closed position:
■ Start the STEP function at the steady-state rotation (determined in step 4 on
page 252) of the left_shortarm at 4 seconds.

■ End the STEP function at 0o rotation of the left_shortarm at 7 seconds.

Steady state
opening angle Rotational motion

motion deactivated step

Steady state time

■ The function should look as shown next:

STEP(time, 4.0, 96.07d, 7.0, 0.0d)

3HUIRUPDVFULSWHGVLPXODWLRQ
In this section, you’ll create a simulation script containing ADAMS/Solver commands that
deactivate the motion and run a simulation, then activate the motion and run a second
simulation.

7RFUHDWHWKHVFULSW

1 From the Simulate menu, point to Simulation Script, and then select New.
2 Name the script, script_1.
3 Set Script Type to ADAMS/Solver Commands.

Hatchback II 253
:RUNVKRS³+DWFKEDFN,,
4 Enter the following ADAMS/Solver commands:
DEACTIVATE/MOTION, id=1
SIMULATE/DYNAMIC, END=4, STEPS=40
ACTIVATE/MOTION, id=1
SIMULATE/KINEMATIC, END=7, STEPS=30
5 Select OK.

7RSHUIRUPDVFULSWHGVLPXODWLRQ

1 From the Simulate menu, select Scripted Controls.

2 Enter the name of the script that you created, script_1.
3 Select the Play tool.

0HDVXUHWKHWRUTXH
You now create a measure of the torque required to close the lid. You then deactivate this
measure because it is dependent on the motion that is deactivated when the scripted simulation
starts.

7RFUHDWHWKHPHDVXUH
■ Create a motion measure, named closing_torque_measure (right-click closing_motion
and then select Modify):
◆ Characteristic: Torque

◆ Component: Z

7RGHDFWLYDWHWKHPHDVXUH

1 By default, when you deactivate something using the Edit menu, ADAMS/View
deactivates anything that is currently in your Select list. Therefore, first clear your Select
list by selecting the Select tool, so you do not accidentaly deactivate something else in your
model.
2 From the Edit menu, select Deactivate.

254 Hatchback II
:RUNVKRS³+DWFKEDFN,,
,QVSHFWWKHPHDVXUH
7RLQVSHFWWKHWRUTXHPHDVXUH

1 In ADAMS/PostProcessor, plot torque in the motion versus time (the

closing_torque_measure).

Figure 3. Plot of Approximate Torque Required to Close the Lid

Nmm

sec
2 Edit the torque curve to find the approximate force required to lower the lid in three
seconds. To find this force, use the Scale a Curve tool to divide the motion torque by a
moment arm of 700 mm:
■ To display the Scale a Curve tool, from the View menu, point to Toolbars, and then select
Curve Edit Toolbars.
A new toolbar appears.

■ Select the Scale a Curve tool .

■ Set Scale to 1/700.

■ Follow the instructions in the Status bar to create the scaled curve.

Hatchback II 255
:RUNVKRS³+DWFKEDFN,,
3 To display only the force curve, delete the motion torque curve.
Figure 4. Plot of Approximate Force Required to Close the Lid

sec

4 Note the approximate maximum force required to close the lid. Use the value to answer
Question 1 in Module review, on page 256.

6DYH\RXUZRUN
7RVDYH\RXUZRUN
1 Save your model.
2 Exit ADAMS/View.

0RGXOHUHYLHZ
1 What is the approximate maximum force required to close the lid?

2 Is it possible to modify a force from one constant value to another instantaneously, such
as shutting off a motor’s torque?

3 Is it possible to use different output step sizes over different intervals by submitting an
interactive simulation?

256 Hatchback II
  +$7&+%$&N,,,

Use ADAMS/Solver to simulate the given Mazda MX-6 hatchback model.

lid

left_cylinder

left_shortarm left_piston

left_longarm

ground

:KDW·VLQWKLVPRGXOH
■ 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 19—Hatchback III, 271

◆ Module review, 278

257

It is important to learn how to use standalone ADAMS/Solver because in some cases it is quicker to simulate models in
standalone ADAMS/Solver with .adm files than it is to simulate in ADAMS/View.
$'$066ROYHU2YHUYLHZ
For more information, see the guide, Using ADAMS/Solver.
For more information, see Importing ADAMS/Solver Analysis Files, on page 25 in the
guide, Exchanging Data in ADAMS.

ADAMS/View

Integrated
ADAMS/Solver

Import Export

Analysis files Dataset

.out .gra .adm
.req .res

Output Input

Interactive
Input
Solver
commands

ADAMS/Solver
OR
ADAMS
Command file
Input
.acf
Output

Message file
.msg

258 Hatchback III

Identify each analysis file (.out, .gra, .req, .res, and .msg) and explain the differences.
)LOHVLQ$'$066ROYHU
$'$066ROYHUGDWDVHWILOHVDGP
■ 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 Working with ADAMS/Solver Datasets.

$'$066ROYHUFRPPDQGILOHVDFI
Commands define an action that needs to be taken during a simulation.

See also: ADAMS/Solver Commands, on page 250

For more information, see Creating an ADAMS/Solver Command File.

Hatchback III 259

Demonstrate:
Start ADAMS/Solver and use it as you go over this slide.
([DPSOHRIDQ$'$066ROYHU'DWDVHWDGP)LOH

Pendulum
!-------------------------------- SYSTEM UNITS --------------
UNITS/FORCE = NEWTON, MASS = KILOGRAM, ,LENGTH =
MILLIMETER, TIME = SECOND
!------STATEMENTS FROM ORIGINAL DATASET -----
!
MATERIAL/1, NAME = steel, YOUNGS_MODULUS = 2.07E+005,
, POISSONS_RATIO = 0.29
, DENSITY = 7.801E-006
!
PART/1, GROUND
!
MARKER/1, PART = 1
!
MARKER/5, PART = 1, QP = 175, -225, 0
!
PART/2, MASS = 70.94, CM = 3, IP = 2.01E+006, 1.80E+005
, 2.01E+006, MATERIAL = steel
!
MARKER/2, PART = 2, REULER = 37.87498365D, 90D, 0D
!
MARKER/3, PART = 2, QP = 175, -225, 0, REULER = 37.87498365D, 0D, 0D
!
MARKER/4, PART = 2
!
GRAPHICS/1, CYLINDER, CM = 2, LENGTH = 570.08, RADIUS = 71.26
!
JOINT/1, REVOLUTE, I = 4, J = 1
!
REQUEST/1, DISPLACEMENT, I = 3, J = 5, RM = 5
ACCGRAV/JGRAV = -9806.65
OUTPUT/REQSAVE, GRSAVE
RESULTS/
!
MOTION/1, ROTATIONAL, JOINT = 1, FUNCTION = 30.0d * time
!
END

260 Hatchback III

6WDQG$ORQH$'$066ROYHU
6LPXODWLRQVLQVWDQGDORQH$'$066ROYHU
■ 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.

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$'$069LHZ

Hatchback III 261

)RUPXODWLRQRIWKH(TXDWLRQVRI0RWLRQ
(XOHU/DJUDQJH(TXDWLRQV$'$06,PSOHPHQWDWLRQ

1RQOLQHDUV\VWHP1LQHGLIIHUHQWLDODQGDOJHEUDLFHTXDWLRQV
'$(·V
Equations of motion Unknowns

Force balance
{
Momenta

Kinematics
{
Constraints {

262 Hatchback III

([DPSOH'3HQGXOXP
'HVFULSWLRQ
■ 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 q.

Force balance equations

Momenta equations (only in θ)

Kinematic differential equations

Constraint equations

Hatchback III 263

([DPSOH'3HQGXOXP
8VHIXOIRUGHEXJJLQJPRGHOV

7ZRFRPSRQHQWV3UHGLFWRUDQG&RUUHFWRU
For more information, see Prediction, on page 229 and Correction, on page 230 in
the guide, Using ADAMS/Solver.

8VHV1HZWRQ5DSKVRQ0HWKRG

([DPSOH

As a first guess, set q = 2

The exact answer is q = 1.0

*OREDO(UURUH*
The difference between the current solution and
the true solution

/RFDO7UXQFDWLRQ(UURUH/
The error introduced in a single step

264 Hatchback III

3KDVHVRI6ROXWLRQ
7DVN

Solve the differential and algebraic equation:

3KDVH
Predict an initial solution

3KDVH
Correct the prediction

3KDVH
Evaluate quality of solution (accept solution)

3KDVH
Prepare for next step

Hatchback III 265

Illustrate each step of the process on the board. Use image from page 264 to help.
3KDVHVRI6ROXWLRQ
7DVN

Solve the differential and algebraic equation:

3KDVH
Predict an initial solution
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 G are not satisfied.
■ This is simply a good starting point for the next phase.

3KDVH
Correct the prediction

3KDVH
Evaluate quality of solution (accept solution)

3KDVH
Prepare for next step

266 Hatchback III

3KDVHVRI6ROXWLRQ
7DVN

Solve the differential and algebraic equation:

3KDVH
Predict an initial solution

3KDVH
Correct the prediction
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

3KDVH
Evaluate quality of solution (accept solution)

3KDVH
Prepare for next step

Hatchback III 267

3KDVHVRI6ROXWLRQ
7DVN

Solve the differential and algebraic equation:

3KDVH
Predict an initial solution

3KDVH
Correct the prediction

3KDVH
Evaluate quality of solution (accept solution)
Estimate local truncation error

if estimated < (εL)

Yes Æ Accept solution. Go to phase 4

No Æ Reject solution and repeat phase 1 and 2 with new step size

3KDVH
Prepare for next step

268 Hatchback III

3KDVHVRI6ROXWLRQ
7DVN

Solve the differential and algebraic equation:

3KDVH
Predict an initial solution

3KDVH
Correct the prediction

3KDVH
Evaluate quality of solution (accept solution)

3KDVH
Prepare for 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 new step

Hatchback III 269

'HEXJ(SULQW

Value of time at beginning of step

Running count of number of successful iterations taken
Order of polynomial used to predict solution
Step size taken
Corrector iterations taken

Predictor phase Corrector phase

For more information, see DEBUG, on page 88 in the guide, Using ADAMS/Solver.

270 Hatchback III

Run the completed model from Workshop 18—Hatchback II, on page 251 with the EPRINT turned on.
:RUNVKRS³+DWFKEDFN,,,
3UREOHPVWDWHPHQW
Use ADAMS/Solver to simulate the given Mazda MX-6 hatchback model.

lid

left_cylinder

left_shortarm left_piston

left_longarm
ground

0RGHOGHVFULSWLRQ
In this workshop, you use the model you saved in Workshop 18—Hatchback II, on page 251.

6WDUWWKHZRUNVKRS
7RVWDUWWKHZRUNVKRS

1 Start ADAMS/View from the directory exercise_dir/mod_19_hatchback_3.

2 From the directory exercise_dir/mod_18_hatchback_2, import the model that you created in
the previous module.
If you need a fresh copy of the model, import the command file
hatchback_2_completed.cmd from the directory exercise_dir/mod_18_hatchback_2/
completed.

Hatchback III 271

Review the problem statement and quiz the students on what steps they would take to solve it.
Ask for questions before letting them start.
You can simulate a model in ADAMS/Solver using two methods.
In this workshop, you will simulate interactively in ADAMS/Solver with a scripted simulation.
:RUNVKRS³+DWFKEDFN,,,
([SRUWDGDWDVHWDGPILOH
7RH[SRUWDGDWDVHWILOH

1 From the File menu, select Export.

2 Enter the following, and then select OK:
■ File Type: ADAMS/Solver Data Set

■ File Name: hatchback.adm

ADAMS/View exports this file to your current working directory, exercise_dir/

mod_19_hatchback_3.

&UHDWHDQ$'$06FRPPDQGILOHDFI
7RFUHDWHDQ$'$06FRPPDQGILOH

1 Open a text editor (UNIX: vi or Jot; Windows: Notepad or Wordpad), and create an
ADAMS/Solver command file (.acf) that contains the following commands:
hatchback.adm (the .adm extension is optional)
hatchback_test1
OUTPUT/NOSEPARATOR
DEACTIVATE/MOTION, id=1
SIMULATE/DYNAMIC, END=4, STEPS=40
ACTIVATE/MOTION, id=1
SIMULATE/KINEMATIC, END=7, STEPS=30
STOP
2 Save the file as hatchback.acf in your current working directory, exercise_dir/
mod_19_hatchback_3.

272 Hatchback III

:RUNVKRS³+DWFKEDFN,,,
3HUIRUPDVLPXODWLRQLQVWDQGDORQH$'$066ROYHU
To perform a simulation in stand-alone ADAMS/Solver, you use the ADAMS Program Menu,
a menu- and text-based interface that allows you to enter information on the command line.

7RSUHSDUHWRUXQ$'$066ROYHU

1 Depending on the platform you’re on, do the following:

■ Windows: From the Start menu, select Run and open a command window by typing in
cmd. Change directories to your working directory, exercise_dir/mod_19_hatchback_3.

Table 1. Common Windows Commands

change directory cd <directory_name>

change disks <drive_letter>:

(for example, C:)

list dir

■ UNIX: Open a UNIX shell and change directories to your working directory,
exercise_dir/mod_19_hatchback_3.

Table 2. Common UNIX Commands

change directory cd <directory_name>

list ls

list path pwd

2 Leave the window open because you will be running ADAMS/Solver from this window.

Hatchback III 273

:RUNVKRS³+DWFKEDFN,,,
7RSHUIRUPWKHVLPXODWLRQ

1 Perform a simulation in stand-alone ADAMS/Solver using the command file you just
created, hatchback.acf. Type the following commands in the window you just prepared:
◆ adamsxx -c (where xx is the version number; for example, ADAMS12)
(Displays the ADAMS Program Menu; -c is not needed on Windows.)

◆ ru-s (runs ADAMS/Solver with standard ADAMS executable.)

◆ i (Sets interactive mode - you may not need this step on Windows.)

◆ hatchback.acf (Identifies the .acf ADAMS/Solver file and runs the simulation.)

◆ exit (Exits ADAMS/Solver.)

Note: As common practice, you should open the message file (.msg) and search for
errors and warnings. Correct the model or the .acf file to eliminate the errors and
warnings.
2 Leave the window open because you will be using it again soon.

274 Hatchback III

:RUNVKRS³+DWFKEDFN,,,
0RGLI\WKHGDWDVHWDGPILOH
Now change the spring stiffness in the .adm.

7RFKDQJHWKHVSULQJVWLIIQHVV

1 In a text editor, open hatchback.adm.

2 Modify the value of spring stiffness (for both springs) to 0.30 N/mm.

3 Save the file as hatchback2.adm.

Hatchback III 275

:RUNVKRS³+DWFKEDFN,,,
0RGLI\WKH$'$06FRPPDQGILOHDFI
Modify the .acf to run with hatchback2.adm.

7RPRGLI\WKHDFI

1 In a text editor, open hatchback.acf.

2 Modify the first and second lines of the .acf file so they are:
hatchback2
hatchback_test2
3 Save the file as hatchback2.acf.

3HUIRUPDVLPXODWLRQLQVWDQGDORQH$'$066ROYHU
■ Using the new command file, perform a stand-alone ADAMS/Solver simulation.

&RPSDUHWKHUHVXOWVRIWKHWZRVLPXODWLRQVLQ$'$069LHZ
Import both sets of results (hatchback_test1 and hatchback_test2) into ADAMS/View, and then
compare them.

7RLPSRUWDQGFRPSDUHWKHUHVXOWV

1 In ADAMS/View, from the File menu, select Import.

2 To import the results for hatchback_test1, enter the following, and then select OK:
■ File Type: ADAMS/Solver Analysis (.req, .gra, .res)

■ File to Read: hatchback_test1.res

■ Model Name: hatchback

3 To import the results for hatchback_test2, repeat step 2 above to import the results,
hatchback_test1.res.
4 Display the Database Navigator.
5 Set the Filter type from Modeling to Analyses.
6 Double-click the hatchback model to make sure that the two analyses, hatchback_test1 and
hatchback_test2, are children of the model.

276 Hatchback III

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1 Launch ADAMS/PostProcessor.
2 From the Simulation list, select the two analyses, hatchback_test1 and hatchback_test2.
3 From the Measure list, select closing_torque_measure, and then select Add Curves.
4 Select the Scale a Curve tool to individually scale both curves by the moment arm
(1/700) (proceed just as you did in Inspect the measure, on page 255).
5 Delete the old curves.

6 Use the Subtract one curve from another tool to find the approximate difference between
the maximum force values. Use this value to answer question 2 in Module review, on
page 278.
7 Save your model.
If you want to further explore the model, as suggested in the next section, leave the model
open. Otherwise, proceed with the next step.
8 Exit ADAMS/View.

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1 Simulate interactively but without a script (no .acf file).

2 In a UNIX shell, enter the following commands, where xx is the current version of
ADAMS:
■ adamsxx -c
■ ru-standard
■ i
■ <CR> (Because you do not have an ADAMS/Solver command file (.acf), press the
enter key).
ADAMS/Solver starts.

Hatchback III 277

:RUNVKRS³+DWFKEDFN,,,
3 In ADAMS/Solver, enter:
■ hatchback (the name of your ADAMS Dataset (.adm) file)

■ hatchback_test3 (the desired output file names .gra, .res, .out, and so on)
ADAMS/Solver reads in the file and performs the assemble simulation.
4 At the ADAMS command prompt, enter commands one at a time in the same order in
which they appear in the .acf file.
5 After entering all the commands, exit ADAMS/Solver and import your results into
ADAMS/View so you can inspect them using animations and plotting.

0RGXOHUHYLHZ
1 What is the difference between a statement and a command?

2 What is the maximum force difference between the two tests (hatchback_test1 and
hatchback_test2) you performed?

278 Hatchback III

  +$7&+%$&N,9

In Workshop 19—Hatchback III, on page 271, you determined the approximate

force needed to close the lid. Now you are part of a group of design engineers
for the Mazda MX-6 hatchback. Your goal is to make the model more realistic
and ensure that it meets the following criteria:
■ Lid opens completely in less than 4 seconds.
■ Requires less than 210 N to close the lid.
■ Takes no more than 3.0 sec to close the lid.

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■ Sensors, 280

■ Design Variables, 281

■ Workshop 20—Hatchback IV, 282

◆ Module review, 287

279

■ Ask students to separate into groups when working

through this workshop.
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■ 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.
■ A sensor basically represents an If/Then statement:
If quantity = value (+/- tolerance)
Then take a specified action

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■ 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.

For more information, see About Sensors, on page 72 in the guide, Simulating
Models in ADAMS/View.

280 Hatchback IV

Demonstrate:
Use a sensor to stop a simulation
'HVLJQ9DULDEOHV
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■ 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.

([DPSOH
You can create a design variable called cylinder_length to control the lengths of all three
cylinders as shown next:

Cylinder_length

Cylinder_length

Cylinder_length
Cylinder_length = 150
Cylinder_length

Cylinder_length

Cylinder_length

Cylinder_length = 300

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—Target Practice, on
page 315.

For more information, see Using Design Variables, on page 28 in the guide, Refining
Model Designs in ADAMS/View.

Hatchback IV 281

Demonstrate:
Create a design variable (Build Æ Design Variable).
:RUNVKRS³+DWFKEDFN,9
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In Workshop 19—Hatchback III, on page 271, you determined the approximate force needed to
close the lid. Now you are part of a group of design engineers for the Mazda MX-6 hatchback.
Your goal is to make the model more realistic and ensure that it meets the following criteria:
■ Lid opens completely in less than 4 seconds.
■ Requires less than 210 N to close the lid.
■ Takes no more than 3.0 sec to close the lid.

6WDUWWKHZRUNVKRS
In this workshop, you use the model you saved in Workshop 19—Hatchback III, on page 271.

7RVWDUWWKHZRUNVKRS

1 Start ADAMS/View from the directory exercise_dir/mod_20_hatchback_4.

2 From the directory exercise_dir/mod_19_hatchback_3/completed, import the command file
named hatchback_3_completed.cmd.

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In Workshop 19—Hatchback III, on page 271, you used a motion to close the lid. In this section,
to make this model more realistic, you will deactivate that motion and replace it with a
perpendicular force to close the lid.

7RGHDFWLYDWHWKHPRWLRQ
■ Deactivate the motion closing_motion located on the revolute joint l_shortarm_rev.

282 Hatchback IV

Quiz students about the steps needed to complete this workshop.

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1 Create an SFORCE ( ) located at the marker, sforce_ref, at the tip of the lid:

■ Run-time Direction: Body Moving

■ Action body: lid

■ Location: sforce_ref

■ Direction: global y
2 Modify the SFORCE function to be equal to the following STEP function: STEP(time, 4, 0,
4.2, -247).

Note: 247 N is the approximate force needed to close the lid, as you calculated in
Workshop 19—Hatchback III, on page 271.
3 Run a 7-second, 100-step simulation to verify that the force closes the lid. Because you’re
not activating or deactivating any motions during the simulation, you can run a simple
interactive simulation.

Note: When using an SFORCE, there is no constraint stopping the rotation of the lid
beyond the closed position.
You will see that this approximate force is not large enough to close the lid.
4 Modify the STEP function that defines the SFORCE to have a maximum value of 300 N:
STEP(time, 4, 0, 4.2, -300).

Hatchback IV 283
:RUNVKRS³+DWFKEDFN,9
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Add a sensor to stop the lid at the closed position.

7RDGGDVHQVRU

1 Create a sensor based on the measure, short_arm_rotation:

■ From the Simulation menu, point to Sensor, and then select New.
■ Fill in the dialog box as follows:

2 Run another simulation to verify that the sensor works as expected.

Why does the sensor stop the simulation when the lid doesn’t appear to be fully closed?
_______________________________________________________________________
_______________________________________________________________________

284 Hatchback IV

Be sure that the sensor is tracking the results as angular values.

Answer: The simulation stops because the output step is large and the zero angle position (fully closed) occurs
between output steps. The sensor is triggered at the last output step before the < zero criteria.
:RUNVKRS³+DWFKEDFN,9
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Because the force required to close the lid is greater that the design criteria, you will modify the
spring preload and stiffness for each spring.

7RPRGLI\WKHSUHORDG
1 Modify the preload to be equal to 400 N.
2 Run a simulation.
The sensor was triggered at time 3.5e-3, meaning that instead of having the hatchback open,
it dropped past the closing position because the springs were not strong enough to open the
lid.
3 Modify the preload again to be 470 N.
7RPRGLI\WKHVWLIIQHVV

1 Modify the stiffness to be .10 N/mm.

2 Modify the STEP function to have a maximum value of 260 N: STEP(time, 4, 0, 4.2, -260).
3 Run a simulation.
While the springs now open the lid, the closing force is still too large.

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Creating design variables in your model will help to speed up the design iteration process.
7RFUHDWHGHVLJQYDULDEOHV

1 From the Build menu, point to Design Variable, and then select New.
2 Create three design variables as follows:

Standard Value Range By:

Name: Units:
Value: Min. Value Max. Value

preload force 460 300 600

stiffness stiffness .21578 .1 .5
damping damping 2 .5 4

Hatchback IV 285
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7RPRGLI\GHVLJQYDULDEOHV

1 Modify the left spring as follows:

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FOLFNWKHDSSURSULDWHGHVLJQYDULDEOH

2 Repeat step 1 for the right spring.

2SWLPL]HGHVLJQ
Modify the SFORCE and the design variables to satisfy design criteria. To verify the
parameters, simulate the model between the changes.

7RRSWLPL]HWKHGHVLJQ

1 Modify the SFORCE to be equal to the design criteria (maximum force of 210 N).
2 Modify the standard value of the design variables until the lid opens and closes as
required (Build Æ Design Variables Æ Modify).

Note: There could be many parameter combinations that would meet the design criteria.
The minimum and maximum values for the design variable will help you find a
set of values that meet the requirements.
3 Save the model and exit ADAMS/View.

286 Hatchback IV

Meet requirements, for example: preload = 480, stiffness = 0.083, damping = 0.67.
:RUNVKRS³+DWFKEDFN,9
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1 Which parameters were most sensitive to meeting the design criteria?

2 How did the design variables help to speed the iteration process?

Hatchback IV 287
:RUNVKRS³+DWFKEDFN,9

288 Hatchback IV
 &$052&N(59$/9(

Design a cam profile based on desired valve displacement, and ensure that
there is no follower liftoff when the cam is rotated at 3000 rpm.

Rocker

Spring
Rod

Guide (ground)

Cam Valve

Valve displacement
(mm)

Time (sec)

:KDW·VLQWKLVPRGXOH
■ Splines from Traces, 290

■ Curve Constraints, 291

■ Automated Contact Forces, 292

■ Flexible Parts—ADAMS/AutoFlex, 294

■ Workshop 21—Cam-Rocker-Valve, 295

◆ Module review, 308

289
6SOLQHVIURP7UDFHV
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■ 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.

For more information, see Creating Spline Geometry, on page 79 in the guide,
Building Models in ADAMS/View.

290 Cam-Rocker-Valve

Demonstrate:
Open the model you will use in this module.
Æ
Create a point trace on the model (Review Create Trace Spline).
&XUYH&RQVWUDLQWV
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■ Point-on-curve
■ Curve-on-curve

For more information, see Working with Higher-Pair Constraints, on page 184 in the
guide, Building Models in ADAMS/View.

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■ 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.

Note: Curve-on-curve constraints do not allow lift off.

See also: DOF removed by curve constraints, on page 364

Cam-Rocker-Valve 291

Demonstrate: Create a curve-to-curve constraint and simulate the model noting the no-lift criteria.
$XWRPDWHG&RQWDFW)RUFHV
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■ Are 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.

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circle-to-plane sphere-to-plane

circle-in-circle
solid-to-solid

circle-to-circle
point-to-plane

point-to-curve circle-to-curve

curve-to-curve curve-to-plane

For more information, see Working with Contact Forces, on page 299 in the guide,
Building Models in ADAMS/View.

292 Cam-Rocker-Valve

Demonstrate:
Replace the curve-curve constraint from the last demonstration with a contact force.
Notes:
Review the button that switches the side of the curve that the force uses.
Review the contact array and its fields.
$XWRPDWHG&RQWDFW)RUFHV
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■ Circle-to-curve
■ Point-to-curve The xy planes of the two reference
■ Curve-to-curve markers must be parallel.

■ Sphere-to-plane The z-axis of the reference marker

■ Circle-to-plane (normal to the plane) must point away
from the plane and at the circle or sphere.

Cam-Rocker-Valve 293
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■ The flexible component is the focus of your attention.
■ Basically asking the question: "What is the system doing to my flexible component?"

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■ 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?"

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PXOWLSOHLWHUDWLRQVRIWKHIOH[LEOHERG\

To run through a workshop, see the ADAMS/Autoflex Training Guide.

For more information, see the guide, Using ADAMS/AutoFlex to Automatically
Generate Flexible Bodies.

294 Cam-Rocker-Valve
:RUNVKRS³&DP5RFNHU9DOYH

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Design a cam profile based on desired valve displacement, and ensure that there is no follower
liftoff when the cam is rotated at 3000 rpm.

Rocker

Spring
Rod

Guide (ground)

Cam Valve

Valve displacement
(mm)

Time (sec)

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■ The model represents a valvetrain mechanism.
■ The cam is being rotated at a velocity of 1 rotation per second.
■ The rocker pivots about a pin attached to the engine block (ground).
■ The valve displaces up and down as the rocker moves.
■ When the valve moves, it lets small amounts of air in the chamber below it (not
modeled here).

Note: At the location of the translational joint, between the valve and ground, the
model includes a spherical dummy part. You will use this dummy part when
you make the valve a flexible part. This dummy part will not affect the rigid
body dynamics.

Cam-Rocker-Valve 295

Review the problem statement and quiz them on what steps they would take to solve it.
Before they start, ask for questions.
:RUNVKRS³&DP5RFNHU9DOYH
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1 Open ADAMS/View from the directory exercise_dir/mod_21_camrocker.

2 From the directory exercise_dir/mod_21_camrocker/valve_train_start.cmd, import the model
command file valve_train_start.cmd.
The file contains a model named valve_train.

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7RDSSO\PRWLRQ

1 Use the Translational Joint Motion tool to add a motion to the joint, Valve_Ground_Jt, such
that its displacement appears as shown next:
Add two STEP functions.
13
0

0
-13
0.4 0.6 0.6 0.8

13

0
0.4 0.6 0.8

Tip: The functions should look as follows: STEP(time, .4, 0,.6,13)+ STEP(time,.6,0,.8,-13).

2 Run a 1-second, 100-step simulation to verify that the valve displaces as a result of the
joint motion.

296 Cam-Rocker-Valve
:RUNVKRS³&DP5RFNHU9DOYH
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Use a point trace to create a cam profile.

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1 From the Review menu, select Create Trace Spline.

2 Select the marker on the rod (ref_marker) and then the part named cam.
3 Verify that you now have a spline representing the cam profile.

ref_marker

cam profile

cam

4 Run a simulation to verify that the Rod appears to move along the surface of the Cam.

Cam-Rocker-Valve 297
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1 Delete the joint motion on the joint, Valve_Ground_Jt.

2 Use the Curve-Curve Constraint tool to create a curve-on-curve constraint between the
circle on the Rod and the cam profile on the Cam.

CIRCLE_1

GCURVE_171

3 Run a simulation to verify that the new constraint works.

298 Cam-Rocker-Valve
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■ Create a force measure for the curve-on-curve constraint (right-click the constraint
and then select Measure). Measure the force along the z-axis of ref_marker, which
belongs to the rod:
◆ Characteristic: Force

◆ Component: Z

◆ Represent coordinates in: ref_marker

The curve-on-curve constraint applies a negative force that keeps the rod follower on
the cam, avoiding any liftoff.

Cam-Rocker-Valve 299
:RUNVKRS³&DP5RFNHU9DOYH
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Now you’ll replace the curve-on-curve constraint with a curve-to-curve contact force.

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1 Deactivate the curve-on-curve constraint you created in step 2 on page 298.

2 From the Main Toolbox, right-click the Create Forces toolstack, and then select the Contact
tool .
3 Use the following contact parameters:
■ Contact Name: rod_cam_contact
■ Contact Type: Curve to Curve
■ First Curve: CIRCLE_1
■ Second Curve: GCURVE_171

■ Use the Change Direction tool to make sure that the normal arrows point outward
from the curves, as shown next:

■ Normal Force: Impact

■ Stiffness (K): 1e6 (N/mm)
■ Force Exponent (e): 1.5
■ Damping (C): 10 (N-sec/mm)

■ Penetration Depth (d): 1e-3 mm

300 Cam-Rocker-Valve
:RUNVKRS³&DP5RFNHU9DOYH
■ Friction Force: Coulomb

■ Coulomb Friction: On

■ Static Coefficient (µs): 0.08

■ Dynamic Coefficient (µd): 0.05

■ Stiction Transition Vel. (vs): 1 (mm/sec)

■ Friction Transition Vel. (vt): 2 (mm/sec)

4 Run a simulation to check if liftoff occurs.

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7RSUHYHQWOLIWRII

1 Add a marker on the valve at the location, Valve_Point.

2 Add a spring damper between the marker you just created and the point, Ground_Point
(which is a point on ground, at the top of Guide) using the following parameters:
■ Stiffness (K): 20 (N/mm)
■ Damping (C): 0.002 (N-sec/mm)
■ Preload: 100 N
3 Find the static equilibrium of the model.
Do not reset the model before going on to the next step.
4 Run a dynamic simulation to view the effects of the spring starting from static
equilibrium.
5 Modify the rotational motion on the cam to a speed of 3000 rpm. Enter the function as
follows: (-50*360d*time).
6 To view only one rotation of the cam, run a static equilibrium followed by a dynamic
simulation for end=1/50 seconds, steps=100. An easy way to run this simulation sequence is
to create a simulation script.

Cam-Rocker-Valve 301

There are many combinations of parameters that will prevent liftoff. One set that works is:
K = 100N/mm
C = 2e-3
l0 = default length
F0 = 300N
:RUNVKRS³&DP5RFNHU9DOYH
7 Measure the contact force (Build Æ Measure Æ Function Æ New).
■ Category: Force in Object

Note: Make sure the function looks as shown next:

8 Modify the spring-damper characteristics (stiffness, damping, and preload) to prevent

liftoff based on the new rotational speed of the cam.
9 Save the model.

302 Cam-Rocker-Valve
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■ From the Tools menu, point to Plugins, point to AutoFlex, and then select Load.

7RFUHDWHWKHPHVK
1 From the Build menu, point to Flexible Bodies, and then select ADAMS/AutoFlex.
■ FlexBody Type: Solid

■ Part to be meshed: valve

■ Element Type: Solid Tetra

■ Element Specification: Size

■ Element Size: 10 mm

■ Number of Modes: 10

■ Element Order: Parabolic

■ Leave all other options at their default settings.

■ Select Mesh preview.

Cam-Rocker-Valve 303
:RUNVKRS³&DP5RFNHU9DOYH
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1 Left-click the first row under Coordinate Reference.

2 Select Pick coord. reference.
3 In your model, right-click near Valve_Point (shown in Figure 5).
4 From the Select list, select Valve_Point.
5 Set Selection type to Spherical.
6 Set Radius to 5 mm.
7 Select Transfer IDs.

304 Cam-Rocker-Valve
:RUNVKRS³&DP5RFNHU9DOYH
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1 Select Append.
2 Left-click the second row under Coordinate Reference.
3 Select Pick coord. reference.
4 In your model, right-click near joint_ref_point (shown in Figure 5).
5 From the Select list, select joint_ref_point.
6 Repeat steps 5 through 7 for this attachment point.
7 Select OK.
Figure 5. Attachment Points

Valve_Point

joint_ref_point

Cam-Rocker-Valve 305
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1 Right-click the fixed joint, dummy_fixed, and then select Modify.

2 Modify the action part to reference the new flexible body (Second Body: valve_flex).

7RUHSODFHWKHVSULQJ

1 Delete the spring you created in Prevent liftoff using a spring damper, on page 301.
2 Add a spring damper between the marker, INT_NODE_7765, and the point, Ground_Point,
using the parameters you determined in step 8, on page 302.
If you were unable to find the parameters that prevent liftoff, use the following parameters:
■ K: 100N/mm

■ C: 2e-3

■ Preload: 300N

7RYHULI\WKDWWKHULJLGSDUWLVDIUHHERG\

1 Display the Database Navigator.

2 Set the option menu at the top to Graphical Topology.
3 Double-click valve_train.
4 Select valve.
The valve should not be attached to any other part. If the valve is attached to any parts, take
corrective measures.

7RGHDFWLYDWHWKHULJLGYDOYHSDUW
■ Deactivate the valve part.

306 Cam-Rocker-Valve
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1 To view only one rotation of the cam, run a static equilibrium followed by a dynamic
simulation for end=1/50 seconds, steps=100.
2 Use ADAMS/PostProcessor to investigate how the flexible body affects the model.
Does liftoff occur in the model now? ________________

6DYH\RXUZRUN
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1 Save the model.

If you want to further explore the model, as suggested in the next section, leave the model
open. Otherwise, proceed with the next step.
2 Exit ADAMS/View.

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&KDQJHWKHVKDSHRIWKHIROORZHU

1 Delete the circle-to-curve contact force between the Rod circle and the Cam curve.
2 Add a spline to the Rod that is a shape other than a circle and use that as the follower.
Change the grid spacing to 5mm in the x and y directions and draw the new follower
geometry on the grid.
3 Recreate the contact force between the Rod and the Cam using the new spline as the
follower.
Use a curve-to-curve contact force.

Cam-Rocker-Valve 307
:RUNVKRS³&DP5RFNHU9DOYH
0RGXOHUHYLHZ
1 How many DOF are removed by adding a curve-on-curve constraint?

2 How many DOF are removed by a curve-to-curve force?

308 Cam-Rocker-Valve
 7$5*(735$&7,&(

Complete the construction of a parametric gun and find the launch-spring

stiffness that will allow the marbles to hit the target.

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■ Multi-Component Forces, 310

■ Design Studies, 312

■ Workshop 22—Target Practice, 315

◆ Module review, 326

309
0XOWL&RPSRQHQW)RUFHV
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■ Vector force (three translational components)
■ Vector torque (three rotational components)
■ General force vector (three translational, three rotational components)

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The characteristic: Defines:

Bodies Two

Points of application Two (action force at I marker and reaction force at

floating J marker)

Vector components Three translational

Orientations Based on reference marker (R marker)

Magnitudes (Fx, Fy, Fz) User-defined

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.

For more information, see Constructing Multi-Component Forces, on page 242 in the
guide, Building Models in ADAMS/View.

310 Target Practice

0XOWL&RPSRQHQW)RUFHV
([DPSOHRIDIRUFHYHFWRU
■ A vector force representing a contact between a ball and a cantilever:

I marker I marker belongs to part A

A J marker belongs to part B but

J marker
floats its location with the I
marker
R marker
B
R marker belongs to part B

■ 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, on page 365

Target Practice 311

Question:
Why is it easier to use a force vector than using single-component forces?
Demonstrate to answer question:
Use the link on this slide to go to the Forces table, and enter the appropriate information about the multi-component
forces.
Build the model shown in the example on this slide to demonstrate force vectors.
Demonstrate solid-to-solid contacts using the model files in the contact_demo subdirectory under bfs_exercises.
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Model
■ Parts Simulate View results
■ Joints
■ Forces

Is the
Loop is repeated design Yes
several times optimal?

Manually change No Completed

the variable

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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)

For more information, see Running Parametric Analyses, on page 53 in the guide,
Refining Model Designs in ADAMS/View.

312 Target Practice

Demonstrate:
Æ
Set up and run a design study (Simulate Design Study).
Demonstrate:
Use the example on the next page to explain the importance of the floating J-marker and the reference marker.
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■ Varies a single design variable (V) across a range of values.
■ Runs a simulation at each value.
■ Reports the performance measure for each simulation.

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■ 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).

Target Practice 313

'HVLJQ6WXGLHV
6HQVLWLYLW\6DWLWHUDWLRQL

1 O i + 1 – O O i – O i – 1
S i = ---  -----------------------i + ----------------------
-
2  V i + 1 – V i V i – Vi – 1 

■ Looking at Trial 4 (i = 4):

1 ( – 0.62784 ) – 0.017103 ( – 0.017103 ) – 0.58166

S 4 = ---  ----------------------------------------------------- + --------------------------------------------------------
2 10.7 – 10.6 10.6 – 10.5 
S4 = -6.0475

■ S4 is the approximate slope at Trial 4 (tip_y_loc=10.6) in the plot.

Design Study Summary

Model Name : stamp

Date Run : 15:48:55 23-Dec-98

Objectives

O1) Minimum of stamp_height

Units : inch
Maximum Value: 1.48945 (trial 1)
Minimum Value: -0.627838 (trial 5)

Design Variables

V1) tip_Y_loc
Units : inch

Trial stamp_height tip_Y_loc Sensitivity

1 1.4894 10.300 -3.6131

2 1.1281 10.400 -4.5389
3 0.58166 10.500 -5.7262
4 -0.017103 10.600 -6.0475
5 -0.62784 10.700 -6.1073

314 Target Practice

Don’t cover this slide in detail. It is for future reference.

:RUNVKRS³7DUJHW3UDFWLFH

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Complete the construction of a parametric gun and find the launch-spring stiffness that will
allow the marbles to hit the target.

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■ Currently, the model has all the geometry, parts, and constraints it needs.
■ There is a multi-component force between the marble and the launch pad that
represents the contact between those two objects (including friction).
■ There is a single-component force representing the spring force between the hammer
and the launch pad.
■ The single-component force is designed so that it changes characteristics depending
on the type of simulation being run (static versus dynamic):
◆ If a static simulation is run, the spring has a free length of 40 mm.
◆ If a dynamic simulation is run, the spring has a free length of 100 mm.
■ Therefore, initially run a static simulation, so the marble falls on the hammer and
compresses the spring a little. Then when you run a dynamic simulation, the spring
thinks it is compressed a great deal, and shoots the marble.
■ The model is already parameterized with variables describing the elevation angle of
the launch pad and the stiffness and damping of the spring.
■ You will only modify the stiffness of the spring.
■ Initially, the spring stiffness is 20 N/mm.

Target Practice 315

Quiz the students about the steps needed to complete this workshop.
:RUNVKRS³7DUJHW3UDFWLFH
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Import the file to build the model target_practice.

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1 Start ADAMS/View from the directory exercise_dir/mod_21_target_practice_1.

2 Import the model command file target_practice_start.cmd.

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7RFUHDWHDFRQWDFW

1 Run a simulation to see the forces that affect the model in its current configuration.
2 Create a marker on the hammer to represent the plane in the sphere-to-plane contact force
that you will create next. Orient the z-axis of this marker so it points toward the center of
mass of the ball.
■ Add to Part: hammer

■ Orientation: Z-Axis (orient the z-axis along the x-axis of the cm marker of the marble)

■ In your model, right-click at the face of the hammer, and then select hammer.CYL10.E1
(center). Note that hammer.CYL10.E1 (center) is a place-holder that represents the
geometry, and is only accessible when prompted for a location.

316 Target Practice

:RUNVKRS³7DUJHW3UDFWLFH
3 Orient the working grid along the XY-plane of the new marker, aligned with the face of
the hammer (Settings Æ Working Grid)
■ Set Location: Pick (from your model, select the marker you just created, MARKER_46)

■ Set Orientation: X-Y-axes (first select the x- and then the y-axis of MARKER_46, as
prompted in the Status bar)

Target Practice 317

:RUNVKRS³7DUJHW3UDFWLFH
4 Adjust the view until the new working grid’s xy-plane encompasses the window, as
shown next.

Tip: Set the model to a Right view, then rotate the model down, and turn shading on.

5 Use the Plane tool to create a plane to be used in the contact definition:
■ Add to Part: hammer (right-click the sphere image and select hammer)

■ Left-click outside of the hammer face and drag across, covering the hammer face.
6 Reset the working grid to the default position:
■ Set Location: Global Origin

■ Set Orientation: Global XY

318 Target Practice

:RUNVKRS³7DUJHW3UDFWLFH

7 Create a sphere-to-plane contact force ( ) that represents the contact between the
marble and the hammer:
■ Contact type: Sphere-to-Plane

■ Sphere: ELL3

■ Plane: PLANE_36

■ Stiffness: 100 (N/mm)

■ Force Exponent: 1.01

■ Damping: 1.0 (N-sec/mm)

■ Penetration Depth: 0.2 mm

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7RFUHDWHDQRWKHUFRQWDFW

1 Create a solid-to-solid contact force ( ) that represents the contact between the marble
and the launch pad:
■ Contact type: Solid-to-Solid

■ First Solid: ELL3

■ Second Solid: CSG_35

■ Stiffness: 100 (N/mm)
■ Force Exponent: 1.01
■ Damping: 1.0 (N-sec/mm)
■ Penetration Depth: 0.2 mm

■ Friction Force: Coulomb

■ Static Coefficient: 0.3

■ Dynamic Coefficient: 0.1

■ Stiction Transition Vel.: 50

■ Friction Transition Vel.: 200

Target Practice 319

:RUNVKRS³7DUJHW3UDFWLFH
6LPXODWLQJWKHPRGHO
The marble is not initially in contact with the hammer; therefore, you must precede each
dynamic simulation that you submit with a static equilibrium simulation.

Launch pad

Marble
Hammer

Launch spring

7RVLPXODWHWKHPRGHO

1 Using ADAMS/Solver commands, create a script that performs a static equilibrium

simulation followed by a dynamic simulation:
SIMULATE/STATIC
SIMULATE/DYNAMIC, END=1.0, STEPS=100
The script will make running simulations easier and will be needed for the design study
later.
2 Create a measure, named x_displacement, of the marble’s global x displacement (right-
click the marble and select Measure):
■ Characteristic: CM position

■ Component: X

■ From/At: ground
3 Run a simulation.

4 Save the simulation results ( ) as no_aero.

320 Target Practice

:RUNVKRS³7DUJHW3UDFWLFH
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7RLQFOXGHDHURG\QDPLFIRUFH

1 Create a multi-component force ( ) between the marble and ground whose directions are
aligned with the global (Characteristic: Custom). Use the following parameters to describe
global x and y components of the drag force:
■ Fx = -1/2*ρ*Vx*Vm*Cd*A

■ Fy = -1/2*ρ*Vy*Vm*Cd*A
where:

■ ρ = 1.3e-9 kg/mm3 = density of air

■ Vx = global x component of the marble’s velocity

■ Vy = global y component of the marble’s velocity

■ Vm = magnitude of the marble’s velocity

■ Cd = 0.45 = drag coefficient

■ A = πr2 = two-dimensional area of the marble face

2 Select the Function Builder tool to the right of X Force.

Target Practice 321

:RUNVKRS³7DUJHW3UDFWLFH
3 Enter the function as shown next and then verify the function.

4 Select the Function Builder tool to the right of Y Force.

5 Enter the function similar to the one above, changing only VX to VY, and then verify the
function.
6 Run a simulation using the script you created in step 1, on page 321.

7 Save the simulation results ( ) as with_aero.

322 Target Practice

:RUNVKRS³7DUJHW3UDFWLFH
8 Compare the x displacement of the marble for each set of simulation results (with and
without aerodynamic forces).

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7RWUDFN

1 Create a measure, named y_displacement, that tracks the global y displacement of the center
of the marble.
■ Characteristic: CM position

■ Component: Y

■ From/At: ground

Target Practice 323

:RUNVKRS³7DUJHW3UDFWLFH
2 Create a sensor to determine when the ball passes the global xz plane.
Have the sensor monitor the global y displacement measure created earlier, and when it is
less than or equal to 0.0 mm, direct the sensor to:
■ Generate an additional output step.
■ Terminate the current simulation step and stop the simulation script.

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7RVHWXSDGHVLJQVWXG\

1 Create a point-to-point measure of the global x distance from the target center
(.ground.target) to the marble center (.marble._cm) and name it target_error.
2 From the Settings menu, point to Solver, and then select Display.
3 Set Upgrade Graphics to Never.

324 Target Practice

:RUNVKRS³7DUJHW3UDFWLFH
4 Run a design study that gives the last value of target_error over six default levels of the
existing design variable, launch_spr_stiffness.
■ From the Simulate menu, select Design Evaluation.
■ Fill in the dialog box as follows:

5 Select Start.

6 Note the approximate value of stiffness at which the marble hits the target and use it to
answer Question 1 in Module review, on page 326.

Target Practice 325

:RUNVKRS³7DUJHW3UDFWLFH
6DYH\RXUZRUN
1 Save your model.
2 Exit ADAMS/View.

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1 Multiply the aerodynamic forces by STEP functions to eliminate any aerodynamic effects
that might occur when the marble moves to the static position.

Tip: The independent variable of the STEP function will be DM(.marble.cm, .TIP).

2 Tighten the minimum and maximum values of the design variable of the launch-pad
stiffness and increase the number levels to 10 to achieve a more precise solution.
3 Run additional design studies for other design variables.

0RGXOHUHYLHZ
1 What defines the force directions (Fx, Fy and Fz) in a force vector?

2 What is the approximate value of stiffness at which the marble hits the target?

326 Target Practice

 5(&200(1'('35$&7,&(6

What are the recommended practices in debugging a model?

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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

327
*HQHUDO$SSURDFKWR0RGHOLQJ

&UDZOZDONUXQ
■ 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.

328 Recommended Practices

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Geometry may be added to the wrong part.

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■ 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.

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Check to see that part initial velocities are consistent (look in the .out file).

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■ Whenever possible, avoid using them.
■ If absolutely needed, constrain all six DOF and assign a mass of 0.0 (not 1e-20).

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■ Build a model close to assembled position.
■ Build a model close to a stable equilibrium position, if possible.

Recommended Practices 329

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■ 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.

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When a universal joint is at 90o, you get a singular matrix.

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■ Motion elements should only be functions of time.
■ Do not use motion (functions) as a function of variables (or states).

Note: Avoid redundant constraints.

330 Recommended Practices

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■ 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.

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Watch out for bushings with large rotations.

Recommended Practices 331

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■ Assists in building functions.
■ Assists in function verification.
■ Has function plot capability.

9HORFLW\
Make sure velocities are correct in force expressions. For example, in the damping function:
-c*VX(i, j, j, _), the fourth term is missing.

6SOLQHV
■ 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.

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■ 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.

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■ 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.

332 Recommended Practices

0RGHOLQJ3UDFWLFHV5XQWLPH)XQFWLRQV

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■ 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.

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■ 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.”

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■ 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.

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■ Check magnitude and direction.
■ Check for multiple gravity elements.

Recommended Practices 333

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■ 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).

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■ Text or graphical model topology.
■ Table Editor provides spreadsheet-like overview of model content.

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Broken icon in design configuration probably means incorrectly defined joint or force.

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Convenient way to inspect and modify models (particularly large ones).

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By default, is turned on.

334 Recommended Practices

'HEXJJLQJ7LSV

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As ADAMS performs the simulation, you have the option to get immediate graphical feedback
of the simulation at every:
■ Output step
■ Integration step
■ Iteration

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This may help you monitor behavior of model components.

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■ Check for their existence.
■ While debugging a model, eliminate user subroutines so that they are not the source
of the error.

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Turning gravity off can accentuate modeling errors and make debugging easier.

Recommended Practices 335

'HEXJJLQJ7LSV

6WDWLFV
■ When applicable, perform an initial static 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 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.

336 Recommended Practices

'HEXJJLQJ7LSV

'\QDPLFV
■ 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.

9HORFLWLHVDWWLPH 
Check initial velocities using the .out file.

Recommended Practices 337

338 Recommended Practices
 6:,7&+0(&+$1,60:25N6+23

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Determine the minimum force necessary to toggle the switch mechanism to the
forward and rearward directions.
Switch Mechanism

Base Actuator

Left Follower Right Follower

Left Contact Right Contact

ẑ G
ŷ G x̂ G

339
6ZLWFK0HFKDQLVP:RUNVKRS
0RGHOGHVFULSWLRQ
The given switch model contains parts with shell geometry and mass properties:
Table 3. Parts

Part name: Geometry (shells): Mass (grams):

base (ground) base_main_geo (ground)

base_right_front_geo
base_right_mid_geo
base_right_rear_geo
base_left_front_geo
base_left_mid_geo
base_left_rear_geo
actuator actuator_geo 1.52
right_contact right_contact_geo 0.51
left_contact left_contact_geo 0.51
right_follower right_follower_geo 0.1076
left_follower left_follower_geo 0.1076

The switch model contains construction points for adding the necessary modeling elements to
address the problem statement. They are:
Table 4. Construction Points

Point: Description:

POINT_1 Actuator to base pivot location

POINT_2 right_follower to actuator spring lower location
POINT_3 left_follower to actuator spring lower location
POINT_4 right_follower to actuator spring upper location
POINT_5 left_follower to actuator spring upper location

340 Switch Mechanism Workshop

6ZLWFK0HFKDQLVP:RUNVKRS
Table 4. Construction Points (continued)

Point: Description:

POINT_6 Contains z-coordinate of base contact plane with

left_contact and right_contact at four corners
POINT_7 left_contact to base idealized constraint location
POINT_8 right_contact to base idealized constraint location
POINT_9 Location of base front contact surface with actuator
POINT_10 Location of base rear contact surface with actuator
POINT_11 Location of actuator front contact point with base
POINT_12 Location of actuator rear contact point with base
POINT_13 Location of right_contact to base mid-contact point
POINT_14 Location of left_contact to base mid-contact point
POINT_15 Location of force application

The switch model is mounted such that the model’s global negative x-axis defines forward and
positive z-axis defines up (see Problem statement, on page 339).

Switch Mechanism Workshop 341

6ZLWFK0HFKDQLVP:RUNVKRS
6HFWLRQ,7HVWWKHULJKWKDOIZLWKFRQVWUDLQWVRQO\
You can think of the switch mechanism as consisting of two halves. In this exercise, first
constrain the right half of the mechanism and perform a kinematic simulation to visually verify
correct motion. Then, add spring and contact forces to the right half to ensure that the
mechanism actually toggles. Then, add more detail to the right half, introduce the left half, and
then finally perform a system-level simulation.
This section emphasizes the crawl-walk-run method. In this section, you will crawl.

7RLPSRUWWKHPRGHO

1 Start ADAMS/View from the directory exercise_dir/switch_workshop.

2 From the directory exercise_dir/switch_workshop/switch_start.cmd, import the model
command file switch_start.cmd.
This file contains commands to build a model named switch.

7RVHWXSPRGHOLQJHQYLURQPHQW

1 Turn the working grid off.

2 To modify the preset views in ADAMS/View so that they are relevant to the global
coordinate system, from the Tools menu, select Command Navigator.
The Command Navigator appears.
3 In the Command Navigator, from the View menu, select Management, and then select
Orient.
See Model description, on page 340 for an explanation of how the global axes are defined.
4 Preset the front view. All other views will be defined based on this front view. Ensure
that the preset views (front, top, and so on) are correctly defined based on the global
coordinate system.
5 To set the transparency of the actuator part to 80%, right-click the actuator, and then
select Appearance.
6 Turn off the visibility of the base part geometry, base_main_geo.
7 Deactivate the left_contact and left_follower parts.
8 Turn off the visibility of the left_contact and left_follower parts.

342 Switch Mechanism Workshop

6ZLWFK0HFKDQLVP:RUNVKRS
9 Set gravity in the global negative-z direction.
The model view should look as follows:

ẑ G
ŷ G x̂ G

7RDGGFRQVWUDLQWV

1 Constrain the actuator to the base at POINT_1 such that the only relative allowable degree of
freedom is rotation about ŷ G .
Establish a reference marker with global orientation on the base (ground) part that makes
picking of global direction vectors easy. Setting the color and size of the marker aids in
referencing it later.

POINT_1

ẑ G
ŷ G x̂ G

Switch Mechanism Workshop 343

6ZLWFK0HFKDQLVP:RUNVKRS
2 Constrain the right_follower to the actuator at POINT_2 such that the only relative allowable
degree of freedom is translation along ẑ G .

POINT_2

3 Constrain the tip of the right_follower to the upper curve on the right_contact part.

When creating the curve-to-curve constraint, select the red circle,

right_follower.right_follower_circle_geo_2, at the tip of the right_follower part, parallel to the
global-xz plane, and then select right_contact_right_control_upper_bspline.

344 Switch Mechanism Workshop

6ZLWFK0HFKDQLVP:RUNVKRS
4 Constrain the right_contact part to the base at POINT_8 such that the only relative allowable
degree of freedom is translation along ŷ G .

POINT_8

This might not seem intuitive, but it ensures that there are no redundant constraints in the
model. It is a good modeling practice to remove all redundant constraints in your system
prior to performing a simulation.
5 Add displacement joint motion to the actuator-to-base revolute joint such that the
actuator oscillates sinusoidally with an amplitude of 15.1 degrees and one cycle per
second.

Switch Mechanism Workshop 345

6ZLWFK0HFKDQLVP:RUNVKRS
7HVWWKHPRGHO

1 Verify the model.

Your system should have 0 degrees of freedom and no redundant constraints at this
configuration. If it does not, inspect the model to determine the discrepancy.
2 Simulate the model kinematically to visually verify correct motion, using an end time of
1 second with 100 output steps.
3 Save your work.

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Change the constraints on the right_contact part so that it can rotate and make contact with the
right front and rear terminals on the base part (it will rock back and forth like a see-saw). Use
the curve-to-curve constraint created earlier.
In this section you will start to walk.

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1 Remove the translational joint constraining the right_contact to the base at POINT_8.
2 Constrain the right_contact to the base at POINT_13 such that the only allowable degree of
freedom is rotation about ŷ G .

POINT_13

346 Switch Mechanism Workshop

6ZLWFK0HFKDQLVP:RUNVKRS
3 Create a solid-to-solid contact force between the front end of the right_contact part and the
front right corner of the base part. Use ELLIPSOID_45_2 to represent the contact force from
the part, right_contact.
Using the ellipsoid geometry will improve run time when solving.

The contact parameter should be:

■ Stiffness: 1e5 (milliNewton/mm)

■ Force exponent: 2.2

■ Damping: 1e2 (milliNewton-sec/mm)
■ Penetration depth: 1e-3 mm
■ Static friction: off
■ Dynamic friction: off

Switch Mechanism Workshop 347

6ZLWFK0HFKDQLVP:RUNVKRS
4 Create a solid-to-solid contact force between the rear end of the right_contact part and
rear right corner of the base part.

7RDGGVSULQJIRUFHWRWKHULJKWKDOI
1 Create a spring between the right_follower at POINT_2 and actuator at POINT_4 using the
following parameters:
■ Stiffness: 852 (milliNewton/mm)
■ Damping: 0.1 (milliNewton-sec/mm)
■ Free length: 9 mm

POINT_4

POINT_2

You need markers to create the spring. First create markers for each endpoint belonging to
the appropriate parts.

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2 Override default spring geometry by using these custom parameters:
■ Coil count: 10
■ Diameter of spring: 2.5 mm
■ Damper diameter at ij: 0, 0
■ Tip length at ij: 0, 0
■ Cup length at ij: 0, 0

With nothing selected, from the Edit menu, select Modify.

Filter on geometry, then double-click SPRING_1, then select spring_graphic (not
damper_graphic). To make it stand out, change the color to white.

7RWHVWWKHPRGHO
■ Verify the model.
The system should now have one degree of freedom and one redundant constraint.
At this time, does the redundant constraint affect what you are doing?

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7RUHSODFHWKHULJKWBIROORZHUWRULJKWBFRQWDFWFXUYHWRFXUYHFRQVWUDLQW
ZLWKDIRUFH

1 Remove the curve-to-curve constraint between the tip of the right_follower and the upper
curve on the right_contact part.
2 Create a curve-to-curve contact force between the tip of the right_follower and the upper curve
on the right_contact part. Use the same curves used in step 3 on page 344 and the same
contact parameters from step 3 on page 347.

7RWHVWWKHPRGHO

1 Verify the model.

Your system should have two degrees of freedom and no redundant constraints.
2 Simulate the model:
■ Turn Display Update to Never.
■ Turn on Debug/EPRINT so you can monitor the ADAMS/Solver performance.
■ Perform a 1-second, 100-step dynamic simulation.
3 Animate the results to visually verify the correct motion.

350 Switch Mechanism Workshop

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7RFUHDWHVWRSVIRUFHVEHWZHHQWKHDFWXDWRUDQGEDVH

1 Create a sphere-to-plane contact force between the rear end of the actuator and the base part.
As the actuator rotates, its sphere strikes a surface parallel to the global-yz plane on the
base. Use the following parameters:
■ Sphere: sphere on the actuator part at POINT_12 with a radius of 0.1 mm

■ Plane: parallel to global yz-plane at POINT_10

■ Contact parameters: same as in step 3 on page 347

POINT_12

POINT_10

First create a sphere on the actuator part at POINT_12. Use this sphere in the
sphere-to-plane contact force.

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Then create a plane on the base part at POINT_10. Position the plane as shown next.

Tip: Changing the position and orientation of the working grid may make this easier.

Modify the contact force and turn on the graphic force display for the first body
(.actuator).
Again, use the same contact parameters as used in step 3 on page 344.
2 After you’ve created the plane, make it transparent.

352 Switch Mechanism Workshop

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3 Create a sphere-to-plane contact force between the front end of the actuator and the base
part. Use the following parameters:
■ Sphere: sphere on the actuator part at POINT_11 with a radius of 0.1 mm

■ Plane: parallel to global yz-plane at POINT_9

■ Contact parameters: same as in step 3 on page 344

POINT_11

POINT_9

First create a sphere on the actuator part at POINT_11. Use this sphere in the sphere-to-plane
contact force.
Then, create a marker on the base part at POINT_9 whose xy-plane defines the plane of
contact and whose z-axis defines the side of the plane used by the contact force. This
marker will be used as the plane marker in the sphere-to-plane contact force.
Turn on the force display for the first body (.actuator) again.

7RWHVWWKHPRGHOXVLQJWKHDFWXDWRUPRWLRQLQSXW

1 Verify the model.

Your system should have two degrees of freedom and no redundant constraints.
2 Simulate the model to visually verify correct motion.
Perform a 1-second, 100-step dynamic simulation.
At this time, you should see force graphics representing the stops at the actuator’s extreme
angular displacement configurations. If these stop forces are not returning a nonzero
value, further inspect the model.

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3 In ADAMS/PostProcessor, plot the torque at the actuator’s revolute joint (due to the
motion input) versus time. On the same page, animate the model. Can you explain the
shape of the curve? Is this intuitive?

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Switch Mechanism Workshop 355

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1 Remove the motion applied to the revolute joint constraining the actuator to the base.
2 Apply a force to the actuator part at POINT_15 in the positive x̂ G direction, moving with
the body. Use the following function:
f(t) = -100*time

POINT_15

7RWHVWWKHPRGHO

1 Verify the model.

Your system should have three degrees of freedom and no redundant constraints.
2 Create a function measure named contact_force, based on the force magnitude of the right
front contact force between the right_contact part and the base part.
3 Create a sensor that triggers when the force magnitude of the right front contact force
(measured in the above step) is greater than or equal to 1mN within a tolerance of
1e-3 mN.
When sensed, ADAMS/Solver should terminate the current simulation step and continue
the simulation script.
Use the Function Builder to assist in referencing the expression you are monitoring. In the
Function Builder, get object data for measures, select Browse, and then select contact_force.
Then insert the object name into the text box of the Function Builder.

356 Switch Mechanism Workshop

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Remember, the force applied to the switch is a function of time. Before you run the
simulation, you do not know how much force needs to be applied to toggle the switch;
therefore, you do not know how long to simulate. For that reason, you create the sensor.
You will purposely simulate for a larger amount of time than is needed, letting the sensor
stop the simulation when the switch has been toggled.
4 Simulate the model to visually verify correct rearward toggle motion using a simulation
script based on the following ADAMS/Solver commands:

SIMULATE/DYNAMICS,END=10.0,DTOUT=0.1
DEACTIVATE/SENSOR,ID=<your right front sensor id #>
SIMULATE/DYNAMICS,DURATION=0.5,DTOUT=0.1

By using this simulation script, the model will simulate until the switch is toggled
(assuming it toggles before 10 seconds), at which time the sensor is deactivated and the
model simulates an additional 0.5 seconds to review follow-on transient behavior.
5 Save your work.

6HFWLRQ,,,5HILQHWKHULJKWKDOIRIWKHPHFKDQLVP
Replace the pivoting constraint at POINT_13 (the lower_contact to base revolute joint) with a
more realistic connection that accounts for dynamic phenomena like sliding and liftoff.

7RUHILQHULJKWBFRQWDFWFRQQHFWLRQV

1 Remove the revolute joint constraining the right_contact to the base at POINT_13.

POINT_13

Switch Mechanism Workshop 357

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2 Constrain the right_contact to the base at POINT_8 such that the only allowable degrees of
freedom are translation along ẑ G and rotation about ŷ G .

POINT_8

This involves creating two joint primitives.

You must ensure that the J marker of each primitive belongs to the base part, and not to
the right_contact part. This will absolutely affect the simulation. See the instructor if you
do not fully understand this concept.
3 Create a point-to-curve contact force between the underside on the right_contact part and the
mid-contact point, POINT_13, on the base. Use the same contact parameters as in step 3 on
page 347. However, set the stiffness to 1e8 N/mm.

POINT_13

First create a marker on the base part at POINT_13. Use this marker as the point marker in
the point-to-curve contact force.
For the curve, use right_contact.right_contact_lower_bspline.

358 Switch Mechanism Workshop

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7RWHVWWKHPRGHO

1 Verify the model.

Your system should have four degrees of freedom and no redundant constraints.
2 Simulate the model to visually verify correct rearward toggle motion using a simulation
script based on the following ADAMS/Solver commands:
simulate/dynamics, end=10, dtout=0.01
deactivate/sensor, id=<your right front sensor id #>
simulate/dynamics, duration=0.5, dtout=0.01
Note the force at which the switch toggles to the rearward direction when accounting for
only the right_follower and right_contact parts and corresponding connections.
3 Save your work now.
In Sections IV and V you will incorporate the left half of the switch and add friction.

Switch Mechanism Workshop 359

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6HFWLRQ,9$GGWKHOHIWKDOI
Since the right half of the switch mechanism is working properly at this time, follow step 1
through step 3 and add the left half of the mechanism. If desired, you can use a different
crawl-walk-run method to connect parts in the left half.
Below is a copy of the key locations that will help you define the left half connections:
Table 5. Key Locations

Point: Description:

POINT_1 Actuator to base pivot location

POINT_2 right_follower to actuator spring lower location
POINT_3 left_follower to actuator spring lower location
POINT_4 right_follower to actuator spring upper location
POINT_5 left_follower to actuator spring upper location
POINT_6 Contains z-coordinate of base contact plane with
left_contact and right_contact at four corners
POINT_7 left_contact to base idealized constraint location
POINT_8 right_contact to base idealized constraint location
POINT_9 Location of base front contact surface with actuator
POINT_10 Location of base rear contact surface with actuator
POINT_11 Location of actuator front contact point with base
POINT_12 Location of actuator rear contact point with base
POINT_13 Location of right_contact to base mid-contact point
POINT_14 Location of left_contact to base mid-contact point
POINT_15 Location of force application

360 Switch Mechanism Workshop

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7RFRQQHFWWKHOHIWBIROORZHUDQGOHIWBFRQWDFW
■ Reintroduce the left_follower and left_contact parts by reactivating them and ultimately
connect these parts to the switch mechanism the same way that you did for the
right_follower and right_contact parts.

7RWHVWWKHPRGHO

1 Verify the model.

Your system should now have seven degrees of freedom and no redundant constraints.
2 Simulate the model to determine rearward toggle motion using a simulation script based
on the following ADAMS/Solver commands:
SIMULATE/DYNAMICS,END=10.0,DTOUT=0.1
DEACTIVATE/SENSOR,ID=<your right front sensor id #>
SIMULATE/DYNAMICS,DURATION=0.5,DTOUT=0.01
3 Note the force at which the switch toggles to the rearward direction now, when
accounting for both halves of the mechanism?
4 Simulate the model to determine forward toggle motion using a simulation script based
on the following ADAMS/Solver commands:
SFORCE/<original input sforce id #>, FUNCTION=100*TIME
SIMULATE/DYNAMICS,END=10.0,DTOUT=0.1
DEACTIVATE/SENSOR,ID=<your left rear sensor id #>
SIMULATE/DYNAMICS,DURATION=0.5,DTOUT=0.01
Notice how you are reversing the input force applied to the actuator part through an
ADAMS/Solver command in the simulation script, as opposed to in the model’s design
configuration. You can modify a force on-the-fly.
5 Note the force at which the switch toggles to the forward direction when accounting for
both halves of the mechanism?
6 Save your work.

Switch Mechanism Workshop 361

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6HFWLRQ95HILQHWKHVZLWFK
You will now refine your model to account for friction.

7RDGGIULFWLRQWRWKHFXUYHWRFXUYHFRQWDFWIRUFHV

1 Modify the curve-to-curve contact force between the tip of the right_follower and the
upper curve on the right_contact part such that static and dynamic friction is accounted
for. Use the following default parameters for contact friction:
■ Static Coefficient: 0.3
■ Dynamic Friction Coefficient: .1
■ Stiction Transition Vel.: 1 mm/sec
■ Friction Transition Vel.: 10 mm/sec
2 Modify the curve-to-curve contact force between the tip of the left_follower and the upper
curve on the left_contact part such that static and dynamic friction is accounted for. Use
the same contact array you used in the previous step.

7RWHVWWKHPRGHO

1 Verify the model.

Your system should still have seven degrees of freedom and no redundant constraints.
2 Simulate the model to visually verify correct rearward toggle motion using a simulation
script based on the following ADAMS/Solver commands:
SIMULATE/DYNAMICS,END=10.0,DTOUT=0.1
DEACTIVATE/SENSOR,ID=<your right front sensor id #>
SIMULATE/DYNAMICS,DURATION=0.5,DTOUT=0.01
SIMULATE/DYNAMICS,DURATION=2.0,DTOUT=0.1
3 Simulate the model to visually verify correct forward toggle motion using a simulation
script based on the following ADAMS/Solver commands:
SFORCE/<original input sforce id #>, FUNCTION=100*TIME
SIMULATE/DYNAMICS,END=10.0,DTOUT=0.1
DEACTIVATE/SENSOR,ID=<your left rear sensor id #>
SIMULATE/DYNAMICS,DURATION=0.5,DTOUT=0.01
SIMULATE/DYNAMICS,DURATION=2.0,DTOUT=0.1
Note the force at which the switch toggles to the forward and rearward directions when
accounting for friction in the contact between the follower parts and the contact parts.
Were the effects of friction negligible in this mechanism?

362 Switch Mechanism Workshop

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This appendix contains tables that describe the various elements in

ADAMS/View.

:KDW·VLQWKLVPRGXOH
■ Constraints Tables (Incomplete), 364

■ Forces Tables (Incomplete), 365

■ Constraint Tables (Completed), 366

■ Forces Tables (Completed), 367

363
&RQVWUDLQWV7DEOHV,QFRPSOHWH
Table 6. Joints—Degrees of Freedom Removed

Translation Translation Translation Rotation Rotation Rotation

Total:
along X: along Y: along Z: about X: about Y: about Z:

Fixed

Revolute

Translational

Cylindrical

Universal/hooke/
Constant velocity

Spherical

Planar

Table 7. Curve Constraints—Degrees of Freedom Removed

Translation Translation Translation Rotation Rotation Rotation

Total:
along X: along Y: along Z: about X: about Y: about Z:

Point-to-curve

Curve-to-curve

Table 8. Joint Primitives—Degrees of Freedom Removed

Translation Translation Translation Rotation Rotation Rotation

Total:
along X: along Y: along Z: about X: about Y: about Z:

Orientation

Inline

Parallel axis

Inplane

Perpendicular

364 Tables
)RUFHV7DEOHV,QFRPSOHWH
Table 7. Pre-Defined Forces (Flexible Connections)

Translational Torsional
Bushing: Beam: Field:
Spring-Damper: Spring-Damper:

Number of Bodies
Affected

Points of
Application

Number of
Components

Direction/
Orientation

Magnitude

Table 8. User-Defined Forces (Applied Forces)

Single-Component Forces Multi-Component Forces

Between 2 Between 2 1 Body - Vector

1 Body - General
Bodies Bodies Space Force/
Moving: Force:
Translational: Rotational: Fixed: Torque:

Number of
Bodies Affected

Points of
Application

Number of
Components

Direction/
Orientation

Magnitude

Tables 365
&RQVWUDLQW7DEOHV&RPSOHWHG
Table 9. Joints—Degrees of Freedom Removed

Translation Translation Translation Rotation Rotation Rotation

Total:
along X: along Y: along Z: about X: about Y: about Z:

Fixed 6

Revolute 5

Translational 5

Cylindrical 4

Universal/hooke/ 4
Constant velocity

Spherical 3

Planar 3

Table 10. Curve Constraints—Degrees of Freedom Removed

Translation Translation Translation Rotation Rotation Rotation

Total:
along X: along Y: along Z: about X: about Y: about Z:

Point-to-curve 2

Curve-to-curve 2

Table 11. Joint Primitives—Degrees of Freedom Removed

Translation Translation Translation Rotation Rotation Rotation

Total:
along X: along Y: along Z: about X: about Y: about Z:

Orientation 3

Inline 2

Parallel axis 2

Inplane 1

Perpendicular 1

366 Tables
)RUFHV7DEOHV&RPSOHWHG
Table 12. Pre-Defined Forces (Flexible Connections)

Spring-Damper Spring-Damper
Bushing: Beam: Field:
Translational: Torsional:

# Bodies 2 2 2 2 2
Affected

Points of
2 2 2 2 2
Application
(I & J markers) (I & J markers) (I & J (I & J (I & J
markers) markers) markers)

Number of 1 1 6 6 6
Components

Direction/ Line of sight Z-axis of J marker J marker J marker J marker

between the (I & J
Orientation
markers)

Magnitude Defined by parameters, such as stiffness, damping, cross-sectional area.

Table 13. User-Defined Forces (Applied Forces)

Multi-Component
Single-Component Forces
Forces

Between 2 Between 2 Vector

1 Body - 1 Body - General
Bodies Bodies Force/
Space Fixed: Moving: Force:
Translational: Rotational: Torque:

Number of 2 2 1 1 2 2
Bodies Affected

Points of
2 2 1 1 2 2
(I & J markers) (I & J (I marker) (I marker) (I & J (I & J
Application markers)* markers)*
markers)

Number of 1 1 1 1 3 6
Components

Direction/ Line of sight A-axis of Z-axis of Z-axis of R marker R marker

between I and J J-marker J-marker J marker
Orientation
markers

Magnitude Defined by whole functions of which the user must take ownership.

* The J markers created for a vector force/torque and a general force are floating markers.

Tables 367
368 Tables
% $16:(5.(<

:KDW·VLQWKLVDSSHQGL[
■ Answer Key for Workshop 1, 370

■ Answer Key for Workshop 2, 370

■ Answer Key for Workshop 3, 370

■ Answer Key for Workshop 4, 371

■ Answer Key for Workshop 5, 371

■ Answer Key for Workshop 6, 371

■ Answer Key for Workshop 7, 372

■ Answer Key for Workshop 8, 372

■ Answer Key for Workshop 9, 373

■ Answer Key for Workshop 10, 373

■ Answer Key for Workshop 11, 373

■ Answer Key for Workshop 13, 373

■ Answer Key for Workshop 14, 374

■ Answer Key for Workshop 15, 374

■ Answer Key for Workshop 16, 374

■ Answer Key for Workshop 17, 374

■ Answer Key for Workshop 18, 375

■ Answer Key for Workshop 19, 375

■ Answer Key for Workshop 20, 375

■ Answer Key for Workshop 22, 375

■ Answer Key for Workshop 22, 375

369
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Question 1, page 25: 269 mm

Question 2, page 25: 269 mm. This is the same as the previous results.

Question 3, page 25: 267.87 mm

Question 4, page 25: Six: 5 make up the stamper mechanism, while 1 makes up the part parcels.

Question 5, page 25: Eight: 7 are on the stamper mechanism, while 1 keeps the parcels moving
translationally.
Question 6, page 25: Nothing: the conveyor is simply a graphic attached to ground. It adds
nothing to the model other than for animation purposes.

$QVZHU.H\IRU:RUNVKRS
Question 1, page 45: There are nine constraints (two revolute, one translational, three inplane, one
orientation, one motion, one curve_curve). Motions are considered constraints; these will be covered in
detail later in the course.

Question 2, page 45: Yes

Question 3, page 45: No, part geometry is a direct child of a part. Part geometry is a “grandchild” of a
model..

Question 4, page 45: Status bar

Question 5, page 45: Our technical support staff prefers to receive .cmd files. They are smaller in size,
and platform independent. Using .bin files is sometimes unavoidable, however.

Question 6, page 45: The find tool only searches the currently open pdf. The search tool (the one with
binoculars) searches all the documents.

$QVZHU.H\IRU:RUNVKRS
Question 1, page 62: 1.635 pound mass based on geometry and density

Question 2, page 62: 100 lbf/foot

Question 3, page 62: Approximately 8.6 lbf

370 Answer Key

$QVZHU.H\
$QVZHU.H\IRU:RUNVKRS
Question 1, page 80: 4903 mm

Question 2, page 80: 9807 mm/sec

Question 3, page 80: 9807 mm/sec2

Question 4, page 80: Coordinate system markers

Question 5, page 80: The ground part is automatically created - it must exist in every model. It
serves as a reference frame for the model.
Question 6, page 80: No, because ADAMS cannot calculate a volume for two-dimensional
objects. You can, however, assign mass properties to a part that is made up of two-dimensional
geometry.

$QVZHU.H\IRU:RUNVKRS
Question 1, page 94: ~1.06 sec (can vary slightly depending on the sampling rate chosen).

Question 2, page 94: ~3180 mm (can vary slightly depending on the sampling rate chosen).

Question 3, page 94: The system constraint takes precedence.

Question 4, page 94: You would have to constrain the stone to ground with a revolute (pin)
joint.

$QVZHU.H\IRU:RUNVKRS
Question 1, page 115: Fx = -29.9N, Fy = 17.24 N

Question 2, page 115: Approximately 0.61 Hz

Question 3, page 115: ADAMS/View will use the one specified by the connecting joint. This is
because the initial conditions in the constraint always override the initial conditions of a part if
these two differ.
Question 4, page 115: The marker names would be .human_hip.femur.MAR_1 and
.human_hip.hip_bone.MAR_1. Which one is I and which one is J depends on the order in which
the parts were selected when creating the constraint.
Question 5, page 115: No, a constraint constrains two different bodies to one another.

Answer Key 371

$QVZHU.H\
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Question 1, page 136: Between 16.5o and 17o (Exactly 16.7o).

Question 2, page 136: Constant velocity, coupler, fixed, gear, planar, and screw. You can tell
because there is an icon ( )for the joints to which you can add friction in an automated way.

Question 3, page 136: I and J markers are automatically created when you add a joint, motion,
or force to a system. ADAMS uses I and J marker’s relative displacement, velocity, and so on
to define equations that describe part movement.
Question 4, page 136: Once the joint crosses the stiction threshold velocity, it exits the stiction
phase and the maximum stiction displacement is ignored until the joint reenters the stiction
phase (comes to rest). One of these two parameters is reached first, the other parameter is
ignored until the joint enters the stiction phase again.

$QVZHU.H\IRU:RUNVKRS
Question 1, page 151: Construction geometry is two-dimensional, and solid geometry is three-
dimensional.
Question 2, page 151:

■ Position: Move-Translate .
■ Location Event: Right-click away from the model when prompted for a position.
■ Working grid: Settings Æ Working Grid Æ Set Location.

■ Precision Move: Edit Æ Move (or )

372 Answer Key

$QVZHU.H\
$QVZHU.H\IRU:RUNVKRS
Question 1, page 162: I and J markers. The I marker belongs to the first body you selected when
the creating the joint. The J marker belongs to the second body you selected.
Question 2, page 162: The orientation of the I and J markers. For example, if you added
translational motion to a translational joint, the z-axis of the I and J markers would describe the
axis of translation. The z-axis direction is positive.
Question 3, page 162: Yes. Even though they do not restrict movement, they still prescribe
movement, therefore, removing degrees of freedom.
Question 4, page 162: Yes. You must measure the torque generated by the motion not the
revolute joint.

$QVZHU.H\IRU:RUNVKRS
Question 1, page 169: The order in which you chose the bodies (parts) should be the same as
the order in which you chose the corresponding locations and orientations.

$QVZHU.H\IRU:RUNVKRS
Question 1, page 178: A joint motion uses a joint to determine its direction and location. A point
motion does not require a joint; it needs two bodies.

$QVZHU.H\IRU:RUNVKRS
Question 1, page 189: No. The point-to-point measure is just a quicker and easier way to create
a function measure of the displacement of one marker with respect to another.
Question 2, page 189: A CAD file represents geometry in a model. Therefore, it is a child of a
part.

$QVZHU.H\IRU:RUNVKRS
Question 1, page 202: You need to provide the two (or three) joints, and the one (or two) scalar
coefficients for the constraint equation.
Question 2, page 202: Last_run

Answer Key 373

$QVZHU.H\
$QVZHU.H\IRU:RUNVKRS
Question 1, page 216: No, in the design configuration they do not have to be aligned. If they are
not aligned, however, ADAMS warns you during a model verify or during the assemble
simulation. Also, during the assemble simulation, ADAMS realigns the markers for you.

$QVZHU.H\IRU:RUNVKRS
Question 1, page 226:

■ First independent variable

■ Second independent variable
■ Spline name
■ Derivative order

$QVZHU.H\IRU:RUNVKRS
Question 1, page 234: ~1.46 degrees (.0255 radians)

Question 2, page 234: To remove the initial transient effects in the dynamic system because of
mismatches in the preloading of the bushings.
Question 3, page 234: Because the model was kinematic, in this case (DOF=0), there is no
initial transient response because you have specified the motion of the system for all points in
time.

$QVZHU.H\IRU:RUNVKRS
Question 1, page 246: Yes, it must be greater than zero (not negative and not zero).

Question 2, page 246: Yes, to model a hardening compression-only spring, the exponent, e,
must be greater than 1.

374 Answer Key

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$QVZHU.H\IRU:RUNVKRS
Question 1, page 256: Approximately 247 N.

Question 2, page 256: Yes: you could use a simulation script with ADAMS/Solver commands
to simulate for a while, then DEACTIVATE or ACTIVATE the force, and simulate again.
Question 3, page 256: Yes. For example, you could simulate the model with output step sizes
of 0.01 seconds. When that simulation is complete, don’t reset the model. Start another
simulation with a step size of 0.001. The results of that simulation will be seamless, but you will
notice a change when the step size changes. The animation changes speeds. A common reason
for doing this is if you want the simulation to use smaller step sizes or be more accurate before
a contact.

$QVZHU.H\IRU:RUNVKRS
Question 1, page 278: A statement describes an element in a model, such as a part or force. A
command tells ADAMS/Solver what to do with the model, such as simulate it or deactivate it.
Question 2, page 278: 7.57 N/mm.

$QVZHU.H\IRU:RUNVKRS
Question 1, page 287: Preload must be above 460 N to open the lid. Higher damping values
increase the amount of time needed to close the lid. Higher stiffness values increase the
resistance in closing the lid.
Question 2, page 287: It allowed for easy manipulation of the spring parameters. Changing the
design variables changed the parameters for both springs at the same time.

$QVZHU.H\IRU:RUNVKRS
Question 1, page 308: A curve-on-curve constraint removes two translational DOF.

Question 2, page 308: A curve-to-curve contact force removes no DOF.

$QVZHU.H\IRU:RUNVKRS
Question 1, page 326: The reference marker (R marker)

Question 2, page 326: Between 17 and 18 N/mm

Answer Key 375

$QVZHU.H\

376 Answer Key

,1'(;

$%
Acceleration
calculating 75
finding value of 77 $%
functions 238
&'
Accessing
online guides 13 ()
online help 13
*+
ADAMS
find additional training 11 ,-
history of 10
./
integration with CAD/CAM/CAE 11
list of products 11 01
verification problems for 11
ADAMS Full Simulation Package, about 9 23

ADAMS/AutoFlex 45
about 294
67
loading 303
working with 303 89
ADAMS/PostProcessor
:=
leaving 55
modes of 48
modifying animation graphics in 61
playing animations in 61
starting 55
using 55
viewing animations in 60
ADAMS/PostProcessor overview workshop
module review 62
problem statement 52
ADAMS/PostProcessor tool, using 55

377
,QGH[
ADAMS/Solver
command files 259
dataset files 259
history of 10
overview of 258
simulations in stand-alone, about 261
simulations in stand-alone, performing 273 $%

ADAMS/View &'
starting on UNIX 21
()
starting on Windows 20
ADAMS/View interface overview workshop *+
module review 45 ,-
optional tasks 44
problem statement 36 ./
ADAMS/View tool, using to start on UNIX 21 01
Add-on constraints
23
about 192
types of 192 45
AKISPL function
67
creating 224
example of 220 89
syntax for 220
:=
Align & Rotate tool, using to rotate objects 127

Angle measures
about 101
creating 108
Animation
adding to plot 59
compared to simulation 31
how to perform 43
modifying graphics in ADAMS/PostProcessor 61
playing in ADAMS/PostProcessor 61
viewing in ADAMS/PostProcessor 60

378 Index
,QGH[
Animation tool, using 43

Arc geometry, about 141

ASK group, about 15
Assembling models
about 194 $%
how to 200
&'
Assembly simulation, about 204
()
Attachment points, selecting 304
Binary files, saving as 92 *+

Block ,-
creating 88 ./
geometry, about 142
Body 313, example of 118 01

Box tool, using 88 23

Bushing tool, using 231 45

Bushings 67
characteristics of 228
creating 231 89
defined 228
recommended practices 331 :=

Index 379
,QGH[
&'
CAD-based geometry
importing, about 182
importing, how to 187
Cam profile, creating 297 $%
Cam-rocker-valve workshop
&'
module review 308
optional tasks 307 ()
problem statement 295
*+
Chamfer tool, using 149

Change Direction tool, using 300 ,-

Command files ./

about 32, 259
01
creating 272
modifying 276 23
Compute Linear Modes tool, using 213
45
Constraining a model, about 128
67
Constraints
add-on (complex) 192 89
and DOF 98
couplers 193 :=
curve-on-curve, creating 298
curve-on-curve, replacing 300
defined 96
determining number and type 39
diagrammed 97
DOF they remove 366
equations in ADAMS 97
example 96
types of 291
Consulting services, about 13

380 Index
,QGH[
Contact forces
about 292
creating solid-to-solid 319
creating sphere-to-plane 319
Contact pairs, types of 292
$%
Contact tool, using 300

Coordinate systems &'

defined 64 ()
types of 64
Coupler *+

creating 198 ,-

defined 193
example of 193 ./
modifying 199
requirements for modeling 193 01

Coupler tool, using 198 23

Course 45
CD, contents of 13
what you will achieve in 12 67

Crawl-walk-run approach, about 85 89

Create a New Page tool, using 55
:=
Curve-Curve Constraint tool, using 298

Curve-on-curve constraint
creating 298
replacing 300
Cylinder
creating 147
geometry, about 142
Cylinder tool, using 147

Cylindrical joints, DOF they remove 366

Index 381
,QGH[
Database files, about 32
Dataset files
about 259
example of 260
exporting 272
modifying 275 $%
Debug, about 270 &'
Dependencies, about 68
()
Design studies
*+
defined 313
performing 24 ,-
types of 312
./
Design variables
about 281 01
creating 285
example 281 23
modifying 286
45
Displacement
calculating 74 67
finding horizontal 91
finding value of 76 89

Displacement functions :=

about 181
example 181
DOF
constraints and DOF 98
determining number of 98
Dynamic simulation
about 206
performing 225
Dynamics, debugging tips 337

382 Index
,QGH[
()
Eprint, about 270
Equations of motion, formulation in ADAMS 262
Euler angles, defined 118
$%
Extrusion geometry, about 142
Falling stone workshop &'
module review 80 ()
optional tasks 78
problem statement 72 *+
File formats, about 32 ,-
Fillet tool, using 148
./
Fixed joint tool, using 159
01
Fixed joints
DOF they remove 366 23
recommended practices 330
45
Flexible bodies
creating 303 67
defined 69
89
replacing rigid with 306
Forces :=
characteristics of 208
compare linear and nonlinear 225
contact forces 292
definition 208
friction 120, 121
multi-component 310
single component, about 218
spring dampers 209
vector 310
Frequency
determining 112
finding natural 213

Index 383
,QGH[
Friction
adding to joint 129
effect of deformation on 122
forces, about 120
input forces to 122
phases of 120
$%
Function Builder
about 332 &'
using 185
()
Function Builder tool, using 222
*+
Functions
acceleration 238 ,-
AKISPL 220
./
defined 156
displacement 181 01
IMPACT 236, 237
spline 219 23
STEP 248
velocity 238 45

*+ 67
Geometry 89
arc 141
block 142 :=
cylinder 142
extrusion 142
importing CAD-based, about 182
importing CAD-based, how to 187
marker 140
merging 100
point 140
polyline 141
spline 141
torus 142
types of 139

384 Index
,QGH[
Global components, determining 111
Graphical topology, checking 169
Gravity, recommended practices 333
Ground parts, about 69
$%
Gruebler’s count 98
Hatchback I workshop &'
module review 246 ()
problem statement 239
Hatchback II workshop *+
module review 256 ,-
problem statement 251
./
Hatchback III workshop
module review 278 01
optional tasks 277
problem statement 271 23

Hatchback IV workshop 45

module review 287
problem statement 282 67

Help 89
finding at your job site 13
:=
online 13
Help on help, accessing 13
Hierarchy of simulation 205
Hollow tool, using 150

Hooke joint tool, using 177

Hooke joint, creating 177

Index 385
,QGH[
,-
Icons
animating with icons off 43
animating with icons on 43
IMPACT function $%
about 236
applications of one sided 236 &'
applications of two sided 236
syntax 237 ()

Importing *+
CAD-based geometry, about 182
CAD-based geometry, how to 187 ,-
files 37 ./
test data 219
Inclination angle 01
finding 132 23
modifying 126
45
Inclined plane workshop
module review 136 67
optional tasks 133
problem statement 124 89
Inertia properties, about 70 :=
Information tool, using 168

Information toolstack, using 39

Initial conditions
about 82
joint initial conditions 99
locations and orientations 82, 204
setting for joints 109
setting for velocity 89
velocity 83
Inline joint primitives, about 164

386 Index
,QGH[
Inplane joint primitives, about 164
Joint friction, about 120
Joint motion
about 154
creating 160 $%
marker usage in 155
Joint primitives &'
DOF they remove 366 ()
inline 164
inplane 164 *+
orientation 164
parallel axis 164 ,-
perpendicular 164
perpendicular, usage of I and J markers 165 ./
types of 164
01
Joint toolstack, using 106
23
Joints
DOF they remove 366 45
friction 120
initial conditions of 99 67

./ 89

Kinematic simulation :=

about 206
performing 346
Knowledge base, about 14
Lift mechanism I workshop
module review 151
optional tasks 151
problem statement 144
Lift mechanism II workshop
module review 162
optional tasks 161
problem statement 157

Index 387
,QGH[
Lift mechanism III workshop
module review 169
optional tasks 169
problem statement 166
Linear simulation
about 207 $%
example 207
&'
Link tool, using 103
()
Links, creating 103
Local coordinate system, about 64 *+

Location Event, using 103 ,-

01 ./

Main Toolbox tool, using 54 01

Marker tool, using 108 23
Markers 45
defined 66
geometry, about 140 67
reference, creating 108
89
Mass properties
about 70 :=
recommended practices 329
Mass, setting 73
Measures
angle 101
angle, creating 108
creating 74, 89
creating function 185
creating point-to-point 184
defined 71
function 180
in LCS 123

388 Index
,QGH[
object, creating 107
point-to-point 180
recommended practices 332
representation 123
Merging geometry, about 100
Mesh, creating 303 $%

Model topology &'

checking by constraints 160
checking by parts 150 ()

Model topology by constraints tool, using 160 *+

Model topology by constraints tool, using to determine constraints 39 ,-

Model topology by parts tool, using 150 ./
Models
01
animating 43
assembling 194 23
clarifying topology 29
constraining 128 45
hierarchy of 28
simulating 42 67
verifying 41
89
Modifying
animation graphics 61 :=
coupler 199
parts 126
plot graphics 58
plot legend 59
spring stiffness 56
Motion
applying 177
joint motion 154, 155
point motion 172
recommended practices 330
types 154
Move toolstack, using 131

Index 389
,QGH[
Moving objects, about 143
Multi-component forces
characteristics of 367
creating 321
types of 310
$%
Naming convention, about 29
News and information, obtaining personalized 14 &'

Nonlinear spring workshop ()

module review 226
*+
optional tasks 226
problem statement 221 ,-
23 ./
Object measures
01
creating 74
defined 71 23
Objects 45
creating a group of 130
rotating about an axis 119 67
One DOF pendulum workshop 89
module review 115
optional tasks 113 :=
problem statement 102
Online
guides, accessing 13
guides, searching 35
help, accessing 13
help, searching 34
Optimization study, performing 24
Optimizing a design, about 286
Orientation joint primitives, about 164
Orientation, verifying 168

390 Index
,QGH[
Overlaying plots, how to 57
Page layout toolstack, using 59

Parallel axis joint primitives, about 164

Part coordinate system, about 65
$%
Parts
building 73 &'
defined 67
initial locations and orientations 82 ()
initial velocity 83
renaming 39, 73 *+
rotating 127
,-
Perpendicular joint primitives
./
about 164
usage of I and J markers 165 01
Planar joints, DOF they remove 366
23
Plane tool, using 318
45
Plane, creating 318
Play tool, using to play simulation 42 67

Plot graphics, modifying 58 89

Plot legend, modifying 59 :=

Plot statistics, obtaining 58
Plot Tracking tool, using 91

Plots
creating 55
overlaying 57
Plotting option, about 50
Point geometry, about 140
Point motion
about 172
applying 177

Index 391
,QGH[
Point trace
creating 91
defined 84
using 297
Point-to-Point tool, using 147
$%
Polyline geometry, about 141
Precision Move tool, using 131 &'

Projectile motion workshop ()

module review 94
*+
optional tasks 92
problem statement 86 ,-
45 ./
Range, finding 90
01
Reference markers, creating 108
23
Renaming objects, about 29
45
Reset tool, using to reset model 42

Revolute joint tool, using 106 67

Revolute joints 89

creating 106
deactivating 230 :=
DOF they remove 366
Rigid bodies, defined 69
Rigid Body toolstack, using 108

Rotating
group of objects 131
objects, about 119
parts, how to 127
Rotational Joint Motion tool, using 160

392 Index
,QGH[
67
Save simulation tool, using 42

Saving
command files 44
model information 44 $%
simulation results 42
Scripted simulations &'
based on ADAMS/Solver commands 250 ()
creating script for 253
in ADAMS/View 249 *+
performing 254
,-
Searching
online guides 35 ./
online help 34
01
Select tool, using 89
23
Sensitivity, at iteration 314
45
Sensors
about 280 67
adding to model 284
example of using with scripts 280 89
SFORCE, see Single-component forces 218 :=
Simulation
about scripts 249
compared to animation 31
comparing results 276
dynamic 206
hierarchy 205
how to perform 42
kinematic 206
linear 207
saving results of 42
static 206
submitting 31
types of 206, 249

Index 393
,QGH[
Simulation tool, using to simulate model 42

Single-component forces
about 218
characteristics of 367
creating 283
$%
Solution, phases of 265
Space 313, example of 118 &'

Sphere tool, using 104 ()

Sphere, creating 104 *+
Spherical joints
,-
creating 176
DOF they remove 366 ./
Splines 01
about 219
from point trace 290 23
geometry, about 141
45
recommended practices 332
Spring dampers 67
characteristics of 209
89
creating 212
defined 209
:=
find force in 212
recommended practices 331
replacing predefined 222
Spring stiffness
coefficient, finding 56
modifying 56
Spring, changing linear to nonlinear 223
Spring-damper workshop
optional tasks 214
problem statement 211

394 Index
,QGH[
Stamping mechanism workshop
module review 25
problem statement 19
Stand-alone ADAMS/Solver
about simulations in 261
performing simulations in 273 $%

Starting ADAMS/View &'

on UNIX 21
on Windows 20 ()

Static Equilibrium tool, using 212 *+

Static equilibrium, running simulation 212 ,-

Static simulation ./
about 206
01
Statics, debugging tips 336
23
Step Backward tool, using 90

Step Forward tool, using 90 45

STEP function 67

defined 248
example of 248 89
syntax for 248
:=
Stop tool, using 90

Suspension system I workshop

module review 178
optional tasks 178
problem statement 173
Suspension system II workshop
module review 189
optional tasks 189
problem statement 183

Index 395
,QGH[
Suspension-steering system II
module review 234
optional tasks 233
problem statement 229
Suspension-steering system workshop
module review 202 $%
problem statement 195
&'
Switch mechanism workshop, problem statement 339
()
Target practice workshop
module review 326 *+
optional tasks 326
problem statement 315 ,-

Technical support, about 14 ./

Test data 219 01

Torus geometry, about 142 23
Training guide, organization of 12
45
Training, finding additional 11
67
Translating models, how to 75
89
Translational Joint Motion tool, using 296

Translational Joint tool, using 128 :=

Translational joints
creating 128
DOF they remove 366
Translational spring damper tool, using 212

Transparent, making a part 169

396 Index
,QGH[
89
Units, recommended practices 333
Universal joints, recommended practices 330
Vector force 310, 311
$%
Velocity
calculating 74 &'
finding value of 77
functions 238 ()

Verification problems, running through 11 *+

Verify tool, using to verify model 41
,-
Verifying models
./
about 334
how to 41 01
Viewing models, how to 38 23
Virtual prototyping process, diagrammed 18
45
:=
67
Working grid
adjusting 125 89
resetting to default position 318
:=
set up to run through part center 147
setting display of 88
Zooming, how to 75

Index 397