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ME 451
Introduction to ADAMS/View
VIRTUAL PROTOTYPING PROCESS
Build a model of your design using: Bodies Forces Contacts Joints Motion generators
Build Test Review Improve
Build Test Review Improve
VIRTUAL PROTOTYPING PROCESS
Test your design using: Measures Simulations Animations Plots
Validate your model by: Importing test data Superimposing test data
Build Test Review Improve
VIRTUAL PROTOTYPING PROCESS
Review your model by adding: Friction Forcing functions Flexible parts Control systems
Iterate your design through variations using: Parametrics Design Variables
Build Test Review Improve
VIRTUAL PROTOTYPING PROCESS
Improve your design using: DOEs Optimization
Automate your design process using: Custom menus Macros Custom dialog boxes
Coordinate Systems Definition of a coordinate system (CS)
A coordinate system is essentially a measuring stick to define kinematic and dynamic quantities.
P
x y zP P x P y P z
22222222222222
Types of coordinate systems Global coordinate system (GCS):
Rigidly attaches to the ground part. Defines the absolute point (0,0,0) of your
model and provides a set of axes that is referenced when creating local coordinate systems.
Local coordinate systems (LCS): Part coordinate systems (PCS) Markers
Coordinate Systems
Part Coordinate Systems Definition of part coordinate
systems (PCS) They are created
automatically for every part.
Only one exists per part. Location and orientation
is specified by providing its location and orientation with respect to the GCS.
When created, each part’s PCS has the same location and orientation as the GCS.
Markers
Definition of a marker It attaches to a part and
moves with the part. Several can exist per
part. Its location and
orientation can be specified by providing its location and orientation with respect to GCS or PCS.
Markers Definition of a marker (cont.)
It is used wherever a unique location needs to be defined. For example: The location of a part’s center of mass. The reference point for defining where graphical
entities are anchored. It is used wherever a unique direction needs to be
defined. For example: The axes about which part mass moments of inertia
are specified. Directions for constraints. Directions for force application.
By default, in ADAMS/View, all marker locations and orientations are expressed in GCS.
Difference between part and geometry
Parts Define bodies (rigid or flexible) that can move relative to
other bodies and have the following properties: Mass Inertia Initial location and orientation (PCS) Initial velocities
Geometry 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.
Simulations that involve contacts do require the part geometry to define when the contact force.
Difference between part and geometry
Center of Mass Marker
Difference between part and geometry
Dependencies in ADAMS/View
Marker.mod.pend.mar_2
Marker.mod.pend.mar_1
Geometry.mod.pend.cyl
Marker.mod.pend.cm
Geometry.mod.pend.sph
Part.mod.pend
Model.mod
mar_1
cyl
cm sph
mar_2
Creating some parts
Link Box Sphere Extrusion Importing a geometry from CAD
package…. Parasolid…
Constraints
Definition of a constraint Restricts relative movement between parts. Represents idealized connections. Removes rotational and/or translational DOF
from a system. Joints
Revolute Translational Fixed Other…… ________________________
HMMWV Vehicle Model High Mobility Multipurpose Wheeled Vehicle (HMMWV)
modeled in ADAMS/Car
Track Model
Let’s create some mechanisms
Simple pendulum Parallelogram mechanism
Starting ADAMS/View Start ADAMS/View
Type “aview” hit enter Type “ru-standard” hit enter Type “i” hit enter
In the Welcome dialog box Under the heading, How would you like to proceed,
select Create a new model. Set some working directory. Name the model missilelauncher. Verify that Gravity is set to Earth Normal (-Global
Y). Verify that Units are set to MMKS - mm, Kg, N, s,
deg. Select OK.
The missile launcher model You will 1. construct a very simple parallelogram
mechanism used in a missile launcher by importing a simple geometry and creating rigid bodies and joints in ADAMS/View
2. Simulate the mechanism3. Create measure and add sensor4. Refine the model and simulate again5. PostProcess the results This will give you a rough idea about what
goes on in the world of virtual prototyping
Import a rough geometry for missile’s barrel Go to File import Select “Parasolid” as the
file format. Right click in the box next
to “File to Read” select “Browse” and point to barrel.x_t
Right click in the box next to Model name and select “missilelauncher”
Click OK Right click the barrel point
to Part:PART2 Rename Rename the part
to .missilelauncher.barrel
Importing Geometry
Setting up the working grid Note: Use “z” “r” and “t” keys
to Zoom, Rotate and Pan Go to Settings Working Grid Select “Pick” option from the
drop down menu for “Set Location”
Select the Center of lower left cylindrical hole on the face closest to you when the front of the barrel is pointing to +ve X direction.
See the figure on next slide
Setting up working grid
Setting up working grid
Go to View Coordinate Window (F4) Right click on Rigid Body Button in the
“Main Toolbox” Select Rigid Body: Link Click the origin of the grid to specify one
end of the Link and Click at location (550, -150, 0) to specify the other end of link Note: The coordinates of the locations can
be seen in the coordinate window Right click the link, point to Part:PART_3
Rename Rename the part as .missilelauncher.arm1
Creating rigid body: Links
Right click the link, point to Part:arm1 Copy This will create another Rigid Body of type “link” at
the same position as Part:arm1 The name of this newly created part will be
arm1_2 Right click the part, select Part:arm1_2 Rename Change the name to .missilelauncher.arm2 We want to move this newly created part from the
center of lower left cylindrical hole to the center of upper right cylindrical hole on the face closest to you when the front of the barrel is pointing to +ve X direction.
Creating rigid body: Links
Right click the position stack and select the translate tool as shown in the picture Note: The software will tell you what
you need to do next on the information bar at the bottom of the main window
Select the object to move: Right click the two parts (which are on top of each other)
This will give you option to select the part. Select arm2
The next prompt will be “select a point to move from”: here, select the center of lower left cylindrical hole on the face closest to you when the front of the barrel is pointing to +ve X direction
The next prompt will be “select the point to move to”: here select the center of upper right cylindrical hole on the face closest to you when the front of the barrel is pointing to +ve X direction.
Creating rigid body: Links
Create 4 revolute joints at locations shown
Creating Joints
Right click the joints stack in Main Toolbox and select Revolute Joint
Select following options 2 Body 1 Location Normal to Grid First body: Pick Body Second Body: Pick
body
Creating Joints
Joint 1: Revolute Joint between Ground and Arm1 Select Ground as the first body and Arm1 as the
second body Select the marker at the location (550, -150, 0) as the
location for the joint
Joint 2: Revolute Joint between Ground and Arm2 Select Ground as the first body and Arm2 as the
second body Select the marker on Arm2 corresponding to the
previously selected marker on Arm1 as the location for the joint
Creating Joints
Joint 3: Revolute Joint between Arm1 and barrel Select Arm1 as the first body and barrel as the
second body Select the marker at the location of the center of
lower left cylindrical hole on the face closest to you when the front of the barrel is pointing to +ve X direction
Joint 4: Revolute Joint between Arm2 and barrel Select Arm2 as the first body and barrel as the
second body Select the marker at the location of the center of
upper right cylindrical hole on the face closest to you when the front of the barrel is pointing to +ve X direction
Creating Joints
Applying Motion to Joint 1 Select Rotational Joint
Motion tool as shown in the figure
Click on Joint 1 This will add a rotational
motion to the joint
Applying motion to Joint
Right click on the motion and point to Motion:MOTION_1 Modify
This will launch modify motion box as shown
Enter -30.0d * time as the Function of time (note the –ve sign)
Applying motion to Joint
Click on “Interactive Simulation controls”
Enter 5.0 sec for End Time and enter 500 for number of Steps (see the figure)
Select the play tool This will run a simulation
and the mechanism will turn through 150 degrees and will stop (why 150 degrees?)
Running initial simulation
We want the mechanism to stop when the Arms are vertical and the barrel is at maximum height
To achieve this we will create a “Sensor” which will stop the simulation as soon as the links are vertical
The Sensor needs to keep track of some value/measurement, so that it can stop the simulation when this measure reaches some particular value
So there are 2 steps1. Create a Measure2. Create a Sensor based on this measure
Need for Measures and Sensor
We will create a measure to track the Horizontal Distance between these two points
We know that the arms will be vertical when this distance will become zero (this is exactly what the sensor will look for)
Measure
Go to Build Measure Point-to-Point New
Measure
Give the measure name .missilelauncher.for_vertical_sensor
Right click in the box next to “To Point” and select arm1.Marker_1 (the marker at the location of the center of lower left cylindrical hole on the face closest to you when the front of the barrel is pointing to +ve X direction)
Right click in the box next to “From Point” and select arm1.Marker_2 (the marker at the location (550, -150, 0))
Select “Translational Displacement” as characteristic Component : X Select “Create Strip Chart” and hit OK
Measure
Building a Sensor Go to Simulate Sensor
New Name the
Sensor .missilelauncher.vertical_sensor
Select Run-Time expression for Event Definition
Click next to the Expression box
This will launch Function Builder
Sensor
Delete anything that is seen here
Select “Measures” for Getting Object Data
Right Click in the box and point to Runtime Measures Guess for_vertical_sensor
Then hit Insert object name and click OK
Sensor
Now will be back to Create Sensor dialog box
Set event evaluation to None
Select Non-Angular Values Select Equal Enter value as “0” Set the Error Tolerance as
1.0E-05 Check Terminate current
simulation step and... Check Stop Hit OK
Sensor
Now again run the simulation for 5 seconds with 500 steps and verify that the simulation stops when the arms are vertical
Sensor
Adjust the barrel mass Right click the barrel Point to Part:barrel Modify Select Define Mass by “User input” Enter 100kg next to Mass Hit OK
Refining the model
Run the simulation for 5 seconds with 500 steps and post process the results
To launch the post Processor Go to Review PostProcessing (F8) Select Objects as source and review the
results
Final Simulation and PostProcessing
Application of this virtual prototyping One can review forces coming on joints,
and hence select appropriate bearings Torques acting at the joints can be found
and hence an appropriate motor can be selected based on the operating speed and torque requirements
A controls module can be added and tested All mass properties, geometries, operating
speeds etc can be changed and their effects can be evaluated
Applications