Adams 2020 Training 701 Coursenotes
July 28, 2024 | Author: Anonymous | Category: N/A
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Complete Multibody Dynamics Analysis with Adams ADM701 Course Notes
Legal Information MSC Software Corporation reserves the right to make changes in specifications and other information contained in this document without prior notice. The concepts, methods, and examples presented in this text are for illustrative and educational purposes only, and are not intended to be exhaustive or to apply to any particular engineering problem or design. MSC Software Corporation assumes no liability or responsibility to any person or company for direct or indirect damages resulting from the use of any information contained herein. Copyright © 2020 MSC Software Corporation. All Rights Reserved. This notice shall be marked on any reproduction of this documentation, in whole or in part. Any reproduction or distribution of this document, in whole or in part, without the prior written consent of MSC Software Corporation is prohibited. The MSC Software corporate logo, Actran, Adams, Cradle, Digimat, Dytran, Easy5, Fatigue, Marc, Mentat, MaterialCenter, MSC, MSC Apex, MSC CoSim, MSC Nastran, Mvision, Patran, PICLS, SC/Tetra, scSTREAM, scSTREAM/HeatDesigner, SC/Tetra/scFLOW, scSTREAM/HeatDesigner, SC/Tetra/scFLOW, SimDesigner, SimManager, SimXpert, Sofy, and VTD are trademarks or registered trademarks of the MSC Software Corporation and/or its affiliates in the United States and/or other countries. Hexagon and the Hexagon logo are trademarks or registered trademarks of Hexagon AB and/or its subsidiaries. NASTRAN is a registered trademark of NASA. All other trademarks belong to their respective owners.
ADAM*V2020*Z*BFS*Z*SM-ADM701-NT
Contents Section 1
2
Page Introduction Welcome to Adams Training
1-2
Course Objectives
1-4
What is Motion Simulation
1-5
What is Adams?
1-6
Adams Applications
1-7
Why build an Adams model?
1-8
SimCompanion
1-9
Organization of Workshops
1-13
Virtual Prototyping Process Virtual Prototyping Process
2-2
Workshop 1, Stamping Mechanism 3
3
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Adams View Interface Overview
TOC – ADM701
What is in this Section
3-2
Model Hierarchy
3-3
Renaming Objects
3-4
© MSC Software Corporation
Contents Section 3
Page Adams View Interface Overview (Cont.) Adams View Interface
3-6
Simple Simulations
3-8
Saving Your Work
3-9
Adams View Graphics on Windows
3-12
Workshop 2: “Valve Train Mechanism” 4
Adams PostProcessor Interface overview What is in this Section
4-2
Post-Processing Interface Overview
4-3
Adams View Window
4-4
Recording Animation
4-7
Printing Plot to File
4-8
Exporting Numerical Data
4-9
Plot Configuration File
4-10
Creating Plot Configuration File
4-11
Workshop 3: “Adams Postproccessor Overview”
4
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TOC – ADM701
© MSC Software Corporation
Contents Section 5
Page Parts and Coordinate Systems What is in this Section
5-2
Coordinate Systems
5-3
Part Coordinate Systems
5-5
Coordinate System Marker
5-6
Differences Between Parts and Geometry
5-8
Parts, Geometry, and Markers
5-11
Types of Parts in Adams View
5-13
Part Mass and Inertia
5-14
Measures
5-16
Workshop 4, Falling Stone 6
5
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Initial Conditions and Point Trace
TOC – ADM701
What is in this Section
6-2
Partial Initial Conditions
6-3
Initial Velocities
6-4
Point Trace
6-5
© MSC Software Corporation
Contents Section 6
Page Initial Conditions and Point Trace (Cont.) Workshop 5, Projectile Motion
7
Constraints What is in this Section
7-2
Constraints
7-3
Constraints Example
7-4
Use of Markers in Constraints
7-5
Degrees of Freedom (DOF)
7-7
Joint Initial Conditions
7-9
Merging Geometry
7-10
Angle Measures
7-12
Workshop 6, One DOF Pendulum 8
6
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Rotation and Friction
TOC – ADM701
What is in this Section
8-2
Euler Angles
8-3
Precise Positioning: Rotate
8-5
© MSC Software Corporation
Contents Section 8
Page Rotation and Friction (cont.) Modeling Friction
8-6
Measure in LCS
8-10
Workshop 7: “Inclined Plane” 9
Geometry and Precise Positioning What is in this Section
9-2
Building Geometry
9-3
Construction Geometry Properties
9-5
Solid Geometry
9-7
Precise Positioning: Move
9-9
Workshop 8: “Lift Mechanism I” 10
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Joint Motion and Functions
TOC – ADM701
What is in this Section
10-2
Applying Motion
10-3
Joint Motion
10-4
Functions in Adams
10-6
© MSC Software Corporation
Contents Section 10
Page Joint Motion and Functions Workshop 9: “Lift Mechanism II”
11
Joint Primitives What is in this Section
11-2
Types of Joint Primitives
11-3
Perpendicular Joint Primitive
11-5
Workshop 10: “Lift Mechanism III” 12
Point Motions and System-Level Design What is in this Section
12-2
Applying Point Motions
12-3
System-Level Design
12-5
Command Language Introduction
12-7
Workshop 11: “Suspension System I” 13
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Measurements, Displacement Functions, and CAD Geometry
TOC – ADM701
What is in this Section
13-2
Taking Measurements
13-3
© MSC Software Corporation
Contents Section 13
Page Measurements, Displacement Functions, and CAD Geometry (Cont.) Displacement Functions
13-5
Importing CAD-Based Geometry
13-7
Workshop 12: “Suspension System II” 14
Add-On Constraints, Couplers, and Assembling Models What is in this Section
14-2
Add-on Constraints
14-3
Couplers
14-5
Assembling Subsystem Models
14-7
Workshop 13: “Suspension-Steering System” 15
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Simulations
TOC – ADM701
What is in this Section
15-2
Assemble Simulation
15-3
Simuation Hierarchy
15-5
Types of Simulations
15-6
Forces in Adams
15-10
© MSC Software Corporation
Contents Section 15
Page Simulations (Cont.) Spring Dampers in Adams
15-11
Magnitude of Spring Dampers
15-13
Workshop 14: “Spring Dmaper” 16
Forces and Splines What is in this Section
16-2
Single-Component Forces: Action-Reaction
16-3
Spline Functions
16-5
AKISPL Function
16-7
Workshop 15: “Nonlinear Spring” 17
Bushings What is in this Section
17-2
Bushings
17-3
Bushing Statement Documentation
17-5
Static Equilibrum
17-6
Workshop 16: “Suspension-Steering System II”
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TOC – ADM701
© MSC Software Corporation
Contents Section 18
Page Impact and Velocity Functions What is in this Section
18-2
Impact Functions
18-3
Velocity Functions
18-7
Workshop 17: “Hatchback I” 19
STEP Functions and Simulation Scripts What is in this Section
19-2
STEP Function
19-3
Scripted Simulations
19-6
Adam/Solver Commands
19-8
Workshop 18: “Hatchback II” 20
11
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Adams Solver
TOC – ADM701
What is in this Section
20-2
Adams Solver Overview
20-3
Files in Adams Solver
20-4
Example of an Adams Solver Dataset (.adm) File
20-5
© MSC Software Corporation
Contents Section 20
Page Adams Solver (Cont.) Stand-Alone Adams Solver
20-6
Solver Compatibility
20-7
Example: 2D Pendulum
20-8
Formulation of the Equations of Motion
20-11
Phases of Solution
20-12
Debug/Eprint (Dynamics)
20-19
Workshop 19: “Hatchback III” 21
Sensors and Design Variables What is in this Section
21-2
Sensors
21-3
Design Variables
21-5
Temporary Settings File
21-8
Workshop 20: “Hatchback IV” 22
Splines and Constraints What is in this Section
12
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TOC – ADM701
22-2
© MSC Software Corporation
Contents Section 22
Page Splines and Constraints (Cont.) Splines from Traces
22-3
Curve Constraints
22-4
Automated Contact Forces
22-6
Flexible Parts – Adams Flex
22-9
Flexible Parts – ViewFlex
22-11
Workshop 21: “CAM-Rocker-Valve 23
Multi-Components Forces and Design Studies What is in this Section
23-2
Multi-Component Forces
23-3
Design Studies
23-7
Workshop 22: “Target Practicce” 24
13
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FE_Part: Geometric Nonlinearity
TOC – ADM701
What is in this Section
24-2
Introduction to FE_Part
24-3
FE_Part Comparison
24-4
© MSC Software Corporation
Contents Section 24
Page FE_Part: Geometric Nonlinearity (Cont.) Available FE_Part Formulations
24-5
FE_Parts Nodes: FE Nodes
24-6
Distributed Applied Load: FE_Load
24-7
Advantages of implementing FE_Part
24-8
Workshop 23: “FE_PART” 25
Recommended Practices What is in this Section
25-2
General Approach to Modeling
25-3
Modeling Practices: Parts
25-4
Modeling Practices: Constraints
25-6
Modeling Practices: Compliant Connections
25-8
Modeling Practices: Run-time Functions
25-9
Debugging Tips
25-13
Documentation
25-28
Workshop 24: “Switch Mechanism”
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TOC – ADM701
© MSC Software Corporation
Contents Appendix
15
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A
Tables
B
Tools and Menus
TOC – ADM701
© MSC Software Corporation
Introduction
Welcome to Adams Training • What’s in this section: • Course Objectives • What is Motion Simulation? • What is Adams? • Adams Applications • Why Build an Adams Model? • SimCompanion: Technical Articles, Documentation & Forums • Organization of Workshops • Getting Help
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Introduction
© MSC Software Corporation
Welcome to Adams Training • Adams Full Simulation Package is a powerful modeling and simulating environment that lets you build, simulate, refine, and ultimately optimize any mechanical system, from automobiles and trains to VCRs and backhoes. • The Complete Multibody Dynamics Analysis with Adams class will teach you how to build, simulate, and refine a mechanical system using MSC Software’s Adams Full Simulation Package.
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Introduction
© MSC Software Corporation
Course Objectives • After taking this course you will be able to: • Build Adams View models of moderate complexity. • Understand Adams product nomenclature and terminology. • Understand basic modeling principles and extend your proficiency by creating progressively more complex models. • Use the crawl-walk-run approach to virtual prototyping. • Debug your models for the most common modeling challenges (redundant constraints, zero mass properties, broken joints, etc.). • Use and be informed about all methods of Adams product support. • Use the product documentation well.
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Introduction
© MSC Software Corporation
What is Motion Simulation? • Also called: • Mechanical Systems Simulation (MSS) • Multi-Body Dynamics (MBD) • Equations of motion generated from the model • CAD-like graphical interface or text file input • Large angles, large displacements, nonlinear forces • Differential and algebraic equations integrated directly • Result is system animation and plotting of all kinematics (displacement, velocity, etc.) and dynamics (reactions, etc.)
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Introduction
© MSC Software Corporation
What is Adams? • • • • • • • •
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Automatic Dynamic Analysis of Mechanical Systems Development started in 1974 at the University of Michigan Mechanical Dynamics, Inc. started with Adams Solver MDI was acquired by MSC in 2002 Euler-Lagrange method to create equations of motion Predictor-corrector methods to solve equations Integrated animation and plotting Powerful parametric, scripting and post-processing abilities
Introduction
© MSC Software Corporation
Adams Applications • The general purpose graphical user interface is Adams View • Model building, simulation submission, animation • Equations are built and integrated with Adams Solver • Solver is a standalone application, but typically used seamlessly from within Adams View • Plotting and animation done with Adams PostProcessor • Tightly integrated with Adams View • Industry verticals (e.g., Adams Car) for model templates
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Introduction
© MSC Software Corporation
Why Build an Adams Model? • Verify Motion Performance (~60%) • “Will it work?” • Example: will landing gear fully deploy in these conditions? • Compute Detailed Loads in a Mechanism (~30%) • “Will it break?” • Example: what are the cyclic loads on a wind turbine driveshaft? • Examine Clearances in a Complex Mechanism (~10%) • “Will it fit?” • Example: will launch vehicle fairing deploy without hitting the payload?
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Introduction
© MSC Software Corporation
SimCompanion • One stop for full online support • FAQs • Documentation • Webinars & Multimedia • Known Issues • Find answers to your questions • Subscribe to email notification • Access to other support resources • MSC Community • Discussion Forums • Case Management
• Training Information
https://simcompanion.mscsoftware.com 9
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Introduction
© MSC Software Corporation
SimCompanion • Personalized Support via the following channels • Web • Create a Support Case • Manage My Support Cases
• Email • List of Addresses in Support Contact Information
• Phone • List of Phone Numbers in Support Contact Information
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Introduction
© MSC Software Corporation
SimCompanion • Product Info and Docs • Access to all Product Documentation
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Introduction
© MSC Software Corporation
Support: MSC Community • Access MSC Community from SimCompanion
• Discussion Forums for User Collaboration • Follow Topics of Interest, including Email Settings • Replying to Email will upload your post
• • • •
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Know what’s Trending Leaderboard for User Recognition Manage Support Cases Search Discussions and Your Cases
Introduction
© MSC Software Corporation
Organization of Workshops • The workshops get progressively more complex. Each workshop 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 workshop is divided into the following sections: • Workshop Objectives • Software Version • Files Required • Problem Description • Steps to Complete Workshop • Workshop Review
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Introduction
© MSC Software Corporation
Getting Help: Online Help • Online Help • To access the online help, do either of the following: • From the main menu bar, right click on icon and select Adams View Help to display the home page for the Adams View online help. • On Windows, go to Start > Adams 2020 > Online Help • While working in any Adams View dialog box, press F1 to display online help specific to that dialog box.
• Once the online help is displayed, you can browse the table of contents, use the index, or search for keywords.
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Introduction
© MSC Software Corporation
Getting Help: Online Help Contents of selected tab
Index/search entire Adams help
Table of contents
15
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Introduction
© MSC Software Corporation
Getting Help: Consulting • MSC Software provides comprehensive engineering consulting services to help you realize the benefits of Virtual Product Development quickly and confidently. • Staff Augmentation • Technology Transfer • Customization & Process Automation • Methods Development • Toolkit Solutions • Simulation Data and Process Management • On-site Support • For more information on MSC Consulting Services, go to: http://www.mscsoftware.com/services/engineering-services
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Introduction
© MSC Software Corporation
Virtual Prototyping Process
Virtual Prototyping Process Design Problem
Build
Cut time and costs
Test
Increase quality
Increase efficiency
Review
IMPROVED PRODUCT
Improve
• Build a model of your design using: • Bodies • Forces • Contacts • Joints • Motion generators
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Virtual Prototyping Process
© MSC Software Corporation
Virtual Prototyping Process Design Problem
Build
Cut time and costs
Test
Increase quality
Increase efficiency
Review
Improved Product
Improve
• Test your design using: • Measures • Simulations • Animations • Plots • Validate your model by: • Importing test data • Superimposing test data
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Virtual Prototyping Process
© MSC Software Corporation
Virtual Prototyping Process Design Problem
Build
Cut time and costs
Test
Increase quality
Increase efficiency
Review
Improved Product
Improve
• Review your model by adding: • Friction • Forcing functions • Flexible parts • Control systems • Iterate your design through variations using: • Parametrics • Design Variables
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Virtual Prototyping Process
© MSC Software Corporation
Virtual Prototyping Process Design Problem
Cut time and costs
Build
Increase quality
Test
Increase efficiency
Review
Improved Product
Improve
• Improve your design using: • DOEs • Optimization • Automate your design process using: • Custom menus • Macros • Custom dialog boxes
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Virtual Prototyping Process
© MSC Software Corporation
Exercise • Perform Workshop 1, “Stamping Mechanism”
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Virtual Prototyping Process
© MSC Software Corporation
Adams View Interface Overview
What is in this Section • • • • •
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Model Hierarchy Renaming Objects Adams View Interface Simple Simulations Saving Your Work
Adams View Interface Overview
© MSC Software Corporation
Model Hierarchy • Adams View Modeling Hierarchy • Adams View names objects based on this model hierarchy. For example, Adams View names geometry as .model_name.part_name.geometry_name. • To change the parent for an object, rename the object. Model Simulations
More
Objects Measures
Constraints
Parts
Forces
Analyses Markers Results Sets
Components
Construction Points
Geometry
Are not saved in model command files (.cmd)
See Also: Assembling Subsystem Models in Section “Add-on Constraints, Couplers, and Assembling Models” 3
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Adams View Interface Overview
© MSC Software Corporation
Renaming Objects • Adams View naming conventions: .mod Simulations
Objects .mod.meas_1
More .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
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Adams View Interface Overview
Are not saved in model command files (.cmd)
© MSC Software Corporation
Renaming Objects • Renaming objects clarifies model topology • Names can have underscores but not spaces or symbols
Not renamed
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Adams View Interface Overview
Renamed
© MSC Software Corporation
Adams View Interface Menus
Adams View Main Window – Default View
Ribbon Working grid Toolbox container
Model name
Tree View
View triad 6
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Adams View Interface Overview
Status bar © MSC Software Corporation
Adams View Interface Main Toolbox
Adams View Main Window – Classis View Model name
Working grid
Menus
Tool Arrow denotes tool stack
Toolbox container
View triad 7
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Adams View Interface Overview
Status bar © MSC Software Corporation
Simple Simulations • Simulation versus animation • Simulations are solutions to equations of motion describing a mechanical system. • Animations display a graphical playback of previously completed simulations.
Simulation time interval End Time: absolute point in time to stop simulation Duration: relative amount of time to simulate over
Simulation output Step Size: amount of time between steps Steps: total number of steps in a specified amount of time
Animation tool
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Adams View Interface Overview
© MSC Software Corporation
Saving Your Work • Most common formats in which you can save Adams View models • Adams View database files (.bin) • Include the entire modeling session including models, simulation results, plots, and so on. • Are typically large (start at 5 MB). • Have been platform independent since Adams 11.0 (2002)
• Adams View command files (.cmd) • Include only model elements and their attributes. • Are relatively small, editable text files. • Are platform independent.
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Adams View Interface Overview
© MSC Software Corporation
Saving Your Work
Adams View database files (.bin)
Adams View command files (.cmd)
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Adams View Interface Overview
© MSC Software Corporation
Saving Your Work • Other formats in which you can import and export data • Adams Solver input files (.adm) • Geometry files (STEP, IGES, DXF, DWG, Wavefront, Stereolithography) • Test and spreadsheet data files • Simulation results files (.msg, .req, .gra, .res).
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Adams View Interface Overview
© MSC Software Corporation
Adams View Graphics on Windows • Adams View uses the OpenGL graphics standard • Early versions of Windows graphics card drivers sometimes do not have OpenGL fully implemented • Signs of graphics driver issues: • Display “freezes” (stops updating) • Adams View application crashes or disappears • Adams Exception 11 errors • SOLUTION: Update the graphics card drivers • http://www.nvidia.com then pick Download Drivers • For ATI and AMD video cards, http://support.amd.com
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Adams View Interface Overview
© MSC Software Corporation
Exercise • Perform Workshop 2, “Valve Train Mechanism”
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Adams View Interface Overview
© MSC Software Corporation
Adams Postprocessor Interface Overview
What is in this Section • • • • • • • •
Post-Processing Interface Overview Adams View Window – Animating, Plotting, Reporting Recording Animation Printing a Plot File Exporting Numerical Data Plot Configuration File Creating Plot Configuration File Creating Plots using a Plot Configuration File
For more information, see the Adams Postprocessor online help.
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Adams Postprocessor Interface Overview
© MSC Software Corporation
Post-processing Interface Overview • Adams Postprocessor has these modes: • Animation • Plotting: Plot 3D (Available only for Adams Vibration analyses) • Reporting • As you switch between the modes, the Adams View window’s menus change, as shown on the next few pages.
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Adams Postprocessor Interface Overview
© MSC Software Corporation
Adams View Window: Animating Mode type
Treeview
Main toolbar
Viewport
Property editor
Dashboard
For more information, see the Animate tab in the Adams Postprocessor online help. 4
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Adams Postprocessor Interface Overview
© MSC Software Corporation
Adams View Window: Plotting Mode type
Main toolbar
Treeview
Viewport
Property editor Dashboard
For more information, see the Plot tab in the Adams Postprocessor online help. 5
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Adams Postprocessor Interface Overview
© MSC Software Corporation
Adams View Menu: Reporting Mode type
Treeview
Main toolbar
Viewport
For more information, see the Report tab in the Adams Postprocessor online help.
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Adams Postprocessor Interface Overview
© MSC Software Corporation
Recording Animation
• AVI or MPEG format on Windows • MPEG format on Unix/Linux
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Adams Postprocessor Interface Overview
© MSC Software Corporation
Printing Plot to File • PNG format is a lossless bitmap file
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Adams Postprocessor Interface Overview
© MSC Software Corporation
Exporting Numerical Data • Export Formats: • Numeric data • Spreadsheet • Table
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Adams Postprocessor Interface Overview
© MSC Software Corporation
Plot Configuration File • Plot configuration files in Adams Postprocessor: • Helps to set up a set of plots that could be used repetitively. • Set up the vertical and horizontal components of the plot. • Set up the general settings and preferences, such as titles, labels, horizontal and vertical spacing, scaling, legend text, and more. • Also holds data for Bode plots, Scatter plots, Curve math and Some complex function expressions with multiple analysis result component references. • Plot configuration files are TeimOrbit files and are stored in your working directory.
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Adams Postprocessor Interface Overview
© MSC Software Corporation
Creating Plot Configuration File • You can create a plot configuration file containing all of the plots currently in Adams Postprocessor or only a selected set of plots. • To create a plot configuration file: • Create and configure plots as desired, including specifying labels and spacing. For example, you can create a set of plots and add subtitles to all of them that describe the type of analysis with which the plots are associated. • From the File menu, point to Export, and then select Plot Configuration File. The Save Plot Configuration File dialog box appears. • In the Configuration File Name text box, enter the name for the plot configuration. • Check either “All Plots” option or Select the plots and curves that you want to include. • You can include some customization commands for plots and curves. • Select OK.
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Adams Postprocessor Interface Overview
© MSC Software Corporation
Creating Plots Using a Plot Configuration File • After you've run an analysis, you can view the series of plots defined in a plot configuration file, use the File menu, point to Import, and then select Plot Configuration File. • The plot configuration file specifies a subtitle for your plots. In addition, in the File Import dialog box you can: • Add a title to all the plots. • Plot results of multiple analyses on one plot using the Cross Plotting option. • Change the look of your plot, such as fonts and size, using the option Execute Custom Macros. To use this option, you must have a macro that defines the commands to be executed.
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Adams Postprocessor Interface Overview
© MSC Software Corporation
Exercise • Perform Workshop 3, “Adams Postprocessor Overview”
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Adams Postprocessor Interface Overview
© MSC Software Corporation
Parts and Coordinate Systems
What is in this Section • • • • • • • •
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Coordinate Systems Part Coordinate System Coordinate System Marker Differences Between Parts and Geometry Parts, Geometry, and Markers Types of Parts in Adams View Part Mass and Inertia Measures
Parts and Coordinate Systems
© MSC Software Corporation
Coordinate Systems • Definition of a coordinate system (CS) • A coordinate system is essentially a measuring stick to define kinematic and dynamic quantities.
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Parts and Coordinate Systems
© MSC Software Corporation
Coordinate Systems • 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
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Parts and Coordinate Systems
© MSC Software Corporation
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.
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Parts and Coordinate Systems
© MSC Software Corporation
Coordinate System Marker • Definition of a marker • It attaches to a part and moves with the part. • Several can exist per part. • Its location and orientation can be specified by providing its location and orientation with respect to GCS or PCS.
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Parts and Coordinate Systems
© MSC Software Corporation
Coordinate System Marker • 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.
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Parts and Coordinate Systems
© MSC Software Corporation
Differences Between Parts and Geometry • Parts • Define bodies (rigid or flexible) that can move relative to other bodies and have the following properties: • • • •
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Mass Inertia Initial location and orientation (PCS) Initial velocities
Parts and Coordinate Systems
© MSC Software Corporation
Differences Between Parts and Geometry • Geometry • Used to add graphics to enhance the visualization of a part using properties such as: • Length • Radius • Width
• Not necessary for most simulations. • Note: Simulations that involve contacts do require the part geometry to define when the contact force will turn on or off. We will discuss contact forces in Workshop 20 - Hatchback IV.
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Parts and Coordinate Systems
© MSC Software Corporation
Differences Between Parts and Geometry
.model_1.UCA (Part) .model_1.UCA.cyl_1 (Geometry)
.model_1.UCA.sphere_1 (Geometry)
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Parts and Coordinate Systems
© MSC Software Corporation
Parts, Geometry, and Markers • Dependencies in Adams • To understand the relationship between parts, geometry, and markers in Adams View, it is necessary to understand the dependencies shown below: Model .mod
Part
.mod.pend
Geometry
.mod.pend.sph
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Parts and Coordinate Systems
Marker
.mod.pend.mar_1
Marker
.mod.pend.cm
Marker
.mod.pend.mar_2
Geometry
.mod.pend.cyl
© MSC Software Corporation
Parts, Geometry, and Markers pend mar_2 cyl
cm
sph
mar_1
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Parts and Coordinate Systems
© MSC Software Corporation
Types of Parts in Adams View • Rigid bodies • Are movable parts. • Possess mass and inertia properties. • Cannot deform. • Flexible bodies • Are movable parts. • Possess mass and inertia properties. • Can bend when forces are applied to them. • Ground part • Must exist in every model and is automatically created when a model is created in Adams View. • Defines the GCS and the global origin and, therefore, remains stationary at all times. • Acts as the inertial reference frame for calculating velocities and acceleration.
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Parts and Coordinate Systems
© MSC Software Corporation
Part Mass and Inertia • Mass and inertia properties • Adams View automatically calculates mass and inertial properties only for three-dimensional rigid bodies. • Adams View calculates the total mass and inertia of a part based on the part’s density and the volume of its geometry. • You can change these properties manually. • Adams View assigns mass and inertial properties to a marker that represents the part’s center of mass (cm) and principal axis. • You can change the position and orientation of the part’s cm marker. • The orientation of the cm marker also defines the orientation of inertial properties Ixx, Iyy, Izz. • Note: part mass properties are constant during a simulation. For methods to model the effects of time-varying mass see SimCompanion KB8019687 https://simcompanion.mscsoftware.com/infocenter/index?page=content&id=KB8019687
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Parts and Coordinate Systems
© MSC Software Corporation
Part Mass and Inertia
Part 1
Part 1
cm marker cm marker (shifts as new geometry is added to the part) 15
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Parts and Coordinate Systems
© MSC Software Corporation
Measures • Measures in Adams • Represent data that you would like to quantify during a simulation such as: • • • •
Displacement, velocity, or acceleration of a point on a part Forces in a joint Angle between two bodies Other data resulting from a user-defined function
• Capture values of measured data at different points in time over the course of the simulation. • Measures operate much like virtual instrumentation
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Parts and Coordinate Systems
© MSC Software Corporation
Measures • Definition of object measures • Measure pre-defined measurable characteristics of parts, forces, and constraints in a model.
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Parts and Coordinate Systems
© MSC Software Corporation
Exercise • Perform Workshop 4, “Falling Stone”
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Parts and Coordinate Systems
© MSC Software Corporation
Initial Conditions and Point Trace
What is in this Section • Part Initial Conditions • Initial Velocities • Point Trace
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Initial Conditions and Point Trace
© MSC Software Corporation
Part Initial Conditions • Initial location and orientation • The design configuration of all the parts (their part coordinate systems) in a model defines their initial locations and orientations. • You can fix a part’s location and orientation so it can be used during the assemble simulation procedure (covered later).
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Initial Conditions and Point Trace
© MSC Software Corporation
Initial Velocities • Initial velocities • In Adams, a part initially moves (at t = 0) as follows:
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Initial Conditions and Point Trace
© MSC Software Corporation
Point Trace • Definition of a point trace • Tracks the location of a marker during an animation. • Can be used to visualize the clearance between two bodies during a simulation. • Example of a point trace • Trajectory of a ball.
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Initial Conditions and Point Trace
© MSC Software Corporation
Exercise • Perform Workshop 5, “Projectile Motion”
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Initial Conditions and Point Trace
© MSC Software Corporation
Constraints
What is in this Section • • • • •
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Constraints Use of Markers in Constraints Degrees of Freedom (DOF) Joint Initial Conditions (ICs) Angle Measures
Constraints
© MSC Software Corporation
Constraints • Definition of a constraint • Restricts relative movement between parts. • Represents idealized connections. • Removes rotational and/or translational DOF from a system.
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Constraints
© MSC Software Corporation
Constraints Example
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Constraints
© MSC Software Corporation
Use of Markers in Constraints • Constraint equations in Adams • Constraints are represented as algebraic equations in Adams Solver. • These equations describe the relationship between two markers. • Joint parameters, referred to as I and J markers, define the location, orientation, and the connecting parts: • First marker, I, is fixed to the first part. • Second marker, J, is fixed to the second part.
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Constraints
© MSC Software Corporation
Use of Markers in Constraints • Anatomy of a constraint in Adams
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Constraints
© MSC Software Corporation
Degrees of Freedom (DOF) • Constraints and DOF • Each DOF in mechanical system simulation (MSS) corresponds to at least one equation of motion. • A freely floating rigid body in three-dimensional space is said to have six DOF. • A constraint removes one or more DOF from a system, depending on its type.
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Constraints
© MSC Software Corporation
Degrees of Freedom (DOF) • Determining the number of system DOF • Adams View provides an estimated number of system DOF by using the Gruebler’s Count: System DOF = (number of movable parts ⋅ DOF/part)
− � [#Constraints ⋅ #DOF(Constraint)] i = type
• Adams View also provides the actual number of system DOF, as it checks to see if: • • • •
Appropriate parts are connected by each constraint. Correct directions are specified for each constraint. Correct type of DOF (translational versus rotational) are removed by each constraint. There are any redundant constraints in the system.
• See also: DOF removed by a revolute joint in Appendix A.
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Constraints
© MSC Software Corporation
Joint Initial Conditions (ICS) • Characteristics of joint initial conditions • You can specify displacement and velocity initial conditions for revolute, translational, and cylindrical joints. • Adams View uses the specified initial conditions of the joint while performing a simulation, regardless of any other forces acting on the joint. • If you do not specify joint initial conditions, Adams Solver calculates the conditions of the connecting parts while performing a simulation depending on the other forces acting on the joint. • Question: What would happen if the joint initial conditions in a system were different from the part initial conditions?
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Constraints
© MSC Software Corporation
Merging Geometry • Methods of attaching multiple geometry to a part • Use fixed joint to constrain geometric objects.
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Constraints
© MSC Software Corporation
Merging Geometry • 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?
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Constraints
© MSC Software Corporation
Angle Measures • Definition of angle measures: They are used to measure the included angle, θ: • Between two vectors • Defined by three markers • Defined throughout a simulation
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Constraints
© MSC Software Corporation
Angle Measures • 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.
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Constraints
© MSC Software Corporation
Exercise • Perform Workshop 6, “One DOF Pendulum”
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Constraints
© MSC Software Corporation
Rotation and Friction
What is in this Section • • • •
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Euler Angles (Rotation Sequence) Precise Positioning: Rotate Modeling Friction Measures in LCS
Rotation and Friction
© MSC Software Corporation
Euler Angles (Rotation Sequence) • Definition of Euler angles • Adams View uses three angles to perform three rotations about the axes of a coordinate system. • These rotations can be space-fixed or body-fixed and are represented as Body [3 1 3], Space [1 2 3], and so on, where: • 1 = x axis • 2 = y axis • 3 = z axis
For rotation about these axes, use the right hand rule
• Default in Adams is Body [3 1 3].
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Rotation and Friction
© MSC Software Corporation
Euler Angles (Rotation Sequence) • Example of body [3 1 3]: [90°, -90°, 180°]:
• Example of space [3 1 3]: [90°, -90°, 180°]:
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Rotation and Friction
© MSC Software Corporation
Precise Positioning: Rotate • To rotate objects about an axis in Adams View, specify: • The objects to rotate. • The axis about which the objects are rotated. • The angle through which the objects are rotated.
• Note: Be careful with the sign of the angle. Adams View uses the right-hand rule. You can rotate several objects at once about the same axis.
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Rotation and Friction
© MSC Software Corporation
Modeling Friction • Joint friction can be applied to: • Translational joints (Translational Joint, DOF Removed by, see Appendix A) • Revolute joints • Cylindrical joints • Hooke/Universal joints • Spherical joints • Friction forces 𝐹𝐹𝑓𝑓 • 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). • 𝐹𝐹𝑓𝑓 = 𝜇𝜇𝜇𝜇
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Rotation and Friction
© MSC Software Corporation
Modeling Friction • Phases that define friction forces • Stiction • Transition • Dynamic
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Rotation and Friction
© MSC Software Corporation
Modeling Friction • Idealized Case • Stiction • Transition • Dynamic
• Adams Solver case • Stiction • Transition • Dynamic
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Rotation and Friction
|Vrel| = 0 0 < μ < μs 0 < |Vrel| = V1 μ d < μ < μs V1 < |Vrel| μ = μd
|Vrel| < ΔVs 0 < μ < μs ΔVs < |Vrel| < 1.5ΔVs μ d < μ < μs 1.5ΔVs < |Vrel| μ = μd
© MSC Software Corporation
Modeling Friction • Effect of maximum deformation on friction
• Input forces to friction • Always include preload and reaction force. • Bending and torsional moment are possible (however, advanced uses of joint friction are beyond the scope of this course).
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Rotation and Friction
© MSC Software Corporation
Measures in LCS • Measures can be represented in: • Global coordinate system (GCS) (default) • A marker’s local coordinate system (LCS) • Example • When a ball falls due to gravity:
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Rotation and Friction
© MSC Software Corporation
Measures in LCS • Acceleration due to gravity in the GCS using symbols 𝑥𝑥�𝑔𝑔 , 𝑦𝑦�𝑔𝑔 , 𝑧𝑧𝑔𝑔̂ to represent the global x, y, and z components is:
• Acceleration due to gravity in MAR_1's coordinate system is:
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Rotation and Friction
© MSC Software Corporation
Exercise • Perform Workshop 7, “Inclined Plane”
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Rotation and Friction
© MSC Software Corporation
Geometry and Precise Positioning
What is in this Section • • • •
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Building Geometry Construction Geometry Properties Solid Geometry Precise Positioning: Move
Geometry and Precise Positioning
© MSC Software Corporation
Building Geometry • Properties of geometry • It must belong to a part and moves with the part. • It is used to add graphics to enhance the visualization of a part. • It is not necessary for performing simulations. • Locations and orientations are defined indirectly by parts using anchor markers.
• Note: If you move an anchor marker, all associated geometry moves with it. Conversely, anchor markers move when you move the associated geometry.
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Geometry and Precise Positioning
© MSC Software Corporation
Building Geometry • Types of geometry in Adams View • Construction geometry • Includes objects that have no mass (spline, arc, and so on). • Is used to define other geometry.
• Solid geometry • Includes objects with mass (box, link, and so on). • Can be based on construction geometry. • Is used to automatically calculate mass properties for the parent part.
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Geometry and Precise Positioning
© MSC Software Corporation
Construction Geometry Properties • Marker geometry has • Anchor marker, which is itself • Parent: part • Orientation and location
• Point geometry has • No anchor marker • Parent: part • Location
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Geometry and Precise Positioning
© MSC Software Corporation
Construction Geometry Properties • Polyline geometry has • No anchor marker • Parent: part • One line or multiple lines • Open or closed • Length, vertex points, and angle • Arc geometry has • Anchor marker • Parent: part • Start and end angle, radius • Spline geometry has • Anchor marker • Parent: part • Segment count, open/closed, points
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Geometry and Precise Positioning
© MSC Software Corporation
Solid Geometry • Block geometry has • Anchor marker, which is the corner marker • Parent: part • Length (x), height (y), depth (z) with respect to corner marker • Torus geometry has • Anchor marker, which is the center marker • Parent: part • Radius of ring (xy plane), radius of circular cross section (⊥ to xy plane) • Extrusion geometry has • Anchor marker, which is the reference marker • Parent: part • Open/closed profile, depth, forward/backwards
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Geometry and Precise Positioning
© MSC Software Corporation
Solid Geometry • Cylinder Geometry has • Anchor marker, which is the center marker (placed at first end) • Parent: part • Length (z), radius
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Geometry and Precise Positioning
© MSC Software Corporation
Precise Positioning: Move • To move objects in Adams View, specify: • The object being moved (or copied). • One of the following: • a point on the object and the location to which the selected point will be moved. • a vector and distance along the vector.
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Geometry and Precise Positioning
© MSC Software Corporation
Precise Positioning: Move • The moved object maintains its orientation.
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Geometry and Precise Positioning
© MSC Software Corporation
Exercise • Perform Workshop 8, “Lift Mechanism I”
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Geometry and Precise Positioning
© MSC Software Corporation
Joint Motion and Functions
What is in this Section • Applying Motion • Joint Motion • Functions in Adams
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Joint Motion and Functions
© MSC Software Corporation
Applying Motion • Adams View provides two types of motions • Joint motion • Point motion • Joint motion • There are two types: • Translational: applied to translational or cylindrical joints (removes 1 DOF). • Rotational: applied to revolute or cylindrical joints (removes 1 DOF).
• You define the joint to which motion is applied. • Adams automatically uses the joint’s I and J markers, bodies, and single DOF. • You define function for magnitude. • Questions: How does a motion remove DOF? Does this mean that a motion is considered a constraint?
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Joint Motion and Functions
© MSC Software Corporation
Joint Motion • Marker usage in joint motions • The I and J markers (and, therefore, the parts to which they belong) referenced in the joint move with respect to each other as follows:
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Joint Motion and Functions
© MSC Software Corporation
Joint Motion • 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
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Joint Motion and Functions
© MSC Software Corporation
Functions in Adams • Definition of functions in Adams • You use functions to define magnitudes of input vectors used in: • Motion drivers • Applied forces
• Functions can depend on time or other system states such as displacement, velocity, and reaction forces. • Every function evaluates to a single value at each particular point in time. • Motion drivers can only be a function of time: • M = f(time)
• Functions defining motion driver magnitudes can be: • Displacement (time) • Velocity (time) • Acceleration (time)
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Joint Motion and Functions
© MSC Software Corporation
Functions in Adams • Note: • You can use the Function Builder to create and verify functions in Adams View. To access the Function Builder, rightclick any text box that expects a function.
Display the Function Builder and press F1 to learn about creating functions
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Joint Motion and Functions
© MSC Software Corporation
Exercise • Perform Workshop 9, “Lift Mechanism II”
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Joint Motion and Functions
© MSC Software Corporation
Joint Primitives
What is in this Section • Types of Joint Primitives • Perpendicular Joint Primitive
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Joint Primitives
© MSC Software Corporation
Types of Joint Primitives
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Joint Primitives
© MSC Software Corporation
Types of Joint Primitives
• See also: DOF removed by joint primitives, Appendix A
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Joint Primitives
© MSC Software Corporation
Perpendicular Joint Primitive • Example using inline and parallel primitives
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Joint Primitives
© MSC Software Corporation
Perpendicular Joint Primitive • Example of I and J markers in a perpendicular joint primitive
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Joint Primitives
© MSC Software Corporation
Perpendicular Joint Primitive • I marker: • Parent part: Bucket • Its yz-plane is co-planar to the ground plane. • J marker: • Parent part: ground • Its z-axis is perpendicular to the z-axis of the I marker. • When constrained, the z-axes of the I and J markers are always perpendicular during simulation. • Use the construction method 2 Bod-1 Loc. • Question: Would the lift mechanism behave any differently if the J marker’s parent part was Base?
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Joint Primitives
© MSC Software Corporation
Exercise • Perform Workshop 10, “Lift Mechanism III”
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Joint Primitives
© MSC Software Corporation
Point Motions and System-level Design
What is in this Section • Applying Point Motions • System-level Design • Command Language Introduction
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Point Motions and System-level Design
© MSC Software Corporation
Applying Point Motions • Point motions • 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.
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Point Motions and System-level Design
© MSC Software Corporation
Applying Point Motions
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Point Motions and System-level Design
© MSC Software Corporation
System-level Design • The crawl-walk-run approach • Do not build the entire mechanism at once. • As you add a new component, make sure that it works correctly. • Check your model at regular intervals.
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Point Motions and System-level Design
© MSC Software Corporation
System-level Design • Avoid the need for complex debugging by following the crawl-walk-run approach
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Point Motions and System-level Design
© MSC Software Corporation
Command Language Introduction • Most operations in Adams View correspond to Adams View commands. 1. Command Navigator presents command hierarchy. 2. Auto-generated dialog boxes appear for each command. 3. Command Language is issued in Adams View.
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Point Motions and System-level Design
© MSC Software Corporation
Command Language Introduction • Commands can be assembled to create scripts. • Example script to modify locations of three hardpoints in the model: • Update hardpoint location for configuration #1: • point modify point_name=HP5 location=-325.0,12.75,124.979722 • point modify point_name=HP7 location=-400,177.125,-114.376702 • point modify point_name=HP2 location=-200,360.766667,71.0 • Scripts are usually given a .cmd extension and can be imported (F2) into Adams View as command files.
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Point Motions and System-level Design
© MSC Software Corporation
Exercise • Perform Workshop 11, “Suspension System I”
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Point Motions and System-level Design
© MSC Software Corporation
Measurements, Displacement Functions and CAD Geometry
What is in this Section • Taking Measurements • Displacement Functions • Importing CAD-Based Geometry
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Measurements, Displacement Functions and CAD Geometry
© MSC Software Corporation
Taking Measurements • Point-to-point measures • Measure kinematic characteristics of one point relative to another point, such as the relative velocity or acceleration. • To define them, you specify: • • • • •
Characteristic (displacement, velocity, or acceleration) To-point marker location (I marker) From-point marker location (J marker, default is global origin) Represent coordinates in marker coordinate system (R marker, default is GCS) Component to return (x, y, z, or magnitude)
• Adams View uses displacement, velocity, or acceleration functions.
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Measurements, Displacement Functions and CAD Geometry
© MSC Software Corporation
Taking Measurements • Function measures • Lets you evaluate arbitrary, user-defined expressions of interest during solution runtime, such as: • Flow rate • Aerodynamic pressure • Stress
• You can create them in the Function Builder. • Unlike other measures, function measures let you specify plotting attributes.
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Measurements, Displacement Functions and CAD Geometry
© MSC Software Corporation
Displacement Functions • Displacement functions • For translational displacement, return scalar portions of vector components (measurements are taken to I, from J, resolved in R’s CS), as shown on the next slide. • For rotational displacement, return angles associated with a particular rotation sequence.
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Measurements, Displacement Functions and CAD Geometry
© MSC Software Corporation
Displacement Functions • Example:
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Measurements, Displacement Functions and CAD Geometry
© MSC Software Corporation
Importing CAD - Based Geometry
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Measurements, Displacement Functions and CAD Geometry
© MSC Software Corporation
Importing CAD - Based Geometry • Supported File Formats • Stereolithography (*.stl) and render (*.slp) files - Polygonal representation of surfaces. • Shell (*.shl) files - Geometry representations. Adams specific. • Wavefront (*.obj) files - Set of output files that contain a description of the model graphics and motion data. • CAD Files – Requires Adams Exchange. Import and export the following geometry formats: STEP, IGES, DXF, DWG, Parasolid. • CAD Assemblies (Adams 2011 and onwards) – Requires CAD Interoperability. Import native CAD files from Pro/E, Catia v5, Solidworks, and other systems. • Note: Adams Exchange and CAD Interoperability are optional modules for Adams View that are available from MSC
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Measurements, Displacement Functions and CAD Geometry
© MSC Software Corporation
Importing CAD - Based Geometry • Recommendation for CAD File formats • For CAD systems based on the Parasolid kernel, there are many benefits to transferring geometry in Parasolid files. Adams View creates solid bodies from the Parasolid information that allows for further Boolean operations as well as the selection of geometric features such as the center of a circle. • Parasolid files can be imported as either a single Adams part or as an assembly (separate parts) • If the geometry is to be used for visualization only, simpler formats such as Render and Stereolithography are good choices • If the geometry will be used with solid contacts then Parasolids are the best choice. STEP and IGES solids of individual parts also work well (see KB8016245, “Using Imported STEP files for a 3D Solid-to-Solid Contact Analysis”). Solid contacts will work with shells as long as the bodies are properly closed. • For comparison of CAD file formats and recommendations for exporting CAD data please refer to the online Help.
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Measurements, Displacement Functions and CAD Geometry
© MSC Software Corporation
Exercise • Perform Workshop 12, “Suspension System II”
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Measurements, Displacement Functions and CAD Geometry
© MSC Software Corporation
Add-on Constraints, Couplers, and Assembling Models
What is in this Section • Add-on Constraints • Couplers • Assembling Subsystem Models
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Add-on Constraints, Couplers, and Assembling Models
© MSC Software Corporation
Add-on Constraints • Add-on (complex) constraints • Set up relationships between existing constraints in a system. • Connect parts directly and indirectly. • Types of Add-on constraints
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Add-on Constraints, Couplers, and Assembling Models
© MSC Software Corporation
Add-on Constraints • Types of Add-on constraints (cont.)
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Add-on Constraints, Couplers, and Assembling Models
© MSC Software Corporation
Couplers • Definition of couplers • Couplers connect multiple parts indirectly by coupling 2 joints. • Couplers remove 1 DOF. • Couplers can be defined: • By displacements • By scales • User defined
• Modeling of couplers requires two joints (applicable types are translation, revolute, and cylindrical)
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Add-on Constraints, Couplers, and Assembling Models
© MSC Software Corporation
Couplers • Example of a coupler
For help on defining By Displacement and User Defined, press F1.
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Add-on Constraints, Couplers, and Assembling Models
© MSC Software Corporation
Assembling Subsystem Models • When you assemble models • Any number of models can be assembled. • Assembling models will create a new model. • All assembled models (model1, model2) will continue to exist in the database along with the new model (model3).
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Add-on Constraints, Couplers, and Assembling Models
© MSC Software Corporation
Assembling Subsystem Models
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Add-on Constraints, Couplers, and Assembling Models
© MSC Software Corporation
Assembling Subsystem Models • Parts in assembled models • They maintain their global location and orientation, unless otherwise specified. • If parts have the same name in different merged models, Adams View will either: • Merge them into one part. • Rename the parts.
• See also: Model Hierarchy in Section 3 (Adams View Interface Overview)
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Add-on Constraints, Couplers, and Assembling Models
© MSC Software Corporation
Exercise • Perform Workshop 13, “Suspension-Steering System”
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Add-on Constraints, Couplers, and Assembling Models
© MSC Software Corporation
Simulations
What is in this Section • • • • •
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Assemble Simulation Simulation Hierarchy Types of Simulations Forces in Adams Spring Dampers in Adams
Simulations
© MSC Software Corporation
Assemble Simulation • Definition of assemble simulation • Attempts to resolve any conflicts in the initial conditions specified for the entities in the model (for example, broken joints). • Also known as an initial conditions simulation. • Initial location and orientation of parts • You specify the initial position and orientation for a part when you create it. • For a part to be held fixed during the assemble simulation, you can specify up to three positions (xg, ŷg, zg) and up to three orientations (psi, theta, phi).
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Simulations
© MSC Software Corporation
Assemble Simulation • Note: Use initial positions sparingly. If you fix the initial positions of too many parts, the assemble simulation can fail.
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Simulations
© MSC Software Corporation
Simulation Hierarchy • Note: Often a linear simulation is used after a static equilibrium or dynamic simulation. Assemble Simulation Assemble
Nonlinear
Linear
Motion Study
Equilibrium Calculation(s)
Default*
Static*
Nonlinear
DOF = 0 Kinematic*
DOF > 0
Eigensolution or State Matrices
Dynamic* Linear
* Automatically performs an assemble simulation
While working in any Adams View dialog box, press F1 to display online help specific to that dialog box. 5
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Simulations
© MSC Software Corporation
Types of Simulations • Static • System DOF > 0. • All system velocities and accelerations are set to zero. • Can fail if the static solution is a long way from the initial condition.
• Dynamic • System DOF > 0. • Driven by a set of external forces and excitations. • Nonlinear differential and algebraic equations (DAEs) are solved.
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Simulations
© MSC Software Corporation
Types of Simulations • Kinematic • System DOF = 0. • Driven by constraints (motions). • Only constraint (algebraic) equations are being solved. • Calculate (measure) reaction forces in constraints.
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Simulations
© MSC Software Corporation
Types of Simulations • Linear • Adams Solver can linearize the system of nonlinear equations of motion about a particular operating point. • From the linear set of equations, you can ask for an eigen-simulation to obtain eigenvalues and eigenvectors for the linearized system to: • Visualize the natural frequencies and mode shapes of your system. • Compare with test data or results data from FEA.
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Simulations
© MSC Software Corporation
Types of Simulations • Example of linear simulation • Must linearize about an operating point (often the equilibrium). • Extraction of natural frequency. • Natural frequency =
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Simulations
© MSC Software Corporation
Forces in Adams • Definition of forces • Try to make parts move in certain ways. • Do not perfectly connect parts together the way constraints do. • Do not absolutely prescribe movement the way motion drivers do. • Neither add nor remove DOF from a system. • Characteristics of forces
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Simulations
© MSC Software Corporation
Spring Dampers in Adams • Definition of spring dampers • They are pre-defined forces. • They represent compliance: • Between two bodies. • Acting over a distance. • Along or about one particular direction.
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Simulations
© MSC Software Corporation
Spring Dampers in Adams • Characteristics of spring dampers
• See Also: Characteristics of a spring damper, Appendix A
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Simulations
© MSC Software Corporation
Magnitude of Spring Dampers • Magnitude based on stiffness and damping coefficients • Linear spring-damping relationship can be written as:
𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 = −𝑘𝑘 𝑞𝑞 − 𝑞𝑞0 − 𝑐𝑐𝑞𝑞̇ + 𝐹𝐹0
where: q - Distance between the two locations that define the spring damper 𝑞𝑞̇ - 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
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Simulations
© MSC Software Corporation
Magnitude of Spring Dampers • In Adams Solver, the user-defined equation is:
−k ∗ 𝐷𝐷𝐷𝐷 I, J − 𝑞𝑞0 − c ∗ 𝑉𝑉𝑉𝑉 I, J + 𝐹𝐹0
• Spring-damper forces become ill-defined if endpoints become coincident because of undefined direction.
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Simulations
© MSC Software Corporation
Exercise • Perform Workshop 14, “Spring Damper”
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Simulations
© MSC Software Corporation
Forces and Splines
What is in this Section • Single-Component Forces: Action-Reaction • Spline Functions • AKISPL Function
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Forces and Splines
© MSC Software Corporation
Single-component Forces: Action-reaction • Characteristics of action-reaction single-component forces (Sforces)
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Forces and Splines
© MSC Software Corporation
Single-component Forces: Action-reaction
See Also: Characteristics of an action-reaction S-force, Appendix A Note: Adams applies action and reaction forces to the I and J markers that it automatically creates.
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Forces and Splines
© MSC Software Corporation
Spline Functions • Test data that can be incorporated into a simulation includes: • Empirical data from suppliers or standard tables for: • Nonlinear compliances (force versus velocity). • Curves for torque versus motor speed (torque versus angular velocity).
• Data taken from physical prototype simulations for: • Accelerometer data (acceleration versus time). • Tire lateral force as a function of normal force and slip angle.
• To incorporate data into a simulation • First, create a spline from either: • Data points entered manually into the Spline Editor. • Imported test data from a file.
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Forces and Splines
© MSC Software Corporation
Spline Functions • 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)
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Forces and Splines
© MSC Software Corporation
AKISPL Function • Syntax for AKISPL function: AKISPL (x, z, spline, iord) • x - Independent variable specifying the value along the x-axis. • z - Optionally, a second independent variable specifying the value along the z-axis of the surface being interpolated. • spline - Spline used to map the one-to-one correspondence of the dependent variables (y) against independent variable values (x or z). • iord - An integer variable that specifies the order of the interpolated point (usually 0, but can be 1 or 2). • 0 returns the independent variable itself; • 1 returns its first derivative; • 2 returns its second derivative.
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Forces and Splines
© MSC Software Corporation
AKISPL Function • Example of an AKISPL function: AKISPL (DM(I, J), 0, spline_1, 0)
• Note: You can create the CUBSPL and CURVE functions exactly as you create the AKISPL function.
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Forces and Splines
© MSC Software Corporation
Important Note • Using SFORCE element vs SPRING-DAMPER elements • Spring-damper elements are convenient, but it is more efficient to use the basic SFORCE element. • It is easy to create a spring-damper force using the Two-Bodies construction method for an SFORCE as shown: • As shown using the K and C characteristic, the resulting SFORCE has the desired spring-damper expression like so: -10*DM(I,j)-[initial_length]-0.1*VR(I,J)
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Forces and Splines
© MSC Software Corporation
Exercise • Perform Workshop 15, “Nonlinear Spring”
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Forces and Splines
© MSC Software Corporation
Bushings
What is in this Section • Bushings • Static Equilibrium
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Bushings
© MSC Software Corporation
Bushings • Definition of a bushing • Pre-defined force • Represents compliance: • Between two bodies • Along or about three vectors
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Bushings
© MSC Software Corporation
Bushings • Characteristics of a bushing
• See Also: Forces Tables (Incomplete), Appendix A
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Bushings
© MSC Software Corporation
Bushing Statement Documentation • Caution: For the rotational constitutive equations to be accurate, at least two of the rotations must be small. That is, two of the three values must remain smaller than 10 degrees.
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Bushings
© MSC Software Corporation
Static Equilibrium • Determines static force balance in the model • Velocities and accelerations are set to zero • Typically used to take slack out of a mechanism before the start of a dynamic simulation • Automobile settling on suspension and tires before course event • Crane cables stretch before maneuver simulation • See the EQUILIBRIUM statement in the Adams Solver documentation
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Bushings
© MSC Software Corporation
Equilibrium Settings in Adams View • Settings ⟶ Solver ⟶ Equilibrium • ERROR is the convergence threshold • TLIMIT is the maximum translation per iteration • ALIMIT is the maximum rotation per iteration • MAXIT is maximum number of iterations • For some models (e.g., contacts) TLIMIT should be smaller which may require larger MAXIT
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Bushings
© MSC Software Corporation
Exercise • Perform Workshop 16, “Suspension-Steering System II”
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Bushings
© MSC Software Corporation
Impact and Velocity Functions
What is in this Section • Impact Functions • Velocity Functions
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Impact and Velocity Functions
© MSC Software Corporation
Impact Functions • Impact functions in Adams • Used with user-defined force elements to model contacts, impacts, collisions, and so on. • Mimic nonlinear spring and damping forces that turn on and off depending on the distance between two objects. • Just like a compression-only spring damper, Adams turns the force on when the distance between two objects, q, becomes less than the user-specified reference distance, q0:
𝐹𝐹𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼 = 𝑂𝑂𝑂𝑂𝑂𝑂, 𝑖𝑖𝑖𝑖 𝑞𝑞 > 𝑞𝑞0
𝐹𝐹𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼 = 𝑂𝑂𝑂𝑂, 𝑖𝑖𝑖𝑖 𝑞𝑞 ≤ 𝑞𝑞0
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Impact and Velocity Functions
© MSC Software Corporation
Impact Functions • Applications of one-sided impact functions (IMPACT)
• Applications of two-sided impact functions (BISTOP)
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Impact and Velocity Functions
© MSC Software Corporation
Impact Functions • Syntax for IMPACT function:
• • • • • • •
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IMPACT 𝑞𝑞, 𝑞𝑞,̇ 𝑞𝑞0 , 𝑘𝑘, 𝑒𝑒, 𝑐𝑐𝑚𝑚𝑚𝑚𝑚𝑚 , 𝑑𝑑
where : q - Actual distance between the two objects (defined with a displacement function) q̇ - Time rate of change of the variable q q0 - Trigger distance used to determine when the contact force turns on and off; it should be specified as a real, constant value k - Stiffness coefficient e - Stiffness force exponent cmax - Damping coefficient d - Damping ramp-up distance
Impact and Velocity Functions
© MSC Software Corporation
Impact Functions • In Adams, the one-sided impact force is calculated as
𝐹𝐹 = 𝑘𝑘 𝑞𝑞0 − 𝑞𝑞
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Impact and Velocity Functions
𝑒𝑒
𝐹𝐹 = 0 𝑖𝑖𝑖𝑖 𝑞𝑞 > 𝑞𝑞0
− 𝑐𝑐𝑚𝑚𝑚𝑚𝑚𝑚 𝑞𝑞̇ ∗ 𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 𝑞𝑞, 𝑞𝑞0 − 𝑑𝑑, 1, 𝑞𝑞0 , 0 𝑖𝑖𝑖𝑖 𝑞𝑞 ≤ 𝑞𝑞0
© MSC Software Corporation
Velocity Functions • Definition of velocity and acceleration functions • Returns scalar portions of velocity or acceleration vector components (translational or rotational). • Syntax for velocity functions • VM(I,[J], [L]) • VR(I,[J], [L]) • VX, VY, VZ(I,[J],[R], [L]) • Notes: • Velocity function, VR, is used to define velocity along the line of sight, which is commonly used in spring dampers. • If the markers are separating: VR > 0. • If the markers are approaching: VR < 0.
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Impact and Velocity Functions
© MSC Software Corporation
Exercise • Perform Workshop 17, “Hatchback I”
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Impact and Velocity Functions
© MSC Software Corporation
STEP Functions and Simulation Scripts
What is in this Section • STEP Function • Scripted Simulations • Adams Solver Commands
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STEP Functions and Simulation Scripts
© MSC Software Corporation
STEP Function • Definition of a STEP function • In Adams, the STEP function approximates an ideal mathematical step function (but without the discontinuities). • Avoid discontinuous functions because they lead to solution convergence difficulties. • The STEP function steps quantities, such as motions or forces, up and down, or on and off. • Note: A STEP function is used when a value needs to be changed from one constant to another.
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STEP Functions and Simulation Scripts
© MSC Software Corporation
STEP Function • Syntax for STEP function: STEP (q, q1, f1, q2, f2) where: q - Independent variable q1 - Initial value for q f1 - Initial value for f q2 - Final value for q f2 - Final value for f Note: q1 < q2
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STEP Functions and Simulation Scripts
© MSC Software Corporation
STEP Function Example • Example
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STEP Functions and Simulation Scripts
© MSC Software Corporation
Scripted Simulations • In Adams View there are two ways to run a simulation • Scripted • Interactive • Simulation scripts • Let you program the simulation before submitting the simulation. • Let you quickly repeat a simulation with the same set of parameters. • Let you perform more sophisticated simulations. • Are required for design studies, design of experiments, and optimization simulations. • Simulation scripts are children of a model, and are, therefore, saved in a command file.
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STEP Functions and Simulation Scripts
© MSC Software Corporation
Scripted Simulations • Types of scripted simulations in Adams View • Simple run • Adams View commands • Adams Solver commands
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STEP Functions and Simulation Scripts
© MSC Software Corporation
Adams Solver Commands • Scripted simulations based on Adams Solver commands • Adams Solver commands let you perform sophisticated simulations, such as: • Changing model parameters during a simulation. • Using different output step sizes over different simulation intervals (versus specifying only one duration and output step size). • Using different solution parameters (such as convergence tolerance) over different intervals.
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STEP Functions and Simulation Scripts
© MSC Software Corporation
Adams Solver Commands • 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
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STEP Functions and Simulation Scripts
© MSC Software Corporation
Exercise • Perform Workshop 18, “Hatchback II”
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STEP Functions and Simulation Scripts
© MSC Software Corporation
Adams Solver
What is in this Section • • • • • • • •
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Adams Solver Overview Files in Adams Solver Example of an Adams Solver Dataset (.adm) File Stand-Alone Adams Solver Example: 2D Pendulum Formulation of the Equations of Motion Phases of Solution Debug/Eprint (dynamics)
Adams Solver
© MSC Software Corporation
Adams Solver Overview Adams View Integrated Adams Solver Import
Legacy FORTRAN solver only
Export
Analysis files . out .gra . req .res
Dataset . adm
Output
Input Input
Adams Solver
Interactive Solver commands OR
Input
Adams Command file .acf
Output Message file . msg
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Adams Solver
© MSC Software Corporation
Files in Adams Solver • Adams Solver dataset files (.adm) • Statements define an element of a model such as a part, constraint, force, and so on. • Functions are numeric expressions that define the magnitude of an element such as a force or motion.
For more information, see the Adams Solver online help. • Adams Solver command files (.acf) • Commands define an action that needs to be taken during a simulation. • See also: Adams Solver Commands in Section 19 (STEP Functions and Simulation Scripts)
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Adams Solver
© MSC Software Corporation
Example of an Adams Solver Dataset (.adm) File
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Adams Solver
© MSC Software Corporation
Stand-alone Adams Solver • Simulations in stand-alone Adams Solver • Interactive: • Not scripted: enter commands one by one. • Scripted: use an Adams Solver command file (.acf).
• Batch - Run multiple jobs in the background using an ACF file. • One way that ACF files are represented is: they start with the name of the model to be analyzed and followed by the analysis files name prefix:
• Another way that ACF files are represented is: they start with an empty line followed by the second line calling the model name and determining the analysis file name prefix, in case a name other than the model name is desired:
• In both forms an ACF file must end with a STOP command. • You can run simulations externally in Adams Solver from within Adams View 6
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Adams Solver
© MSC Software Corporation
Solver Compatibility • With Adams, the new Adams Solver (C++) version has added significant functionality. With these additions, Adams Solver (C++) now supports some entities that are not supported for Adams Solver (FORTRAN). For this reason, a solver-compatibility check has been added. When using Adams View, this check is called as each object is created. • The check is also called for: • Each object as it is created when a .cmd file is imported • The entire model when an .adm file is imported • The entire model before simulation
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Adams Solver
© MSC Software Corporation
Example: 2D Pendulum • Adams Implementation: Euler-Lagrange Equations • Description • A link of mass M, moments of inertia I, and length 2L is attached to ground using a revolute joint at the global origin O. The joint is oriented in such a way that motion is only allowed in the X-Y plane of the global coordinate system. • The coordinates of the center of mass of the link, with respect to the global origin, are represented by the states (x,y). • A coordinate system (Op-Xp-Yp) is attached at the center of mass of the link, such that Xp is along the length of the link. The angle between Xp and Xg is denoted by θ.
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Adams Solver
© MSC Software Corporation
Example: 2D Pendulum
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Adams Solver
© MSC Software Corporation
Example: 2D Pendulum • Force balance equations
• Momentum equations (only in θ)
• Order reduction equations
• Constraint equations
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Adams Solver
© MSC Software Corporation
Formulation of the Equations of Motion • Nonlinear system - Nine differential and algebraic equations (DAE’s)
Equations of Motion
Unknown
Force balances
Momentum Order reduction Constraints
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Adams Solver
© MSC Software Corporation
Phases of Solution • Task • Solve the differential and algebraic equation: • Two major components: Predictor and Corrector • Phase 1: • Predict an initial solution • Phase 2: • Correct the prediction • Phase 3: • Evaluate quality of solution (accept solution) • Phase 4: • Prepare for next step
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Adams Solver
© MSC Software Corporation
Phases of Solution • Task • Solve the differential and algebraic equation: • Phase 1: • 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 for G are not satisfied. • This is simply a good starting point for the next phase.
• Phase 2: • Correct the prediction • Phase 3: • Evaluate quality of solution (accept solution) • Phase 4: • Prepare for next step
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Adams Solver
© MSC Software Corporation
Phases of Solution • Task • Solve the differential and algebraic equation: • Phase 1: • Predict an initial solution • Phase 2: • 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
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Adams Solver
© MSC Software Corporation
Phases of Solution • Example: As a first guess, set q=2
• The exact answer is q = 1.0 • Phase 3: • Evaluate quality of solution (accept solution) • Phase 4: • Prepare for next step
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Adams Solver
© MSC Software Corporation
Phases of Solution • Task • Solve the differential and algebraic equation: • Phase 1: • Predict an initial solution • Phase 2: • Correct the prediction • Phase 3: • Evaluate quality of solution (accept solution) • Estimate local truncation error • if estimated < (εL) • Yes – Accept solution. Go to phase 4 • No – Reject solution and repeat phase 1 and 2 with new step size
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Adams Solver
© MSC Software Corporation
Phases of Solution • Global Error (εG) • The difference between the current solution and the true solution
• Local Truncation Error (εL) • The error introduced in a single step
• Phase 4: • Prepare for next step
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Adams Solver
© MSC Software Corporation
Phases of Solution • Task • Solve the differential and algebraic equation: • Phase 1: • Predict an initial solution • Phase 2: • Correct the prediction • Phase 3: • Evaluate quality of solution (accept solution) • Phase 4: • Prepare for the next step • Update higher order derivatives used in prediction for the next step • Determine step size and order for next step • Go back to phase 1, and start a new step
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Adams Solver
© MSC Software Corporation
DEBUG/EPRINT (Dynamics) • Each GSTIFF integrator step consists of two phases: • Phase 1: a forward step in time (the predictor for dynamics) 1. 2. 3. 4.
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The step number - A running count of the number of steps taken and can be used as a measure of how hard Adams Solver is working. The order of the predictor for dynamics - Corresponds to the order of the polynomial Adams Solver uses to predict the solution at the end of the integration step. The value of time at the beginning of the step. The size of the step.
Adams Solver
© MSC Software Corporation
DEBUG/EPRINT (Dynamics) • Phase 2: the solution of the equations of motion (the corrector for dynamics). 5. 6. 7. 8. 9.
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The cumulative number of iterations - A running count of the iterations needed to solve the equations of motion and can be used as a measure of how many computations Adams Solver is performing. The iteration number - One at the beginning of each step and increments by one until Adams Solver converges to a solution or exceeds the maximum allowable number of iterations. Absolute value of largest equation residual error - This number is an indicator of how far Adams Solver is from a solution. This number should decrease after every iteration in healthy simulations. Dataset element associated with #7 - The equation that has the largest equation residual error for the above dataset element. Equation associated with #8.
Adams Solver
© MSC Software Corporation
DEBUG/EPRINT (Dynamics) 10. Absolute value of the largest change in a variable - The final iteration should not need to change variables very much. This number is an indicator of how far Adams Solver needs to change variables to approach a solution. Ideally, this number should decrease after every iteration. 11. Dataset element associated with #10. 12. Variable with the largest change for #11. 13. Jacobian updates - If Adams Solver has updated the Jacobian, YES appears under the new Jacobian header.
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Adams Solver
© MSC Software Corporation
DEBUG/EPRINT (Dynamics) 1. Running count of successful steps 2. Order of predicting polynomial
3. Time at beginning of step 4. 6.
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Adams Solver
7.
8.
9.
5. 10.
11.
12.
13.
Corrector information
© MSC Software Corporation
Exercise • Perform Workshop 19, “Hatchback III”
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Adams Solver
© MSC Software Corporation
Sensors and Design Variables
What is in this Section • Sensors • Design Variables • Temporary Settings File
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Sensors and Design Variables
© MSC Software Corporation
Sensors • Sensors • Monitor any quantity of interest in a model during a simulation and take a specified action when the quantity reaches or exceeds a critical value. • Take one of the following actions: • Completely stop the simulation. • If used with a script, sensors halt the current simulation and continue with the next command in the script. • Can be used to evaluate certain expressions when the required condition is met. You can access this value using the Adams Solver function, SENVAL. See the following SimCompanion Technical Articles: • Using SENVAL to count full rotations of a spinning part: KB8016078 https://simcompanion.mscsoftware.com/infocenter/index?page=content&id=KB8016078 • Finding min/max of a state using a SENSOR: KB8016215 https://simcompanion.mscsoftware.com/infocenter/index?page=content&id=KB8016215
• A sensor basically represents an If/Then statement: • If quantity = value (+/- tolerance) • Then take a specified action
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Sensors and Design Variables
© MSC Software Corporation
Sensors • Example of using sensors with scripts • Monitor the reaction force in a constraint and deactivate the constraint when the force exceeds a specified value. • Monitor the distance between two objects and reduce the solution step size just before contact, to avoid convergence problems.
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Sensors and Design Variables
© MSC Software Corporation
Design Variables • Design variables • Define independent parameters that can be tied to objects. • Organize the critical parameters of the design into a concise list of values that can be easily reviewed and modified. • Example: • You can create a design variable called cylinder_length to control the lengths of all three cylinders as shown in the next slide:
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Sensors and Design Variables
© MSC Software Corporation
Design Variables • 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.
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Sensors and Design Variables
© MSC Software Corporation
Design Variables Design Variable Command • The Adams View command for creating a design variable or modifying the standard value is straightforward: • variable modify variable_name=DV_stiffness real=105.0 • Can write a script with variable modify commands to change all design variable values for a particular configuration
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Sensors and Design Variables
© MSC Software Corporation
Temporary Settings File • The new Adams View temporary settings capability provides a convenient means to specify sets of model parameter data and/or solver settings that can be applied temporarily for a given simulation. • One can quickly apply, and switch between, sets of data to a model for a simulation without altering the baseline model. • Here is an example of the contents of a Temporary Settings File (TSF) containing design variables and solver settings of interest:
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Sensors and Design Variables
© MSC Software Corporation
Temporary Settings File • This option can be enabled in the Adams Registry Editor (Adams Settings & License): • After making temporary changes to the parameters of interest, the temporary settings file can be loaded and appended to the simulation:
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Sensors and Design Variables
© MSC Software Corporation
Exercise • Perform Workshop 20, “Hatchback IV”
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Sensors and Design Variables
© MSC Software Corporation
Splines and Constraints
What is in this Section • • • • •
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Splines from Traces Curve Constraints Automated Contact Forces Flexible Parts - Adams Flex Flexible Parts - ViewFlex
Splines and Constraints
© MSC Software Corporation
Splines from Traces • Definition of spline from a trace • A point trace tracks a location of a marker or circle over time with respect to another part. • Adams View can create a two- or three-dimensional spline from a trace. • Creating a spline from a trace is used to back-calculate (reverse engineer) the shape of an existing part based on its motion (cam synthesis). • Notes: • When you trace an object and create a spline from it, the point or circle should move in a smooth, even path. • If the path is closed, you should simulate for one cycle only.
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Splines and Constraints
© MSC Software Corporation
Curve Constraints • Types of curve constraints in Adams • Point-on-curve • Curve-on-curve • Curve-on-curve constraints • Used where a curved edge on one part always follows a curved edge on a different part. • Remove two DOF. • Modeling of curve-on-curve constraints requires: • Two parts • Two curves that will always remain in contact
• Typical applications include general cam-to-cam systems.
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Splines and Constraints
© MSC Software Corporation
Curve Constraints
Note: Curve-on-curve constraints do not allow lift off. See Also: DOF removed by curve constraints in Appendix A 5
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Splines and Constraints
© MSC Software Corporation
Automated Contact Forces • Contact forces • Special forces acting on parts that are activated when part geometries come in contact with each other. • Have values that are determined by a set of contact parameters identical to those in the IMPACT function. • Multiple contact forces can be combined to create more complex contacts.
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Splines and Constraints
© MSC Software Corporation
Automated Contact Forces • Contact pairs in Adams
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Splines and Constraints
© MSC Software Corporation
Automated Contact Forces • Things to note while creating automated contact forces • Point-to-curve The x-y planes of the two reference markers must be parallel. • Curve-to-curve • Sphere-to-plane • Curve-to-plane • Point-to-plane
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Splines and Constraints
The z-axis of the reference marker of the plane (the plane’s normal vector) must point away from the plane and at the circle or sphere.
© MSC Software Corporation
Flexible Parts: Adams Flex • Better loading predictions for durability analyses • The flexible component is the focus of your attention. • Basically asking the question: "What is the system doing to my flexible component?" • Improved system performance • The model fidelity is the focus of your attention. Component flexibility is just another parameter of the system design. • Basically asking the question: "What is the flexible component doing to my system?"
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Splines and Constraints
© MSC Software Corporation
Flexible Parts: Adams Flex • Allows you to create flexible bodies in the Adams environment • Allows for easy substitutions of flexible bodies for rigid bodies in your Adams models • Can perform quick modifications on the flexible bodies to perform multiple iterations of the flexible body model
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Splines and Constraints
© MSC Software Corporation
Flexible Parts: Viewflex • • • • •
Allows you to create a flexible body without leaving the Adams environment No dependency upon external FE Software Options for controlling the mesh size Automatic detection of attachments points Construction Methods : • Geometry • Extrusion • Mesh Import
To run through a workshop, see the Adams Flex Examples. For more information, see the Adams Flex, ViewFlex online help. 11
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Splines and Constraints
© MSC Software Corporation
Exercise • Perform Workshop 21, “Cam-Rocker-Valve”
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Splines and Constraints
© MSC Software Corporation
Multi-component Forces and Design Studies
What is in this Section • Multi-Component Forces • Design Studies • Introduction to Adams Explore
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Multi-component Forces and Design Studies
© MSC Software Corporation
Multi-component Forces • Types of multi-component forces • Vector force (three translational components) • Vector torque (three rotational components) • General force vector (three translational, three rotational components) • Characteristics of vector force
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Multi-component Forces and Design Studies
© MSC Software Corporation
Multi-component Forces • 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.
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Multi-component Forces and Design Studies
© MSC Software Corporation
Multi-component Forces • Example of a force vector • A vector force representing a contact between a ball and a cantilever:
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Multi-component Forces and Design Studies
© MSC Software Corporation
Multi-component Forces • Because the J marker belongs to part B, the force acts on part B when the bodies collide. • Because the J marker moves with the I marker, part B knows where to apply the reaction force. • Note: In the example, the J and R markers must belong to the same part. However, the R marker can belong to any part. • See Also: Characteristics of a multi-component force, in Appendix A
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Multi-component Forces and Design Studies
© MSC Software Corporation
Design Studies • Trial and error method (manual iterations)
Model Parts Joints Forces
Simulate
View results
Is the design optimal?
Loop is repeated several times
Manually change the variable
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Multi-component Forces and Design Studies
No
Yes
Completed
© MSC Software Corporation
Design Studies • Design study method (automated iterations)
Design Variable (V) Objective (O)
Model Parts Joints Forces
Model gets updated
Results automatically generated
Simulate
Variable changes automatically
No
Is this the final iteration? (i=n)
Yes The loop goes through specified number of iterations (i=1,…n)
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Multi-component Forces and Design Studies
Tabular report
Plot O versus V (for each iteration)
© MSC Software Corporation
Design Studies • Definition of a design study • Varies a single design variable (V) across a range of values. • Runs a simulation at each value. • Reports the performance measure for each simulation. • From the results generated, you can determine: • The best value for V among the values simulated. • The approximate design sensitivity of V (rate of change of performance measure with respect to V).
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Multi-component Forces and Design Studies
© MSC Software Corporation
Design Studies • Sensitivity, S, at iteration, I
• Looking at Trial 4 (i = 4):
• S4 is the approximate slope at Trial 4 (tip_y_loc=10.6) in the plot.
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Multi-component Forces and Design Studies
© MSC Software Corporation
Design Studies
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Multi-component Forces and Design Studies
© MSC Software Corporation
Introduction to Adams Explore • Adams Explore provides a two-way interface between Adams and Microsoft Excel across a computer network. • This enables a non-Adams user to modify the modeling parameters, launch analyses, view the updated outputs and further post-process the them. • The model file and the Excel interface are two separate entities.
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Multi-component Forces and Design Studies
© MSC Software Corporation
Using Adams Explore with Adams View • Excel-Only Workflow (Windows Only) • Available on windows with the help of a special Excel add-in. • The workbook file can be shared with non-Adams user colleagues/customers. • This file can be opened in Microsoft Excel with a provided add-in. • Using the add-in, the workbook file is uploaded to the server and run. • The Excel add-in asks the web server continuously, or at the request of the user, for the status. • When the job is completed and the file is available, the file can be opened directly in Excel to review the responses of the tweaked parameters.
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Multi-component Forces and Design Studies
© MSC Software Corporation
Adams Excel Export • An Adams analyst exports a workbook file with information about the Adams model from inside Adams View. Such file contains: • where the model is located • where it is to be computed • which parameters are subject to change • which analyses to be run
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Multi-component Forces and Design Studies
© MSC Software Corporation
Adams Excel Export • Responses of interest such as plot curves and design objectives can also be added to the workbook file.
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Multi-component Forces and Design Studies
© MSC Software Corporation
Adams Explore Excel • A non-Adams user can change/edit the design variables in the spreadsheet and submit a analysis job without leaving Excel. The Adams Explore add-in will connect the analysis machine server (can be either local or remote)
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Multi-component Forces and Design Studies
© MSC Software Corporation
Adams Explore With Webpage • Webpage Workflow • The workbook file can be shared with non-Adams user colleagues/customers. • This file can be opened in an editor that supports the format (MS Excel or Google Docs). • The hyperlink in the spreadsheet loads a webpage.
• On this webpage the workbook file is uploaded to the server and run.
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Multi-component Forces and Design Studies
© MSC Software Corporation
Exercise • Perform Workshop 22, “Target Practice”
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Multi-component Forces and Design Studies
© MSC Software Corporation
FE_PART: Geometric Nonlinearity
What is in this Section • • • • •
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Introduction to FE_PART Available FE_PART Formulations FE_PARTs Nodes: FE Nodes Distributed Applied Loads FE_Load, FEloadsub Advantages of Implementing FE_PART
FE_PART: Geometric Nonlinearity
© MSC Software Corporation
Introduction to FE_PART • • • • •
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Modeling parts with large deformations. It is a basic finite-element component that is solved entirely within Adams. No external code/connections needed. Accurate geometric nonlinearity of beam-like structures. Modeling does not require FEA-produced files like MNFs. The FE_PART differs from the BEAM force element in that it possesses inertia properties.
FE_PART: Geometric Nonlinearity
© MSC Software Corporation
FE_PART Comparison • Nonlinear consideration: • FE_PART can exhibit large deformations not possible with linear flex bodies . • Takes into account the nonlinear behavior of the component due to geometrical nonlinearity.
Flexible Body
Discrete Flexible Link 4
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FE_PART: Geometric Nonlinearity
FE_PART © MSC Software Corporation
Available FE_PART Formulations • The FE_PART is intended for modeling beam-like structures. Two formulation options are available: • 3D Beam • A three-dimensional fully geometrically nonlinear representation. • Accounts for stretching, shearing, bending, and torsion.
• 2D Beam • • • •
A two-dimensional geometrically nonlinear representation. The centerline of the beam can be assumed constrained to a plane parallel to the model's global XY, YZ or ZX plane. The 2D Beam can stretch or bend in plane. The 2D Beam will solve faster than the 3D Beam.
For more information, see FE_PART online help.
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FE_PART: Geometric Nonlinearity
© MSC Software Corporation
FE_PARTS Nodes: FE Nodes • An FE_PART consists of two or more nodes. • Each node defines a nodal coordinate system (attachment point). • Each nodal coordinate system has three purposes: • Defining the location of the center of mass of the cross section. • Defining the x-axis as the normal to the cross section. • The other axes are used to define the cross sectional properties and other geometry.
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FE_PART: Geometric Nonlinearity
© MSC Software Corporation
Distributed Applied Load: FE_LOAD • FE_LOAD statement is used to apply distributed loads • Force and moment per unit length, area or volume. • The nature of load is automatically adjusted based on the FE_PART. • For example, if the FE_PART is a beam, the load will be per unit length. • Ex: FE_LOAD/1, FE_PART=3, FX= 0, FY= -30*SIN(PI*S), FZ= 0
• FEloadsub subroutine may also be used: • FEloadsub is used when the functions are too complex to enter as expressions in an FE_LOAD statement. • It computes a set of three distributed load per unit length and three distributed torques per unit length acting on an FE_PART. Note: FE_PART and FE_LOAD are supported by the Adams Solver C++ only.
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FE_PART: Geometric Nonlinearity
© MSC Software Corporation
Advantages of Implementing FE_PART • Smoother, more continuous and more accurate results as compared to discrete flex link. • By simply applying a desired number of FE nodes, a smoother and more accurate solution can be achieved in comparison to that of discrete flexible link. • Easier to set up than discrete flex link. • Since an FE_PART is a single part as compared to a discrete flex link, set up procedure and later modifications can be done very easily. • Quickly set up a complicated loading profile such as hydrodynamic forces. • The availability of FE_LOAD and FEloadsub simplifies the application of complicated loading scenarios.
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FE_PART: Geometric Nonlinearity
© MSC Software Corporation
Exercise • Perform Workshop 23, “FE_PART”
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FE_PART: Geometric Nonlinearity
© MSC Software Corporation
Recommended Practices
What is in this Section • • • • • • •
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General Approach to Modeling Modeling Practices: Parts Modeling Practices: Constraints Modeling Practices: Compliant Connections Modeling Practices: Run-time Functions Debugging Tips Documentation
Recommended Practices
© MSC Software Corporation
General Approach to Modeling • Crawl-walk-run • Try to understand the mechanism from a physical standpoint. • Use building blocks of concepts that have worked in the past. • Add enhancements to the model while testing periodically. • Build kinematic models before building dynamic models. • Use motions to check models before applying forces. • Use motions which start with zero velocity. • Verify enhancements to a complex model on a simpler model first.
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Recommended Practices
© MSC Software Corporation
Modeling Practices: Parts • Geometry associativity errors • Geometry may be added to the wrong part. • Mass properties • Using imported CAD-created geometry (IGES, STL, and so on) can yield inaccurate mass properties. • Ensure inertia matrix is realistic. • Use aggregate mass for a quick check of system mass and inertia. • Use the Table Editor to do a quick check and potentially fix individual part masses and inertia. • Small part mass and inertia lead to unrealistically high frequencies. • Initial velocities • Check to see that part initial velocities are consistent.
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Recommended Practices
© MSC Software Corporation
Modeling Practices: Parts • Dummy parts • Whenever possible, avoid using them. • If absolutely needed, constrain all six DOF and assign a mass of 0.0 (not 1e-20). • Design configuration • Build a model close to assembled position. • Build a model close to a stable equilibrium position, if possible.
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Recommended Practices
© MSC Software Corporation
Modeling Practices: Constraints • Fixed joints • Not needed, since two or more parts can be combined or merged into a single part. • An extra part with a fixed joint adds unnecessary equations to your system. • When locking a part to ground, enormous torque may develop due to large moment arms. • If absolutely needed, then add fixed joints at the center-of-mass (cm) location of lightest part. • If locking a part to ground, consider assigning a very large mass/inertia to it so it can behave like ground.
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Recommended Practices
© MSC Software Corporation
Modeling Practices: Constraints • Universal joints • When a universal joint is at 90º, you get a singular matrix. • Motion • Motion elements should only be functions of time. Note: Avoid redundant constraints.
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Recommended Practices
© MSC Software Corporation
Modeling Practices: Compliant Connections • Spring dampers • Ensure that the marker endpoints (DM(I,J)) are never superimposed. • Watch out for springs with very stiff spring constants. • Watch out for springs with no damping. • Bushings • Watch out for bushings with large rotations.
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Recommended Practices
© MSC Software Corporation
Modeling Practices: Run-time Functions • Function Builder • Assists in building functions. • Assists in function verification. • Has function plot capability. • Velocity • Make sure velocities are correct in force expressions. For example, in the damping function: -c*VX(i, j, j, _), the fourth term is missing. • Splines • Approximate forces with smooth, continuous splines. • Extend the range of spline data beyond the range of need. • Cubic splines (CUBSPL) work better on motions than Akima. • Akima splines (AKISPL) work better on forces than Cubic. • The Akima interpolation method is faster and can be defined as a surface, but its derivatives are generally discontinuous.
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Recommended Practices
© MSC Software Corporation
Modeling Practices: Run-time Functions • IMPACTs/BISTOPs • Do not use 1.0 for exponent on IMPACT or BISTOP functions (should always be greater than 1.0) • Models with IMPACTs/BISTOPs should have slight penetration in design position when doing statics. • Measures • Set up measures of your run-time functions. • Set up measures of components of your run-time functions. • Ensure that your function will not divide by zero.
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Recommended Practices
© MSC Software Corporation
Modeling Practices: Run-time Functions • Contacts • Do not use 1.0 for exponent on IMPACT or BISTOP functions (should always be greater than 1.0). • Models with contacts should have slight penetration in design position when doing statics. • Tires • Models with tires should have slight penetration in model position when doing statics. • If only rear tires penetrate, the static position could be a “handstand.”
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Recommended Practices
© MSC Software Corporation
Modeling Practices: Run-time Functions • Units • Use consistent units throughout the model (time, mass, stiffness, damping, and so on). • Choose units (mass, force, time, and so on) that do not require using very large or very small numbers. • Be wary when your model contains numbers like 1e+23 or 1e-20. • Use appropriate units—when modeling large models such as an aircraft landing on a runway, length units of millimeters may not be appropriate. Conversely, when modeling small models such as a power window switch (made up of small moving parts), using length units of meters may not be appropriate. • Use reasonable time units—high frequencies may be better modeled with time units of milliseconds rather than seconds. • Gravity • Check magnitude and direction. • Check for multiple gravity elements.
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Recommended Practices
© MSC Software Corporation
Debugging Tips • Model verify • Lists number of moving parts, number of each type of constraint. • Lists Gruebler's count and actual DOF count. • Lists redundant constraints. • Reports misaligned forces/force elements, joints, and so on. • Helps identify and eliminate causes for input warning (don't ignore). • Model topology • Text or graphical model topology. • Table Editor provides spreadsheet-like overview of model content.
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Recommended Practices
© MSC Software Corporation
Debugging Tips • Icon Feedback • Broken icon in design configuration probably means incorrectly defined joint or force. • Table Editor • Convenient way to inspect and modify models (particularly large ones). • Interactive Simulation • By default is turned on.
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Recommended Practices
© MSC Software Corporation
Debugging Tips • Model display update • As Adams Solver performs the simulation, you have the option to get immediate graphical feedback of the simulation at every: • Output step • Integration step • Iteration
• Icons visible during simulation • This may help you monitor behavior of model components. • Adams View Graphics Settings • Please refer to the SimCompanion knowledge base articles below for tips on how to maintain a graphically stable Adams View session: Strategies to resolve crashes and graphics issues in Adams View & Adams Car Adams on machines with dual graphics cards
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Recommended Practices
© MSC Software Corporation
Debugging Tips • Subroutines • Check for their existence. • While debugging a model, eliminate user subroutines so that they are not the source of the error. • Gravity • Turning gravity off can accentuate modeling errors and make debugging easier.
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Recommended Practices
© MSC Software Corporation
Debugging Tips • Statics • When applicable, perform an initial static simulation first. • If static solution fails: • Turn on Model display update = at every iteration to provide additional insight. • Identify and eliminate the undesired static configuration—there could be more than one static configuration and Adams Solver could be finding the undesired one.
• • • • •
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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.
Recommended Practices
© MSC Software Corporation
Debugging Tips • Dynamics • If integrator fails to start-up: • • • • • •
Check sign and magnitude of forces. Look at accelerations to understand what is happening. Perform initial static analysis first. Try a quasi-static simulation. Try changing integrator parameter - HINIT. Try a different integrator.
• If integrator fails in the middle of a simulation: • • • •
Look at animation and plots until failure, to understand simulation. Decrease integrator parameter - HMAX. Do not let the integrator step over important events. Short duration events, such as an impulse can be captured by setting the maximum time step, HMAX, to a value less than the impulse width. • Use HMAX so Adams Solver acts as a fixed-step integrator • Decrease error.
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Recommended Practices
© MSC Software Corporation
Debugging Tips • Try a different integrator. If integrator takes very small steps: • Look for sudden changes in force and motion input. • Rescale model to get more uniform numbers.
• Velocities at time=0
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Recommended Practices
© MSC Software Corporation
Debugging Redundant Constraints Revolute
• Adams Solver provides messaging for redundant constraints • Example: over-constrained four-bar linkage with MOTION on disk:
2X Revolute Translational
This constraint:
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Recommended Practices
unnecessarily removes this DOF:
.slider.JOINT_1
(Revolute Joint)
Rotation Between Zi & Xj
.slider.JOINT_4
(Translational Joint)
Rotation Between Zi & Xj
.slider.JOINT_4
(Translational Joint)
Rotation Between Xi & Yj
© MSC Software Corporation
Debugging Redundant Constraints • Close-up view and message interpretation: • Unnecessary rotation constraint between Z & X axis of markers (i.e. no rotation about Y-axis). • Unnecessary rotation constraint between X & Y axis of markers (ie: no rotation about Z-axis).
Z X Y
This constraint:
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Recommended Practices
unnecessarily removes this DOF:
.slider.JOINT_1
(Revolute Joint)
Rotation Between Zi & Xj
.slider.JOINT_4
(Translational Joint)
Rotation Between Zi & Xj
.slider.JOINT_4
(Translational Joint)
Rotation Between Xi & Yj © MSC Software Corporation
Debugging Redundant Constraints Revolute
• Change translational joint to cylindrical – one redundant constraint is removed:
2X Revolute Cylindrical
This constraint:
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Recommended Practices
unnecessarily removes this DOF:
.slider.JOINT_1
(Revolute Joint)
Rotation Between Zi & Xj
.slider.JOINT_4
(Cylindrical Joint)
Rotation Between Zi & Xj
One less redundant
© MSC Software Corporation
Debugging Redundant Constraints Revolute
• Adams Solver runtime messaging corresponds with ‘model verify’ output:
2X Revolute Cylindrical
Degree-of-freedom analysis identified redundant constraints in the model: -------------------------------------------------------------------------
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Recommended Practices
-
deactivating constraint equation
Zi.Xj in slider.JOINT_4
-
deactivating constraint equation
Zi.Xj in slider.JOINT_1
© MSC Software Corporation
Debugging Redundant Constraints • Loading considerations: apply a side-load to the slider • What kind of reactions appear in the cylindrical joint? • Recall the Solver message regarding removal of the constraint equation for the cylindrical joint.
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Recommended Practices
© MSC Software Corporation
Debugging Redundant Constraints • Resultant reactions:
• Side-load does not show up as a torque in the joint! • Recall the Solver message regarding removal of the constraint equation for the cylindrical joint.
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Recommended Practices
© MSC Software Corporation
Debugging Redundant Constraints • System constrained without redundants:
Revolute
Inplane
2X Revolute
Inplane
0 Degrees of Freedom for .slider There are no redundant constraint equations.
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Recommended Practices
© MSC Software Corporation
Debugging Redundant Constraints Revolute
• System constrained without redundants (alternate arrangement): • System is not over-constrained and now reaction forces appear in the cylindrical joint
Revolute Cylindrical
Spherical
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Recommended Practices
© MSC Software Corporation
Documentation • Use F1 for help on open Adams View dialog boxes • Use the PDF icon in the documentation toolbar to access printable versions (especially helpful with tutorials)
• Use the Adams Solver documentation: • Statements: model entities such as PART • Functions: run-time functions such as STEP • Commands: used in Adams View simulation scripts such as ACTIVATE • Important topics: • INTEGRATOR • CONTACT
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Recommended Practices
© MSC Software Corporation
Exercise • Perform Workshop 24, “Switch Mechanism”
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Recommended Practices
© MSC Software Corporation
Appendix A Tables
Tables • What’s in this appendix: • Constraints Tables (Incomplete) • Forces Tables (Incomplete) • Constraints Tables (Completed) • Forces Tables (Completed)
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Appendix A - Tables
© MSC Software Corporation
Constraint Tables (Incomplete)
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Appendix A - Tables
© MSC Software Corporation
Constraint Tables (Incomplete)
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Appendix A - Tables
© MSC Software Corporation
Force Tables (Incomplete)
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Appendix A - Tables
© MSC Software Corporation
Force Tables (Incomplete)
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Appendix A - Tables
© MSC Software Corporation
Constraint Tables (Completed)
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Appendix A - Tables
© MSC Software Corporation
Constraint Tables (Completed)
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Appendix A - Tables
© MSC Software Corporation
Forces Tables (Completed)
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Appendix A - Tables
© MSC Software Corporation
Forces Tables (Completed)
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Appendix A - Tables
© MSC Software Corporation
Appendix B Adams View Tools, Menus, and Shortcuts
What is in this Appendix • • • •
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Ribbon – Tools Tools and Tool Stacks Menus and shortcuts Popup menu for zooming and changing the view orientation
Appendix B - Adams View Tools, Menus, and Shortcuts
© MSC Software Corporation
Ribbon: Tools • The Adams View (Refresh View) is comprised of ribbon and Model Browser. The ribbon holds all the Tool that used to be under Main Tool Stack under classis view. The ribbon holds and display all the Tools. The following pages show the ribbon. Ribbon
Box
Link
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Cylinde r
Sphere
Plate
Extrusio n
Appendix B - Adams View Tools, Menus, and Shortcuts
Frustum Torus
Revoluti on
Plane
Adams Flex
Flex to Flex Discrete Flexible Create FE Part Link
Rigid to Flex
MNF Xform
ViewFlex
© MSC Software Corporation
Ribbon: Tools
Ribbon
Point
Marker
Arc/Circle
Spline
Polyline
Point Mass
Unite two solids
Merge two bodies
Cut out a solid Split a solid with another into its primitives 4
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Appendix B - Adams View Tools, Menus, and Shortcuts
Fillet an edge
Chamfer an edge
Add a boss
Hollow out a solid
Add a hole
Intersect two solids Chain construction geometry lines © MSC Software Corporation
Ribbon: Tools
Create a Fixed Joint
Create a Revolute Joint
Create a Constant Velocity Joint
Create a Hooke Joint / Universal Joint
Create a Parallel Joint Primitive
Create an Inplane Joint Primitive 5
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Appendix B - Adams View Tools, Menus, and Shortcuts
Create a Create a Translational Joint Cylindrical Joint Create a Screw Joint
Create a Spherical Joint
Create a Planar joint
Create an Orientation Create an Perpendicular Joint Joint Primitive Primitive Create an Inline Joint Primitive © MSC Software Corporation
Ribbon: Tools
Joint (Add-on Constraint): Gear Joint (Add-on Constraint): Coupler
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Appendix B - Adams View Tools, Menus, and Shortcuts
Point-Curve Constraint 2D Curve-Curve Constraint (No lift-off) (No lift-off)
General Constraint
© MSC Software Corporation
Ribbon: Tools
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Translational Joint Motion
Point Motion
Rotational Joint Motion
General Point Motion
Appendix B - Adams View Tools, Menus, and Shortcuts
© MSC Software Corporation
Ribbon: Tools
Create a Force (Single-Component) Applied Force
Create a Force Vector Create a General Force Vector (Six-Component (Three-Component Force) Applied Force Force) Applied Force
Create a Contact
Create a Torque (Single-Component) Applied Force
Create a Torque Vector(Three-Component Force) Applied Force
Create a Tire
Create a Bushing
Create a Translational Spring-Damper 8
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Appendix B - Adams View Tools, Menus, and Shortcuts
Create a Rotational Spring-Damper
Create a Modal Create a FE Force Load Create Gravity
Create a Field Element
Create a Massless Beam © MSC Software Corporation
Ribbon: Tools
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Build a 2D or 3D Data Spline
Create an Adams Array
Create a File based Spline
Create a New Matrix
Create an Adams Curve
Create an ADAMS String
Create a State Variable defined by an Algebraic Equation
Create a Transfer Function
Create a State Variable defined by a Differential Equation
Create a Linear State Equation
Appendix B - Adams View Tools, Menus, and Shortcuts
Create an ADAMS FEMdata Create an ADAMS Plant Output statement object
Create an ADAMS plant input
Create an ADAMS Plant State
Create a General State Equation
© MSC Software Corporation
Ribbon: Tools
Create a Function
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Appendix B - Adams View Tools, Menus, and Shortcuts
Controls Toolkit
© MSC Software Corporation
Ribbon: Tools
Create a Design Variable
Create a New Request
Create a Run-Time Clearance
Create a New Sensor
Create a New Measure
Create a New Angle
Create a New Range Measure
Create a New Create a New Create a New Computed Point-to-Point Orientation Measure Measure Measure 11
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Appendix B - Adams View Tools, Menus, and Shortcuts
Display the Adams Insight export dialog Displays the required Adams Insight experiment
Create a New Function Measure Display a Measure
Create a Design Objective
Create a Design Constraint
Evaluate all Design Objectives
Evaluate the Evaluate a Design Design Design Objective Constraint for an Evaluation Tool Analysis
© MSC Software Corporation
Ribbon: Tools
Load the Controls Plug-in
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Appendix B - Adams View Tools, Menus, and Shortcuts
Load the Vibration Plug-in
Load the Durability Plug-in
Load the Mechatronics Plug-in
© MSC Software Corporation
Ribbon: Tools
Load the Controls Plug-in
Load the Controls Plug-in
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Appendix B - Adams View Tools, Menus, and Shortcuts
Load the Vibration Plug-in
Load the Vibration Plug-in
© MSC Software Corporation
Ribbon: Tools
Displays the Animation control dialog
Displays the linear modes control dialog
Opens Adams Postprocessor
Trace a point’s relative position from last simulation
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Appendix B - Adams View Tools, Menus, and Shortcuts
© MSC Software Corporation
Tools and Tool Stacks • The ADAMS View (Classis View) Main Toolbox is comprised of tools and stacks. Tool stacks hold two or more tools and have a default tool that appears on top of the stack. A small triangle in the bottom right corner of the tool indications that it serves as a tool stack . To expand a tool stack, right click on it. This page identifies all the tools and tool stacks. The following pages show the expanded tool stacks.
Rigid body tool stack Select Tool Undo/Redo tool stack Color tool stack Motion tool stack Move tool stack Zoom box tool Fit tool
Dynamic Rotation tool stack View right/left tool stack
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Appendix B - Adams View Tools, Menus, and Shortcuts
Simulate tool Joint tool stack Animate tool Plotting tool Create forces tool stack Center tool Zoom in/out tool Translate tool stack
View Front/bock tool stack
View top/bottom tool stack
Isometric view
Measure tool stack Align view to object Y tool Window layout tool stack
Background color tool stack
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Measure tool stack
Toggle tool stack
© MSC Software Corporation
Tools and Tool Stacks Box
Cylinder
Sphere
Frustum
Torus
Extrusion
Revolution Plate
Point
Marker
Plane
Polyline
Arc
Spline
Union
Intersect
Cut
Split
Merge
Chain
Fillet
Chamfer
Hole
Boss
Hollow
Link
Rigid Body Tool Stack
Measure Tool Stack
Point-to-Point
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Included angle
Appendix B - Adams View Tools, Menus, and Shortcuts
Displays Geometric Modeling Palette © MSC Software Corporation
Tools and Tool Stacks
Joint tool stack
Undo/redo tool stack Undo
Rotational motion
Point Motion
Translational General joint motion Point Motion 17
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Appendix B - Adams View Tools, Menus, and Shortcuts
Hooke/Universal joint
Fixed joint
Translational joint
Constant velocity joint
Point-curve constraint
Cylindrical joint
Coupler
2D curve-curve constraint
Spherical joint
Screw joint
Planar joint
Gear
Redo
Motion tool stack
Color tool stack
Revolute joint
General constraint
Displays the joints palette
Displays the joint palette © MSC Software Corporation
Tools and Tool Stacks
Create Forces Tool Stack
Move Tool Stack
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Appendix B - Adams View Tools, Menus, and Shortcuts
SingleTranslational spring damper component force
Contact force
Torsion spring
SingleTire component torque
Three component force
Increment
Exact Position
f(x)
Bushing
Point to point
Working Grid
f(θ)
Field Element
Align & rotate
Object position handle
Mate faces
Coordinate system
Massless beam
Modal Force
ThreeGravity component torque
Six-component general force
Displays the create forces palette
Precision move © MSC Software Corporation
Tools and Tool Stacks View Front/Back Tool Stack Dynamic Rotation Tool Stack Front Rotate XY
Back
Rotate Z
View Front/Back Tool Stack Translate Tool Stack
Translate
Translate Z
Right
Left
View Top/Bottom Stack
Top
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Appendix B - Adams View Tools, Menus, and Shortcuts
Bottom
© MSC Software Corporation
Tools and Tool Stacks Toggle Tool Stack
Triad
Coordinate window
Title
View rotation
Window Layout Tool Stack Background Color Tool Stack 20
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Appendix B - Adams View Tools, Menus, and Shortcuts
One view
Two views side/side
Two views over/under
Three views
Three views
Three views
Three views
Three vertical views
Three horizontal views
Four views
Six views
Six views © MSC Software Corporation
Menus and Shortcuts • The following pages show the Adams View menus and submenus. Note the shortcuts listed to the right of some menus.
Shortcut
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Appendix B - Adams View Tools, Menus, and Shortcuts
© MSC Software Corporation
Menus and Shortcuts
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Appendix B - Adams View Tools, Menus, and Shortcuts
© MSC Software Corporation
Menus and Shortcuts 1
2 3
1. Displays the Geometric Palette 2. Displays the joints palette
Note: Build and Simulate menus are available in Classis View
3. Displays the create forces Palette
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Appendix B - Adams View Tools, Menus, and Shortcuts
© MSC Software Corporation
Menus and Shortcuts
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Appendix B - Adams View Tools, Menus, and Shortcuts
© MSC Software Corporation
Menus and Shortcuts
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Appendix B - Adams View Tools, Menus, and Shortcuts
© MSC Software Corporation
Menus and Shortcuts
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Appendix B - Adams View Tools, Menus, and Shortcuts
© MSC Software Corporation
Menu for Zooming and Changing Orientation • In the main Adams View window, right-click away from modeling objects. Adams View displays a popup menu that you can use to set the display of the main window, such as zooming in on your model or changing the view orientation.
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Appendix B - Adams View Tools, Menus, and Shortcuts
© MSC Software Corporation
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