ME 451 Introduction to ADAMS/View

VIRTUAL PROTOTYPING PROCESS Build a model of your design using: Bodies Forces Contacts Joints Motion generators BuildTestReview Improve

BuildTestReview Improve VIRTUAL PROTOTYPING PROCESS Test your design using: Measures Simulations Animations Plots Validate your model by: Importing test data Superimposing test data

BuildTestReview Improve VIRTUAL PROTOTYPING PROCESS Review your model by adding: Friction Forcing functions Flexible parts Control systems Iterate your design through variations using: Parametrics Design Variables

BuildTestReview Improve VIRTUAL PROTOTYPING PROCESS Improve your design using: DOEs Optimization Automate your design process using: Custom menus Macros Custom dialog boxes

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

Types of coordinate systems Global coordinate system (GCS): Rigidly attaches to the ground part. Defines the absolute point (0,0,0) of your model and provides a set of axes that is referenced when creating local coordinate systems. Local coordinate systems (LCS): Part coordinate systems (PCS) Markers Coordinate Systems

Part Coordinate Systems Definition of part coordinate systems (PCS) They are created automatically for every part. Only one exists per part. Location and orientation is specified by providing its location and orientation with respect to the GCS. When created, each part’s PCS has the same location and orientation as the GCS.

Markers Definition of a marker It attaches to a part and moves with the part. Several can exist per part. Its location and orientation can be specified by providing its location and orientation with respect to GCS or PCS.

Markers Definition of a marker (cont.) It is used wherever a unique location needs to be defined. For example: The location of a part’s center of mass. The reference point for defining where graphical entities are anchored. It is used wherever a unique direction needs to be defined. For example: The axes about which part mass moments of inertia are specified. Directions for constraints. Directions for force application. By default, in ADAMS/View, all marker locations and orientations are expressed in GCS.

Difference between part and geometry Parts Define bodies (rigid or flexible) that can move relative to other bodies and have the following properties: Mass Inertia Initial location and orientation (PCS) Initial velocities Geometry Is used to add graphics to enhance the visualization of a part using properties such as: Length Radius Width Is not necessary for most simulations. Simulations that involve contacts do require the part geometry to define when the contact force.

Difference between part and geometry Center of Mass Marker

Difference between part and geometry Dependencies in ADAMS/View mar_1 cyl cm sph mar_2

Creating some parts Link Box Sphere Extrusion Importing a geometry from CAD package…. Parasolid…

Constraints Definition of a constraint Restricts relative movement between parts. Represents idealized connections. Removes rotational and/or translational DOF from a system. Joints Revolute Translational Fixed Other…… ________________________

HMMWV Vehicle Model High Mobility Multipurpose Wheeled Vehicle (HMMWV) modeled in ADAMS/Car

Track Model

Let’s create some mechanisms Simple pendulum Parallelogram mechanism

Starting ADAMS/View Start ADAMS/View Type “aview” hit enter Type “ru-standard” hit enter Type “i” hit enter In the Welcome dialog box Under the heading, How would you like to proceed, select Create a new model. Set some working directory. Name the model missilelauncher. Verify that Gravity is set to Earth Normal (-Global Y). Verify that Units are set to MMKS - mm, Kg, N, s, deg. Select OK.

The missile launcher model You will 1. construct a very simple parallelogram mechanism used in a missile launcher by importing a simple geometry and creating rigid bodies and joints in ADAMS/View 2. Simulate the mechanism 3. Create measure and add sensor 4. Refine the model and simulate again 5. PostProcess the results This will give you a rough idea about what goes on in the world of virtual prototyping

Import a rough geometry for missile’s barrel Go to File  import Select “Parasolid” as the file format. Right click in the box next to “File to Read” select “Browse” and point to barrel.x_t Right click in the box next to Model name and select “missilelauncher” Click OK Right click the barrel point to Part:PART2  Rename Rename the part to.missilelauncher.barrel Importing Geometry

Setting up the working grid Note: Use “z” “r” and “t” keys to Zoom, Rotate and Pan Go to Settings  Working Grid Select “Pick” option from the drop down menu for “Set Location” Select the Center of lower left cylindrical hole on the face closest to you when the front of the barrel is pointing to +ve X direction. See the figure on next slide Setting up working grid

Go to View  Coordinate Window (F4) Right click on Rigid Body Button in the “Main Toolbox” Select Rigid Body: Link Click the origin of the grid to specify one end of the Link and Click at location (550, -150, 0) to specify the other end of link Note: The coordinates of the locations can be seen in the coordinate window Right click the link, point to Part:PART_3  Rename Rename the part as.missilelauncher.arm1 Creating rigid body: Links

Right click the link, point to Part:arm1  Copy This will create another Rigid Body of type “link” at the same position as Part:arm1 The name of this newly created part will be arm1_2 Right click the part, select Part:arm1_2  Rename Change the name to.missilelauncher.arm2 We want to move this newly created part from the center of lower left cylindrical hole to the center of upper right cylindrical hole on the face closest to you when the front of the barrel is pointing to +ve X direction. Creating rigid body: Links

Right click the position stack and select the translate tool as shown in the picture Note: The software will tell you what you need to do next on the information bar at the bottom of the main window Select the object to move: Right click the two parts (which are on top of each other) This will give you option to select the part. Select arm2 The next prompt will be “select a point to move from”: here, select the center of lower left cylindrical hole on the face closest to you when the front of the barrel is pointing to +ve X direction The next prompt will be “select the point to move to”: here select the center of upper right cylindrical hole on the face closest to you when the front of the barrel is pointing to +ve X direction. Creating rigid body: Links

Create 4 revolute joints at locations shown Creating Joints

Right click the joints stack in Main Toolbox and select Revolute Joint Select following options 2 Body 1 Location Normal to Grid First body: Pick Body Second Body: Pick body Creating Joints

Joint 1: Revolute Joint between Ground and Arm1 Select Ground as the first body and Arm1 as the second body Select the marker at the location (550, -150, 0) as the location for the joint Joint 2: Revolute Joint between Ground and Arm2 Select Ground as the first body and Arm2 as the second body Select the marker on Arm2 corresponding to the previously selected marker on Arm1 as the location for the joint Creating Joints

Joint 3: Revolute Joint between Arm1 and barrel Select Arm1 as the first body and barrel as the second body Select the marker at the location of the center of lower left cylindrical hole on the face closest to you when the front of the barrel is pointing to +ve X direction Joint 4: Revolute Joint between Arm2 and barrel Select Arm2 as the first body and barrel as the second body Select the marker at the location of the center of upper right cylindrical hole on the face closest to you when the front of the barrel is pointing to +ve X direction Creating Joints

Applying Motion to Joint 1 Select Rotational Joint Motion tool as shown in the figure Click on Joint 1 This will add a rotational motion to the joint Applying motion to Joint

Right click on the motion and point to Motion:MOTION_1  Modify This will launch modify motion box as shown Enter -30.0d * time as the Function of time (note the –ve sign) Applying motion to Joint

Click on “Interactive Simulation controls” Enter 5.0 sec for End Time and enter 500 for number of Steps (see the figure) Select the play tool This will run a simulation and the mechanism will turn through 150 degrees and will stop (why 150 degrees?) Running initial simulation

We want the mechanism to stop when the Arms are vertical and the barrel is at maximum height To achieve this we will create a “Sensor” which will stop the simulation as soon as the links are vertical The Sensor needs to keep track of some value/measurement, so that it can stop the simulation when this measure reaches some particular value So there are 2 steps 1. Create a Measure 2. Create a Sensor based on this measure Need for Measures and Sensor

We will create a measure to track the Horizontal Distance between these two points We know that the arms will be vertical when this distance will become zero (this is exactly what the sensor will look for) Measure

Go to Build  Measure  Point-to-Point  New Measure

Give the measure name.missilelauncher.for_vertical_sensor Right click in the box next to “To Point” and select arm1.Marker_1 (the marker at the location of the center of lower left cylindrical hole on the face closest to you when the front of the barrel is pointing to +ve X direction) Right click in the box next to “From Point” and select arm1.Marker_2 (the marker at the location (550, - 150, 0)) Select “Translational Displacement” as characteristic Component : X Select “Create Strip Chart” and hit OK Measure

Building a Sensor Go to Simulate  Sensor  New Name the Sensor.missilelauncher.vertical_sens or Select Run-Time expression for Event Definition Click next to the Expression box This will launch Function Builder Sensor

Delete anything that is seen here Select “Measures” for Getting Object Data Right Click in the box and point to Runtime Measures  Guess  for_vertical_sensor Then hit Insert object name and click OK Sensor

Now will be back to Create Sensor dialog box Set event evaluation to None Select Non-Angular Values Select Equal Enter value as “0” Set the Error Tolerance as 1.0E-05 Check Terminate current simulation step and... Check Stop Hit OK Sensor

Now again run the simulation for 5 seconds with 500 steps and verify that the simulation stops when the arms are vertical Sensor

Adjust the barrel mass Right click the barrel Point to Part:barrel  Modify Select Define Mass by “User input” Enter 100kg next to Mass Hit OK Refining the model

Run the simulation for 5 seconds with 500 steps and post process the results To launch the post Processor Go to Review  PostProcessing (F8) Select Objects as source and review the results Final Simulation and PostProcessing

Application of this virtual prototyping One can review forces coming on joints, and hence select appropriate bearings Torques acting at the joints can be found and hence an appropriate motor can be selected based on the operating speed and torque requirements A controls module can be added and tested All mass properties, geometries, operating speeds etc can be changed and their effects can be evaluated Applications