Presentation on theme: "Webcutter Estimated time required: 40 min"— Presentation transcript:
1 Webcutter Estimated time required: 40 min GUI familiarity level required: LowerMSC.ADAMS 2005 r2
2 Topics Covered Save/Export Start Adams Rotate Parts In this tutorial, you will learn how to:Save/ExportRotate PartsAdd 2 Body, 2 Location Revolution JointSave Assembled ModelModify Material PropertiesMeasure Torque, Bearing Force, CM angular Acceleration/VelocityMeasure Angle With Respect to GroundExport Data to ExcelCreate A step FunctionStart AdamsChange Grid Size and SpacingSet material PropertiesCreate Extruded PartModify PartRenameModify ViewCreate MarkerAdd Revolute JointAdd Rotational joint MotionVerify ModelRun SimluationYou will need to download “link_geometry.zip” file to complete this tutorialIf you have any difficulties, import the “Webcutter_shortcut_1.cmd” file and proceed from pg 18If you have any difficulties, import the “Webcutter_shortcut_2.cmd” file and proceed from pg 21If you have any difficulties, import the “Webcutter_Asm_shortcut_3.cmd” file and proceed from pg 26If you have any difficulties, import the “Webcutter_Asm_shortcut_4.cmd” file and proceed from pg 34If you have any difficulties, import the “Webcutter_Asm_complete.cmd” file and proceed from pg 25
3 Problem TitleB4B3A2O4O2This tutorial will describe in depth how to use ADAMS to determine the torque of the motor, bearing forces, and the angular position, velocity, and acceleration of the links for the given problem.Links are 2cm thick and made out of Al Link 2 is rotating at a rate of 60 rpm CCW.
4 What You Should Accomplish If you are successful, you should end up with a simple working webcutter model that illustrates bearing force, motor torque and angular velocity/acceleration of your model.
5 Create New Model Getting Started: a. Under the heading "How would you like to proceed", select the Create a new model radio button.b. Choose a Location to save your filesc. Set Model Name as Webcutterd. Verify the Gravity text field is set to Earth Normal (-Global Y).e. Verify that the Units text field is set to MKS - m,kg,N,s,deg.f. Select OK.abcdef
6 Change Working Grid Settings To edit the grid size:Click Settings menu, select Working Grid…The Working Grid Settings window will appearChange the Spacing text fields in X and Y to (10mm)Click OKClick View Coordinate Window (F4)abdcNote: you should see a denser set of dots on your screen
7 Set Material Properties A new window will appear, enter:Name: .Webcutter.Al6063Young Modulus: 214e6Poissons Ratio: 0.33Density: 2710Click OKClick Build Menu Materials NewabcNote: If the density is not set the simulation will not run properly
8 Create Extruded PartRight click on Rigid body tool stack, select Extrusion toolEnter 0.02 in the Length text fieldSelect Backward from Path: drop down menuClick points origin (0.0, 0.0, 0.0) (0.15, ) (0.15, 0.0, 0.0) (0.0, 0.0, 0.0), right-click to closeadcbNote: When using a command the bar on the bottom will tell you what to do and you can always exit a command by pressing the Esc key
9 Change ViewRight Click in the workspace and Select Iso <I> or Press Shift+I to view an isometric view.aVarious other options and their shortcut keys are available in this menu. Spend some time experimenting with them and then return to the front view (Shift+F)
10 Rename Right-Click on part, select Part: PART_2 Rename Enter .model_1.link_2 in New Name text fieldClick OKbcaRename the Marker at the origin to .model_1.O2
11 Modify Extrusion Points Right-click on the triangle, select Extrusion: Extrusion_1 Modify.Click next to Profile Points text fieldClick Read button next to FileBrowse the directory for the file link2.txtClick OpenClick OKadbgecfNote: By starting our Triangle at the origin and normalizing the points about O2 for link 2, the origin and O2 coincide.
12 Create a MarkerRight click on Rigid body tool stack, select Marker toolSelect Add to Part from Marker pull down menuSelect Global XY from Orientation pull down menuClick Part_2 (0.04, 0.0, 0.0)Rename Marker .model_1.A2abcdNote: This is why the links were rotated to make OA horizontal for the input files.
13 Add Revolute Joint Right click Joint tool stack, select Revolute joint Select 1 Location from Construction pull down menuClick on point link_2.O2abc
14 Add MotionRight Click on Motion Driver tool stack, select Rotational Joint MotionEnter (360D) in Speed text fieldClick JOINT_1acb
15 Verify Your Modela. In the lower right corner of the modeling window, right-click on the Information icon.b. Click on the Verification icon. abThe Info Window appearsc. After seeing that the model has verified successfully,d. click on the Close buttondcNote: The model verification step is one way to find errors in the model definition. ADAMS checks for error conditions such as misaligned joints, unconstrained parts, or massless parts in dynamic systems, and alerts you to other possible problems in the model.
16 Run a Simulation How to simulate the model: Click on the Simulation tool in the Toolbox.Select Duration from pull down menuEnter 2Select Step Size from pull down menuEnter 0.01Click on the Play button. If everything has been done correctly the bar should complete one revolution.acdbb
17 Save DatabaseSave your database by Click File Save Database, and select no for a backup copyaTo export a .cmd fileClick File ExportSelect ADAMS/View Command File from File Type pull down menuEnter a File nameClick OKcdbe
18 Create Part 2Create another extruded triangle, with thickness = 0.2, using points:(0.04, 0.0, 0.0) (0.3, 0.0, 0.0) (0.25, -0.15, 0.0)Modify Extrusion points using list3.txtRename the part to link_3Create Marker at Point (0.32,0.0,0.0), rename it B3Create a revolute joint between link_2 and link_3de
19 Revolve PartClick anywhere on Link 3. Notice that everything is highlighted and there is a green handle at the end of the y axis on the coordinate located at A2.Click on this handle and drag left. This causes Link 3 to rotate about that point. Let Link 3 in this position for now so it is out of the way.ba
20 Verify and Simulate Verify you model Run a simulation: Duration = 2.0, Step Size = 0.01 ba
21 Create Marker Create Marker on the ground at point (0.26, -0.04, 0.0) Rename it O4a
22 Create Part 4Draw another triangle with the Extrusion tool this time with the first point at O4. Repeat the previous steps and read in Link4.txt to correct the shape.Create a marker on link 4 at position (0.66, -4.0E-002, 0.0), rename it B4Add a Revolute Joint between link 4 and Ground, at O4.bc
23 Create Joint between Part 3 and 4 Rotate link_4 so that points B3 and B4 are closeClick the revolute joint toolSelect 2 Bod-2 Loc from Construction pull down menuClick link_4 link_3 (point) B4 (point) B3dbca
24 Rendering Model Click View Render Mode Smooth Shaded (This can also be done by using the shortcut keys or Shift <S>)a
25 Save Assembled ModelTo join these location click Simulate Interactive ControlsClick which performs initial conditions solution.Ignore and Close the warning that comes up. The part is now joinedClickEnter .Webcutter_Asm in New Model text field, Click OKClick play to run the simulation.afebdNote: The warning is stating that the two reference points of the revolute joint are not the same and need to be the same for the part to run. ADAMS will move the two links so that the points will coincide before running the simulation.
26 Modify Material Properties Right-Click link 2, Select Part: link_2 ModifyEnter .Webcutter_Asm.Al6063 in Material Type text fieldClick OKRepeat this step for link_3 and link_4.bacNote: If you choose the option of just entering density, the Links will have significant deformation during the run.
27 This is what your screen should look like when ModelThis is what your screen should look like whenyour model is complete.
28 Measure Motor TorqueRight Click Motion and select Motion: Motion_1 MeasureEnter .Webcutter_Asm.Torque in Measure Name text fieldSelect Torque from Characteristic pull down menuChoose Z radio button next to Component.Click OK (A measurement window will appear which will graph torque respective to the simulationbcdae
29 Measure Bearing Forces Right Click on revolute joint, Select Joint: JOINT_1 MeasureEnter .Webcutter_Asm.Bearing_Force_1 in Measure Name text fieldSelect Force from Characteristic pull down menuChoose mag radio button next to Component.Click OKbcdae
30 Measure Angles of Links with Respect to Ground Click Build Measure Orientation New.Select .Webcutter_Asm.link_2_O2 for To Marker (Marker on Link 2)Select .Webcutter_Asm.ground.MARKER_4 for From Marker (Marker on the Ground)Click OKbcad
31 Measure Angular Velocity and Acceleration Right Click link_3, Select Part: link_4 MeasureEnter Webcutter_Asm.Ang_AccelerationChoose CM Angular Acceleration select ZPress ApplyEnter Webcutter_Asm.Ang_VelocityChoose CM Angular Velocity select ZPress OKbecfadg
32 Results To create and view plots Click Review Postprocessing (F8) A new window will openSelect all measure and Click Add curves.b
33 Export Data to Excel Click File Export Table. Enter Webcutter in File Name text fieldSelect plot_1 (or whichever plot you are trying to export) in Plot text fieldSelect spreadsheet from Format pull down menuClick OKRename file from Webcutter.tab to Webcutter.xlsabcde
34 Creating a Step funciton Right-click motion, seect Motion: MOTION_1 ModifyClick button next to Function (time) tet fieldEnter STEP(time, 0, 0d, 1, 720d) in Define a runtime fucntion text fieldClick VerifyClick OKacbdfeNote: The step function created is in the form:STEP(variable, starting time, starting position, ending time, ending position)
35 Verify and Simulate Verify you model Run a simulation: Duration = 2.0, Step Size = 0.01 baNote: the model will stop running at 1sec, due to the STEP function
36 Topics Covered In this tutorial, you will learn how to: Start Adams Change Grid Size and SpacingSet material PropertiesCreate Extruded PartModify PartRenameModify ViewCreate MarkerAdd Revolute JointAdd Rotational joint MotionVerify ModelRun SimulationSave/ExportRotate PartsAdd 2 Body, 2 Location Revolute JointSave Assemled ModelModify Material PropertiesMeasure Torque, Force, CM Angular Acceleration/VelocityMeasure Angle With Respect To GroundExport Data to Excel
37 Best PracticesMake sure the revolute joint is in the correct direction.Check dimensions of your parts to make sure they are correct.Check mass properties to make sure they are correct.Check orientation of the part to make sure it is correct.Make sure your model verification is successfulMake sure the measures are set properly.Make sure the plot is displaying the correct set of results.