1. Course manual for Multibody Dynamics A, wb1310
Introduction to ADAMS
Course manual for Multibody Dynamics A, wb1310
Martijn Wisse
29th december 1999
revised for V by Bram Soethoudt
May 2005
Inhoud
1 example
2 view & layout controls
model view
working grid
part appearance
3 Building
Building with solids
Changing mass and Inertia properties
Inserting a spring/damper combination
Motion Generator
Force Generator
Function Builder
4 Simulation & Animation
Simulation settings
Animation controls
5 Handige zaken.

2. Contents 1 Example 3 2 Program Overview 15 3 Layout & View Control 19
4 Parts & Geometry 23
5 Joints & Motion generators 26
6 Markers 30
7 Springs & Force generators 31
8 Simulations & Animations 35
9 Plotting & Measures 41
10 Tips & Useful Tools 45
Contents

3. Creating a new model
Start ADAMS-View: Data Analysis & Simulation Software  Adams 12.0  Aview  ADAMS-View
Use the startup dialogbox or from the Menu-bar select Build  Model  New…
Change the Model Name to ‘example_1’
Click OK, ADAMS is now ready to construct a model
Example

4. Environment Settings To set gravity and units settings:
From the Menu-bar select Settings  Gravity…
In the Gravity Settings window check the Gravity checkbox
Apply
From the Menu-bar select Settings  Units…
Select
Example

5. Creating a new link
In the Main Toolbox click the icon Rigid Body: Link
Check options Length, Width and Depth,
Fill in desired dimensions: ‘(373mm)’, ‘(6mm)’ and ‘(6mm)’
* Hit return after entering the dimensions
* Notice instructions in lower left corner of screen
Pick location of first end of link
Pick second location to define orientation of link
Example

6. Creating a new joint
In the Main Toolbox click the icon Joint: Revolute
Select construction options:
- 1 Location
- Normal to grid
Pick the location of the revolute joint on an existing rigid body
Example

7. Naming the model elements
Right click on the created link
Select Part: Part_1  Rename
Change name into ‘.example_1.pendulum’
Repeat procedure for the created joint
Rename joint as ‘.example_1.hinge’
Example

8. Naming the view window
From the Menu-bar select View  View Accessories...
In the View Accessories window type your id
Click Enter
Close View Accessories window
Your id appears in the upper left corner of the model view window
Example

9. Rotating model elements
In the Main Toolbox select the Select-tool
Left click on the pendulum to select
In the Main Toolbox select the Center-tool
Center the view at the hinge
In the Main Toolbox select the Position-tool
Rotate the pendulum 30 degrees
Example

10. Saving the model From the Menu-bar select File  Export
In the File Export window right click at File Name
Select Browse...
Save model as ‘example_1.cmd’ in the File Selection window
In the File Export window click OK
Save your work frequently
Example

11. Loading a model From the Menu-bar select File  Import
In the File Import window right click at File To Read
Select Browse...
Open existing ‘.cmd’ - file
* Note: if the model was already loaded, a number of errors appears
Example

12. Running a simulation In the Main Toolbox select the Simulation-tool
Change the number of steps into ‘100’
Left click the Start or continue simulation button
To simulate again, first press the Reset to input configuration button
* Note: The viewport shows the simulation; to return to the model view, left click the Select-tool
* Note: The simulated motion is stored, and available for animation or plotting
Example

13. Plotting simulation results
In the Main Toolbox select the Plotting-tool
For the Object to plot choose Constraint  hinge  Ax_Ay_Az_Projection_Angles  Z
Click Add Curve
Double-click Page_1 and click on Plot_1
Add Title and insert your id as Subtitle
Click OK
Example

14. Simulation results Print your graph
To leave the Plot Window click Return to modeling environment
This is the end of the example
Example

15. The ADAMS interface The ADAMS interface consists of two main windows:
- the View Window, displaying your current model
- the Main Toolbox
Most common ADAMS functions can be accessed through the Main Toolbox. All functions can also be found under the the Menu bar in the View Window.
Title
Main Toolbox
Modeling and simulation tools
Right click to open individual tool stacks
Container
Display changes depending upon the tool selected from the tools above
Menu Bar
Working Grid
Coordinates Window
Triad
Instruction Bar
Program Overview

16. ADAMS Online Help
ADAMS has an extensive online help facility in HTML and PDF format.
Most documentation on model construction is to be found under ADAMS/View.
Program Overview

17. The ADAMS model hierarchy
The model element naming is consistent with the hierarchy (e.g. model_name.part_name.geometry_name or model_name.joint_name)
Database
Model
Plot
GUI
Measure
Constraint
Force
Analysis
Model Elements
Simulation Output
Results Set
Component
Do not get saved in model command file format (.cmd)
(See next Page for explanation)
Curve
More... 
Part
Marker
Construction points
Geometry
Program Overview

18. File Handling in ADAMS
The two most common formats in which models in ADAMS can be saved are:
1 ADAMS/View Database files (.bin)
Include the entire modeling session including models, simulation results, plots, etc.
Are large binary files
2 ADAMS/View Command files (.cmd)
Includes only the model elements and their
attributes
Are relatively small, editable text files
The other formats in which data in ADAMS can be imported and exported are:
ADAMS/Solver Input files (.adm)
Geometry files (STEP, IGES, DXF, DWG,
Wavefront, stereolithography)
Test and Spreadsheet data files
Simulation results files (.msg, .req, .out, .gra, .res)
Program Overview

19. View settings View settings from the Main Toolbox: Background Color
Triad visibility (the global coordinate system displayed in the lower left corner of the View Window)
View layout
Icon appearance: double click on the Icons button
Setting the View Title:
From the Menu-bar choose View  View Accessories
Set your id as View Title in the View Accessories window
Layout & View Control

20. Viewpoint controls
The Viewpoint can be controlled from the Main Toolbox. Click the Select-tool and use the following view controls:
Fit Rotate
Window zoom Pan
Center Zoom
And the preset view orientations:
Front
Right
Top
Isometric
Layout & View Control

21. Setting Object Appearances
The appearance of a displayed object can be altered when the object is selected (highlighted):
color: From the Menu-bar select Edit  Appearance
change Color by right-clicking the Color-field
render mode: From the Menu-bar select View  Render Mode
toggle render on/off in the Main Toolbox
Layout & View Control

22. The Working Grid The Working Grid is used:
as a plane for creating objects
to draw, move, resize, reshape geometry by snapping to grid
Change Working Grid settings by double-clicking the Grid-button
on the Main Toolbox (first apply the Select-tool)
When creating a new model element, first set the Working Grid with the
correct location and orientation.
Set the location of the Grid origin by:
global origin, or
pick location
Set the orientation as one of the principal planes:
Global XY,
Global YZ, or
Global XZ
Layout & View Control

23. Creating Parts & Geometry
Each rigid body in ADAMS is modeled as a part. Each part has one or more geometries. To create a new part, start with a geometry, e.g. a box or a cylinder.
To create a new geometry:
In the Main Toolbox right-click on Rigid Body
Select the appropriate geometry:
Link Sphere
Box Torus
Cylinder
Choose New Part or Add To Part
Enter required dimensions
Follow instructions in lower left corner of screen
* When adding a geometry to an existing part, check the position of the automatically generated ‘Center of Mass’-marker
Parts & Geometry

24. Positioning Objects Rotation: Translation:
Reposition objects relative to viewing coordinates
Reposition objects relative to the working grid
Translate from an initial location to another
Rotate about or align with grid or features
Position objects by aligning faces
Rotation:
Translation:
Parts & Geometry

25. Modifying Part Properties
To modify Mass and Inertia properties of a part:
Right-click on the part to be modified
ADAMS/View displays the names of all model elements near the cursor
Select the part to be modified and then select Modify
In the Modify Rigid Body window enter the user specified mass and inertia values
To modify the name of the part:
Select the part to be modified and then select Rename
Parts & Geometry

26. Joints
In ADAMS joints are used to connect rigid bodies to each other or to the ground with a limited number of degrees of freedom.
To create a new joint:
Both parts to be connected by the joint should already exist
In the Main Toolbox right-click on Joint
Choose the appropriate joint:
revolute
translational
Choose a connection between one part and the ground: 1 location, or between two parts: 2 Bod - 1 loc
Choose the orientation of the joint by setting the axis for the degree of freedom:
- normal to the Working Grid in a direction indicated with the mouse
Follow instructions in lower left corner of screen
Joints & Motion Generators

27. Creating a Motion Generator
A degree of freedom in a joint can be replaced by a prescribed motion. A motion can be defined as displacement, velocity or acceleration as a function of time.
To create a motion generator:
A joint should already exist
In the Main Toolbox right-click on Rotational Joint Motion
Choose the type of motion, equal to the degree of freedom allowed by the joint:
rotational, or
translational
Enter the desired constant velocity
* When applying a rotational velocity, enter the letter d to ensure that ADAMS uses as units degrees/second
Follow instructions in lower left corner of screen
If an other motion function than a constant speed is desired, modify the motion generator afterwards
Joints & Motion Generators

28. Motion Generators with non-constant velocity
The prescribed motion of a motion generator can be a complex function of time. First, a motion generator with constant velocity must have been created.
To modify the motion function:
Select the motion generator and then select Modify
In the Impose Joint Motion window select the type of motion generator
Right-click in the ‘F(time)=’-field
Select Function Builder…
Define a runtime function, using ‘time’ as independent variable, or
Enter a more complex predefined function (next page)
Joints & Motion Generators

29. The Function Builder
To enter a complex mathematical function of time for the motion generator:
In the Function Builder window select the desired math function
Use the Assist… dialog box
Use the Verify button before closing the Function Builder
* Note: The Function Builder cannot read lines over 80 characters long
* Note: If the function is new to you, see the description in the Help
Joints & Motion Generators

30. Markers
In ADAMS, important geometrical points on a rigid body are represented by Markers. A marker is a massless entity, only possessing a location and an orientation. When a new rigid body or joint is created, ADAMS automatically creates the necessary markers (e.g. the ‘Center of Mass’-marker).
When a spring or other force must be attached at a previously undefined location on a part, first a new marker must be created.
To create a new marker:
In the Main Toolbox right-click on Rigid Body
Select Marker
Choose Add to Ground or Add to Part
For the orientation of the marker, choose one of the principal planes:
- Global XY
- Global YZ
- Global XZ
Follow instructions in lower left corner of screen
Markers

31. Spring/Damper To create a spring/damper combination:
Two markers on different parts should already exist for spring attachment
In the Main Toolbox choose Connector: Translational Spring-Damper
Check applicable properties and enter user-specified values
Follow instructions in lower left corner of screen
To change properties and graphic representation:
Select spring to be modified and then select Modify
* Note: in order to see the diameter ratio option, load the <Sayfield> menu from the menu bar
Springs & Force Generators

32. Applied Force: Torque To create an applied torque on a rigid body:
A marker should already exist as point of application for the torque
In the Main Toolbox right click on Connector
Select Applied Force:Torque (single component)
Choose a Runtime Direction and Construction (initial direction)
Choose Characteristic: - a simple force, or
- a to be defined complex custom function
Follow instructions in lower left corner of screen
To alter the force function:
Right-click on the torque and select Modify
In the Modify a Torque window right click in the ‘F(time,…)’-field
Use the Function Builder
* Note: In contrast with a motion generator, an applied torque can be a function of positions of objects
Springs & Force Generators

33. Special Force: Tire
A tire is represented in ADAMS as a special type of force. This special force automagically generates a part for the wheel.
To create a new tire:
In the Main Toolbox right click on Connector and select Tire
In the Create Wheel and Tire window enter the following data:
Enter Name
Enter user specified Mass and Inertia properties
Enter the required Tire Property File
Enter the required Road name (create if it does not exist)
Enter Location of the cm and Orientation of the wheel axis: default (0,0,0) is the wheel axis along the z-axis
Springs & Force Generators

34. Creating a Road
A tire in ADAMS needs a road. Multiple tires can use one road.
To create a new road:
In the Create Wheel and Tire window right click on Road and select Create
In the Create Road window enter the following data:
Name
Part that the road is attached to (usually ground)
the required road Property File
adjust the Euler Angles to (0,-90,0) for the plane y=0, contact if y<0
Springs & Force Generators

35. Debugging
Before running a simulation, you should check your model; are all parts connected as intended?
To check the number of Degrees of Freedom:
use the Verify tool in the lower right corner of the screen
the Information window displays the number of degrees of freedom, the number of moving parts and the number of joints
Simulation & Animation

36. Running a simulation To run a simulation:
In the Main Toolbox select the Simulation-tool
Select Default analysis
Enter the desired End Time or Duration
Enter the desired integration Step Size or Number of Steps
Select the Debug option, ADAMS shows the Maximum Equation Error window
Use the Start, Stop and Rewind buttons
To access advanced simulation settings, apply … (More)
See (next page)
Simulation & Animation

37. Simulation Settings Advanced Simulation Settings:
In the Main Toolbox select the Simulation-tool, then select …(More)
To find static equilibrium, apply
To perform a linear modes analysis, first find static equilibrium, then apply, In the Linear Modes Controls window use , and to display and animate the eigenfrequencies and eigenmodes
To change the integration accuracy, apply Simulation Settings…
Simulation & Animation

38. Types of Virtual Simulations in ADAMS
Assembly Operation
Assemble
Linear
Non-Linear
Eigensolution or State Matrices
Motion Study
Equilibrium Calculation(s)
Linear
Default*
Static*
Non-Linear
DOF=0
DOF>0
Kinematic*
Dynamic*
*Automatically performs an assembly operation
Simulation & Animation

39. Basic Animation Control
After Performing a simulation, the Animation Container on the Main Toolbox can be used to control the animation
Play-forward
Stop Animation
Step Backward
Play-reverse
Step Forward
Reset to Frame 1
Modify Animation View
Frame Slider
Fixed Base: camera is fixed on the ground
Base Part: camera is fixed on the CM of the part
Base Point: camera is fixed on the selected CSM
Drag until the required frame is reached
Loop Function
Select to replay animation indefinitely
Advanced Animation features
Simulation & Animation

40. Animation and Rendering
ADAMS has a built-in movie generator, which produces computer animations in .AVI-format.
To make an .AVI-movie:
After running a simulation, select View  Load Animation from the Plotting Main Menu
Select desired view with the View Control toolbars or right click in main window
If desired adjust settings for Animation, View, Camera, Record, Overlay, Contours
Press record and press play to start the recording
Movie is saved in working directory (default is L:\)
Simulation & Animation

41. Overview of the Plot Plotting main menu Plotting toolbar
Manage pages of plots
Return to modeling
Plot formatting
Plot location
Plotting & Measures

42. Overview of the Plot Builder
Displays list of current simulations
Manages curves of plots
Detailed List of Output
Parameter to plot against
Types of results to be displayed:
Objects, Measures, Requests and Results
Plotting & Measures

43. Useful Plot functions Useful functions in the Plot Window:
Display Plot Statistics
Zoom
Return to modeling environment
Useful functions in the Plot Builder:
Surf; automatically clears and updates plots as items are selected
Data filter
Plotting & Measures

44. Creating Measures in ADAMS
To create measures…
1 Use the Main Menu
Build| Measure
can be used for all measures
2 Use the Measure Tool Stack on the Main Toolbox
can be used for point-to- point and included angle measures
3 Use the right mouse button and select Measure from the pop-up menu
can be used for object and point measures
Plotting & Measures

45. Tips & Tricks Some general tips & tricks:
Use the Escape key to abort a command.
Press ‘Enter’ after input to make sure that the new value is set.
Edit  Copy generates a copy at the same location as the original. Right-click on the model to select the copied element.
Right click on any field for suggestions or options.
Tips & Useful Tools

46. Navigating through a Modeling Database
Use the Database Navigator to view and select objects in a modeling database
To open the Database navigator…
 Use the menu bar
Tools| Database Navigator
 Execute an editing command
when no object is selected
“+” indicates existence of hidden children
“-” indicates all children objects are displayed 
The Database Navigator only displays those types of objects that are appropriate for the command you are executing
Tips & Useful Tools

47. Using the Command Navigator
Use the command Navigator to enter ADAMS/View commands without knowing the entire command syntax
The Command Navigator…
displays a list of all the ADAMS/View command keywords
corresponds to the matching menus available in previous versions of ADAMS/View
lets users perform advanced commands not immediately accessible
helps users learn the command syntax when customizing ADAMS/View
“+” indicates existence of hidden command levels
“-” indicates that the next command level is currently displayed
No indicator- when selected, a dialog box appears in which you enter values to execute the command
Tips & Useful Tools

48. Using the Information Window
The Information window displays different types of information about a model
Display parent and child information
Display object information
Display an object’s modify dialog box
Clear information window
Save information to a text file
Set the information mode
Display a text file
Copy text
Tips & Useful Tools

49. Using the Select List Manager
The Select List manager is used to…
 get a list of selected objects
 add/remove objects from a list
 work with multiple geometries
Tips & Useful Tools