1. 1 Forklift Estimated time required: 20 min GUI familiarity level required: Higher MSC.ADAMS 2005 r2

2. 2 Topics Covered You will need to download the file “FORKLIFT_model_start.zip“ to begin this tutorial If you have any difficulties, import the “FORKLIFT_shortcut.cmd” file and proceed from pg 10 If you have any difficulties, import the “FORKLIFT_complete.cmd” file and proceed from pg 13 In this tutorial, you will learn how to: 1.Create a STEP function 2.Create contact

3. 3 Forklift Problem Add contact forces and STEP function to delay movements of a forklift.

4. 4 If you are successful, you should end up with a ADAMS model that illustrates contact forces and STEP function of a forklift. What You Should Accomplish

5. 5 Import Model a.Download file FORKLIFT_model_start.zip b.Unzip the files to C:\ c.Start ADAMS d.Click Import a file radio button e.Select C:\ as Start in text field f.Click OK File Import window will open g.Right-click File To Read text field, select Browse h.Locate saved file FORKLIFT_start.cmd i.Click Open j.Click OK g h i d e f j

6. 6 Add Translation Joint a.Select Translation Joint from Joint tool stack b.Click ground  PAR2  PAR2.MAR1  move cursor to the right, click MAR1.Z c.Select Translation Joint d.Click PAR2  PAR3  PAR2.lift2_22.V229  move cursor up, click lift2_22.V6 a d b

7. 7 Add Translation Joint Motion a.Select Translational joint motion from Motion Driver tool stack b.Click JOINT_1 c.Select Translational joint motion d.Click JOINT_2 b a d

8. 8 Create STEP funtion a.Right Click on JOINT_1, select Motion: MOTION_1  Modify b.Click button c.Enter STEP(time, 2.0, 0.0, 6.0, 150) in Define a runtime function text field d.Click OK e.Click OK a b e c d Note: the step function is a delayed movement function. It works like: STEP(time, time, distance, time 2, distance 2)

9. 9 Create STEP function a.Right Click on JOINT_2, select Motion_1  Modify b.Click button c.Enter STEP(time, 0.5, 0.0, 4.0, +36) + STEP5(time, 6.0, 0.0, 8.5, -36) d.Click OK e.Click OK

10. 10 Create Contact a b cd a.Select Contact from Forces tool stack b.Right-click in I Solid text field, select Contact_Solid  Browse c.Highlight BOX_42, BOX_43, BOX_44  Click OK d.Repeat for J Solid except use PAR3  EXTRUSION_45, EXTRUSION_46 e.Choose Blue from Force Display pull down menu f.Enter Stiffnees = (Stiff_Box_Fork), Force Exponent = (Exp_box_fork), Damping = (B_box_fork), Penetration Depth = (Dmax_box_fork) g.Choose Coulomb from Friction Force pull down menu h.Enter Static Coefficient = 0.3, Dynamic Coefficient = 0.2, Striction Transition = 10.0, Friction Transition = 100.0 i.Click OK e f g h i

11. 11 Create Contact a.I Solid = PAR3  BOX_42, BOX_43, BOX_44 b.J Solid = ground  BOX_21 c.Choose Blue from Force Display pull down menu d.Enter: Stiffness =(Stiff_Box_Ground) Force Exponent =(Exp_box_ground) Damping =(B_box_ground) Penetration Depth = (Dmax_box_ground) e.Choose Coulomb from Friction Force pull down menu f.Enter: Static Coefficient = 0.62 Dynamic Coefficient = 0.6 Striction Transition = 10.0 Friction Transition = 100.0 g.Click OK a b c d e f g

12. 12 This is what your screen should look like when your model is completeModel

13. 13Verify Verify the model Run a Simulation: Duration = 10, Step Size = 0.1

14. 14 In this tutorial you learned how to: Topics Covered 1.Create a STEP function 2.Create contact

15. 15 Best Practices Check orientation and location of the translation joint Check direction of translation joint motion Check STEP function Check Contact forces are between the right bodies Check Contact values