‫ﭘﺮﻭژﻩ ﺩﺭﺱ ﺩﻳﻨﺎﻣﻴﻚ‬

‫ﻧﺮﻡ ﺍﻓﺰﺍﺭ ‪ADAMS‬‬

‫» ﻣﻮﺳﺴﻪ ﺁﻣﻮﺯﺵ ﻋﺎﻟﻲ ﺧﺎﻭﺭﺍﻥ ﻣﺸﻬﺪ«‬

‫ﻛﺎﺭﺷﻨﺎﺳﻲ ﻧﺎﭘﻴﻮﺳﺘﻪ ﻋﻤﺮﺍﻥ‬

‫ﺍﺳﺘﺎﺩ‪ :‬ﺟﻨﺎﺏ ﺁﻗﺎﻱ ﻣﻬﻨﺪﺱ ﺗﻴﻤﻮﺭﺗﺎﺷﻠﻮ‬

‫ﺩﺍﻧﺸﺠﻮﻳﺎﻥ‪:‬‬
‫ﻫﺎﺷﻢ ﻏﻼﻣﻲ – ﻋﻠﻲ ﺷﺎﺩﻳﺎﻥ‬

‫‪89‬‬ ‫ﺯﻣﺴﺘﺎﻥ‬
‫ﺩﺭ ﺍﻳﻦ ﭘﺮﻭژﻩ ﺳﻮﺍﻝ ‪ 5-83‬ﻛﺘﺎﺏ ﺩﻳﻨﺎﻣﻴﻚ ﻣﺮﻳﺎﻡ )ﻭﻳﺮﺍﻳﺶ ﭘﻨﺠﻢ( ﺑﺎ ﺍﺳﺘﻔﺎﺩﻩ ﺍﺯ ﻧﺮﻡ ﺍﻓﺰﺍﺭ ‪MSC.ADAMS 2005‬‬
‫ﺷﺒﻴﻪ ﺳﺎﺯﻱ ﺷﺪﻩ ﻭ ﺳﭙﺲ ﻣﻮﺭﺩ ﺁﻧﺎﻟﻴﺰ ﻗﺮﺍﺭ ﮔﺮﻓﺘﻪ ﺍﺳﺖ‪.‬‬

‫ﮔﺎﻡ ﺍﻭﻝ‪ :‬ﻣﺪﻝ ﺳﺎﺯﻱ ﺻﻮﺭﺕ ﻣﺴﺎﻟﻪ ﺩﺭ ﻧﺮﻡ ﺍﻓﺰﺍﺭ ‪ADAMS‬‬

‫‪ -‬ﺑﺮﻧﺎﻣﻪ ‪ ADAMS/View‬ﺭﺍ ﺍﺟﺮﺍ ﻧﻤﻮﺩﻩ ﻭ ﺩﺭ ﭘﻨﺠﺮﻩ ﻧﻤﺎﻳﺶ ﺩﺍﺩﻩ ﺷﺪﻩ‪ ،‬ﻳﻚ ﻣﺪﻝ ﺟﺪﻳﺪ ﺑﺎ ﻧﺎﻡ ‪ four_link‬ﺑﻪ‬
‫ﻣﺸﺨﺼﺎﺕ ﺯﻳﺮ ﺍﻳﺠﺎﺩ ﻣﻲ ﻧﻤﺎﻳﻴﻢ‪:‬‬

‫‪ -‬ﺍﺯ ﻣﻨﻮﻱ ‪ settings‬ﮔﺰﻳﻨﻪ ‪ Working Grid‬ﺭﺍ ﺍﻧﺘﺨﺎﺏ ﻧﻤﻮﺩﻩ ﻭ ﺩﺭ ﭘﻨﺠﺮﻩ ﺑﺎﺯ ﺷﺪﻩ‪ ،‬ﻓﺎﺻﻠﻪ ﺑﻴﻦ ﻧﻘﺎﻁ ﺻﻔﺤﻪ‬
‫ﺭﺍ ﺭﻭﻱ ‪ 20mm‬ﺗﻨﻈﻴﻢ ﻣﻲ ﻛﻨﻴﻢ‪:‬‬

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 ‫‪ -‬ﺑﺮﺍﻱ ﺭﺳﻢ ﻫﺮ ﻳﻚ ﺍﺯ ﻟﻴﻨﻚ ﻫﺎ ﺍﺯ ﻗﺴﻤﺖ ‪ Rigid Body‬ﮔﺰﻳﻨﻪ ‪ Link‬ﺭﺍ ﺍﻧﺘﺨﺎﺏ ﻧﻤﻮﺩﻩ‬
‫ﻭ ﻃﻮﻝ ﻭ ﻋﺮﺽ ﻭ ﺿﺨﺎﻣﺖ ﻫﺮﻳﻚ ﺍﺯ ﺁﻧﺎﻥ ﺭﺍ ﺍﺯ ﻗﺴﻤﺖ ﭘﺎﻳﻲ ﻣﻨﻮﻱ ‪،Main Toolbox‬‬
‫ﻃﺒﻖ ﺩﺍﺩﻩ ﻫﺎﻱ ﻣﺴﺎﻟﻪ ﺗﻨﻈﻴﻢ ﻧﻤﻮﺩﻩ ﻭ ﺁﻧﺎﻥ ﺭﺍ ﺩﺭ ﻣﺨﺘﺼﺎﺕ ﻣﻮﺭﺩ ﻧﻈﺮ‪ ،‬ﺭﺳﻢ ﻣﻲ ﻧﻤﺎﻳﻴﻢ‪:‬‬

‫ﻧﻘﻄﻪ ‪ O‬ﺭﺍ ﺩﺭ ﻣﺮﮐﺰ ﻣﺨﺘﺼﺎﺕ‬

‫ﻗﺮﺍﺭ ﺩﺍﺩﻩ ﻭ ﻟﻴﻨﮏ ‪ OA‬ﺭﺍ ﺗﺎ ﻧﻘﻄﻪ‬
‫)‪ (-60, 80‬ﺍﻣﺘﺪﺍﺩ ﻣﯽ ﺩﻫﻴﻢ‪ ،‬ﺳﺎﻳﺮ‬
‫ﻟﻴﻨﮏ ﻫﺎ ﻣﺘﻨﺎﺳﺐ ﺑﺎ ﻣﺨﺘﺼﺎﺕ‬
‫ﺍﻧﺘﺨﺎﺏ ﺷﺪﻩ‪ ،‬ﺭﺳﻢ ﻣﯽ ﺷﻮﻧﺪ‪.‬‬

‫‪ ،rename‬ﻧﺎﻡ ﺁﻧﻬﺎ ﺭﺍ ﻣﻄﺎﺑﻖ ﺻﻮﺭﺕ‬ ‫‪ -‬ﺑﻌﺪ ﺍﺯ ﺭﺳﻢ ﻳﻜﺎﻳﻚ ﺍﻋﻀﺎ‪ ،‬ﺑﺎ ﻛﻠﻴﻚ ﺭﺍﺳﺖ ﻧﻤﻮﺩﻥ ﺭﻭﻱ ﺁﻧﻬﺎ‪ ،‬ﺍﺯ ﺑﺨﺶ‬
‫ﻣﺴﺎﻟﻪ ﺗﻐﻴﻴﺮ ﻣﻲ ﺩﻫﻴﻢ‪.‬‬

‫‪ -‬ﺩﺭ ﻧﻬﺎﻳﺖ‪ ،‬ﺑﺎ ﺭﺳﻢ ﻧﻤﻮﺩﻥ ﻛﻠﻴﻪ ﺍﻋﻀﺎ‪ ،‬ﺑﺮ ﺭﻭﻱ ﺗﻚ ﺗﻚ ﺁﻧﻬﺎ ﺩﺍﺑﻞ ﻛﻠﻴﻚ ﻛﺮﺩﻩ ﻭ ﻣﺸﺨﺼﺎﺕ ﻣﺮﺑﻮﻁ ﺑﻪ ﻣﻤﺎﻥ ﻫﺎﻱ‬
‫ﺍﻳﻨﺮﺳﻲ ﻭ ﺟﺮﻡ ﺁﻧﻬﺎ ﺭﺍ ﺭﻭﻱ ‪ 0‬ﺗﻨﻈﻴﻢ ﻣﻲ ﻛﻨﻴﻢ‪.‬‬

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 ‫‪ -‬ﺷﻜﻞ ﻛﻠﻲ ﺍﻋﻀﺎﻱ ﺭﺳﻢ ﺷﺪﻩ ﺑﺼﻮﺭﺕ ﺯﻳﺮ ﺩﺭ ﺧﻮﺍﻫﺪ ﺁﻣﺪ‪:‬‬

‫‪ -‬ﺍﺯ ﻗﺴﻤﺖ ‪ Joint‬ﮔﺰﻳﻨﻪ ‪ Revolute‬ﺭﺍ ﺍﻧﺘﺨﺎﺏ ﻧﻤﻮﺩﻩ ﻭ ﻣﻔﺼﻞ ﻫﺎﻱ ﺑﻴﻦ ﺍﻋﻀﺎ ﺭﺍ ﺩﺭ‬
‫‪ ،OA‬ﺍﺑﺘﺪﺍ ﺭﻭﻱ ﺯﻣﻴﻦ )‪ (ground‬ﻭ‬ ‫ﻣﺤﻞ ﺍﺗﺼﺎﻝ ﺁﻧﻬﺎ‪ ،‬ﻗﺮﺍﺭ ﻣﻲ ﺩﻫﻴﻢ‪ ،‬ﺑﺮﺍﻱ ﻟﻴﻨﻚ‬
‫ﺳﭙﺲ ﺭﻭﻱ ﺧﻮﺩ ﻟﻴﻨﻚ ﻛﻠﻴﻚ ﻛﺮﺩﻩ ﻭ ﻣﻔﺼﻞ ﺭﺍ ﺩﺭ ﻧﻘﻄﻪ ‪ O‬ﻗﺮﺍﺭ ﻣﻲ ﺩﻫﻴﻢ‪ ،‬ﺑﻪ ﻫﻤﻴﻦ‬
‫ﺗﺮﺗﻴﺐ ﺑﺮﺍﻱ ﺗﻤﺎﻣﻲ ﻟﻴﻨﻚ ﻫﺎ ﻣﻔﺼﻞ ﺭﺍ ﻃﺮﺍﺣﻲ ﻣﻲ ﻛﻨﻴﻢ‪.‬‬

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 ‫‪ -‬ﺑﺮ ﺭﻭﻱ ﺗﻚ ﺗﻚ ‪) joint‬ﺍﺗﺼﺎﻝ( ﻫﺎ ﻛﻠﻴﻚ ﺭﺍﺳﺖ ﻛﺮﺩﻩ ﻭ ﺍﺯ ﻗﺴﻤﺖ ‪ rename‬ﻧﺎﻡ ﺁﻧﻬﺎ ﺭﺍ ﻣﻄﺎﺑﻖ ﺩﻭ ﻟﻴﻨﻚ‬
‫ﻣﺮﺑﻮﻁ ﺑﻪ ﺁﻧﻬﺎ‪ ،‬ﺗﻐﻴﻴﺮ ﻣﻲ ﺩﻫﻴﻢ‬

‫‪ -‬ﺑﺮ ﺭﻭﻱ ‪ Joint OA_Ground‬ﺭﺍﺳﺖ ﻛﻠﻴﻚ ﻛﺮﺩﻩ ﻭ ﮔﺰﻳﻨﻪ ‪ modify‬ﺭﺍ ﺍﻧﺘﺨﺎﺏ ﻣﻲ ﻧﻤﺎﻳﻴﻢ ‪ .‬ﭘﺲ ﺍﺯ ﺑﺎﺯ ﺷﺪﻩ‬
‫ﭘﻨﺠﺮﻩ ‪ ،modify‬ﺭﻭﻱ ﻛﻠﻴﺪ )‪ Impose Motion(s‬ﻛﻠﻴﻚ ﻣﻲ ﻧﻤﺎﻳﻴﻢ‪.‬‬
‫ﺩﺭ ﺍﻳﻦ ﻗﺴﻤﺖ ﺗﺎﺑﻊ ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﻳﻜﻨﻮﺍﺧﺖ ‪] -10rad/s‬ﻋﻼﻣﺖ ﻣﻨﻔﯽ ﺑﺮﺍی ﺣﺎﻟﺖ ﭘﺎﺩﺳﺎﻋﺘﮕﺮﺩ [ )ﺷﺘﺎﺏ ﺯﺍﻭﻳﻪ ﺍﻱ = ‪(0‬‬
‫ﺭﺍ ﺑﺮﺍﻱ ﺍﻳﻦ ﻣﻔﺼﻞ ﺗﻌﺮﻳﻒ ﻣﻲ ﻛﻨﻴﻢ‪.‬‬
‫)ﭼﻮﻥ ﻧﻘﻄﻪ ﻣﻮﺭﺩ ﻧﻈﺮ ﻣﺎ ﻟﺤﻈﻪ ‪ t=0s‬ﺍﺳﺖ‪ ،‬ﻧﻴﺎﺯﻱ ﺑﻪ ﺗﻌﺮﻳﻒ ﺷﺘﺎﺏ ﺯﺍﻭﻳﻪ ﺍﻱ ﻧﻴﺴﺖ‪ ،‬ﻭ ﺑﺎ ﺛﺎﺑﺖ ﺩﺭ ﻧﻈﺮﮔﺮﻓﺘﻦ‬
‫ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ‪ ،OA‬ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﺩﻭ ﻋﻀﻮ ﺩﻳﮕﺮ‪ ،‬ﻳﻌﻨﻲ ‪ AB‬ﻭ ‪ BC‬ﺭﺍ ﺩﺭ ﻟﺤﻈﻪ ‪ t=0s‬ﻣﺤﺎﺳﺒﻪ ﻣﻲ ﻛﻨﻴﻢ‪(.‬‬
‫]ﻭﺍﺣﺪ ﺭﺍﺩﻳﺎﻥ ﺑﺎﻳﺪ ﺑﻪ ﺩﺭﺟﻪ ﺗﺒﺪﻳﻞ ﺷﻮﺩ[‬

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 ‫‪ -‬ﭘﺲ ﺍﺯ ﺗﻌﺮﻳﻒ ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﺑﺮﺍﻱ ﻟﻴﻨﻚ ‪) OA‬ﺑﻪ ﺻﻮﺭﺕ ﭘﺎﺩﺳﺎﻋﺘﮕﺮﺩ(‪ ،‬ﺷﻜﻞ ﻛﻠﻲ ﺑﻪ ﻓﺮﻡ ﺯﻳﺮ ﺩﺭ ﺧﻮﺍﻫﺪ ﺁﻣﺪ‪:‬‬

‫ﮔﺎﻡ ﺩﻭﻡ‪ :‬ﺗﻨﻈﻴﻤﺎﺕ ﺷﺒﻴﻪ ﺳﺎﺯﻱ ﻭ ﺍﺟﺮﺍﻱ ﻣﺪﻝ‬

‫‪ -‬ﺑﺮ ﺭﻭﻱ ‪ Joint_BC_Ground‬ﻛﻠﻴﻚ ﺭﺍﺳﺖ ﻧﻤﻮﺩﻩ ﻭ ﮔﺰﻳﻨﻪ ‪ Measure‬ﺭﺍ ﺍﻧﺘﺨﺎﺏ ﻣﻲ ﻧﻤﺎﻳﻴﻢ‪.‬‬

‫ﭘﺲ ﺍﺯ ﺑﺎﺯ ﺷﺪﻥ ﭘﻨﺠﺮﻩ ﻣﺮﺑﻮﻃﻪ‪ ،‬ﻧﺎﻡ ﺁﻥ ﺭﺍ ‪ Joint_BC_Ground_Velocity‬ﮔﺬﺍﺷﺘﻪ‪Characteristic ،‬‬
‫ﺭﺍ ﺭﻭﻱ ﮔﺰﻳﻨﻪ ‪ Relative Angular Velocity‬ﻭ ‪ Component‬ﺭﺍ ﺭﻭﻱ ‪ mag‬ﻗﺮﺍﺭ ﻣﻲ ﺩﻫﻴﻢ‪.‬‬

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 ‫‪ Joint_AB_BC‬ﺗﻜﺮﺍﺭ ﻛﺮﺩﻩ ﻭ ﻣﺸﺨﺼﻪ ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﺁﻥ ﺭﺍ‬ ‫‪ -‬ﻋﻤﻞ ﻓﻮﻕ ﺭﺍ ﺑﺮﺍﻱ‬
‫‪ Joint_AB_BC_Velocity‬ﻣﻲ ﻧﺎﻣﻴﻢ‪.‬‬

‫‪100‬‬ ‫‪ -‬ﺩﺭ ‪ ،Main Toolbox‬ﺍﺯ ﻗﺴﻤﺖ ‪ 1 ،Simulation‬ﺛﺎﻧﻴﻪ ﺍﺯ ﺣﺮﻛﺖ ﺭﺍ ﺩﺭ‬

‫ﻣﺮﺣﻠﻪ )‪ (step‬ﺷﺒﻴﻪ ﺳﺎﺯﻱ ﻣﻲ ﻛﻨﻴﻢ )ﺭﻭﻱ ﻛﻠﻴﺪ ‪ play‬ﻛﻠﻴﻚ ﻣﻲ ﻧﻤﺎﻳﻴﻢ(‪.‬‬
‫‪ -‬ﭘﺲ ﺍﺯ ﭘﺎﻳﺎﻥ ﺷﺒﻴﻪ ﺳﺎﺯﻱ‪ ،‬ﻧﻤﻮﺩﺍﺭ ﻫﺎﻱ ﺩﻭ ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﺫﻛﺮ ﺷﺪﻩ‪ ،‬ﺑﻪ ﺻﻮﺭﺕ ﺯﻳﺮ‬
‫ﻧﻤﺎﻳﺶ ﺩﺍﺩﻩ ﻣﻲ ﺷﻮﻧﺪ‪:‬‬

‫‪ -‬ﺑﺮﺍﻱ ﻣﺸﺎﻫﺪﻩ ﮔﺮﺍﻑ ﺩﻗﻴﻖ‪ ،‬ﺑﺎ ﺯﺩﻥ ﻛﻠﻴﺪ ‪ F8‬ﺑﻪ ﻣﺤﻴﻂ ‪ ADAMS/Processor‬ﺭﻓﺘﻪ ﻭ ﺑﺎ ﺍﻧﺘﺨﺎﺏ ‪ Plot_1‬ﺍﺯ‬
‫ﻣﻨﻮﻱ ﺳﻤﺖ ﭼﭗ ﻭ ﻗﺮﺍﺭ ﺩﺍﺩﻥ ﻣﻨﻮﻱ ﻛﺸﻮﻳﻲ ‪ Source‬ﺑﺮ ﺭﻭﻱ ‪ ،Measure‬ﮔﺮﺍﻑ ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍﻱ ﺩﻭ ﻋﻀﻮ‬
‫‪ AB‬ﻭ ‪ BC‬ﺭﺍ ﻣﺸﺎﻫﺪﻩ ﻣﻲ ﻛﻨﻴﻢ‪.‬‬

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 ‫ﻣﺸﺎﻫﺪﻩ ﻣﯽ ﺷﻮﺩ ﮐﻪ ﺩﺭ ﻧﻘﻄﻪ‬
‫‪ ،t=0s‬ﻣﻘﺪﺍﺭ ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍی‬
‫ﻋﻀﻮ ‪ ،BC‬ﺑﺮﺍﺑﺮ ‪334.22‬‬
‫ﺩﺭﺟﻪ ﺑﺮ ﺛﺎﻧﻴﻪ ﺍﺳﺖ‬

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 ‫ﻣﺸﺎﻫﺪﻩ ﻣﯽ ﺷﻮﺩ ﮐﻪ ﺩﺭ ﻧﻘﻄﻪ‬
‫‪ ،t=0s‬ﻣﻘﺪﺍﺭ ﺳﺮﻋﺖ ﺯﺍﻭﻳﻪ ﺍی‬
‫ﻋﻀﻮ ‪ ،AB‬ﺑﺮﺍﺑﺮ ‪190.98‬‬
‫ﺩﺭﺟﻪ ﺑﺮ ﺛﺎﻧﻴﻪ ﺍﺳﺖ‬

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