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Webcutter
Problem Title
B4
B3
A2
O4
O2
This 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 6063. Link 2 is rotating at a rate of 60 rpm CCW.
4
Getting Started:
a.
Create a New Model
b.
IMPORTANT: Verify that the Units text field is set to MKS - m,kg,N,s,deg.
c
Note: you should see a denser set of dots on your screen
b.
Name: .Webcutter.Al6063
Young Modulus: 214e6
Poissons Ratio: 0.33
Density: 2710
c.
Click OK
Note: If the density is not set the simulation will not run properly
8
b.
c.
d.
Click points origin (0.0, 0.0, 0.0) (0.15, 0.15 0.0) (0.15, 0.0, 0.0) (0.0, 0.0, 0.0), right-click to
close
Note: 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
Rename
a.
b.
c.
Click OK
d.
10
b.
Click
c.
d.
e.
Click Open
f.
Click OK
g.
Click OK
b
g
e
c
f
Note: By starting our Triangle at the origin and normalizing the points about O2 for link 2, the origin and O2 coincide.
11
Create a Marker
a.
b.
c.
d.
Click Part_2 (0.04, 0.0, 0.0) NOTE: Its a bit difficult to get the correct location on the part.
Alternatively, place the marker anywhere after adding it to the part, then modify the markers position
after it has been created
e.
Note: This is why the links were rotated to make OA horizontal for the input files.
12
b.
c.
13
Add Motion
a.
Right Click on Motion Driver tool stack, select Rotational Joint Motion
b.
c.
Click JOINT_1
14
In the lower right corner of the modeling window, right-click on the Information icon.
Click on the Verification icon.
c.
d.
Note: 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.
15
Run a Simulation
How to simulate the model:
a.
Click on the Simulation tool in the Toolbox.
b.
Select Duration from pull down menu
c.
Enter 2
d.
Select Step Size from pull down menu
e.
Enter 0.01
f.
Click on the Play button.
If everything has been done correctly the bar should complete two full revolutions.
16
Save Database
a.
Save your database by Click File Save Database, and select no for a backup copy
17
Create Part 2
a.
c.
d.
e.
Create a revolute joint (2 bodies, 1 location) between link_2 and link_3 at marker A2, (0.04, 0, 0)
18
Revolve Part
a.
Click 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.
b.
Click on this handle and drag left. This causes Link 3 to rotate about that point. Put Link 3 in this
position for now so it is out of the way.
b
a
19
b.
20
Create Marker
a.
Create Marker on the ground at point (0.26, -0.04, 0.0) NOTE: After clicking on the marker
icon, you can right-click anywhere on the screen to manually enter the location
b.
Rename it O4
21
Create Part 4
a.
Draw 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.
b.
c.
b
c
22
b.
c.
d.
23
Rendering Model
a.
b.
c.
24
b.
Click
c.
Ignore and Close the warning that comes up. The part is now joined
d.
Click
e.
f.
e
b
d
Note: 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.
25
b.
c.
e.
f.
Note: If you choose the option of just entering density, the Links will have significant deformation during the run.
26
b.
c.
d.
e.
Click OK (A measurement window will appear which will graph torque respective to the simulation
b
c
d
a
27
2.
3.
4.
5.
Click OK
b
c
d
28
b.
c.
d.
Click OK
b
c
29
b.
Enter Webcutter_Asm.Ang_Acceleration
c.
d.
Press Apply
e.
Enter Webcutter_Asm.Ang_Velocity
f.
g.
Press OK
b
c
e
f
g
30
Results
To create and view plots
31
b.
c.
Select plot_1 (or whichever plot you are trying to export) in Plot text field
d.
e.
Click OK
f.
a
b
c
d
32
What to turn in
a.
Measure the max motor torque at the joint where the motion is applied (use z component)
a. Include a plot of the motor torque for at least 1 revolute
b.
Measure the max bearing force in the two joints attached to ground
a. Include a plot for both joints
c.
Plot angular velocity and angular acceleration of all the links (z component)
33