ADAMS - BASIC - TRAINING - and - EXAMPLES - B5
ADAMS - BASIC - TRAINING - and - EXAMPLES - B5
ADAMS - BASIC - TRAINING - and - EXAMPLES - B5
ADAMS
BASIC TRAINING and EXAMPLES
2007
CONTENTS
2
ADAMS BASIC TRAINING and EXAMPLES
CONTENTS
SectionⅠ- ADAMS/View
1 ADAMS/View Basics........................................................................................ 1
1.1 Introducing ADAMS/View ....................................................................................... 1
1.1.1 Steps in Modeling and Simulating .................................................................... 1
1.1.2 Build Your Model .............................................................................................. 1
1.1.3 Test and Validate Your Model .......................................................................... 3
1.1.4 Refine Your Model and Iterate .......................................................................... 5
1.1.5 Customize and Automate ADAMS/View......................................................... 5
1.2 Working with the ADAMS/View ............................................................................. 6
1.2.1 Starting ADAMS/View...................................................................................... 6
1.2.2 ADAMS/View Main Window ........................................................................... 6
1.2.3 Starting a New Modeling Session ..................................................................... 7
1.3 Defining the Modeling Environment ........................................................................ 9
1.3.1 Specifying the Type of Coordinate System ...................................................... 9
1.3.2 Setting Units of Measurement ......................................................................... 10
1.3.3 Specifying Gravitational Force........................................................................ 11
1.3.4 Specifying Working Directory ........................................................................ 12
4 Examples ......................................................................................................... 49
4.1 The Latch Design Problem ..................................................................................... 49
4.1.1 Introducing the Latch Design Problem ........................................................... 49
4.1.2 Building Model................................................................................................. 50
4.1.3 Testing Your First Prototype ........................................................................... 55
4.1.4 Validating Results Against Physical Test Data .............................................. 59
4.1.5 Refining Your Design ...................................................................................... 62
4.1.6 Iterating Your Design....................................................................................... 63
4.1.7 Optimizing Your Design .................................................................................. 66
4.2 The Front Suspension Design Problem ................................................................... 70
4.2.1 Introducing the Front Suspension Design Problem ....................................... 70
4.2.2 Building Model................................................................................................. 71
II
ADAMS BASIC TRAINING and EXAMPLES
Section II - ADAMS/Car
III
CONTENTS
IV
ADAMS BASIC TRAINING and EXAMPLES
V
ADAMS BASIC TRAINING and EXAMPLES
SectionⅠ- ADAMS/View
1 ADAMS/View Basics
ADAMS/View is a powerful modeling and simulating environment that lets you build,
simulate, and refine models of mechanical systems.
ADAMS/View lets you build models of mechanical systems and simulate the full-motion
behavior of the models. You can also use ADAMS/View to quickly analyze multiple design
variations until you find the optimal design. This chapter introduces you to ADAMS/View.
It includes the sections:
Steps in Modeling and Simulating
Build Your Model
Test and Validate Your Model
Refine Your Model and Iterate
Customize and Automate ADAMS/View
The steps that you use in ADAMS/View to create a model mirror the same steps that you
would use to build a physical prototype. These steps are shown in Figure 1.
Although we’ve listed the steps that you perform to create a model as though you create the
entire model at once and then test and refine it, we recommend that you build and test small
elements or subsystems of your model before you build the entire model. For example,
create a few modeling objects, connect them together, and then run a simple simulation to
test their motion and ensure that you are connecting them correctly. Once these are modeled
correctly, add more complexity to your model. By starting out slowly, you can ensure that
each subsystem works before moving on to the next step. We call this the crawl-walk-run
approach.
1
1 ADAMS/View Basics
2
ADAMS BASIC TRAINING and EXAMPLES
(parts) in your mechanical system. You can build the geometry using:
(1) ADAMS/View library of parts to create the simpler elements of your model.
(2) ADAMS/Exchange to import CAD geometry and realistically view the
behavior of your model.
Adding Constraints and Motions to Mandate Part Movements
Constraints define how parts are attached and how they are allowed to move relative to each
other. ADAMS/View provides a library of constraints including:
(1) Idealized joints that have a physical counterpart, such as a revolute (hinge) or
translational joint (sliding dovetail).
(2) Joint primitives that place a restriction on relative motion, such as the
restriction that one part always moves parallel to another part.
(3) Motions generators that drive your model through a prescribed distance,
velocity, or acceleration as a function of time.
(4) Associative constraints that define how pairs of constraints move, such a
couplers or gears.
(5) Two-dimensional curve constraints that define how a point or curve moves
along another curve.
Adding Forces that Induce or Resist Part Movements
You can also apply forces that act on your model. These forces will affect part motion and
reaction forces on constraints. ADAMS/View provides you with libraries of forces that
include:
(1) Flexible connectors, such as spring-dampers and bushings, those provide
pre-defined, compliant force relationships.
(2) Special forces, such as aerodynamic force, that provide pre-defined forces that
are commonly encountered.
(3) Applied forces that allow you to write your own equations to represent a wide
variety of force relationships. To help you write force equations, we’ve
provided a Function Builder, which steps you through writing a function and
evaluates the function before adding it to your model.
(4) Contacts that specify how bodies react when they come in contact with one
another when the model is in motion.
After you create your model or at any point in the modeling process, you can run tests of
your model to ensure that it was created correctly and to verify its system characteristics.
You test your model by:
Defining Results to Be Output
Performing a Simulation
3
1 ADAMS/View Basics
4
ADAMS BASIC TRAINING and EXAMPLES
After you have run initial simulations to determine the basic motion of your model, you can
refine your model by adding more complexity to it, such as adding friction between bodies
and defining control systems using linear or general state equations. You can also enhance
its realism by changing rigid bodies to flexible bodies or joints to flexible connectors.
To help you compare alternative designs, you can build in parameters that change
automatically as you change your model. The parameters can be defined using:
Design points - Design points allow you to build automatic parameterization between
objects, as well as position and orient objects. They help you explore the effects of the
geometry and mechanical layout of your model. When you change the position of a design
point, the position of all objects defined relative to it automatically change.
Design variables - Design variables allow you to vary any aspect of a modeling object.
For example, you can define a variable for the width of a link or for the stiffness of a spring.
You can then run a design study that changes a single variable over a range of values to
investigate the sensitivity of the design to changes in this variable.
Optimize Your Model
ADAMS/View provides tools that help you find the optimal design for your mechanical
system:
(1) Design of experiments - Helps you to understand which design variables have
the greatest impact on a design objective.
(2) Optimization - Helps you find an optimal design. You define the design
objective and specify the parameters of the model that can change.
These tools automatically run several simulations, varying one or more modeling variables
with each new simulation.
You can customize ADAMS/View so that it works and looks the way you want it to and
mimics your design environment. There are four major ways to customize it. You can:
(1) Customize the graphical interface - For example, you can create your own set
of menus or dialog boxes.
(2) Automate your work using macros - You can also speed up your work by
creating macros to perform complex or repetitive tasks. You can edit the
macros to include design variables to further customize and automate the
modeling process.
(3) Create your own ADAMS/View executable - The executable you create can
read in different ADAMS/View functions and execute commands.
(4) Edit ADAMS/View startup files - You can edit the files that ADAMS/View
5
1 ADAMS/View Basics
reads when it first starts. These files can automatically load a model, execute
commands, or change menus or dialog boxes.
You or your system administrator can customize how you start ADAMS/View and how
ADAMS/View looks after you start it.
To start ADAMS/View in Windows:
On the Start menu, point to Programs, point to ADAMS 12.0, point to AView, and then select
ADAMS - View.
Starting a New Modeling Session
When you start ADAMS/View, ADAMS/View displays a Welcome dialog box that lets you
create a new modeling database or use an existing one. The Welcome dialog box also lets
you import modeling data and specify your working directory.
ADAMS/View also displays the Welcome dialog box when you use the New Database
command to create a new modeling database in which to store your models. The Welcome
dialog box is shown below.
After you start ADAMS/View, the ADAMS/View main window appears. Figure 1.2 shows
the default window. Your window may look different if it was customized.
The elements in the ADAMS/View main window are described below.
(1) Main toolbox - Displays commonly used tools for creating, editing, and
selecting modeling elements, as well as simulating the model and undoing
operations. The tools are shortcuts to using the menus in the menu bar.
(2) Window title bar - Displays the title of the ADAMS/View main window.
(3) Menu bar - Contains the headings of each menu. The menus contain all the
ADAMS/View commands for creating, simulating, and refining your model.
(4) Welcome dialog box - Steps you through starting your ADAMS/View session.
It appears when you first start ADAMS/View and when you create a new
modeling database.
(5) View triad - Displays the orientation of the global coordinate system.
(6) Status bar - Displays information messages and prompts while you work. Also
6
ADAMS BASIC TRAINING and EXAMPLES
When you start ADAMS/View, ADAMS/View displays a Welcome dialog box that lets you
create a new modeling database or use an existing one. The Welcome dialog box also lets
you import modeling data and specify your working directory.
ADAMS/View also displays the Welcome dialog box when you use the New Database
command to create a new modeling database in which to store your models. The Welcome
dialog box is shown below.
7
1 ADAMS/View Basics
8
ADAMS BASIC TRAINING and EXAMPLES
When you start a new session with ADAMS/View, it asks you to define your modeling
environment by specifying your unit system and gravitational force. Anytime you are
working with ADAMS/View you can redefine the modeling environment. The next sections
explain how to set up your modeling environment.
When you first start ADAMS/View, it displays a view triad in the lower left corner. The
view triad displays the global coordinate system for the modeling database. By default,
ADAMS/View uses a Cartesian coordinate system as the global coordinate system with
three axes (x, y, and z). ADAMS/View attaches the ground part to the global coordinates
system and by default positions all other modeling objects to it.
You can change the default coordinate system from Cartesian to cylindrical or spherical.
ADAMS/View uses the default system for any values you enter and any values it displays.
ADAMS/View also uses the default system for values when importing and exporting data.
1. Types of Coordinate Systems
ADAMS/View lets you specify locations using three different types of coordinate
systems: Cartesian, cylindrical, and spherical. By default, ADAMS/View uses the Cartesian
coordinate system.
You can set the units that ADAMS/View uses to define dimensions. ADAMS/View comes
with a predefined set of units. You can change the system of units you are using any time
during the modeling process.
To set the unit of measurement in ADAMS/View:
1) On the Settings menu, select Units. The Units Settings dialog box appears.
10
ADAMS BASIC TRAINING and EXAMPLES
You can specify the magnitude and direction of the acceleration of gravity. For each part
with mass, the gravitational force produces a point force at its center of mass.
To turn on and specify the gravitational force:
1) Do one of the following:
On the Settings menu, select Gravity.
On the Create Forces tool stack, select the Gravity tool .
11
1 ADAMS/View Basics
By default, ADAMS/View searches for and saves all files in the directory from which you
ran ADAMS/View. You can change the working directory.
To change the working directory for the current session:
1) On the File menu, select Select Directory.
2) Select the directory in which ADAMS/View should save files.
3) Select OK.
12
ADAMS BASIC TRAINING and EXAMPLES
ADAMS/View provides a complete library of parts that you can create. ADAMS/View
provides you with three different types of parts.
Rigid Bodies: Parts in your models that have mass and inertia properties. They
cannot deform.
Flexible Bodies: Parts that have mass and inertia properties and can bend when
forces are applied to them. Basic ADAMS/View provides you with the ability to
create discrete flexible links. For more functionality, you can purchase
ADAMS/Flex.
Point Masses: Parts that have only mass. They have no extent and, therefore, no
inertia properties.
In addition, ADAMS/View provides a ground part that is already created for you. The
ground part is the only part in your model that must remain stationary at all times.
ADAMS/View creates the ground part automatically when you create a model. You can
also define a new or existing part as ground. The ground part does not have mass properties
or initial velocities and does not add degrees of freedom into your model.
You can create rigid body geometry using the tools on the Geometric Modeling palette or
the Geometric Modeling tool stack on the Main toolbox. The palette and tool stack contain
the same tools so you can choose whichever one you are most comfortable using. The
Geometric Modeling palette and tool stack are shown in figure 2.1.
As you create geometry, ADAMS/View provides settings to assist you in defining the
geometry. It provides the settings in a container at the bottom of the palette or Main toolbox.
The settings change depending on the type of geometry that you are creating. For example,
Figure 2.1 shows the length, width, and depth values associated with creating link
geometry.
You can use the settings to control how you want ADAMS/View to define the geometry.
For example, when you create a link, ADAMS/View lets you specify its width, length, and
height before creating it. Then, as you create the link, these dimensions are set regardless of
how you move the mouse. You can also define design variables or expressions for these
setting values.
To display the Geometric Modeling palette:
From the Build menu, select Bodies/Geometry.
13
2 Building Models in ADAMS/View
You can create several types of construction geometry. You draw construction geometry
normal to the screen or the working grid.
Types of construction geometry are shown in table 2.1.
The next sections explain how to create construction geometry.
Defining Points
Defining Coordinate System Markers
Creating Lines and Polylines
Creating Arcs and Circles
Creating Splines
14
ADAMS BASIC TRAINING and EXAMPLES
Orientation, Location,
Markers
Parent Part
1. Defining Points
Points define locations in three-dimensional space upon which you can build your model.
They allow you to build parameterization between objects, as well as position objects.
For example, you can attach a link to points so that each time you move the points, the
link’s geometry changes accordingly. You can also use points to define the location where
modeling objects connect, such as the point where a joint connects two parts. Points do not
define an orientation, only a location.
As you create a point, you define whether ADAMS/View should add it to ground or to
another part. In addition, you specify whether other parts near the same location should be
attached (parameterized) to the point. If you attach other bodies to the point, then the
location of those bodies is tied to the location of that point. As you change the location of
the point, the location of all attached bodies change accordingly.
To quickly access the Table Editor:
1) From the Geometric Modeling tool stack, select the Point tool .
2) From the settings container, select Point Table.
To create a point:
1) From the Geometric Modeling tool stack or palette, select the Point tool .
2) In the settings container, specify the following:
Whether you want the point added to ground or to another part in your model.
Whether you want to attach nearby objects to the point.
3) If you selected to add the point to another part in your model, select the part.
15
2 Building Models in ADAMS/View
4) Place the cursor where you want the point to be located and click the mouse button.
2. Defining Coordinate System Markers
You can create a marker defining a local coordinate system on any part in your model or
ground. The marker has a location (the origin of the coordinate system) and an orientation.
ADAMS/View automatically creates markers at the center of mass of all solid geometry and
at anchor points on geometry that define the location of the object in space. For example, a
link has three markers: two at its endpoints and one at its center of mass. ADAMS/View
also creates markers automatically for you when you constrain objects, such as add a joint
between parts.
ADAMS/View displays markers as triads. Figure 2.2 shows how markers appear for boxes
and links.
16
ADAMS BASIC TRAINING and EXAMPLES
1) From the Geometric Modeling tool stack or palette, select the Arc tool .
Specify whether you want to create a new part composed of the geometry or add
the geometry to an existing part or ground. By default, ADAMS/View creates a
new part.
If desired, set the radius of the arc.
Specify the starting and ending angles of the arc. The default is to create a
90-degree arc from a starting angle of 0 degrees.
3) Click where you want the center of the arc and then drag the mouse to define the
radius of the arc and the orientation of the x-axis. ADAMS/View displays a line on the
screen to indicate the x-axis. If you specified the radius of the arc in the settings container,
ADAMS/View maintains that radius regardless of how you drag the mouse.
4) When the radius is the desired size, click.
To draw a circle:
1) From the Geometric Modeling tool stack or palette, select the Arc tool .
2) In the settings container, do the following:
Specify whether you want to create a new part or add the geometry to an existing
part. By default, ADAMS/View creates a new part.
If desired, set the radius of the circle.
Select Circle.
3) Click where you want the center of the circle and then drag the mouse to define the
radius of the circle. If you specified the radius of the circle in the settings container,
ADAMS/View maintains that radius regardless of how you drag the mouse.
4) When the radius is the desired size, click.
5. Creating Splines
A spline is a smooth curve that a set of location coordinates define. You create splines by
defining the locations of the coordinates that define the curve or by selecting an existing
geometric curve and specifying the number of points to be used to define the spline.
To create a spline by selecting points on the screen:
1) From the Geometric Modeling tool stack or palette, select the Spline tool .
2) In the settings container, do the following:
Specify whether you want to create a new part composed of the geometry or add
the geometry to an existing part or ground.
Select whether you want the spline to be closed or open.
3) Place the cursor where you want to begin drawing the spline and click.
4) Click the locations where you want the spline to pass through. You must specify at
least eight locations for a closed spline and four locations for an open spline.
5) To stop drawing the spline, right-click.
To create a spline by selecting an existing curve:
1) From the Geometric Modeling tool stack or palette, select the Spline tool .
18
ADAMS BASIC TRAINING and EXAMPLES
Solid geometries are three-dimensional objects. You can create solid geometry from
ADAMS/View library of solids or extrude closed wire geometry into a solid. In addition,
you can combine solid geometry into more complex geometry or modify the geometry by
adding features, such as fillets or chamfers.
Types of solid Geometry in ADAMS/View are shown in table 2.2.
Spheres/ 3-Diameters,
Ellipsoids Anchor CSM, Parent Part
19
2 Building Models in ADAMS/View
Width, Depth,2
Link Anchor CSM (Length), Parent
Part
Thickness, Radius, Vertex
Plate Locations, Anchor CSM,
Parent Part
Two-
Dimensional Length (x), Height (y)
Plane
The following sections explain how to create solids from ADAMS/View library of solids.
1. Creating a Box
To create a box:
1) From the Geometric Modeling tool stack or palette, select the Box tool .
2) In the settings container, do the following:
Specify whether you want to create a new part composed of the geometry or add
the geometry to an existing part or ground.
If desired, set any of length, height, or depth dimensions of the box.
3) Place the cursor where you want a corner of the box and click and hold down the left
mouse button.
4) Drag the mouse to define the size of the box. If you specified any of the length, height,
or depth dimensions of the box in the settings container, ADAMS/View maintains those
dimensions regardless of how you drag the mouse.
20
ADAMS BASIC TRAINING and EXAMPLES
5) Release the mouse button when the box is the desired size.
2. Creating Two-Dimensional Plane
To create a plane:
1) From the Geometric Modeling tool stack or palette, select the Plane tool .
2) In the settings container, specify whether you want to create a new part composed of
the geometry or add the geometry to an existing part or ground.
3) Place the cursor where you want a corner of the box and click and hold down the left
mouse button.
4) Drag the mouse to define the size of the box.
5) Release the mouse button when the box is the desired size.
3. Creating a Cylinder
To create a cylinder:
1) From the Geometric Modeling tool stack or palette, select the Cylinder tool .
2) In the settings container, do the following:
Specify whether you want to create a new part composed of the geometry or add
the geometry to an existing part or ground. By default, ADAMS/View creates a
new part.
If desired, set the length or radius dimensions of the cylinder in the settings
container.
3) Click where you want to begin drawing the cylinder.
4) Drag the mouse to size the cylinder. If you specified any of the length and radius
dimensions of the cylinder in the settings container, ADAMS/View maintains those
dimensions regardless of how you drag the mouse.
5) When the cylinder is the desired size, click.
4. Creating a Sphere
To create a sphere:
1) From the Geometric Modeling tool stack or palette, select the Sphere tool .
2) In the settings container, do the following:
Specify whether you want to create a new part composed of the geometry or add
the geometry to an existing part or ground. By default, ADAMS/View creates a
new part.
If desired, set the radius of the sphere.
3) Click where you want the center of the sphere.
4) Drag the mouse to size the sphere. If you specified a radius dimension for the sphere in
the settings container, ADAMS/View maintains that dimension regardless of how you drag
the mouse.
5) When the sphere is the desired size, click.
5. Creating a Frustum
21
2 Building Models in ADAMS/View
To create a frustum:
1) From the Geometric Modeling tool stack or palette, select the Frustum tool .
2) In the settings container, do the following:
Specify whether you want to create a new part composed of the geometry or add
the geometry to an existing part or ground.
If desired, set the length or radii of the frustum.
3) Click where you want to begin drawing the frustum.
4) Drag the mouse to size the frustum. If you specified the length or radii of the frustum
in the settings container, ADAMS/View maintains those dimensions regardless of how you
drag the mouse.
5) When the frustum is the desired size, click.
6. Creating a Torus
To create a torus:
1) From the Geometric Modeling tool stack or palette, select the Torus tool .
2) In the settings container, do the following:
Specify whether you want to create a new part composed of the geometry or add
the geometry to an existing part or ground. By default, ADAMS/View creates a
new part.
If desired, set the inner and outer radii of the torus.
3) Place the cursor where you want the center of the torus and click.
4) Drag the mouse to define the radius of the torus. If you specified the radii of the torus
in the settings container, ADAMS/View maintains those dimensions regardless of how you
drag the mouse.
5) When the torus is the desired size, click.
7. Creating a Link
To create a link:
1) From the Geometric Modeling tool stack or palette, select the Link tool .
2) In the settings container, do the following:
Specify whether you want to create a new part composed of the geometry or add
the geometry to an existing part or ground.
If desired, set any of the length, width, or depth dimensions of the link.
3) Place the cursor where you want to begin drawing the link and click.
4) Drag the mouse until the link is the desired size and then release the mouse button. If
you specified the length, width, and depth of the link in the settings container,
ADAMS/View maintains those dimensions regardless of how you drag the mouse.
8. Creating a plate
To create a plate:
1) From the Geometric Modeling tool stack or palette, select the Plate tool .
22
ADAMS BASIC TRAINING and EXAMPLES
ADAMS/View provides you with many ways in which you can take simple geometry and
create complex geometry from it. You can create solid geometry that has mass from wire
geometry or create complex, open geometry that has no mass.
1. Chaining Wire Construction Geometry
23
2 Building Models in ADAMS/View
You can link together wire construction geometry to create a complex profile, which you
can then extrude. The geometry to be chained together must touch at one endpoint and
cannot be closed geometry. ADAMS/View adds the final chained geometry to the part that
owns the first geometry that you selected.
To chain wire geometry together:
1) From the Geometric Modeling tool stack or palette, select the Chain tool .
2) Click each piece of the wire geometry to be chained. The Dynamic Model Navigator
highlights those objects in your model that can be chained as you move the cursor around
the main window.
3) After selecting the geometry to be chained, right-click to create the chained geometry.
2. Combining Geometry
Once you have created individual parts of solid geometry, you can combine them into one
part to create complex, solid geometry, referred to as constructive, solid geometry or CSG.
ADAMS/View creates the solid geometry using Boolean operations, such as union and
intersection.
(1) Creating One Part from the Union of Two Solids
ADAMS/View lets you create complex geometry by joining two intersecting solids.
ADAMS/View merges the second part you select into the first part resulting in a single part.
The union has a mass computed from the volume of the new solid. Any overlapping volume
is only counted once.
To create a part from the union of two solids:
1) From the Geometric Modeling tool stack or palette, select the Union tool .
2) Select the solid geometry to be combined. As you move the cursor, the Dynamic
Model Navigator highlights those objects that can be combined. The second part you select
is combined into the first part.
(2) Creating One Part from the Intersection of Two Solids
ADAMS/View lets you intersect the geometry belonging to two solids to create a single
part made up of only the intersecting geometries. ADAMS/View merges the second part
that you select with the geometry of the first part that you select and forms one rigid body
from the two geometries.
To create a part from the intersection of two overlapping solids:
1) From the Geometric Modeling tool stack or palette, select the Intersect tool .
2) Select the solid geometry to be combined. As you move the cursor, the Dynamic
Model Navigator highlights those objects that can be combined. The second part you select
is combined into the first part.
(3) Cutting a Solid from Another Solid
ADAMS/View lets you remove the volume where one solid intersects another solid to
create a new solid. ADAMS/View subtracts the geometry of the second part that you select
24
ADAMS BASIC TRAINING and EXAMPLES
from the geometry of the first part. The remaining geometry belongs to the second part that
you selected.
To create a part from the difference of two solids:
1) From the Geometric Modeling tool stack or palette, select the Cut tool .
2) Select the solid geometry to be cut. As you move the cursor, the Dynamic Model
Navigator highlights those objects that can be cut. The second part you select is cut from the
first part.
(4) Splitting a Solid
After you’ve created a complex solid, often referred to as a CSG, using the Boolean
operations explained in the previous sections, you can split the complex solid back into its
primitive solids. ADAMS/View creates a part for each solid resulting from the split
operation.
To split a complex solid:
1) From the Geometric Modeling tool stack or palette, select the Split tool .
2) Select the solid geometry to be split. The Dynamic Model Navigator highlights those
objects in your model that can be split.
You can add features to the solid geometry that you create, including chamfering the edges
of the geometry, adding holes and bosses, and hollowing out solids.
Chamfering and Filleting Objects
You can create different types of edges and corners on your solids. These include beveled
(chamfered) edges and corners and rounded (filleted) edges and corners. You can think of
creating filleted edges as rolling a ball over the edges or corners of the geometry to round
them.
When chamfering an edge or corner, you can set the width of the beveling. When filleting
an edge or corner, you can specify a start and an end radius for the fillet to create a variable
fillet.
Adding Holes and Bosses to Objects
You can create circular holes in solid objects and create circular protrusions or bosses on
the face of solid objects. Examples of a hole and boss on a link are shown below.
As you create a hole, you can specify its radius and depth. As you create a boss, you can
specify its radius and height.
Hollowing Out a Solid
You can hollow out one or more faces of a solid object to create a shell. As you hollow an
object, you can specify the thickness of the remaining shell and the faces to be hollowed.
25
2 Building Models in ADAMS/View
Point masses are points that have mass but no inertia properties or angular velocities. They
are computationally more efficient when rotational effects are not important.
To create or modify a point mass:
1) From the Build menu, point to Point Mass, and then select either New or Modify.
2) If you selected Modify, the Database Navigator appears. Select a point mass to
modify.
The Create or Modify Point Mass dialog box appears. Both dialog boxes contain the
same options.
3) If you are creating a point mass, enter a name for the point mass.
4) Set the mass of the point mass in the dialog box and adjust its location as desired. By
default, ADAMS/View places the point mass in the center of the main window with a mass
of 1 in current units.
5) Select the Comments tool on the dialog box and enter any comments you want
associated with the point mass.
6) Select OK.
Parts define the objects in your model that can have mass and inertia properties and can
move. All forces and constraints that you define in your model act on these parts during a
simulation. This chapter explains how to create and modify parts. It contains: modifying
rigid body geometry, modifying part properties, setting up materials.
You can modify the geometry of a rigid body using: using hotpoints to graphically modify
geometry, using dialog boxes to precisely modify geometry, editing locations using the
location table.
Using Hotpoints to Graphically Modify Geometry
You can use hotpoints to resize and reshape the geometry of a rigid body. The hotpoints
appear at various locations on the geometry depending on the type of geometry.
Using Dialog Boxes to Precisely Modify Geometry
You can precisely control the size, location, and shape of rigid body geometry using modify
dialog boxes. In addition, you can change the name of the geometry as you modify it.
Editing Locations Using the Location Table
To specify the location of points in lines, polylines, splines, extrusions, and revolutions, you
26
ADAMS BASIC TRAINING and EXAMPLES
can use the Location Table. The Location Table lets you view the points in the geometry
and edit them. You can also save the location information to a file or read in location
information from a file.
Each moving part in ADAMS/View can have the following properties in addition to having
geometry:
Location and name
Mass and inertia
Initial velocities
Initial location and orientation
ADAMS/View automatically calculates the total mass of the part and its inertia based on
the part’s volume and density. It also automatically calculates the initial velocity and
position for the part based on any other initial conditions and connections in your model.
After you’ve created the parts for your model, you need to define how they are attached to
one another and how they move relative to each other. You use constraints to specify part
attachments and movement. This section explains the different types of constraints and how
to add them to your model.
Constraints define how parts (rigid bodies, flexible bodies, and point masses) are attached to
one another and how they are allowed to move relative to each other. Constraints restrict
relative movement between parts and represent idealized connections.
ADAMS/View provides a library of constraints including:
Idealized joints - Have a physical counterpart, such as a revolute (hinge) or
translational (sliding dovetail) joint.
Joint primitives - Place a restriction on relative motion, such as the restriction that
one part must always move parallel to another part.
Motions generators - Drive your model.
Higher-pair constraints
You can create constraints using the tools on the Joint palette or the tools on the Joint and
27
2 Building Models in ADAMS/View
Motion tool stacks on the Main toolbox. The palette contains the entire library of
constraints while the tool stacks contain only subsets of the most commonly used
constraints. The palette and tool stacks for creating constraints are shown in figure 2.3.
Idealized joints are mathematical representations of joints that have physical counterparts,
such as a revolute (hinge) or translational joint (sliding dovetail). ADAMS/View provides a
28
ADAMS BASIC TRAINING and EXAMPLES
variety of idealized joints from which you can choose. The next sections explain the
different types of joints and how to create and modify them.
2.3.3.1 Working with Idealized Joints
Idealized joints connect two parts. The parts can be rigid bodies, flexible bodies, or point
masses. You can place idealized joints anywhere in your model. ADAMS/View supports
two types of idealized joints: simple and complex.
Simple joints directly connect bodies and include the following:
Table1 2.3 Simple joints in ADAMS/View
DOF
Icon Idealized Joints An example
Translational Revolute
Revolute Joints 3 2
Translational Joints 2 3
Cylindrical Joints 2 2
Spherical Joints 3 0
Planar Joints 1 2
Constant-Velocity Joints 3 1
29
2 Building Models in ADAMS/View
Screw Joints 3 2
Fixed Joints 3 3
Hooke Joint 3 1
Universal Joint 3 1
Complex joints indirectly connect parts by coupling simple joints. They include: Gear Joint
and Coupler Joint. See table 2.4.
Gear Joint
Coupler Joint
31
2 Building Models in ADAMS/View
32
ADAMS BASIC TRAINING and EXAMPLES
3) If you selected to explicitly select the parts to be connected, select each part in your
model using the left mouse button.
4) Place the cursor where you want the joint to be located, and click the left mouse button.
If you selected to specify its location on each part, place the cursor on the second location
and click the left mouse button.
5) If you selected to orient the joint along a direction vector on a feature, move the cursor
around in your model to display an arrow representing the direction along a feature where
you want the joint oriented. When the direction vector represents the correct orientation,
click the left mouse button.
ADAMS/View creates the joint at the specified location.
2.3.3.3 Working with Higher-Pair Constraints
ADAMS/View provides you with two types of higher-pair constraints: point curve and 2D
curve-curve. See table 2.6.
Table1 2.6 Higher-Pair Constraints in ADAMS/View
Higher-Pair
Icon An example Constrains the following
Constraints
The point-curve constraint
restricts a fixed point defined
on one part to lie on a curve
pin-in-slot defined on a second part.
The first part is free to roll
and slide on the curve that is
fixed to a second part. The
curve on the second part can
be planar or spatial, or open
Point-Follower or closed.
A point-curve constraint
removes two translational
DOF from your model.
A 2D curve-curve constraint
restricts a curve defined on
the first part to remain in
contact with a second curve
defined on a second part.
2D The curve-curve constraint is
useful for modeling cams
curve-curve where the point of contact
between two parts changes
during the motion of the
mechanism. The curve-curve
constraint removes three
DOF from your model.
second part at all times. The angle is zero when the x-axis of the first part is also
aligned with the x-axis of the second part.
To create a joint motion:
1) From the Motion tool stack or the Joint palette, select the joint motion tool
representing the motion that you want to create. Select either:
to create a translational motion.
to create a rotational motion.
2) In the settings container, specify the speed of the motion in displacement units per
second. By default, ADAMS/View creates a rotational motion with a speed of 30 degrees
per second and a translational motion with a speed of 10 millimeters per second.
To enter a function expression or user-written subroutine, right-click the Speed text box,
point to Parameterize, and then select Expression Builder to display the ADAMS/View
Function Builder.
3) Use the left mouse button to select the joint on the screen to which the motion will be
applied.
Modifying a Joint Motion:
You can change several properties about a joint motion after you create it. The properties
include:
Joint to which the motion is applied.
Motion direction, either rotational or translational.
Motion definition, including displacement, velocity, or acceleration.
Initial conditions for displacement and velocity.
2. Point Motion
There are two types of point motion that you can create:
Single point motion - Prescribes the motion of two parts along or around one axis.
General point motion - Prescribes the motion of two parts along or around the three
axes (six DOF).
To create a point motion:
1) From the Motion tool stack or the Joint palette, select the tool representing the type of
point motion that you want to create. Select either:
to create a single point motion.
to create a general point motion.
2) In the settings container, specify the these options.
3) If you selected to explicitly select the parts to which the motion is to be applied, select
each part using the left mouse button.
4) Place the cursor where you want the motion to be located and click the left mouse
button. If you selected to specify its location on each part, place the cursor on the second
location, and click the left mouse button.
36
ADAMS BASIC TRAINING and EXAMPLES
5) If you selected to orient the joint along a direction vector on a feature, move the cursor
around in your model to display an arrow showing the direction you want the motion
oriented. When the direction vector shows the correct orientation, click the left mouse
button.
ADAMS/View provides the following types of forces: Applied forces, Flexible connectors,
Special forces, Contacts. This section introduces forces and explains how to create and
modify forces.
For every force that you define in ADAMS/View, you specify the following information:
Whether the force is translational or rotational.
To which part or parts the force is applied.
At what point or points is the force applied (only applies to translational forces).
Magnitude and direction of the force.
You can define force magnitudes in ADAMS/View in the following ways:
Enter values used to define stiffness and damping coefficients.
Enter a function expression using the ADAMS/View library of built-in functions.
Enter parameters that are passed to user-written subroutines that are linked to
ADAMS/View.
You can define force directions in ADAMS/View in one of two ways:
Along one or more of the axes of a marker.
Along the line-of-sight between two points.
You can create forces using the tools on the Create Forces palette or the Create Forces tool
stack on the Main toolbox.
To display the Create Forces palette:
From the Build menu, select Forces.
To display the contents of the Create Forces tool stack:
From the Main toolbox, right-click the Create Forces tool stack. By default, the
Translational Spring-Damper tool appears at the top of the tool stack.
37
2 Building Models in ADAMS/View
Applied forces are forces that define loads and compliances on parts so they move in certain
ways. ADAMS/View provides a library of applied forces that you can use. Applied forces
give you a great deal of flexibility, but they require work to model simple forces. Instead of
using applied forces, you may want to consider using the flexible connectors, which model
several commonly used force elements, or special forces, which provide environmental and
complex forces.
ADAMS/View provides several types of applied forces that are defined as single-
component force and single-component torque, multi-component forces and multi-
component torque, General Force.
Applied forces in ADAMS/View are shown in table1 2.7.
38
ADAMS BASIC TRAINING and EXAMPLES
The dialog box appears. The options available in the dialog box change depending on the
40
ADAMS BASIC TRAINING and EXAMPLES
direction of the force. The following shows the Modify a Force dialog box when the force
was defined as applied to one part with the direction of the force moving with a direction
body.
2) Enter the values in the dialog box and select OK.
1) From the Create Forces tool stack or palette, select the Bushing tool .
2) In the settings container, specify the force applied and oriented to parts.
If desired, enter stiffness (K) and damping (C) coefficients in the Settings container.
3) Click the bodies.
4) Click one or two force-application points depending on the location method you
selected.
5) If you selected to orient the force along a direction vector using a feature, move the
cursor around in your model to display an arrow that shows the direction along a feature
where you want the force oriented. Click when the direction vector shows the correct z-axis
orientation.
2.4.2.2 Working with Translational Spring-Dampers
A translational spring-damper represents forces acting between two parts over a distance
and along a particular direction. You specify the locations of the spring-damper and points
on two parts. ADAMS/View calculates the spring and damping forces based on the distance
between the locations on the two parts and their rate of change, respectively.
To create a spring-damper:
1) From the Create Forces palette or tool stack, select the Translational Spring-
Damper tool .
2) If desired, enter stiffness (K) and damping (C) coefficients in the Settings container.
3) Select a location for the spring-damper on the first part. This is the action body.
4) Select a location for the spring-damper on the second part. This is the reaction body.
2.4.2.3 Adding a Torsion Spring
A torsion spring force is a rotational spring-damper applied between two parts.
41
2 Building Models in ADAMS/View
From the Create Forces palette or tool stack, select the Torsion Spring tool to create
a torsion spring.
2.4.2.4 Adding a Massless Beam
You can create a massless beam with a uniform cross-section. You enter values of the
beam’s physical properties, and ADAMS/Solver, calculates the beam transmits forces and
torques between the two parts.
To create a beam:
1) From the Create Forces palette or tool stack, select the Massless Beam tool .
2) Select a location for the beam on the first part. This is the action body.
3) Select a location for the beam on the second part. This is the reaction body.
4) Select the direction in the upward (y) direction for the cross-section geometry.
2.4.2.5 Adding a Field Element
The field element can apply either linear or nonlinear force.
To specify a linear field, enter values that define a six-by-six stiffness matrix, translational
and rotational preload values, and a six-by-six damping matrix. The stiffness and damping
matrixes must be positive semidefinite, but need not be symmetric.
To specify a nonlinear field, use the user-written subroutine to define the three force
components and three torque components.
From the Create Forces palette or tool stack, select the Field Element tool to create a
field.
42
ADAMS BASIC TRAINING and EXAMPLES
After you’ve built your model, you can perform a variety of simulations on the model to
investigate how it will perform under various operating conditions.
During a simulation, ADAMS/View performs the following operations:
Sets the initial conditions for all the objects in your model.
Formulates appropriate equations of motion based on the laws of Newtonian
mechanics that predict how objects in your model will move given the set of forces
and constraints acting on them.
Solves the equations to within your specified accuracy tolerance for such
information as part displacements, velocities, and acceleration, as well as applied
and constraint forces.
Temporarily saves the data calculated so that you can investigate your results using
animations, plots, and numerical signal processing. You can also permanently save
your results in your modeling database.
configuration. Velocities and accelerations are set to zero for static simulations, so inertial
forces are not taken into consideration. A static simulation is for use with models that have
one or more DOF so ADAMS/Solver can move parts around as it seeks to balance all the
forces acting on the model.
Assemble - An assemble simulation attempts to correct any broken joints that
ADAMS/Solver sees as being defined incorrectly. It also attempts to resolve any conflicts
in the initial conditions you specified for the entities in your model. An assemble simulation
is also known as an initial conditions simulation.
Linear - A linear simulation lets you linearize your nonlinear dynamic equations of motion
about a particular operating point in order to determine natural frequencies and
corresponding mode shapes. You must purchase ADAMS/Linear to perform a linear
simulation.
You access simulation controls using the Simulation tool and the corresponding Simulation
container on the Main toolbox or using the tools on the Simulation Control dialog box. The
dialog box contains a complete set of simulation controls, while the Simulation container
contains only a subset of the most commonly used simulation controls. The Simulation
container on the Main toolbox and the Simulation Controls dialog box are shown in figure
3.1.
44
ADAMS BASIC TRAINING and EXAMPLES
You use interactive simulation controls to quickly run a single simulation and experiment
with different simulation parameters and options. Simulating interactively is helpful when
you are not sure exactly what your model will do or which options you need.
When you perform an interactive simulation, ADAMS/View submits one or two simple
commands to ADAMS/Solver based on the type of simulation, how long the simulation will
last, and the frequency with which you want data to be output.
To perform an interactive simulation, you need to tell ADAMS/View the following
information:
Type of simulation to be performed.
Time interval over which ADAMS/View should perform the simulation.
How often ADAMS/View should output data and temporarily store it in the
modeling database for use with animations and plots. For each output time step,
ADAMS/View creates a frame for animation and a data point for plotting and signal
processing.
To run an interactive simulation:
2) From the Simulation Type option menu, select the type of simulation you want
ADAMS/View to perform:
Default - If your model contains zero degrees of freedom (DOF), ADAMS/View
performs a kinematic simulation. If your model has one or more DOF,
ADAMS/View performs a dynamic simulation.
Dynamic - Request a dynamic simulation.
Kinematic - Request a kinematic simulation.
Static - Request a static simulation.
3) Enter the time interval over which the simulation takes place and set how you want it
defined. You can select:
End Time - Specify the absolute point in time at which you want the simulation to
stop.
Duration - Specify the amount of time over which you want the simulation to run.
45
3 Simulating Models in ADAMS/View
After you’ve simulated your model, you can animate the results. Animations replay the
frames that ADAMS/Solver calculated during a simulation. Animations help you review
and study the part movements within your model.
Animations provide instant feedback to you as your simulation runs. When you perform a
simulation, ADAMS/Solver, the analysis engine, creates one animation frame for every
output step that you request in the simulation. For example, if you performed a simulation
from 0.0 to 10.0 seconds and asked for output every 0.1 seconds, ADAMS/Solver records
data at 101 steps or frames. It creates a frame every tenth of a second for ten seconds plus
one at time 0.0.
By default, each time you run a simulation, ADAMS/Solver replaces the previous
animation frames. To replay earlier animations, you must save them in your modeling
database.
During animations, ADAMS/View displays frames as quickly as it can based on the
46
ADAMS BASIC TRAINING and EXAMPLES
You can work with animations using the Animation container on the Main toolbox or using
the tools on the Animation Control dialog box. The dialog box contains the complete set of
animation controls, while the Animation container contains only the most commonly used
animation controls. The Animation container on the Main toolbox and the Animation
Controls dialog box are shown in figure 3.2.
You can replay an animation again after the simulation ends to investigate the results of a
simulation, as long as the results of the simulation have been stored in your modeling
database. By default, ADAMS/View only stores the last simulation you performed. You can
either manually store a particular simulation, or you can set ADAMS/View so that it
47
3 Simulating Models in ADAMS/View
Stopping an Animation
You can pause an animation at any time instead of waiting for it to complete.
To stop an animation, do one of the following:
On the Main toolbox or the Animation Control dialog box, select the Pause tool
.
On the status bar, select the Stop tool .
Press the Esc key.
48
ADAMS BASIC TRAINING and EXAMPLES
4 Examples
This chapter provides overview information and step-by-step procedures for building,
simulating, and refining a model using ADAMS/View.
In this tutorial, you’ll build a latch model that is required to securely clamp two halves of
large shipping containers together.
49
4 Examples
operating handle at POINT_4. This causes the pivot to rotate around POINT_1 in a
clockwise direction, drawing back POINT_2 of the hook. As this happens, POINT_8 of the
slider is forced downward. Finally, as POINT_8 passes through the line between POINT_9
and POINT_3, the clamping force reaches its maximum. POINT_8 should move below the
line created by POINT_3 and POINT_9, followed by the operating handle coming to rest on
the top of the hook. This sets the latch near the maximum force point, but allows a
reasonable release force to open the latch.
Based on the description of the latch operation, the relative layout of POINT_1 through
POINT_9 is important in ensuring that the latch will meet the design requirements.
Therefore, when your latch model is assembled and tested, you will want to change the
relative locations of the points to see their effect on the design requirements.
In this section, you start ADAMS/View and create a modeling database containing a new
model named Latch. A modeling database contains all your work in the current session of
ADAMS/View. It contains any models you create, their attributes, simulation results, plots,
customized menus and dialog boxes, and any preferences you set.
ADAMS/View assigns to the parts you create the material type of steel, with a material
density of 7801.0 kg/m3.
50
ADAMS BASIC TRAINING and EXAMPLES
51
4 Examples
3) Setting up Icons: From the Settings menu, select Icons. In the New Size text box,
enter 1.5. Select OK.
4) To display the Coordinates window: From the View menu, select Coordinate
Window. The Coordinates window appears
2. Creating Design Points
1) Right-click the Rigid Body tool stack (Link tool is on top by default) to display the
tool stack containing the Point tool.
2) Select the Point tool and click the locations shown in Table 4.1 to place design
points. Use the default settings for point, which are Add to Ground and Don’t Attach.
Table 4.1 Points Coordinate Locations
POINT_1 0 0 0
POINT_2 3 3 0
POINT_3 2 8 0
POINT_4 -10 22 0
3. Creating the Pivot
52
ADAMS BASIC TRAINING and EXAMPLES
5 3 0
3 5 0
-6 6 0
-14 6 0
-15 5 0
-15 3 0
-14 1 0
-12 1 0
-12 3 0
-5 3 0
4 2 0
53
4 Examples
POINT_8 -1 10 0
POINT_9 -6 5 0
2) Create a link connecting these two new design points. Again, before you click, make
sure the point labels are visible.
3) Rename the link part to slider.
7. Connecting the Parts Using Revolute Joints
1) Select the Revolute Joint tool .
2) To select the parts to attach, click the pivot and ground (the background).
3) Click POINT_1 to set the joint’s location. The revolute joint at POINT_1 should look
like this:
54
ADAMS BASIC TRAINING and EXAMPLES
In this section, you prepare the latch model for virtual testing, and then proceed to test it.
Virtual tests allow you to quickly set up and tear down tests in the virtual environment.
1. Creating the Ground Block
You use the Box tool to create a ground block. The ground block represents the surface on
which the hook slides.
1) Select the Box tool , and change its construction method from New Part to On
Ground.
2) Click at location (-2, 1, 0) and drag to (-18, -1, 0). Alternatively, you can click at the
start location and then click again at the end location.
3) Rename the part ground to ground_block.
2. Adding a Three-Dimensional Contact
1) Use the Dynamic Pick tool to zoom in on the area around the hook end.
2) From the Force (Connector) toolstack, select the Contact tool . The Create
Contact dialog box appears.
3) Right-click the First Solid text box, point to Contact_Solid, and then select Pick.
Select the hook (EXTRUSION_7).
4) Now do the same for the Second Solid text box, selecting the ground_block
(BOX_11).
5) Because you will use the default values for the contact force, select OK.
6) Select the Select tool, and then select the Fit tool .
3. Adding a Spring
1) Select the Translational Spring-Damper tool to create a spring between the ground
55
4 Examples
56
ADAMS BASIC TRAINING and EXAMPLES
57
4 Examples
7. Creating a Sensor
You now create a sensor to detect when overcenter_angle goes below zero, meaning that the
latch has toggled properly. When this condition is met, the sensor automatically stops the
simulation.
1) From the Simulate menu, point to Sensor, and then select New.
The Create Sensor dialog box appears.
2) Modify the Create Sensor dialog box as shown next, and then select OK:
58
ADAMS BASIC TRAINING and EXAMPLES
In this section, you compare physical test data with virtual test data. By comparing the two
sets of data, you immediately know the limitations of your model compared to the physical
prototype, and you will have all the data in one place to be able to eliminate the differences.
1. Importing Physical Test Data
1) From the File menu, select Import. The File Import dialog box appears.
2) Set the File Type to Test Data.
3) Make sure that the Create Measures option is selected.
4) In the File to Read text box, enter: install_dir/aview/examples/Latch/test_dat.csv,
where install_dir is the directory where ADAMS is installed.
5) In the text box to the right of the Model Name menu, enter .Latch.
6) Select OK.
2. Creating a Plot Using Physical Test Data
1) On the Review menu, select Postprocessing or press F8.
ADAMS/View launches ADAMS/PostProcessor (see Figure 4.5), a post-processing
tool that lets you view the results of simulations you performed.
59
4 Examples
60
ADAMS BASIC TRAINING and EXAMPLES
61
4 Examples
In this chapter you refine your model to add more parametrics to the critical point locations.
This allows you to compare different layouts of the model to the clamping force.
1. Creating Design Variables
1) Right-click the design point POINT_1 (0, 0, 0), point to Point: POINT_1, and then
select Modify. The Table Editor appears.
In this section, you work on arriving at an improved design that meets the specifications and
includes all necessary behavior of the physical latch. You set up some design studies for a
few points to find a case that maximizes peak clamping force, while making sure the handle
toggles overcenter.
1. Performing a Manual Study
1) From the Build menu, point to Measure, and then select Display.
2) Select SPRING_1_MEA_1.
3) Select OK.
4) Run a .2 second, 100-step simulation and then return to the initial model configuration.
ADAMS/View updates the spring measure strip chart.
5) Right-click the spring force curve in the strip chart. Point to Curve: Current, and then
select Save Curve.
6) From the Build menu, point to Design Variable, and select Modify.
7) Double-click on DV_1.
8) Change the standard value of DV_1 to 1.0.
9) Select OK.
10) Run a .2 second, 100-step simulation.
This new plot shows a comparison of the spring force measure for the two cases. The new
curve shows better draw on the spring.
63
4 Examples
64
ADAMS BASIC TRAINING and EXAMPLES
9) Close the Information window, the Message window, and the Design Evaluation
Tools dialog box.
65
4 Examples
Parameterization lets you see which design variables have the greatest effect on the
clamping force. In this case, design variables DV_4, DV_6, and DV_8 have the greatest
sensitivity.
66
ADAMS BASIC TRAINING and EXAMPLES
3) Set the Min. Value and Max. Value, which are the minimum and maximum values
for your first design variable, DV_4, as shown in Table 4.6.
Table 4.6 Design Variable Limits
4) Select Apply.
5) Right-click the Name text box, point to Variable, and Browse for DV_6.
6) Double-click on DV_6.
7) Type in the minimum and maximum values for DV_6. Make sure the Absolute Min
and Max Values option is selected.
8) Select Apply.
9) Repeat the above three steps for DV_8.
10) After you’ve modified the last design variable, DV_8, select OK.
2. Running an Optimization
1) On the Build menu, point to Measure, and then select Display.
2) Select SPRING_1_MEA_1.
3) Select OK. The SPRING_1_MEA_1 plot appears.
4) On the Build menu, point to Measure, and then select Display.
5) Select overcenter_angle.
6)3 Select OK. The overcenter_angle plot appears.
7) On the Simulate menu, select Design Evaluation.
8) Fill in the dialog boxes as shown below and select Start after selecting Close from the
67
4 Examples
The spring force measure plot shows the optimal clamping force as a function of time.
68
ADAMS BASIC TRAINING and EXAMPLES
The SPRING_1_force versus iteration plot shows how the spring force changed with each
iteration.
The overcenter_angle plot shows the cases in which the angle reached the toggle point.
69
4 Examples
In this section, you’ll build a Front Suspension model that is required to securely clamp two
halves of large shipping containers together. greška !!!
70
ADAMS BASIC TRAINING and EXAMPLES
71
4 Examples
4) Click LCA_outer, then UCA_outer to create a Cylinder between the two points.
5) Rename the cylinder part, to Kingpin.
4. Creating the UCA
1) Select the Cylinder tool .
2) Select New Part.
3) In the Radius text box, enter 20, and then press Enter.
4) Click UCA_outer, then UCA_inner to create a Cylinder between the two points.
5) Rename the cylinder part, to UCA.
6) Select the Sphere tool .
7) Select Add to Part.
8) In the Radius text box, enter 25.
9) Click UCA, then UCA_outer to create a Sphere.
5. Creating the LCA
1) Select the Cylinder tool.
2) Select New Part.
3) In the Radius text box, enter 20, and then press Enter.
4) Click LCA_outer, then LCA_inner to create a Cylinder between the two points.
5) Rename the cylinder part, to LCA.
6) Select the Sphere tool .
7) Select Add to Part.
8) In the Radius text box, enter 25.
9) Click LCA, then LCA_outer to create a Sphere.
6. Creating the Pull_arm
1) Select the Cylinder tool .
2) Select New Part.
3) In the Radius text box, enter 15, and then press Enter.
4) Click Knuckle_inner, then Tie_rod_outer to create a Cylinder between the two
points.
5) Rename the cylinder part, to Pull_arm.
7. Creating the Tie_rod
1) Select the Cylinder tool .
2) Select New Part.
3) In the Radius text box, enter 15, and then press Enter.
4) Click Tie_rod_outer, then Tie_rod_inner to create a Cylinder between the two
points.
5) Rename the cylinder part, to Tie_rod.
6) Select the Sphere tool .
72
ADAMS BASIC TRAINING and EXAMPLES
73
4 Examples
74
ADAMS BASIC TRAINING and EXAMPLES
6) Repeat 1)—3).
7) Click the point: LCA_inner, to create the revolute joint.
8) Select Edit in the main menu: Click Modify. The modify dialog box appears. Click
(Change Position). The move object dialog box appears. In the Rotate text box, enter
10, then click . Close the dialog.
15. Creating the Translational Joint
1) Select the Translational Joint tool .
2) Select the construction method 1 Location and Pick Feature.
3) Select the Test_Patch.cm, to create the construction joint between the Test_Patch
and the Ground.
16. Creating the Inplane Joint Primitive
1) Select the Inplane Joint Primitive tool .
2) Select the construction method 2 Bodies-1 Location and Pick Geometry Feature.
3) Select the Wheel and the Test_patch, and then click the point: Test_Patch.cm, to
create the construction joint between the Test_Patch and the Ground.
75
4 Examples
Click Impose Motion. The Constraint Modify Motion Generator dialog box appears. In
the F(time) text box, enter 100*sin(360d*time), then click OK.
76
ADAMS BASIC TRAINING and EXAMPLES
2) In the Measure Name text box, enter the measure name as Kingpin_Inclination.
Units select angle, then edit the function expression of Kingpin_Inclination with Function
77
4 Examples
Builder.
The function expression of Kingpin_Inclination:
ATAN(DX(.FRONT_SUSP.Kingpin.MARKER_2, .FRONT_SUSP.
Kingpin.MARKER_1)/DY(.FRONT_SUSP. Kingpin.MARKER_2, .FRONT_SUSP.
Kingpin.MARKER_1))
78
ADAMS BASIC TRAINING and EXAMPLES
1) From the Build menu, point to Measure, point to Function, and then select New. The
Function Builder dialog box appears.
2) In the Measure Name text box, enter the measure name as Camber_Angle. Units
select angle, then edit the function expression of Camber_Angle with Function Builder.
The function expression of Camber_Angle:
ATAN(DY(.FRONT_SUSP.Knuckle.MARKER_1, .FRONT_SUSP.
Knuckle.MARKER_2) / DX(.FRONT_SUSP.Knuckle.MARKER_1, .FRONT_SUSP.
Knuckle.MARKER_2))
79
4 Examples
80
ADAMS BASIC TRAINING and EXAMPLES
5) Select Kingpin_Inclination.
6) Select OK.
7) From the dashboard, from the Measure list, select Wheel_Travel, for the vertical axis
data.
81
4 Examples
82
ADAMS BASIC TRAINING and EXAMPLES
In the Category box, select Mass Properties. In the Define Mass By box, select User
Input. In the Mass text box, enter 2010. In the Ixx, Iyy, Izz text box, enter 1.06E+009,
2.28E+009, 2.18E+009. Select OK.
84
ADAMS BASIC TRAINING and EXAMPLES
85
4 Examples
Rename the cylinder part, to Left_LCA. Select the Sphere tool . Select Add to Part. In
the Radius text box, enter 25. Click Left_LCA, then Left_LCA_outer, to create a Sphere.
Select the Cylinder tool . Select New Part. In the Radius text box, enter 15. Click
Left_Knuckle_inner and Left_Tie_rod_outer to create a Cylinder between the two points.
Rename the cylinder part, to Left_Pull_arm.
Select the Cylinder tool . Select New Part. In the Radius text box, enter 15. Click
Left_Tie_rod_outer and Left_Tie_rod_inner to create a Cylinder between the two points.
Rename the cylinder part, to Left_Tie_rod. Select the Sphere tool . Select Add to Part.
In the Radius text box, enter 20. Click Left_Tie_rod, then Left_Tie_rod_outer and
Left_Tie_rod_inner to create two Spheres.
Select the Cylinder tool . Select New Part. In the Radius text box, enter 20. Click
Left_Wheel_outer and Left_Knuckle_inner to create a Cylinder between the two points.
Rename the cylinder part, to Left_Knuckle.
Select the Cylinder tool . Select New Part. In the Radius text box, enter 20. Click
Right_LCA_outer and Right_UCA_outer to create a Cylinder between the two points.
Rename the cylinder part, to Right_Kingpin.
Select the Cylinder tool . Select New Part. In the Radius text box, enter 20. Click
Right_UCA_outer and Right_UCA_inner to create a Cylinder between the two points.
Rename the cylinder part, to Right_UCA. Select the Sphere tool . Select Add to Part.
In the Radius text box, enter 25. Click Right_UCA, then Right_UCA_outer, to create a
Sphere.
Select the Cylinder tool . Select New Part. In the Radius text box, enter 20. Click
Right_LCA_outer and Right_LCA_inner to create a Cylinder between the two points.
Rename the cylinder part, to Right_LCA. Select the Sphere tool . Select Add to Part.
In the Radius text box, enter 25. Click Right_LCA, then Right_LCA_outer, to create a
Sphere.
Select the Cylinder tool . Select New Part. In the Radius text box, enter 15. Click
Right_Knuckle_inner and Right_Tie_rod_outer to create a Cylinder between the two
points. Rename the cylinder part, to Right_Pull_arm.
Select the Cylinder tool . Select New Part. In the Radius text box, enter 15. Click
Right_Tie_rod_outer and Right_Tie_rod_inner to create a Cylinder between the two
points. Rename the cylinder part, to Right_Tie_rod. Select the Sphere tool . Select
Add to Part. In the Radius text box, enter 20. Click Right_Tie_rod, then
Right_Tie_rod_outer and Right_Tie_rod_inner to create two Spheres.
Select the Cylinder tool . Select New Part. In the Radius text box, enter 20. Click
86
ADAMS BASIC TRAINING and EXAMPLES
Figure 4.13 The body model of the chassis and the front suspension
3. Creating the Constraint Joint
Select the Spherical Joint tool . Select the constraint method 2 Bod-1 Loc, and
Normal To Grid. Select the Left_UCA and the Left_Kingpin, and then click the point:
Left_UCA_outer, to create the constraint joint between the Left_UCA and the
Left_Kingpin.
Select the Spherical Joint tool again. Place spherical joints at the following locations
using the constraint method 2 Bod - 1 Loc, and Normal To Grid:
Between the Left_LCA and the Left_Kingpin at Left_LCA_outer.
Between the Left_Tie_rod and the Left_Pull_arm at Left_Tie_rod_outer.
Select the Fixed Joint tool . Select the constraint method 2 Bod-1 Loc, and Normal
To Grid. Select the Left_Pull_arm and the Left_Kingpin, and then click the point:
Left_Knuckle_inner, to create the constraint joint between the Left_Pull_arm and the
Left_Kingpin.
Select the Fixed Joint tool again. Select the constraint method 2 Bod-1 Loc, and Normal
To Grid, to create the constraint joint between the Left_Knuckle and the Left_Kingpin at
Left_Knuckle_inner.
On the File menu, select Settings. Click Working Grid. In the Set Location box, select
Pick, click design point: Left_UCA_outer. In the Set Orientation box, select Global YZ.
Click Right_View tool .
Select the Revolute Joint tool . Select the constraint method 2 Bod-1 Loc and
Normal To Grid, Select the Left_UCA and the Chassis, and Click the point: Left_UCA_
inner, to create the revolute joint.
On the File menu, select Edit. Click Modify. Click (Change Position). In the
Rotate text box, enter 5, then click . Close the dialog.
Select the Revolute Joint tool . Select the constraint method 2 Bod-1 Loc and
87
4 Examples
Normal To Grid, Select the Left_LCA and the Chassis, and Click the point: Left_LCA_
inner, to create the revolute joint. On the File menu, select Edit. Click Modify. Click
(Change Position). In the Rotate text box, enter 10, then click . Close the dialog.
Repeat above steps, to create the revolute joint between the right bodies of the front
suspension.
Select the Point tool . Select Add to Part and Don’t Attach. Creating Design Points:
Left_Spring_lower (-1314.390, 620.866, 523.473) on the Left_UCA.
Select the Point tool . Select Add to Part and Don’t Attach. Creating Design Points:
Left_Spring_upper (-1314.390, 910.866, 523.473) on the Chassis.
Select the Spring tool . In the K, C text box, enter 129.8, 6000. Click Left_Spring_
lower and Left_Spring_upper, to create the left spring of the front suspension.
Select the Point tool . Select Add to Part and Don’t Attach. Creating Design Points:
Right_Spring_lower (-1314.390, 620.866, -523.473) on the Right_UCA.
Select the Point tool . Select Add to Part and Don’t Attach. Creating Design Points:
Right_Spring_upper (-1314.390, 910.866, -523.473) on the Chassis.
Select the Spring tool . In the K, C text box, enter 129.8, 6000. Click Right_Spring_
lower and Right_Spring_upper, to create the right spring of the front suspension.
Figure 4.14 The model of the chassis and the front suspension
88
ADAMS BASIC TRAINING and EXAMPLES
Select the Cylinder tool . Select New Part. In the Radius text box, enter 15. Click
89
4 Examples
90
ADAMS BASIC TRAINING and EXAMPLES
Select the Hooke Joint tool . Select the constraint method 2 Bod-1 Loc and Pick
Feature. Select the Left_Tie_rod and the Center_link, and then click the point:
Left__Tie_rod_inner, Hooke Joint orientation: axis direction of the Left_Tie_rod and the
Center_link, to create the constraint joint between the Left_Tie_rod and the Center_link.
Setting up Working Grid orientation: Global XZ direction. Click Top View Select the
Revolute Joint tool . Select the constraint method 2 Bod-1 Loc and Normal To Grid,
Select the Center_link and the Pitman_arm, and Click the point: Pitman_arm_pivot, to
create the revolute joint.
Setting up Working Grid orientation: Global XZ direction. Click Top View. Select the
Revolute Joint tool . Select the constraint method 2 Bod-1 Loc and Normal To Grid,
Select the Pitman_arm and the Chassis, and Click the point: Lower_sector_shaft_point,
to create the revolute joint between the Pitman_arm and the Chassis.
Select the Spherical Joint tool . Select the constraint method 2 Bod-1 Loc and
Normal To Grid. Select the Center_link and the Idler_arm, and then click the point:
Idler_arm_pivot, to create the constraint joint between the Center_link and the
Idler_arm.
Select the Hooke Joint tool . Select the constraint method 2 Bod-1 Loc and Pick
Feature. Select the Idler_arm and the Chassis, and then click the point:
Idler_arm_center, Hooke Joint orientation: plus (or minus) axis direction of the
Idler_arm, to create the constraint joint between the Idler_arm and the Chassis.
Select the Hooke Joint tool . Select the constraint method 2 Bod-1 Loc and Pick
Feature. Select the Right_Tie_rod and the Center_link, and then click the point:
Right_Tie_rod_inner, Hooke Joint orientation: axis direction of the Right_Tie_rod and
the Center_link, to create the constraint joint between the Right_Tie_rod and the
Center_link.
Select the Revolute Joint tool . Select the constraint method 2 Bod-1 Loc and Pick
Feature, Select the Steering_gear and the Chassis, and Click the design point:
Steering_gear.CM, Revolute Joint orientation: axis direction of the Steering_gear
cylinder, to create the revolute joint between the Steering_gear and the Chassis.
Select the Coupler Joint tool . Select two types of Constraint Joint: the Revolute
Joint between the Steering_gear and the Chassis, the Revolute Joint between the
Pitman_arm and the Chassis. The Revolute Joint between the Pitman_arm and the
Chassis is the Coupler Joint. The Scale of the Coupler Joint is modified to 14.
Select the Constant-Velocity Joint tool . Select the constraint method 2 Bod-1 Loc
and Pick Feature. Select the Steering_wheel and the Steering_shaft, and then click the
91
4 Examples
92
ADAMS BASIC TRAINING and EXAMPLES
Setting up Working Grid orientation: Global XY direction. Click Top View Select the
Revolute Joint tool . Select the constraint method 2 Bod-1 Loc and Normal To Grid,
93
4 Examples
Select the Right_RCA and the Chassis, and Click the point: Right_RCA_pivot, to create
the revolute joint. Modify the position of the Revolute Joint: rotation to 300.
4. Creating the Spring
Select the Point tool . Select Add to Part and Don’t Attach. Creating Design Points:
RL_Spring_lower (1070.42, 375.0, 583.22) on the Left_RCA.
Select the Point tool . Select Add to Part and Don’t Attach. Creating Design Points:
RL _Spring_upper (1070.42, 641.0, 583.22) on the Chassis.
Select the Spring tool . In the K, C text box, enter 160.2, 6000. Click RL_Spring_
lower and RL_Spring_upper, to create the left spring of the rear suspension.
Select the Point tool . Select Add to Part and Don’t Attach. Creating Design Points:
RR_Spring_lower (1070.42, 375.0, -583.22) on the Right_RCA.
Select the Point tool . Select Add to Part and Don’t Attach. Creating Design Points:
RR_Spring_upper (1070.42, 641.0, -583.22) on the Chassis.
Select the Spring tool . In the K, C text box, enter 160.2, 6000. Click RR_Spring_
lower and RR_Spring_upper, to create the right spring of the rear suspension.
94
ADAMS BASIC TRAINING and EXAMPLES
95
4 Examples
computes the other tire forces and torques. The Smithers model comes complete with three
sample tire property files, which you can use until you obtain the specific tire property files
for your perspective tires.
DELFT Dynamic Tire Model
The DELFT tire model is part of the optional ADAMS/Tire module. This model was
developed by TNO Road-Vehicle Research Institute in the Netherlands. It is a Pacejka
―magic formula‖ tire model. The model computes lateral, longitudinal, and vertical forces
and the aligning moment from fitted coefficients TNO provides.
User-Defined Tire Models
You have the option of defining your own tire model. A user-written subroutine, TIRSUB,
is provided to facilitate this. Instantaneous tire kinematic contact properties and tire material
properties are provided as input to TIRSUB. In addition, users can use the UPARAMETER
and USTRINGS arguments to pass real values and character strings to TIRSUB. TIRSUB
should return to ADAMS/Solver the three forces and the three torques acting at the contact
patch in the instantaneous SAE coordinate system. ADAMS/Solver transfers the forces and
torques to the tire hub center and apply them.
The UA tire model was selected in the example. The tires are P215/80R16 meridian tire.
The tire property shown in Table 4.12.
Table 4.12 P215/80R16 Meridian Tire Property
CALPHA: The tire’s cornering stiffness: the partial derivative of lateral force (Fy) with
regard to slip angle (α) at zero slip angle. CALPHA = Cα = r1*r2. CALPHA should have
units of force per radian or degree.
CGAMMA: The tire’s camber stiffness: the partial derivative of lateral force (Fy) with
regard to inclination (camber) angle at zero camber angle. Note that CGAMMA = Cγ =
r1*r2.
CNORMAL: The tire’s vertical stiffness: the partial derivative of vertical force (Fz) with
regard to ire vertical penetration (such as deflection) at zero vertical penetration. Note that
CNORMAL = Cz = r1*r2.
CRR: Specifies the conversion factor and the rolling resistance moment coefficient. Note
that CRR = Cr = r1*r2. CRR should have units of length.
96
ADAMS BASIC TRAINING and EXAMPLES
CSLIP: The tire’s longitudinal slip stiffness: the partial derivative of longitudinal force (Fx)
with regard to longitudinal slip (s) at zero longitudinal slip. Note that CSLIP=Cs = r1*r2.
CSLIP should have units of force.
R1: Specifies the conversion factor and the unloaded tire radius, that is, radial distance from
the tire center to the crown of the tread.
R2: Specifies the conversion factor and the carcass radius of a toroidal (or doughnut shaped)
tire. This is equal to one half the greatest distance from one sidewall to the other, when
measured along an axis parallel to the tire spin axis.
MODEL=
ANALYTICAL
97
4 Examples
98
ADAMS BASIC TRAINING and EXAMPLES
1.0
!
! Road origin is located at the following global coordinates in the data set.
!
ORIGIN
000
UP
0.0,1.0,0.0
!
! Road coordinate system is oriented with respect to the global origin
! by the following transformation matrix.
!
ORIENTATION
100
010
001
!
!coordinates for the node points on road
!
NODES
4
1 200000.0 0.0 -20000.0
2 -500000.0 0.0 -20000.0
3 200000.0 0.0 400000.0
4 -500000.0 0.0 400000.0
!
! Connectivity of node points defining the triangular element
!
ELEMENTS
2
1 2 3 1.0 1.0
2 3 4 1.0 1.0
3. Creating Tire and Road
1) From the Main Toll menu, point to Force Database, point to Tire. The Create Tire
Force dialog box appears.
99
4 Examples
Figure 4.21 shows the model of tires. Figure 4.22 shows the full vehicle model.
101
4 Examples
2) In the Measure Name text box, enter the measure name as Radius. Units select
Length(m), then edit the function expression of Radius with Function Builder.
The function expression of Radius:
(VM(.jeep.chassis.cm)/WY(.jeep.chassis.cm))/1000
3) From the Build menu, point to Measure, point to Function, and then select New. The
Function Builder dialog box appears.
4) In the Measure Name text box, enter the measure name as Velocity. Units select
Length(m), then edit the function expression of Velocity with Function Builder.
The function expression of Velocity:
SQRT(VX(.JEEP.Chassis.cm)**2+VZ(.JEEP.Chassis.cm)**2)*3.6/1000
103
4 Examples
3. Simulation
1) Select the Simulation tool .
2) Set up a simulation with an end time of 120 second and Step Size of 0.01.
3) Select the Simulation Start tool .
4) To return to the initial model configuration, select the Reset tool .
The curves on the vehicle characteristic appear during the simulation, as shown next:
104
ADAMS BASIC TRAINING and EXAMPLES
105
5 Introduce ADAMS/Car
Section II - ADAMS/Car
5 Introduce ADAMS/Car
This chapter introduces you to ADAMS/Car and explains how you can benefit from using it.
It also explains how you can learn more about ADAMS/Car and introduces the tutorials that
we’ve included in this guide to help you become familiar with ADAMS/Car.
106
ADAMS BASIC TRAINING and EXAMPLES
When you create a new component in the Template Builder, ADAMS/Car automatically
adds a prefix based on the entity type and the symmetry. ADAMS/Car uses a naming
convention to let you easily determine an entity’s type from the entity’s name.
Using ADAMS/Car, you can quickly create assemblies of suspensions and full vehicles,
and then analyze them to understand their performance and behavior.
You create assemblies in ADAMS/Car by defining vehicle subsystems, such as front and
rear suspensions, steering gears, anti-roll bars, and bodies. You base these subsystems on
their corresponding standard ADAMS/Car templates. For example, ADAMS/Car includes
templates for double-wishbone suspension, MacPherson strut suspension, rack-and-pinion
steering, and so on.
If you have expert user privileges, you can also base your subsystems on custom templates
that you create using the ADAMS/Car Template Builder.
When you analyze an assembly, ADAMS/Car applies the analysis inputs that you specify.
For example, for a suspension analysis you can specify inputs to:
Move the wheels through bump-rebound travel and measure the toe, camber, wheel
rate, roll rate, and side-view swing arm length.
Apply lateral load and aligning torque at the tire contact path and measure the toe
change and lateral deflection of the wheel.
Rotate the steering wheel from lock to lock and measure the steer angles of the
wheels and the amount of Ackerman, that is, the difference between the left and
right wheel steer angles.
Based on the analysis results, you can quickly alter the suspension geometry or the spring
rates and analyze the suspension again to evaluate the effects of the alterations. For example,
you can quickly change a rear suspension from a trailing-link to a multi-link topology to see
which yields the best handling characteristics for your vehicle.
107
5 Introduce ADAMS/Car
Once you complete the analysis of your model, you can share your work with others. You
can also print plots of the suspension characteristics and vehicle dynamic responses. In
addition, you can access other users’ models without overwriting their data.
ADAMS/Car enables you to work faster and smarter, letting you have more time to study
and understand how design changes affect vehicle performance. Using ADAMS/Car you
can:
Explore the performance of your design and refine your design before building and
testing a physical prototype.
Analyze design changes much faster and at a lower cost than physical prototype
testing would require. For example, you can change springs with a few mouse
clicks instead of waiting for a mechanic to install new ones in your physical
prototype before re-evaluating your design.
Vary the kinds of analyses faster and more easily than if you had to modify
instrumentation, test fixtures, and test procedures.
Work in a more secure environment without the fear of losing data from instrument
failure or losing testing time because of poor weather conditions.
Run analyses and what-if scenarios without the dangers associated with physical
testing.
108
ADAMS BASIC TRAINING and EXAMPLES
ADAMS/Car allows you to quickly and easily analyze suspensions and full vehicles under
various conditions. The following sections introduce you to running analyses.
Using ADAMS/Car to analyze a virtual prototype is much like ordering a test of a physical
prototype. When ordering a test in ADAMS/Car, you specify the following:
The virtual prototype to be tested - You specify the virtual prototype by opening
or creating an assembly that contains the appropriate components, or subsystems,
that make up the prototype. For example, you create suspension assembly
containing suspension and steering subsystems and the suspension test-rig.
ADAMS/Car contains suspension and full-vehicle test rigs.
The kind of analysis you’d like performed - You specify the test or analysis by
selecting one from the ADAMS/Car Simulate menu. There are two major types of
analyses: suspension and full-vehicle.
The analysis inputs to be used - You specify the inputs to the analysis by typing
them directly into an analysis dialog box or by selecting a loadcase file that contains
the desired inputs from an ADAMS/Car database.
After specifying the prototype assembly and its analysis, ADAMS/Car, like your company’s
testing department, applies the inputs that you specified and records the results. To
understand how your prototype behaved during the analysis, you can plot the results. After
viewing the results, you might modify the prototype and analyze it again to see if your
modifications improve its behavior.
Each kind of analysis that you perform requires a minimum set of subsystems. For example,
a suspension analysis requires one suspension subsystem. A full-vehicle analysis requires
front and rear suspension subsystems, front and rear wheel subsystems, one steering
subsystem, and one body subsystem. Before you can create an assembly and perform an
analysis in ADAMS/Car, you must open or create the minimum set of subsystems required.
There are two types of analyses that you can run in ADAMS/Car: suspension analyses and
full-vehicle analyses. To run full-vehicle analyses, you must have purchased the
ADAMS/Car Vehicle Dynamics package.
109
6 Introducing Analyses in ADAMS/Car
You can test suspensions to determine their kinematic and compliance characteristics by
performing wheel travel, static load, and steering analyses. This chapter explains how to run
suspension analyses and describes each type of suspension analysis you can run.
You perform a suspension analysis to learn how a suspension controls the wheel motions
and transmits load from the wheels to the chassis. To perform a suspension analysis, you
first create or open a suspension assembly that contains the selected subsystems and the test
rig. You then specify ranges of vertical wheel travel, steering travel, and static tire contact
110
ADAMS BASIC TRAINING and EXAMPLES
To create a suspension assembly, you can select any subsystem that has either a suspension
or a steering major role. A major role defines the primary function of the subsystem.
Before you submit a suspension analysis, you need to set the suspension parameters that
ADAMS/Car uses when calculating suspension characteristics. These parameters describe
the vehicle in which you wish to use the suspension. ADAMS/Car uses, for example, the
parameters wheelbase, cg_height, and sprung mass to calculate the fore-aft weight transfer
during braking and acceleration.
Once you set the vehicle parameters in an ADAMS/Car session, ADAMS/Car uses those
settings for all suspension analyses until you reset the parameters.
To set parameters:
(1) From the Simulate menu, point to Suspension Analysis, and then select Set
Suspension Parameters.
(2) Enter the desired parameter values, and then select OK.
You submit an analysis by selecting a specific analysis from the Simulate menu and then
111
6 Introducing Analyses in ADAMS/Car
entering the vertical wheel travel and other parameters needed to control the analysis. You
can also select one or more loadcase files (.lcf) from an ADAMS/Car database. Loadcase
files contain the vertical wheel travel and other parameters needed to control a suspension
analysis. If you regularly perform several kinds of suspension analyses using the same
ranges of travel, you should consider creating loadcase files for these. You can then submit
all the analyses without having to reenter travel parameters each time. Actually, as you
perform an analysis for which you did not create a loadcase file, ADAMS/Car temporarily
creates one for you and deletes it after the analysis.
Note: All suspension analyses in ADAMS/Car are quasi-static equilibrium analyses.
1. Specifying Number of Steps
As you submit a suspension analysis, you specify the number of steps in the analysis. The
number of steps is the number of solution steps from a lower bound to an upper bound. For
example, for an opposite wheel travel analysis, if you specify five steps and -100 mm
rebound and 100 mm jounce, ADAMS/Car temporarily creates a loadcase file that contains
left vertical wheel displacement inputs of -100, -60, -20, 20, 60, and 100 mm and right
vertical wheel displacement inputs of 100, 60, 20, -20, -60, and -100 mm as shown in figure
6.1:
112
ADAMS BASIC TRAINING and EXAMPLES
113
6 Introducing Analyses in ADAMS/Car
You can take previously created suspension subsystems and integrate them with other
subsystems to create a full-vehicle assembly. You can then perform various analyses on the
vehicle to test the design of the different subsystems and see how they influence the total
vehicle dynamics. You can also examine and understand the influence of component
modifications, including changes in spring rates, damper rates, bushing rates, and antirollbar
rates, on the total vehicle dynamics.
Figure 6.3 shows an overview of the process.
You can perform several types of full-vehicle analyses using ADAMS/Car. All of the
analyses, except for the data-driven analyses, use the .__MDI_SDI_TESTRIG, and are
therefore based on the Driving Machine.
The next sections describe the different types of analyses you can perform:
Open-Loop Steering Analyses
Cornering Analyses
Straight-Line-Behavior Analyses
Course Analyses
Driver-Control-File-Driven Analysis
Quasi-Static Analyses
Data-Driven Analysis
ADAMS/Driver Analyses
114
ADAMS BASIC TRAINING and EXAMPLES
115
6 Introducing Analyses in ADAMS/Car
116
ADAMS BASIC TRAINING and EXAMPLES
Braking in a turn - This is one of the most critical analyses encountered in everyday
driving. The purpose of this analysis is to examine path and directional deviations caused by
sudden braking during cornering. Typical results collected from the braking-in-turn test
include lateral acceleration, variations in turn radius, and yaw angle as a function of
longitudinal deceleration.
In a braking-in-turn analysis, the Driving Machine drives your full vehicle down a straight
road, turns onto a skidpad, and then accelerates to achieve a desired lateral acceleration.
Once the desired lateral acceleration is reached, the Driving Machine holds the longitudinal
speed and radius constant for a time to let any transients settle. Then, it locks the steering
wheel and brakes your full vehicle at a constant deceleration rate. It maintains the
deceleration rate for a given duration or until the vehicle speed drops below 2.5
meters/second.
You can use the plot configuration, mdi_fva_bit.plt, in the shared ADAMS/Car database to
generate the plots that are typically of interest for this type of analysis.
Constant radius cornering - For constant radius cornering analysis, the Driving Machine
drives your full vehicle down a straight road, turns onto a skidpad, and then gradually
increases velocity to build up lateral acceleration. One common use for a constant radius
cornering analysis is to determine the understeer characteristics of the full vehicle.
Cornering with steer release - The vehicle performs a dynamic constant-radius cornering
to achieve the prescribed conditions (radius and longitudinal velocity or longitudinal
velocity and lateral acceleration). After the steady state prephase, the steering wheel
closed-loop signal is released, simulating a release of the steering wheel. The analysis
focuses primary on the path deviation, yaw characteristics, steering wheel measurements,
roll angle, roll rate, and side-slip angle.
Lift-off turn-in - The purpose of this analysis is to examine path and directional deviations
caused by suddenly lifting the throttle pedal during cornering and applying an additional
ramp steering input.
Power-off during cornering - A steering controller drives the vehicle around a skid pad.
When the prescribed conditions are achieved, the steering wheel is locked and the throttle
demand is decreased to zero. This analysis allows you to determine the power-off effect on
course holding and directional behavior of a vehicle whose steady-state circular path is
disturbed by throttle power-off.
Typical results collected from the power-off cornering analysis include variations in the
heading direction and longitudinal deceleration, as well as sideslip angle, yaw angle and
gradient. Optionally, the clutch can be depressed during the throttle lift-off. In this case, you
specify the duration that is takes to depress the clutch.
3. Straight-Line-Behavior Analyses
The analyses based on the Driving Machine focus on the longitudinal dynamics of the
117
6 Introducing Analyses in ADAMS/Car
vehicle. ADAMS/Car uses open- and closed-loop longitudinal controllers to drive your
vehicle model.
The straight-line-behavior analyses include:
Acceleration test - Ramps the throttle demand from zero at your input rate (open loop) or
you can specify a desired longitudinal acceleration (closed loop). You can specify either
free or locked steering. An acceleration test analysis helps you study the anti-lift and
anti-squat properties of a vehicle.
Braking - Ramps the brake input from zero at your input rate or lets you specify a
longitudinal deceleration (closed loop). You can also specify either free or locked steering.
The braking test analysis helps you study the brake-pull anti-lift and anti-dive properties of
a vehicle.
Power-off straight line - This analysis allows you to examine operating behavior and
directional deviations caused by suddenly lifting off the throttle pedal during a straight-line
analysis. Typical results collected from the power off straight-line analysis include
variations in heading direction and longitudinal deceleration. You can control the analysis
using the Driving Machine. Optionally, you can depress the clutch during the throttle lift-off.
In this case, you specify the duration that it takes to depress the clutch.
4. Course Analyses
Course analyses are based on the Driving Machine and are of a course-following type, such
as ISO-lane change.
In an ISO-lane change analysis, the Driving Machine drives your full vehicle through a lane
change course as specified in ISO-3888: Double Lane Change. You specify the gear
position and speed at which to perform the lane change. The analysis stops after the vehicle
travels 250 meters; therefore, the time to complete the lane change depends on the speed
you input.
5. Driver-Control-File-Driven Analysis (DCF Drive…)
The driver-control-file-driven analysis lets you run a analysis described in an existing driver
control file (.dcf). For the format and content of .dcf files. Having direct access to .dcf files
allows you to easily perform nonstandard analyses on your full-vehicle assembly because
all you have to do is to generate a new .dcf file describing the analysis.
6. Quasi-Static Analyses
Quasi-static analyses find dynamic equilibrium solutions for your full vehicle at increasing,
successive values of lateral acceleration. Quasi-static analyses, in contrast to open-loop and
closed-loop analyses, do not include transient effects and solve very quickly. For example,
in a quasi-static analysis, a change in lateral acceleration from 0.1g to 0.5g does not show
the lateral acceleration or yaw rate overshoot that a similar openloop and closed-loop
analysis might show.
Quasi-static analyses use either the .__MDI_DRIVER_TESTRIG or the .__MDI_SDI_
118
ADAMS BASIC TRAINING and EXAMPLES
TESTRIG.
(1) Setting up Quasi-Static Analyses
Before you submit a quasi-static analysis, you must set up the assembly to run quasi-static
analyses.
You set up a quasi-static analysis by selecting the Setup button from the constant radius
cornering or constant-velocity cornering dialog boxes. ADAMS/Car then adds additional
modeling elements that do not exist by default in the standard MDI full-vehicle assemblies.
The additional elements reference information provided by communicators that are defined
in the standard templates distributed with ADAMS/Car. The communicators are:
Body template: cos_body communicator: part communicator
Front/rear suspension template:
co[lr]_suspension_upright: part communicator
co[lr]_suspension_mount: part communicator
Steering template:
cos_steering_wheel_joint: joint communicator
Powertrain template:
co[lr]_output_torque: force communicator
cos_drive_torque_left: solver variable communicator
cos_drive_torque_right: solver variable communicator
If you are using standard ADAMS/Car templates but have removed some of the
communicators, or if you built your own templates that do not include those communicators,
as part of the setup procedure, ADAMS/Car prompts you to identify various elements in
your assembly. You can avoid being prompted for these elements by including the
communicators in the appropriate templates.
(2) Constant-Radius Cornering Analysis
You perform a constant radius cornering analysis to evaluate your full vehicle’s understeer
and oversteer characteristics. The constant radius cornering analysis holds the turn radius
constant and varies the vehicle velocity to produce increasing amounts of lateral
acceleration. You can use the plot configuration file mdi_fva_ssc.plt in the shared
ADAMS/Car database to generate the plots that are typically of interest for this analysis.
Before submitting a constant radius cornering analysis, you must select the Setup button to
set up your full-vehicle assembly for a quasi-static analysis.
(3) Constant-Velocity Cornering Analysis
You perform a constant velocity cornering analysis to evaluate your full vehicle’s
understeer and oversteer characteristics. The constant velocity cornering analysis holds the
vehicle velocity constant and varies the turn radius to produce increasing amounts of lateral
acceleration. The input parameters for this analysis are the same as the steady-state
cornering analysis except that the vehicle longitudinal velocity is specified instead of the
119
6 Introducing Analyses in ADAMS/Car
turn radius. You can use the plot configuration file mdi_fva_ssc.plt in the shared car
database to generate the plots that are typically of interest for this analysis.
Before submitting a constant velocity cornering analysis, you must select the Setup button
to set up your full-vehicle assembly for a quasi-static analysis.
(4) Force-Moment Analysis
You perform a force-moment analysis maneuver to evaluate the stability and handling
characteristics of your vehicle model. ADAMS/Car drives the vehicle at constant
longitudinal speed and performs a series of simulations at different side-slip and steer
angles. The simulation represents a typical test in which the vehicle is constrained on a
model flat-belt tire tester. The testing method is based on the assumption that most of the
stability and control characteristics can be obtained from a study of the steady-state force
and moments acting on the vehicle.
The analysis consists of a series of quasi-static steady-state cornering analyses performed at
different vehicle side-slip angles and at a different steer angle. Usual results of a quasistatic
force-moment analysis can be presented in tabular form, or as diagrams and plots
representing the computed forces and moments from the simulated test.
Before you can submit a force-moment analysis, you must set up your vehicle for a
quasistatic analysis.
7. Data-Driven Analysis
You define the inputs for a data-driven analysis in a driver loadcase file (dri.). The driver
loadcase file contains the time/distance open-loop signals for steering, throttle, brake, clutch,
and gear. This is the only analysis that requires the .__MDI_DRIVER_TESTRIG and is
based on a loadcase file.
8. ADAMS/Driver Analyses
ADAMS/Driver enables you to add the control actions of a human driver to your fullvehicle
simulations. These actions include steering, braking, throttle position, gear shifting and
clutch operation.
Using ADAMS/Driver, you can extend the set of full-vehicle events available in
ADAMS/Car. ADAMS/Car simulates the vehicle on a user-defined track representing a
road.
ADAMS/Driver analyses use the .__MDI_DRIVER_TESTRIG or the .__MDI_SDI_
TESTRIG.
120
ADAMS BASIC TRAINING and EXAMPLES
In this section, you work with a suspension and steering assembly from two subsystems: a
suspension subsystem and a steering subsystem. You create the suspension subsystem using
the standard double-wishbone template. You don’t need to create the steering subsystem.
Instead, you can open an existing subsystem that we’ve provided.
After creating and opening the subsystems, you create an assembly that contains the
subsystems and a test rig.
You create the front suspension subsystem based on a double-wishbone design stored in the
standard template named _double_wishbone.tpl, and then save it.
121
7 Creating and Simulating Suspensions
After you create the subsystem, you save it in an ADAMS/Car database. When you save a
subsystem, ADAMS/Car stores it in the database designated as the default writable database.
Initially, the private database is the default writable database, but as you become more
familiar with ADAMS/Car, you can change your writable database. Later, when you are
sure the design is complete or ready for review, you can have your database administrator
save the file in a shared database or allow others to access it from your private database.
1. Creating the front suspension subsystem:
1) Start ADAMS/Car in Starting ADAMS/Car Standard Interface.
2) From the File menu, point to New, and then select Subsystem.
The New Subsystem dialog box appears.
122
ADAMS BASIC TRAINING and EXAMPLES
123
7 Creating and Simulating Suspensions
private database.
In this section, you create a new suspension assembly and add to it a steering subsystem.
To create the suspension and steering assembly:
1) From the File menu, point to New, and then select Suspension Assembly.
The New Suspension Assembly dialog box appears.
124
ADAMS BASIC TRAINING and EXAMPLES
You now perform a parallel wheel travel analysis on the suspension and steering assembly,
and then plot and view the results.
Before performing a suspension analysis, you must specify several parameters about the
vehicle in which you intend to use the suspension and steering subsystems. These
parameters include the vehicle’s wheel base and sprung mass, whether or not the suspension
is front- or rear-wheel drive, and the braking ratio. For this analysis, you enter the
parameters to indicate front-wheel drive and a brake ratio of 64% front and 36% rear.
To define vehicle parameters:
1) From the Simulate menu, point to Suspension Analysis, and then select Set
125
7 Creating and Simulating Suspensions
Suspension Parameters.
The Suspension Analysis: Setup Parameters dialog box appears. It contains default settings
to help you quickly set up a suspension analysis.
2) Set up the analysis as follows:
Suspension Assembly: my_assembly
Tire Model: User Defined
Tire Unloaded Radius: 300
Tire Stiffness: 200
Wheel Mass: 1.0
Sprung Mass: 1400
CG Height: 300
Wheelbase: 2765
Drive Ratio: 100
All driving force is applied to the front wheels.
Brake Ratio: 64
The brake ratio value indicates the % of braking force that is applied to the front
brakes.
3) Select OK.
Now that you’ve defined the vehicle parameters, you can run the parallel wheel travel
analysis. During the analysis, the test rig applies forces or displacements, or both, to the
assembly, as defined in a loadcase file. For this analysis, ADAMS/Car generates a
temporary loadcase file based on the inputs you specify.
This parallel wheel travel analysis moves the wheel centers from -100 mm to +100 mm
relative to their input position, while holding the steering fixed. During the wheel motion,
ADAMS/Car calculates many suspension characteristics, such as camber and toe angle,
wheel rate, and roll center height.
To perform the analysis:
1) From the Simulate menu, point to Suspension Analysis, and then select Parallel
Wheel Travel.
2) Set up the analysis as follows:
Suspension Assembly: my_assembly
Output Prefix: baseline
Number of Steps: 15
Mode of Simulation: interactive
Bump Travel: 100
Rebound Travel: -100
126
ADAMS BASIC TRAINING and EXAMPLES
4) In the Comment Text text box, enter Baseline Parallel Wheel Travel Analysis.
5) Select OK.
6) Select OK again.
7) When the analysis is complete, select Close.
In this section, you view the analysis you just ran. ADAMS/Car has already loaded the
animation and graphic files for you.
To animate the results:
1) From the Review menu, select Animation Controls.
ADAMS/Car animates the motion of the suspension analysis. Notice that the
suspension moves from rebound (down), to bump (up), and that the steering wheel does not
rotate.
3) When the animation is complete, close the dialog box.
You can now perform a baseline pull analysis to study the pull on the steering wheel. You
will use the results of this pull analysis as the baseline against which you compare the
results of another pull analysis that you perform after you modify the location of the
steering axis. By comparing the results from the two analyses, you can determine if the
modifications were successful.
Before you can run the baseline pull analysis, you need to create a loadcase file to drive the
analysis. In the loadcase file, you specify the unequal braking forces to simulate braking on
a split-μ surface and the beginning, or upper, and ending, or lower, steering wheel angles.
To calculate the unequal brake forces, we assume that the vehicle is braking at a rate of 0.5
g’s deceleration, with a 64% front and 36% rear brake ratio, a vehicle mass of 1,400 kg, and
the front braking force split 55% left and 45% right. Based on these assumptions, the total
127
7 Creating and Simulating Suspensions
ADAMS/Car creates the loadcase file, named brake_pull.ldf, and stores it in your private
database. It stores the loadcase file as text (ASCII) and you can print it or edit it manually.
To create the loadcase file, ADAMS/Car takes the parameters that you entered and
generates a table of input values. For the parameters that you entered, ADAMS/Car
generates a table that varies steering wheel angle from -180 to 180 in 15 steps, while
128
ADAMS BASIC TRAINING and EXAMPLES
You can now use the loadcase file that you just created to perform an analysis that
determines the pull characteristics of the suspension and steering assembly.
To perform the pull analysis:
1) From the Simulate menu, point to Suspension Analysis, and then select External
Files.
2) Set up the analysis as follows:
Suspension Assembly: my_assembly
Output Prefix: baseline
Mode of Simulation: interactive
Loadcase Files: mdids://private/loadcases.tbl/brake_pull.lcf
3) Make sure Load Analysis Results is selected.
4) Clear the selection of Create Analysis Log File.
In this section, you view an animation of the analysis ADAMS/Car just performed.
To animate the results:
1) From the Review menu, select Animation Controls.
2) Select the Play tool.
ADAMS/Car animates the turning motion of the steering subsystem. You should see the
wheels turn as the steering wheel rotates. The wheel centers should not move vertically.
3) Close the Animation Controls dialog box.
For a double-wishbone suspension, the line running from the lower spherical joint to the
upper spherical joint defines the steering axis or kingpin axis. If these joints move outboard
while the rest of the suspension geometry remains unchanged, the scrub radius is decreased.
In the suspension subsystem that you created, two hardpoint pairs define the locations of
these joints:
hpl_lca_outer and hpr_lca_outer, where lca_outer means lower control arm outer,
and the prefix hpl means hardpoint left and the prefix hpr means hardpoint right.
hpl_uca_outer and hpr_uca_outer, where uca_outer means upper control arm outer
and the prefix hpl means hardpoint left and the prefix hpr means hardpoint right.
Hardpoints define independent locations in space.
You must first display a table that contains data about the current locations that the
hardpoints define. You can then modify the hardpoint locations. You only need to indicate
how you want to move the left hardpoints in each pair, and ADAMS/Car modifies the right
hardpoints accordingly.
To view hardpoint locations:
1) From the View menu, select Subsystem.
The Display Subsystem dialog box appears, already containing the subsystem
my_assembly.UAN_FRT_SUSP.
2) Select OK.
130
ADAMS BASIC TRAINING and EXAMPLES
3) From the Adjust menu, point to Hardpoint, and then select Table.
The Hardpoint Modification Table appears. It displays the locations of all the hardpoints in
the assembly. You can use this table to display and modify the locations of any of the
hardpoints.
The locations of the paired hardpoints differ only by the sign of the Y location. Therefore,
the paired hardpoints are symmetrical about the X-Z plane. With symmetrical hardpoints,
you only need to move one of the hardpoints, not both. If you want, however, you can break
the symmetry and move only one of the hardpoints of a symmetrical pair.
To see the symmetry, select left or right from the bottom of the Hardpoint Modification
Table.
To modify the hardpoints:
1) Click the cell common to hpl_lca_outer and loc_y.
2) Change the existing value to -775. This moves the hardpoint point 25 mm outboard.
3) Scroll the table window down until you see the hardpoint hpl_uca_outer.
4) Click the cell common to hpl_uca_outer and loc_y.
5) Change the existing value to -700. This moves the hardpoint 25 mm outboard.
6) Select Apply.
ADAMS/Car changes the hardpoint locations of the two hardpoints and their symmetrical
right pairs.
7) Close the dialog box.
To determine how the modifications to the suspension subsystem changed the pull on the
steering wheel, you perform a pull analysis on the modified suspension and steering
assembly. You can use the same loadcase file that you created in Defining a Loadcase File.
To perform the analysis:
1) From the Simulate menu, point to Suspension Analysis, and then select External
131
7 Creating and Simulating Suspensions
Files.
The dialog box displays the appropriate loadcase file.
2) In the Output Prefix text box, enter modified.
3) Select the Comment tool.
4) In the Comment Text text box, enter Steering axis moved 25mm outboard.
5) Select OK.
6) Select OK again.
ADAM/Car analyzes the modified suspension and steering assembly.
132
ADAMS BASIC TRAINING and EXAMPLES
This chapter guides you through the process of building a template, creating a suspension
subsystem based on the template, and then running various analyses on the subsystem. To
build the template, you must use ADAMS/Car Template Builder.
To learn how to create templates, you create a complete MacPherson front suspension
template, as shown in Figure 8.1. You then build a suspension using the template you
created. Finally, you run kinematic and compliant suspension analyses and compare their
results.
In this section, you start the ADAMS/Car Template Builder and begin working in
template-builder mode.
Before you start ADAMS/Car Template Builder, make sure that your private configuration
file, .acar.cfg, shows that you can work in expert-user mode. Your private configuration file
133
8 Template Builder Tutorial
Before you begin to build your template, you must decide what elements are most
appropriate for your model. You must also decide which geometries seem most applicable
to each part or whether you want any geometry at all. Once you’ve decided, you create a
template and create the basic topology for it. Finally, you assemble the model for analysis.
You must create a template in which to build suspension parts. You should assign to your
template a major role as a suspension template, because a major role defines the function
the template serves for the vehicle.
To create a template:
1) Start ADAMS/Car Template Builder as explained in Starting ADAMS/Car Template
Builder.
2) From the File menu, select New.
The New Template dialog box appears.
3) In the Template Name text box, enter macpherson.
4) Verify that Major Role is set to suspension.
5) Select OK.
A gravity icon appears in the middle of the ADAMS/Car main window as shown in
Figure 18. If you don’t see a gravity icon, display the main shortcut menu by right-clicking
the main window, and selecting Toggle Icon Visibility. You can also toggle the icon
visibility on and off by placing the cursor in the main window and typing a lowercase v.
6) From the main shortcut menu, select Front Iso and Fit - All. Fit your model to view
whenever you create an entity outside the current view.
The ADAMS/Car main window should look as follows:
134
ADAMS BASIC TRAINING and EXAMPLES
You create parts in ADAMS/Car through a three-step process. First, you create hardpoints
that define key locations on the part. Then, you create the actual part. Finally, if you want,
you add geometry to your new part.
You can use one of two methods to create parts in ADAMS/Car:
■ User-entered method lets you manually enter mass properties and material type for a
part.
■ Geometry-based method lets you tell ADAMS/Car to automatically create mass
properties using the geometry and material type that you specify.
1. Creating the Control Arm
The first part you define is the control arm. You begin by building its hardpoints. You can
later modify these hardpoints to determine their effects on your vehicle.
Next, you create the control arm part and specify its coordinate system location and mass
properties.
To complete the creation of the control arm, you create geometry for it. You then define key
locations for that geometry so ADAMS/Car can calculate its mass properties. In this tutorial,
whenever you want ADAMS/Car to calculate mass properties, you select steel as the
material type.
When specifying orientations in ADAMS/Car, you can either enter Euler angles or specify
two direction vectors. In this tutorial, you will just use Euler angles with respect to the
global orientation, which is named the origo marker.
To build the hardpoints:
135
8 Template Builder Tutorial
1) From the Build menu, point to Hardpoint, and then select New.
The Create Hardpoint dialog box appears.
7) When you’re done creating the hardpoints, close the dialog box.
8) To see all six hardpoints in the main window, see figure 8.3, fit your model to view.
136
ADAMS BASIC TRAINING and EXAMPLES
ADAMS/Car creates a part coordinate system, also referred to as local part reference frame
(LPRF), at the specified location, but it doesn’t create geometry.
137
8 Template Builder Tutorial
To create the wheel carrier, you must first create three hardpoints that define the location of
the wheel carrier. You then define the wheel carrier part using these hardpoint locations.
Next, you add link geometry to the wheel carrier. When you add the link geometry, you
enter parameters that are similar to those you specified for the arm geometry, except that a
link only requires two coordinate reference points to define its geometry.
1. To create the hardpoints:
1) From the Build menu, point to Hardpoint, and then select New.
2) Create the wheel carrier hardpoints as specified in Table 8.2. Remember that you can
select Apply to execute the command but leave the dialog box open, and select OK to
execute the command and then close the dialog box.
Table 8.2 Wheel Carrier Hardpoints
138
ADAMS BASIC TRAINING and EXAMPLES
3) To display the hardpoints in the main window, toggle the icon visibility and fit your
model to view.
Note: Remember that all these hardpoints are left-side hardpoints.
2. To create the wheel carrier part:
1) From the Build menu, point to Parts, point to General Part, and then select Wizard.
2) Create the wheel carrier part as follows:
General Part Name: wheel_carrier
Geometry Type: Arm
Coordinate Reference #1: ._macpherson.ground.hpl_wheel_center
Coordinate Reference #2: ._macpherson.ground.hpl_arm_outer
Coordinate Reference #3: ._macpherson.ground.hpl_strut_lower
Thickness: 10
3) Select OK.
The wizard creates both the part and the geometry.
3. To add the wheel carrier link geometry:
1) From the Build menu, point to Geometry, point to Link, and then select New.
2) Create the wheel carrier part as follows:
Link Name: carrier_link
General Part: ._macpherson.gel_wheel_carrier
Coordinate Reference #1: ._macpherson.ground.hpl_strut_lower
Coordinate Reference #2: ._macpherson.ground.hpl_tierod_outer
Radius: 10
3) Select Calculate Mass Properties of General Part.
4) Select OK.
The template now includes the wheel carrier part and the link geometry.
In this section, you create the strut part for your suspension template. Just as you did for the
control arm, you enter the location, orientation, and mass properties for the strut part.
Because the strut geometry would not be visible from inside the damper, you don’t need to
give the strut any geometry.
To define the strut part:
1) From the Build menu, point to Parts, point to General Part, and then select New.
2) Define the strut part as follows:
General Part: strut
Location values: 0, -600, 600
Euler Angles: 0, 0, 0
Mass/Ixx/Iyy/Izz: 1
139
8 Template Builder Tutorial
3) Select OK.
You first create a hardpoint and then use it to define the damper. You then create a damper
that is defined by a property file that we provide for you. Property files define
force-displacement or force-velocity characteristics for springs, dampers, bumpstops,
reboundstops, and bushings. In this case, the property file defines the damper’s
force-velocity curve.
1. To create a hardpoint:
1) Create a hardpoint as follows:
Hardpoint Name: strut_upper
Location: 0, -600, 600
2) Select OK.
2. To create the damper:
1) From the Build menu, point to Forces, point to Damper, and then select New.
2) Create the damper as follows:
Damper Name: damper
I Part: ._macpherson.gel_wheel_carrier
J Part: ._macpherson.gel_strut
I Coordinate Reference: ._macpherson.ground.hpl_strut_lower
J Coordinate Reference: ._macpherson.ground.hpl_strut_upper
3) Select OK.
Before you define the spring, you have to create a hardpoint that defines the position of the
lower spring seat. Then, to define the spring, you must specify the following:
Two bodies between which you want the force to act.
Specific location on each body where you want the force to act.
Installed length of the spring, which will be used to derive the design preload on the
spring.
Property file, which contains the free length information, as well as the
force/deflection characteristics.
ADAMS/Car calculates the force exerted by the spring using the following equations:
C = FL - IL + DM(i,j)
Force = -k(C - DM(i,j))
where:
C is a constant.
140
ADAMS BASIC TRAINING and EXAMPLES
You first create a hardpoint and then use it to define the tie rod part.
1. To create a hardpoint:
1) Create a hardpoint with the following specifications:
141
8 Template Builder Tutorial
You create variables defining toe and camber angles. Because these variables are commonly
used for suspension analyses, ADAMS/Car creates both of them in one step.
1. To create toe and camber variables:
1) From the Build menu, point to Suspension Parameters, point to Toe/Camber Values,
and then select Set.
2) Fill in the dialog box as shown next, and then select OK.
Before you create the hub part for your template, you must create a construction frame.
Construction frames are ADAMS/Car elements that you use whenever an entity requires
that you specify an orientation in addition to a location.
You create the hub based on the construction frame, and then create geometry for the hub.
1. To create a construction frame:
1) From the Build menu, point to Construction Frame, and then select New.
2) Create a construction frame as follows:
142
ADAMS BASIC TRAINING and EXAMPLES
Now that you created all the ADAMS/Car parts, springs, and dampers, you are ready to
define attachments and parameters.
1. Defining the Translational Joint
1) From the Build menu, point to Attachments, point to Joint, and then select New.
2) Create the translational joint as follows:
143
8 Template Builder Tutorial
144
ADAMS BASIC TRAINING and EXAMPLES
145
8 Template Builder Tutorial
146
ADAMS BASIC TRAINING and EXAMPLES
147
8 Template Builder Tutorial
In this section, you create an ADAMS/Car suspension subsystem that is based on the
template you just built. You also modify some hardpoints and translate the subsystem to
ensure that ADAMS/Car correctly positions the subsystem within the assembly.
To create a subsystem:
1) From the File menu, point to New, and then select Subsystem.
148
ADAMS BASIC TRAINING and EXAMPLES
2) Fill in the dialog box as shown next, and then select OK.
To modify hardpoints:
1) From the Adjust menu, point to Hardpoint, and then select Table.
2) Modify the hardpoint values to match those listed in Table 8.3:
149
8 Template Builder Tutorial
3) Select Apply.
4) Select Cancel.
To save the subsystem:
■ From the File menu, select Save.
150
ADAMS BASIC TRAINING and EXAMPLES
This chapter teaches you how to create a full-vehicle assembly, run different types of
analyses, and view the results.
Using ADAMS/Car, you can group separate subsystems and test rigs into an assembly. This
grouping simplifies the opening and saving of subsystems.
In this section, you open an assembly that contains the subsystems for the full vehicle that
you are going to analyze. The assembly we’ve provided for you contains various
subsystems that ADAMS/Car requires to perform steering maneuvers, acceleration
maneuvers, and so on. Full-vehicle assemblies contain the following:
Front/rear suspensions
Steering subsystem
Powertrain
Brake subsystem
Front/rear tires
Rigid chassis
By default, ADAMS/Car includes a vehicle test rig in the assembly.
1. To open an assembly:
1) From the File menu, point to Open, and then select Assembly.
2) Right-click the Assembly Name text box, point to Search, and then select the
acar_shared database.
3) Double-click MDI_Demo_Vehicle.asy.
4) Select OK.
The Message window appears, informing you that ADAMS/Car is opening the
assembly.
5) When ADAMS/Car is done loading the assembly, select Close.
ADAMS/Car displays the full-vehicle assembly, which should look similar to the one
shown in Figure 21.
2. To create the Full-Vehicle assembly:
1) From the File menu, point to New, and then select Full-Vehicle Assembly.
The New Full-Vehicle Assembly dialog box appears.
2) Fill in the dialog box as shown next, and then select OK.
151
9 Creating and Simulating Full Vehicles
152
ADAMS BASIC TRAINING and EXAMPLES
Now that you opened a full-vehicle assembly, you can submit a single lane-change analysis.
1. Setting Up the Analysis
You can now specify the inputs for the full-vehicle analysis and perform a single
lanechange maneuver. A single lane-change maneuver indicates that the steering input goes
through a complete sine cycle in the amount of time you specify as the maximum steer
value parameter.
To set up the analysis:
1) From the Simulate menu, point to Full-Vehicle Analysis, point to Open-Loop
Steering Events, and then select Single Lane Change.
2) Fill in the dialog box as shown next, and then select OK.
154
ADAMS BASIC TRAINING and EXAMPLES
155
9 Creating and Simulating Full Vehicles
You use an Steady-State Cornering (SSC) analysis to evaluate your full vehicle’s understeer
and oversteer characteristics. The SSC analysis holds the turn radius constant and varies the
vehicle velocity to produce increasing amounts of lateral acceleration. A control subroutine,
CONSUB, controls the analysis and balances all the forces on the body and applies a lateral
acceleration to all model parts.
You can now specify the inputs for the full-vehicle analysis and perform a quasi-static
maneuver.
To set up the analysis:
1) From the Simulate menu, point to Full-Vehicle Analysis, point to Quasi-Static
Maneuvers, and then select Constant Radius Cornering.
2) Run an analysis with the following specifications:
Output Prefix: ssc1
Number of Steps: 30
Final Lateral Accel: .9
Turn Radius: 50
Make sure you set the units pull-down menu for the turn radius to m.
3) Select OK.
ADAMS/Car updates the properties of force entities such as dampers, springs, and bushings,
with the values specified in their property files and sets up the vehicle assembly for the
maneuver.
The number of steps for the output is directly related to the acceleration increment (that is,
acceleration increment = final lateral acceleration / number of steps). ADAMS/Car
performs a static analysis at each lateral acceleration increment. When the vehicle reaches
the specified final lateral acceleration, the maneuver ends automatically.
You now perform a baseline ISO lane-change analysis on the new assembly and then plot
and view the results. You then modify the spring and analyze the assembly again.
In an ISO lane-change analysis, the Driving Machine drives your full vehicle through a
lane-change course as described in ISO-3888: Double Lane Change. You specify the gear
position and the desired speed at which to perform the lane change. The analysis stops after
the vehicle travels 250 meters; therefore, the time to complete the return maneuver depends
on the speed that you input.
To set up the analysis:
156
ADAMS BASIC TRAINING and EXAMPLES
1) From the Simulate menu, point to Full-Vehicle Analysis, point to Course Events,
and then select ISO Lane Change.
2) Set up the analysis with the following characteristics:
Output Prefix: iso1
Initial Velocity: 100
Gear Position: 3
3) Select OK.
To change the roll angle versus lateral acceleration vehicle characteristic, modify the spring
by creating and assigning a new property file.
After you create a spring property file, assign the
newly created property file to the front and rear springs.
1. To create a new spring property file:
1) From the Tools menu, select Curve Manager.
2) From the File menu, select New.
3) Verify that Type is set to spring.
4) Select OK.
ADAMS/Car generates a plot of the spring displacement
versus force characteristic in the plot window of the Curve
Manager.
5) In the Slope text box, enter 225.
6) Make sure the extension/compressions limits are set to
-100, 100.
7) Select Apply.
ADAMS/Car modifies the spring characteristic.
8) In the Free Length text box, enter 300.
9) Select Apply.
10) From the File menu, select Save.
11) In the File text box, enter my_spring.
12) Select OK.
13) Close the Curve Manager.
ADAMS/Car returns to the main window.
2. To modify the springs:
1) In the model, right-click the front spring, ns[lr]_ride_spring, and then select Modify.
The Modify Spring dialog box loads the spring parameters in the text boxes.
2) Right-click the Property File text box and, from your default writable database, select
157
9 Creating and Simulating Full Vehicles
my_spring.spr.
3) Replace Installed Length with Preload.
4) Enter a Preload of 5500.
5) Select Apply.
ADAMS/Car assigns the new property file to the spring.
6) Repeat Steps 1 through 4 for the rear springs.
7) Select OK.
158
ADAMS BASIC TRAINING and EXAMPLES
This appendix shows the keyboard shortcuts for ADAMS/View. Keyboard shortcuts are key
combinations that access commands quickly. When you enter a keyboard shortcut, the focus
must be in the main window except when entering a keyboard shortcut that works in dialog
boxes.
File Operations
Table 1. File Operation Shortcuts
To: Select:
Edit Operations
Table 2. Edit Operation Shortcuts
To: Select:
159
Appendix A: ADAMS/View keyboard shortcuts
Display Operations
Table 3. Display Operation Shortcuts
To display: Select:
Command window F3
Coordinate window F4
Menu Builder F5
Dialog Box Builder F6
Working grid g
Plotting window (ADAMS/PostProcessor) F8
Help window F1
Viewing Operations
Table 4. Viewing Operation Shortcuts
To: Select:
160
ADAMS BASIC TRAINING and EXAMPLES
Drawing Operations
Table 5. Drawing Operation Shortcuts
161
Appendix B: ADAMS/Car keyboard shortcuts
This section shows the keyboard shortcuts for ADAMS/Car. Keyboard shortcuts are key
combinations that access commands quickly. When you enter a keyboard shortcut, the focus
must be in the main window, except when entering a keyboard shortcut that works in dialog
boxes.
File Operations
Table 1. File Operation Shortcuts
To: Select:
Edit Operations
Table 2. Edit Operation Shortcuts
To: Select:
162
ADAMS BASIC TRAINING and EXAMPLES
Display Operations
Table 3. Display Operation Shortcuts
To display: Select:
Command window F3
Coordinate window F4
Working grid g
Plotting window (in Standard Interface) F8
Help window F1
Standard Interface/Template Builder F9
Viewing Operations
Table 4. Viewing Operation Shortcuts
To: Select:
163
REFERENCES
REFERENCES
工业大学出版社, 2002
164