The 5th International Conference on

Computer Science & Education

Hefei, China. August 24–27, 2010 ThP11.31

Examples and Application of ADAMS Software in

the Mechanics of Machines Teaching
Xuyang Cao W. L. Cleghorn
School of Mechanical Engineering Faculty of Applied Science and Engineering
Dalian University of Technology University of Toronto
Dalian, Liaoning, China Toronto, ON, Canada
[email protected] [email protected]

Abstract—Mechanics of Machines is an important basic comparatively limited. Efficient teaching tools are urgently
course taught to many mechanical engineering students at the required. Secondly, the teaching of the course includes
undergraduate level. Existing challenges in Mechanics of numerous mechanical principles, most of which are difficult to
Machines are discussed and merits of applying ADAMS software understand without a practical base. Therefore, some visual
as a tool in teaching of Mechanics of Machines are analyzed in teaching methods to be used can greatly help students to
this paper. The core modules of the ADAMS software are understand the complicated principles more easily.
presented. Three representative examples of real mechanical
systems, including a linkage mechanism, a cam mechanism and a Under normal conditions, there are two basic types of
gear mechanism show the method and process of modeling with methods applied to research on mechanics of machines. One is
ADAMS software. Using its powerful function of kinematics and the graphical method, and the other is the analytical method.
dynamics analysis, and combining its post-processor module, it is Characteristic of the first one are visual images, but which have
convenient for students to visually master the working principles lower efficiency and accuracy. Used in planar mechanisms, one
of mechanisms. In the end, the effects on teaching practice with picture corresponds to only a single position of the mechanism.
the software are clarified. Characteristic of the other is the accurate calculated results.
However, due to the diversity of mechanisms and the
Index Terms—ADAMS, Mechanics of Machines, Teaching, complexity of mechanism parameters, it is quite time-
Examples
consuming to build the mathematical models and to program
I. INTRODUCTION computational procedures.
For many undergraduate students taking mechanical If making the comparative analysis between several
engineering, Mechanics of Machines is a required course. The projects of design or variation parameter analysis, this may be
course deals with the study of mechanics for a wide variety of difficult to accomplish depending on the two types of methods.
mechanical devices including linkages, gears and cams. The To a certain degree, it could even affect the enthusiasm of
objective of the course is to cultivate the students’ students.
understanding of the mechanical principles of the working of
machines. It is a significant course to edify their innovative III. MERITS OF APPLICATION OF ADAMS SOFTWARE IN
thoughts and open their potential in the field of mechanical TEACHING
design. Nowadays, ADAMS (Automatic Dynamic Analysis of
Mechanical System) simulation software is widely used in the
The ADAMS software can be used to significantly enhance
field of kinematics and dynamics analysis of mechanical
the teaching of the course Mechanics of Machines. Using the
systems. From simple to complicated mechanical system
advanced analysis functions of kinematics and dynamics, and
designs, there are many example cases of the analysis of
combining the powerful postprocessor module, three
system dynamics such as vehicles, airplanes, satellites, and
representative examples, including a linkage mechanism, a cam
even the human body. The merits of application of ADAMS
mechanism and a gear mechanism show the method and
software in Mechanics of Machines teaching are as follows:
process of modeling with ADAMS software. The merits as an
assistant tool in teaching will also be reflected in the examples. 1) Visual modeling; 3D parameterized models of
Finally, some effects on the teaching practice with the software mechanical systems can be built by using interactive graphic
will be included. environment or being transferred from other 3D CAD models.
II. EXISTING CHALLENGES IN MECHANICS OF MACHINES 2) Powerful function; analysis types involve kinematics,
TEACHING dynamics, linearity, nonlinearity, rigid body, flexible body,
hydraulic-mechanical coupling, and so on.
There are at least two challenges existing in current
teaching of Mechanics of Machines. Firstly, the status of 3) Speedy solution; with advanced numerical analysis
traditional teaching process shows that there exists much technology and powerful solver, ADAMS determines the
knowledge to teach, but the period arranged for teaching is solutions accurately and quickly.

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4) Automatic output; analysis results can be automatically Original input

exported with animations or graphs.
Component elements and dynamic characteristics of typical

¾
¾
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mechanisms in Mechanics of Machines teaching can be shown
with ADAMS software, i.e., in effect move actual industrial

Solution error
Reset simulation time or steps
Modify model
Degree of freedom?
and manufacturing operations to the classroom. Students can Į0 =0
obtain direct knowledge about actual mechanisms, and make
up for the deficiency by seeing actual systems with vivid Analysis of Analysis of
animations. kinematics or statics
dynamics
IV. BRIEF INTRODUCTION OF ADAMS
ADAMS software is made up of several core modules
including ADAMS/View, ADAMS/Solver, ADAMS/Post-
Processor, ADAMS/Control, and so on. ADAMS/View is an Solver
interactive graphic environment with the user as the center. The
software integrates simple icons, menus, and mouse click
operations with modeling, simulation, animation show, graph,
result analysis, data print, and the other functions together. Matrix singularity?
Modeling is a mode in ADAMS/View, which comprises <HV
Structure singularity?
databases of abundant geometric graphs of mechanical parts, (e.g., position
joints and constraints, as well as forces and motions. locked)
Employing Parasolid as the kernel of solid modeling,
ADAMS/View supports Boolean operations and all functions 1R
of FORTRAN/77 and FORTRAN/90.
As the simulation ‘engine’, ADAMS/Solver is a powerful
Postprocessor
numerical analysis program that automatically solves the Animation
governing equations of static, kinematic and dynamic system Graph
simulations. ADAMS/Solver has various modeling and Measure
solution options in order to accurately solve every kind of ……
engineering problem. On the one hand, analysis of statics and
kinematics requires solving a series of nonlinear algebraic
equations. ADAMS/Solver adopts correctional Newton-
Raphson iterative algorithm to solve. On the other hand, Figure 1. Elementary process of ADAMS analysis
dynamic differential equations can be solved with diverse
integral algorithms according to characteristics of a mechanical V. EXAMPLES
system. For example, a rigid system adopts a rigid integral
A. Linkage mechanism
program of variable coefficient BDF (Backwards
Differentiation Formulation), which is a PECE (Predict A linkage mechanism is a kind of widely used
Evaluate Correct Evaluate) method in which the order and step- mechanism. The Main Box of ADAMS provides modeling
size change automatically. A correctional Newton-Raphson
tool (Icon and ) for building a linkage mechanism. The
iterative algorithm is employed in every step of integration. [1-3]
operation of ‘Create Trace Spline’ as shown in Figure 2 is
Using databases of mechanical parts, joints and constraints, used by the designer to hold movement of a trace of every
forces and motions, a model of multi rigid bodies can be built point on the linkage mechanism, and to judge whether it meets
according to actual physical parameters of mechanical systems. the requirements of the design.
The elementary process of analysis with ADAMS software is
shown in Figure 1.

Figure 2. Trace spline of point

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Besides the simple 4-bar mechanism, more complicated Mechanical optimum design will be finished with the
linkage mechanisms can be rapidly built and the advanced optimum algorithm of ADAMS. For this mechanism, we
structure design can be completed. ADAMS provides the require the turning cylinder to retract firstly, causing the bucket
function of ‘Table of points’ (shown in Figure 3), in which to rotate around the joint. When the angle between the bucket
coordinate values of every key point (e.g., link points) are and horizontal plane reaches 48°, the turning cylinder stops.
input. With this function, a parametric model will be achieved. The lifting cylinder then begins to extend and drive the bucket
upward. In the process, the bucket reaches the maximum lifting
height, and we are required that the bucket be kept almost
parallel during lifting. Proper layout design of the link points
can achieve the objective. Traditional graphical method applied
to solve this mechanism design could be a troublesome trial-
and-error process. Nevertheless, adopting the optimum method
offered by ADAMS will turn to be simple. This comparatively
complicated mechanism can be solved when we set minimum
change value of bucket angle in the lifting process as the
objective function and coordinate values of link joints as the
constraint functions. Figure 5, which is automatically drawn in
ADAMS/Postprocessor, shows the convergence situation of
bucket angle change in the process of continual optimization
iterations. The final optimum result indicates that change value
Figure 3. Establishing key points in ADAMS of bucket angle in the lifting process is less than 2°. That is, the
optimized mechanism is approximately parallel moving in the
Figure 4 shows an ADAMS model of operator device of a lifting process.
wheel loader, which is a comparatively complicated 8-bar
mechanism, and can be built with ‘Table of points’. Through such a case, students will not only know the
working principles of a complicated linkage mechanism, but
also solve the actual engineering problem with advanced
application modules of ADAMS.
B. Cam mechanism
Of all kinds of machines, especially automatic machines
servomechanisms, and cam mechanisms are widely used. One
of the design difficulties of cam mechanisms is to determine
the cam profile.
For example, design a disc cam mechanism with knife edge
follower. Base circle radius r0=60mm, and known maximum
distance of follower h=40mm. Cam rotates counter-clockwise
with constant angular velocity ȁ =2/s. The follower
displacement parameters are given in Table . [4]

TABLE I. FOLLOWER MOTION

Rotation Angle Type of
Interval
of Cam Motion
Figure 4. Model of 8-bar mechanism in ADAMS Rise(cosine
1 0e~150e
acceleration)
2 150e~210e dwell
Fall(sine
3 210e~330e
acceleration)
4 330e~360e dwell
According to the design need, deduced motion equation of
displacement of the follower is provided in equation (1):
­ 6
°20(1 − cos 5 δ ) 0 ≤ δ ≤ 5π / 6
°
°h 5π / 6 ≤ δ ≤ 7π / 6
s=®
°40[2.75 − 3 δ + 1 sin(3δ − 3.5π )] 7π / 6 ≤ δ ≤ 11π / 6
° 2π 2π
°0 11π / 6 ≤ δ ≤ 2π
¯
Figure 5. Optimum result in ADAMS postprocessor (1)

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To graphically construct a disc cam profile would be an According to the difference of gear tooth structural style, gears
inefficient process. can be classified into spur gears, helical gears, herringbone
gears, bevel gears, and so on. [5]
In ADAMS, random-shape spline curve can be acquired
through building an assistant motion trace. The motion trace
only needs a motion equation. In this example, the pitch curve
can be drawn through inputting equation (2) given below in the
function builder, and the curve in ADAMS is shown in Figure
6.
S=IF(time-5/12:20*(1-cos(6/5*360d*time)),40,IF(time-7/12:
40,40,IF(time-11/12:40*(2.75-3*time+1/(2*pi)*sin(3*2*pi*
time-3.5*pi)),0,IF(time-1:0,0,0))))
(2)

Figure 6. Cam profile spline in ADAMS

Figure 8. Cam kinematic run-time curve in ADAMS

Figure 9. Spur gear mechanism constructed in Pro/E

Figure 7. Dsic cam model in ADAMS ADAMS specializes in the simulations of kinematics and
dynamics. Complicated 3D models can be built through 3D
The completed disc cam model is shown in Figure 7. In the CAD software such as Pro/E, and then imported into ADAMS.
ADAMS/Postprocessor, run-time curves of displacement, Figure 9 shows a meshing pair of spur gears assembled in
velocity and acceleration between pointing of translation bar Pro/E, which is a sort of powerful 3D CAD software.
and rotation center of cam as shown in Figure 8 are easily Parametric gear models in the same style can be built through
obtained. Through results of the postprocessor, it is possible to its Parameter and Relation module. Thus, gear models can be
judge the cam mechanism as to whether or not it meets the built rapidly.
needs of the design. Through the MECH/Pro module, the plug-in between Pro/E
C. Gear mechanism and ADAMS, Pro/E models can be totally transferred into
ADAMS software as shown in Figure 10. Add a type of ‘solid
Gears are one of the most important means of mechanical to solid’ contact analysis between two gears, and put ‘motion’
transmission. Gear mechanisms have many merits such as high on the joint of active gear (smaller one in Figure 10), and then
efficiency, stable transmission ratio, and compact structure. So, mesh state of a pair of spur gear mechanism can be simulated.
gear mechanisms are used widely and the shape of gear teeth In ADAMS/Postprocessor, the meshing force and running
need to be specified. Generally speaking, according to the stability can be measured to judge the gear mechanism as to
difference of gear tooth profiles, gears can be classified into whether or not it meets the needs of the design. If not, one can
two categories: involute tooth gears and cycloidal tooth gears.

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modify the 3D parametric model of Pro/E, and then transfer to typical mechanism models, it helps students to understand their
ADAMS to make an iterative analysis until a satisfactory result operating principles.
is achieved.
2) Using ADAMS software in Mechanics of Machines
teaching, with rather large novelty, improves original analysis
technology and method. It greatly enhances learning efficiency
with the speedy modeling function of ADAMS. Combining
vivid graphic animations, dull theory learning turns to be very
interesting.
3) ADAMS demonstration coursewares in Mechanics of
Machines teaching fully self-designed and self-produced. It is
very flexible that involved demonstrations can be renewed
optionally according to teaching needs. Change the mode of
many years of using physical models, and save much
expenditure for adding physical models.
REFERENCES
[1] ADAMS Reference Manual Version 12. Mechanical Dynamics, Inc.,
2002.
[2] ADAMS Online Documentation. Mechanical Dynamics, Inc., 2001.
[3] McConville J B, McGrath J F. Introduction to ADAMS Theory. MDI,
Figure 10: Spur gear model in ADAMS 1997.
Through the same method, other types of gear mechanism [4] http://www.docin.com
models can be built in ADAMS as well. [5] W. L. Cleghorn. Mechanics of Machines. Oxford University Press, New
York. 2005.
VI. CONCLUSIONS
1) ADAMS software possesses powerful analysis functions
of mechanical kinematics and dynamics. Through building

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