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About Parts
Overview
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 the following sections:
Types of Parts, 6
Types of Parts
ADAMS/View provides you with three different types of parts that you can create:
Rigid Bodies - Parts in your model 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. For information on purchasing ADAMS/Flex, see
your MDI sales representative, and for information on using ADAMS/Flex,
refer to the guide, Using 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.
Adding them to the ground part, which means they are fixed to the ground
and cannot move in any direction. Each time you create geometry,
ADAMS/View gives you the option to add it to ground, create a new part,
or add it to an existing part.
Adding constraints, such as joints, to define how the parts are attached and
how they move relative to each other. For more on adding constraints and
limiting the movement of parts, see Working with Joints on page 139.
Turn on the working grid so that the points snap to a grid. In addition,
ADAMS/View draws objects parallel to the current working grid so by
displaying it you can better see how your objects are being drawn. For
information on displaying the working grid, see Setting Up the Working
Grid on page 127.
Display the coordinate window so that you can view the coordinate values
as you place points. For more information, see Working with the Coordinate
Window on page 124.
Be sure to set the current units to those required for your model. See
Specifying the Type of Coordinate System on page 30.
Review the different tools for drawing and placing objects in Techniques
for Creating and Placing Objects on page 191.
10
In addition, you specify the location of the geometry in space. You can select to define
the location of the geometry:
For more tips on techniques for placing objects, see Techniques for Creating and
Placing Objects on page 191 of the guide, Learning ADAMS/View Basics.
11
12
POINT_1
The ways in which you can build parameterization into your model while creating
rigid bodies include the following:
Attach objects to points so that when you change the location of the
points, the body locations and orientations update accordingly.
As you create a point, ADAMS/View gives you the option to attach other
nearby objects to the point. The sections in this chapter that explain how to
create points also explain how to attach objects to them.
Create expressions that calculate the values of your rigid bodies, such as
the length or width of a box. You can specify expressions for any values
you specify for a rigid body geometry. For more information on creating
expressions, see the guide, Using the ADAMS/View Function Builder.
You can also parameterize your model after you build it. For more information on
parameterization, see Automating Design Changes Using Parameterization on
page 13 of the guide, Refining Model Designs in ADAMS/View.
13
14
Settings
container
15
As you create geometry, ADAMS/View provides settings that you can control when
drawing 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 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 draw the
geometry. For example, when you create a link, ADAMS/View lets you specify its
width, length, and height before drawing. 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 Main toolbox, right-click the Geometric Modeling tool stack. By
default, the Link tool
16
Creating Parts
Overview
In this chapter, youll learn how to create the different types of
parts. It contains the sections:
Merging Geometry, 62
18
Defining Points, 18
Creating Splines, 28
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 links geometry changes accordingly (For an example, see Figure 1). 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.
Note: You should not attach a parts center of mass marker to a point, however. If
19
For more information on attaching points, see Building Parameterization into Your
Model as You Create Parts on page 11. For more information on parameterizing your
model, see the guide, Refining Model Designs in ADAMS/View.
ADAMS/View assigns the point a default name. The default name is POINT followed
by a number representing the point (for example, POINT_1, POINT_2, and so on.).
After creating the point, you can modify its name and set its location using the Table
Editor. For more information on editing objects using the Table Editor, see Editing
Objects Using the Table Editor on page 401.
To quickly access the Table Editor:
1
From the Geometric Modeling tool stack, select the Point tool
20
To create a point:
1
From the Geometric Modeling tool stack or palette, select the Point tool
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. For information on
attaching objects, see Building Parameterization into Your Model as You
Create Parts on page 11.
If you selected to add the point to another part in your model, select the part.
Place the cursor where you want the point to be located and click the mouse
button.
Tips: If you want to place the point at the location of another object, right-click near
the object. ADAMS/View displays a list of objects near the cursor. Select the
object at whose location you want to place the point. ADAMS/View creates the
point at that location.
If you want to specify precise coordinates, right-click away from the object. A
dialog box for entering the location of the point appears. For information on
using the dialog box, see Entering Precise Location Coordinates on page 194
of the guide, Learning ADAMS/View Basics.
21
y
y
y
x
y
x
z
You create markers by specifying their location and orientation. You can align the
orientation of the marker with the global coordinate system, the current view
coordinate system, or a coordinate system that you define. When you define a
coordinate system, you specify one or two of its axes and ADAMS/View calculates
the other axes accordingly.
ADAMS/View assigns the marker a default name. The default name is MARKER
followed by a number representing the marker (for example, MARKER_1,
MARKER_2, and so on).
Note: You can parameterize the locations and orientations of other objects to that of
markers. For example, you can align the location of a part to be the same as a
marker regardless of how the marker moves. Unlike points, whose
parameterization is automatic, you must set up relationship of markers to
other objects. For more information on establishing parameteric relationships,
see the guide, Refining Model Designs in ADAMS/View.
22
To create a marker:
1
From the Geometric Modeling tool stack or palette, select the Marker tool
Whether you want the marker added to ground or to another part in your
model.
How you want to orient the marker. From the Orientation option menu, select
an orientation method.
If you selected to add the marker to a part, select the part to which you want to
add the marker.
Place the cursor where you want the marker to be located and click.
If you selected to orient the marker to anything other than the global or view
coordinate system, select the directions along which you want to align the
markers axes. Do this for each axis that you selected to specify.
ADAMS/View draws the marker aligning its axes as specified.
23
Line
Open polyline
Closed polyline
(polygon)
Before drawing lines or polylines, you can specify the length of the line or lines to be
created so you can quickly create perfectly sized lines and polylines. When creating a
single line, you can also specify the angle of the line. The angle you specify is relative
to the x-axis of the global coordinate system or the working grid, if it is turned on.
When you create line geometry, you can select to create a new part consisting of the
line geometry or add the line geometry to an existing part. If you create a new part, it
has no mass since it is composed of only wire geometry. You can extrude the lines
into solid geometry that has mass. For more information, see Creating Complex
Geometry on page 49.
ADAMS/View places hotpoints at the endpoint of each line segment after you draw
the objects. The hotpoints let you reshape the lines. If you create a closed polyline,
ADAMS/View maintains it as a closed polyline regardless of how you move the
hotpoints. For more information on modifying geometry using hotpoints, see Using
Hotpoints to Graphically Modify Geometry on page 80.
You can also use the line or polyline modify dialog box to more accurately place the
points that make up the line or polyline. You can also read in location points from a
file. For more information, see Using Dialog Boxes to Precisely Modify Geometry on
page 81, and Editing Locations Using the Location Table on page 102.
24
From the Geometric Modeling tool stack or palette, select the Polyline tool
Specify whether you want to create a new part composed of the geometry or
add the geometry to an existing part or ground.
Position the cursor where you want the line to begin and click.
Move the cursor in the direction you want to draw the line.
When the line is the desired length and orientation, click again to end the line.
From the Geometric Modeling tool stack or palette, select the Polyline tool
Specify whether you want to create a new part composed of the geometry or
add the geometry to an existing part or ground.
Position the cursor where you want the polyline to begin and click.
To create the first line segment, drag the cursor and click to select its
endpoint.
To add line segments to the polyline, continue dragging the cursor and
clicking.
25
To stop drawing and create the open or closed polyline, right-click. If you
selected to create a closed polyline, ADAMS/View automatically draws a line
segment between the last and first points to close the polyline. Note that
clicking the right mouse button does not create another point.
Tip:
While creating the polyline, you can remove the last line segment that you
created by clicking its endpoint. You can continue removing line segments in
the reverse order that you created them.
example shows a 60-degree angle with a starting angle of 15 degrees and an ending
angle of 75 degrees.
Figure 5. Elements of an Arc
Ending
angle
90
75
60
Center location
Radius
180
360
Starting
angle
15
26
Before you create arc geometry, you can select to create a new part consisting of the
arc geometry or add the arc geometry to an existing part or ground. If you create a new
part, it has no mass since it is composed of only wire geometry. You can extrude a
circle into solid geometry that has mass. For more information, see Creating Complex
Geometry on page 49.
To draw an arc:
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.
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.
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.
27
To draw a circle:
1
From the Geometric Modeling tool stack or palette, select the Arc tool
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.
Select Circle.
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.
28
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. ADAMS/View produces a smooth curve through the points. You can also
close the spline or leave it open. A closed spline must be composed of at least eight
points; an open spline must be composed of at least four points. Examples of closed
and open splines are shown in Figure 6.
Figure 6. Examples of Splines
y
y
z
x
z
Closed spline
Open spline
When you create spline geometry, you can select to create a new part consisting of the
spline geometry or add the spline geometry to an existing part or ground. If you create
a new part, it has no mass since it is composed of only wire geometry. You can extrude
a closed spline into solid geometry that has mass. For more information, see Creating
Complex Geometry on page 49.
ADAMS/View places hotpoints at locations on the spline as you draw it. The
hotpoints let you reshape the splines. For more information on modifying geometry
using hotpoints, see Modifying Rigid Body Geometry on page 80.
You can also modify the spline by editing the point locations directly or by changing
the curve and matrix data elements that ADAMS/View creates to support the spline.
In addition, you can change the number of segments that ADAMS/View creates
through the spline. For more information on modifying splines, see Using Dialog
Boxes to Precisely Modify Geometry on page 81.
Note: You can also create a spline in the following ways:
29
From the Geometric Modeling tool stack or palette, select the Spline tool
Specify whether you want to create a new part composed of the geometry or
add the geometry to an existing part or ground.
Place the cursor where you want to begin drawing the spline and click.
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.
Tip: If you make a mistake, click the last location you defined. You can
30
From the Geometric Modeling tool stack or palette, select the Spline tool
Specify whether you want to create a new part composed of the geometry or
add the geometry to an existing part or ground.
In the # Points text box, set how many points you want used to define the
curve or clear the selection of Spread Points and let ADAMS/View calculate
the number of points needed.
Creating a Box, 32
Creating a Cylinder, 35
Creating a Sphere, 36
Creating a Frustum, 37
Creating a Torus, 38
Creating a Link, 40
Creating a Plate, 41
Creating an Extrusion, 43
Creating a Revolution, 47
31
32
Creating a Box
A box is a three-dimensional solid block. You draw the boxs length and width in the
plane of the screen or the working grid, if it is turned on. ADAMS/View creates a solid
box with a depth that is twice that of the shortest dimension of the box
(d = 2 * min(l,h)). You can also specify the length, height, or depth of the box before
you draw it.
The box dimensions are in screen coordinates with the height up, length to the left,
and depth out of the screen or grid. Figure 7 below shows the dimensions of a box.
Figure 7. Example of a Box
Height
Length
Depth
One hotpoint appears after you draw the box. It lets you modify the length, height, and
depth of the box. For more information on modifying geometry using hotpoints, see
Using Hotpoints to Graphically Modify Geometry on page 80.
33
To create a box:
1
From the Geometric Modeling tool stack or palette, select the Box tool
Specify whether you want to create a new part composed of the geometry or
add the geometry to an existing part or ground.
Place the cursor where you want a corner of the box and click and hold down
the left mouse button.
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.
Release the mouse button when the box is the desired size.
34
When you create a plane, you can select to create a new part consisting of the plane
geometry or add the plane geometry to an existing part or ground. If you create a new
part, it has no mass since it is composed of only wire geometry.
One hotpoint appears after you draw the plane. It lets you modify the length and height
of the plane. For more information on modifying geometry using hotpoints, see Using
Hotpoints to Graphically Modify Geometry on page 80.
To create a plane:
1
From the Geometric Modeling tool stack or palette, select the Plane tool
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.
Place the cursor where you want a corner of the box and click and hold down
the left mouse button.
Release the mouse button when the box is the desired size.
35
Creating a Cylinder
A cylinder is a solid with a circular base. You draw the cylinders center line and
ADAMS/View creates the cylinder with a radius 25% of the length of the center line.
Before you draw a cylinder, you can also specify its length and radius. ADAMS/View
draws the center line of the cylinder in the plane of the screen or the working grid, if
you have it turned on.
Figure 9. Example of a Cylinder
Length
Center
point
Radius
Two hotpoints appear after you draw a cylinder. One lets you modify the length of the
cylinder and one lets you set its radius. For more information on modifying geometry
using hotpoints, see Using Hotpoints to Graphically Modify Geometry on page 80.
To create a cylinder:
1
From the Geometric Modeling tool stack or palette, select the Cylinder 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 length or radius dimensions of the cylinder in the settings
container.
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.
36
Creating a Sphere
A sphere is a solid ellipsoid whose three radii are of equal length. You draw the sphere
by indicating its center point and the radius for the three radii. Before you draw the
sphere, you can also specify the radius value for the three radii. The following figure
shows an example of a sphere and its three radii.
Figure 10. Example of a Sphere
Radii
Center
point
After you draw the sphere, three hotpoints appear on it that let you reshape the radii
of the sphere. For example, you can elongate the sphere into an ellipsoidal shape. For
more information on modifying geometry using hotpoints, see Using Dialog Boxes to
Precisely Modify Geometry on page 81.
To create a sphere:
1
From the Geometric Modeling tool stack or palette, select the Sphere 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.
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.
37
Creating a Frustum
A frustum is a cone, the top of which has been cut off. You create a frustum by
drawing its length. ADAMS/View makes the bottom radius 12.5% of the length and
makes the top radius of the frustum 50% of the radius of the base radius. Before
drawing, you can also specify its length and the radii of its bottom and top.
Figure 11. Example of a Frustum
Length
Bottom
Radius
Top
Radius
Three hotpoints appear on a frustrum after you draw it. One controls the length of the
frustum, one controls its top radius, and the other controls the bottom radius. For more
information on modifying geometry using hotpoints, see Using Hotpoints to
Graphically Modify Geometry on page 80.
To create a frustum:
1
From the Geometric Modeling tool stack or palette, select the Frustum tool
Specify whether you want to create a new part composed of the geometry or
add the geometry to an existing part or ground.
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.
38
Creating a Torus
A torus is a solid circular ring. You draw the ring from the center outward. By default,
ADAMS/View makes the radius of outer ring (minor radius) 25% of the inner ring
(major radius). You can also specify the minor and major radii before you draw.
Figure 12. Example of a Torus
Center point
Major radius
Minor radius
Two hotpoints appear on a torus after you draw it. One controls the centerline of the
torus circular shape and the other controls the radius of the circular cross section. For
more information on modifying geometry using hotpoints, see Using Hotpoints to
Graphically Modify Geometry on page 80.
39
To create a torus:
1
From the Geometric Modeling tool stack or palette, select the Torus 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.
Place the cursor where you want the center of the torus and click.
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.
40
Creating a Link
You create a link by drawing a line indicating the links length. By default,
ADAMS/View creates the link with a width that is 10% of the indicated length and a
depth that is 5% of the length. The radius of the ends of the link is equal to half the
width. Before drawing, you can also define the length, width, and depth of the link.
Figure 13. Example of a Link
Depth
Width
Length
Two hotpoints appear after you draw the link: one hotpoint lets you modify the length
of the link and the other hotpoint lets you modify the depth, width, and height. For
more information on modifying geometry using hotpoints, see Using Hotpoints to
Graphically Modify Geometry on page 80.
To create a link:
1
From the Geometric Modeling tool stack or palette, select the Link tool
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.
Place the cursor where you want to begin drawing the link and click.
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.
41
Creating a Plate
A plate is an extruded polygon solid with rounded corners. You create a plate by
indicating the location of its corners. You must select at least three locations. The first
location you select acts as an anchor point defining the position and orientation of the
plate in space. ADAMS/View creates coordinate system markers at each location. The
marker at the anchor point is called the reference marker.
After you indicate the locations, ADAMS/View creates a polygon with the specified
number of sides and extrudes it. By default, ADAMS/View creates the plate with a
depth that is 1 and has corners with radii of 1 in current length units. Before drawing,
you can also specify the thickness and radius of the corners of the plate.
Figure 14. Example of a Plate
Radius
Profile
Length
Thickness
After you draw a plate, a hotpoint appears at the reference marker. It lets you change
the depth of the plate. For more information on modifying geometry using hotpoints,
see Using Hotpoints to Graphically Modify Geometry on page 80.
You can also use the Geometry Modify Plate dialog box to change the markers used
to define the plate, the thickness of the plate, and the radius of the corners of the plate.
For more information, see Modifying Rigid Body Geometry on page 80.
42
Note: The reference marker of the plate determines the plate orientation and defines
the plane of the plate to its x and y axes. ADAMS/View defines the x and y
axes of the reference marker using the working grid, if it is turned on, or the
view screen. ADAMS/View defines the plate vertices as the component of
distance from the reference marker to the vertex marker as defined along the
reference markers y-axis. Therefore, if you choose a plate vertex marker that
is out-of-plane from the xy plane of the reference marker, the vertex marker
is not the actual plate vertex.
To create a plate:
1
From the Geometric Modeling tool stack or palette, select the Plate tool
Specify whether you want to create a new part composed of the geometry or
add the geometry to an existing part or ground.
Place the cursor where you want the first corner of the plate and click the
mouse button.
Click at each corner of the plate. You must specify at least three locations.
Note: If the distance between any two adjacent points is less than two times the
43
Creating an Extrusion
An extrusion is a three-dimensional object defined by its profile and depth. To create
an extrusion, you draw a polyline that defines the extrusions profile. ADAMS/View
extrudes the profile centered along the z-axis of the screen or working grid, if it is
turned on. You can also specify the direction along the z-axis that ADAMS/View
extrudes the profile.
Figure 15. Example of an Extrusion
Length
Whether you want a closed or open profile. If you close the profile,
ADAMS/View creates a solid shape. If you leave the profile open,
ADAMS/View creates a skin that has no mass properties.
About Center - Extrude the profile half the depth in both the +z and -z
directions.
Figure 16 on page 44 shows the three different directions in which you can
extrude a profile.
Note: You can also select Along Path, which lets you use the Extrusion tool
to
44
Forward
About Center
Backward
After you draw the extrusion, hotpoints appear at every vertex in the profile and at the
point directly opposite from where you began drawing the profile. Use the vertex
hotpoints to modify the profile of the extrusion and the opposite hotpoint to control
the depth of the extrusion. For more information on modifying geometry using
hotpoints, see Using Hotpoints to Graphically Modify Geometry on page 80.
You can also use the extrusion modify dialog box to more accurately place the points
that make up the profile. You can also read in location points from a file. For more
information, see Using Dialog Boxes to Precisely Modify Geometry on page 81, and
Editing Locations Using the Location Table on page 102.
Note: You can only select to extrude a profile whose extrusion would have the
following properties:
Same dimensions. For example, you cannot extrude a profile that would
have mixed dimensions. See Figure 17 on page 45 for an example of an
object with mixed dimensions.
No intersecting lines.
Objects with these properties are called manifold. If the object extruded did
not have these properties, it would be non-manifold. Some examples of nonmanifold objects are shown in Figures 17 and 18. The figures show the dots of
the profile that would create the extrusion.
If the result of an extrusion is an object that is non-manifold, you receive the
following error message when you try to create the extrusion:
! ERROR: Creation of the feature failed
! ERROR: The body created is non manifold.
45
46
To create an extrusion:
1
From the Geometric Modeling tool stack or palette, select the Extrusion tool
Specify whether you want to create a new part composed of the geometry or
add the geometry to an existing part or ground.
Specify the direction you want the profile to be extruded from the current
working grid. See the beginning of this section on page 43 for an
explanation of the different options.
Place the cursor where you want to begin drawing the profile of the extrusion
and click.
Click at each vertex in the profile; then right-click to finish drawing the
profile.
47
Creating a Revolution
A revolution is solid geometry created by revolving a profile. You specify the profile
and the axis about which ADAMS/View revolves the profile. You cannot use existing
construction geometry as the profile. ADAMS/View revolves the profile around the
axis in a counterclockwise direction (right-hand rule).
Figure 19. Example of a Revolution
Profile
Line
defining
axis
Direction
of revolution
You can create an open or closed revolution. If you create a closed revolution,
ADAMS/View closes the profile by drawing a line segment between the profiles first
and last points and creates a solid revolution from this profile. If you leave the
revolution open, ADAMS/View creates a skin that has no mass properties.
After you draw a revolution, hotpoints appear at the vertexes of the profile. They let
you resize and reshape the revolution. For more information on modifying geometry
using hotpoints, see Using Hotpoints to Graphically Modify Geometry on page 80.
You can also use the revolution modify dialog box to more accurately place the
vertexes of the profile and read in location points from a file. For more information,
see Using Dialog Boxes to Precisely Modify Geometry on page 81, and Editing
Locations Using the Location Table on page 102.
48
To create a revolution:
1
From the Geometric Modeling tool stack or palette, select the Revolution tool
Specify whether you want to create a new part or add the geometry to an
existing part or ground.
Click at two points that define the axis about which ADAMS/View revolves
the profile.
Click at the location of each vertex in the profile; then right-click to finish
drawing the profile.
Note: Be sure to draw the profile so that it does not intersect the line you
49
Combining Geometry, 52
From the Geometric Modeling tool stack or palette, select the Chain tool
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.
50
The geometry you extrude can be a new part or belong to another part, which you
specify when you extrude the geometry.
Refer also to the note on creating extrusions on page 44.
51
From the Geometric Modeling tool stack or palette, select the Extrude tool
In the settings container, specify the following. You can ignore all other
settings:
Specify whether you want to create a new part composed of the extruded
geometry or add the geometry to an existing part or ground.
Select the wire geometry defining the path along which you want to extrude
the geometry.
52
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. The next sections explain how to combine geometry:
Splitting a Solid, 56
53
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.
Figure 21. Example of the Union of Solids
From the Geometric Modeling tool stack or palette, select the Union tool
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.
54
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.
Figure 22. Example of the Intersection of Solids
From the Geometric Modeling tool stack or palette, select the Intersect tool
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.
55
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 from the geometry of the first part. The remaining geometry belongs to the
second part that you selected.
Figure 23. Example of Cutting a Solid
Common volume
to be removed
You cannot cut the geometry so that the remaining geometry is split into two solids.
For example, you cannot cut a block from the center of a cylinder so that two cylinders
remain after the cut as shown below.
Figure 24. Example of Cutting a Solid into Two Solids
Box to be
cut from
cylinder
If a part completely envelopes another part, you cannot cut that part from the
enveloped part because no geometry would result. For example, if a box completely
envelopes a sphere, you cannot cut the box from the sphere and leave a zero mass part.
56
From the Geometric Modeling tool stack or palette, select the Cut tool
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.
Splitting a Solid
After youve 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
57
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. The example below shows chamfered and filleted edges and
corners.
Figure 26. Chamfered and Filleted Edges and Corners
Chamfered
edges and
corner
Filleted edges
and corner
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. ADAMS/View begins creating the variable fillet using the start
radius and then slowly increases or decreases the size of the fillet until it reaches the
end radius. Using the ball analogy again, ADAMS/View starts rounding edges and
corners using one size ball and finishes using a different size.
58
Figure 27 shows a variable fillet. The end radius is three times larger than the start
radius.
Figure 27. Variable Radius Fillet Edge
Start
radius
End
radius
Note: You will get different results when you chamfer or fillet one edge at a time
than when you chamfer or fillet all edges at once. Also, you may not be able
to chamfer or fillet an edge if an adjoining edge has already been chamfered
or filleted. It depends on the complexity of the filleting or chamfering.
To create a chamfered or fillet edge:
1
From the Geometric Modeling tool stack or palette, select either of the following
tools:
If desired, for fillets, specify the radius. To create a variable fillet, also select
End Radius and enter the end radius. ADAMS/View uses the value you enter
for radius as the starting radius of the variable fillet.
Select the edges or vertices to be chamfered or filleted. The edges and vertices
must be on the same rigid body.
Right-click.
59
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.
Figure 28. Examples of Holes and Bosses
As you create a hole, you can specify its radius and depth. As you create a boss, you
can specify its radius and height.
To create a hole or boss:
1
From the Geometric Modeling tool stack or palette, select either of the following
tools:
.
.
If desired, for holes, specify the radius and depth of the hole.
Note: You cannot specify the radius and depth of a hole so that it splits
Select the face of the body on which you want to create the hole or boss.
Click the location where you want to center the hole or boss.
Tip:
60
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. You can also specify that ADAMS/View add material to the outside of the
object. In this case, ADAMS/View uses the original object as a mold. ADAMS/View
adds material of the specified thickness to the original object and then takes the
original object away leaving a shell.
The following shows two hollowed boxes. One box was hollowed from the inside; the
other box was hollowed by adding material to the outside.
Figure 29. Examples of Hollowed Boxes
61
w
h + 2t
h - 2t
l - 2t
Original box
dimensions
Box hollowed
from inside
Box hollowed
with material
added to outside
Key:
t = thickness
h = height
w = width
Note: You can hollow any object that has a face. You cannot hollow spheres,
From the Geometric Modeling tool stack or palette, select the Hollow tool
If desired, specify the thickness of the remaining shell after you hollow the
object.
If you want to add the shell to the outside of the object, clear the check box
Inside.
Select the faces of the body that you want to hollow. The Dynamic Model
Navigator highlights those faces in your body that can be selected.
62
Merging Geometry
ADAMS/View lets you merge two non-intersecting rigid body geometry into one
without performing any Boolean operations on the geometry. The geometry can
contain any type of geometry, solid, wire, or complex. The geometry can also belong
to the same part. If the geometry belongs to the different parts, ADAMS/View merges
the parts into one.
Since ADAMS/View does not perform any Boolean operations on the merged
geometries, overlapping volumes produce double-density mass in the part and change
the results of the mass property calculations. Therefore, you should use this operation
cannot combine.
only for non-intersecting rigid bodies that the Union tool
ADAMS/View merges the second geometry that you select into the first geometry
you select.
To merge two rigid body geometry:
1
From the Geometric Modeling tool stack or palette, select the Merge tool
63
geometry is rectangular.
Figure 31. Discrete Flexible Link
Part A
Flexible
attachment
Fixed attachment
Part B
Parts
Beams
For more information on beam force elements, see Adding a Massless Beam on
page 244. Also note the caution about the asymmetry of beams explained in that
section.
The following sections explain more about discrete flexible links and how you create
and modify them.
64
Solid rectangular
Solid circular
Hollow rectangular
Hollow circular
I-beam
Area and area moments of inertia (Ixx, Iyy, Izz) for the beams.
Mass, mass moments of inertia (Ixx, Iyy, Izz), and center-of-mass markers
for the rigid bodies.
Note that ADAMS/View does not directly use the geometry to account for stress on
the beam. Therefore, any stress values are based on the area and area moments.
65
If you input:
Number of segments: 2
Section: Solid rectangular
Base: 50 (along yJ)
Height: 10 (along zJ)
Ends: free-free
Markers as shown below:
J Marker
zG
y
y
z
zG
50
x
z
Marker 1
Marker 2
xG
Orientation yG
marker
xG
yG
10
I Marker
As you can see from the figure, Markers 1 and 2 define the total length of the flexible
link and the x (longitudinal) direction of the associated beam forces. ADAMS/View
creates new markers on top of Markers 1 and 2, as well as at the centers-of-mass of
the geometry associated with the discrete flexible link. For the resulting beams, the
vector from Marker 1 to Marker 2 defines the x-axis while the vector from Marker 1
to the orientation marker defines the xz-plane. The global axes are not relevant to the
orientation of the beam forces unless you erroneously specify three co-linear markers.
66
Table 1 shows how the number of beams that get created for your flexible link
depends on the number of segments and the types of endpoint attachments.
Table 1. Relationship Between Beams, Segments, and
Endpoint-Attachment Types
Types of endpoint attachments:
Free-Free
Number of segments 1
Rigid-Rigid
Number of segments 1
Free-Rigid or
Rigid-Free
Number of segments 1
Flexible-Free or
Free- Flexible
Number of segments
Flexible-Rigid or Rigid-Flexible
Number of segments
Flexible-Flexible
Number of segments + 1
For links with axisymmetric cross-sections, such as solid and hollow circular sections,
the orientation of the cross section is not critical and so ADAMS/View does not
require the use of an orientation marker.
From the Build menu, point to Flexible Bodies, and then select Discrete Flexible Link.
The Discrete Flexible Link dialog box appears.
To specify:
Do the following:
Type of
material
Number of
segments
Damping ratio
Color
In the Color text box, enter the color to be used for the
geometry in the flexible link.
To browse for a color in the Database Navigator or create
a new color, right-click the Color text box, and then select
the appropriate command.
67
68
Define the length of the link and its flexibility at its ends as explained in
Table 3.
Table 3. Length and Flexibility Options
To specify:
Do the following:
Flexibility at the
ends of the link
69
Select and define the geometry of the link or specify the area and area
moments of inertia of the flexible link as explained in Table 4 and select OK.
Table 4. Flexible Link Cross-Section Geometry Options
To create:
Solid
rectangle
Solid circle
Example:
z
y
Height
Base
cross-section.
Diameter
Hollow
rectangle
Thickness
Height
Base
70
To create:
Hollow
circle
circular shell.
Thickness - Width of the wall of the
circular shell.
I-beam
Example:
Diameter
Thickness
Flange
Height
Web
Base
71
To create:
Your own
customshaped
crosssection
Example:
z
b
y
a
Area = ab
Ixx = 1/4ab(a2 + b2)
Iyy = 1/4ab3
Izz = 1/4a3b
72
To create:
Properties
(continued)
Example:
73
74
From the Build menu, point to Point Mass, and then select either New or Modify.
If you selected Modify, the Database Navigator appears. Select a point mass
to modify. For more information on the Database Navigator, see Navigating
Through a Modeling Database on page 147 of the guide, Learning
ADAMS/View Basics.
The Create or Modify Point Mass dialog box appears. Both dialog boxes
contain the same options.
If you are creating a point mass, enter a name for the point mass.
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.
Select OK.
75
76
Trace
Cam
Set up your model so that it creates the desired motion after which you want
the spline to be fashioned.
Select a point, marker, circle, or cylinder with which to trace and then select
the part on which to trace.
You can trace on ground or any other part. For a point trace, select anywhere
on the point or part. For a circle or cylinder, however, be careful where you
select because where you select on the circle and the part determines the
resulting trace geometry. There are usually two possible traces, one on each
side of the circle or cylinder.
Replay the simulation to see the selected object follow the trace curve.
77
78
Tips: The following are some tips on creating splines from traces:
If the path is closed, you should simulate for one cycle only.
If the trace is uneven or complex, you can get a strange looking curve
as a result. As an alternative to the Create Trace Spline menu command,
you can use the Command Navigator to execute the command:
geometry create curve point_trace. It lets you create a polyline instead
of a spline, which works better if the trace is uneven or complex. In that
case, the motion of the cam or slot is transferred through the traced
curve and gives the desired follower motion.
Modifying Parts
Overview
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 the following sections:
80
Hotpoints that appear on the geometry when you select it. Hotpoints let you
graphically change the shape of the geometry.
A dialog box to enter information about the geometry, such as the location
of anchor points, its width, or its depth. In addition, some dialog boxes let
you easily edit profile point locations through a Location Editor.
81
Drag the hotpoint to the desired location and release the mouse button.
Figure 36. Examples of Resizing and Reshaping Geometry
82
Place the cursor on a part and hold down the right mouse button.
ADAMS/View displays the names of the geometry near the cursor location.
If it is a very complex part, you may need to move the cursor to different
locations on the part to see all the different types of geometry.
Lists geometry
in the part
Tip:
You can also use the Info command to view the geometry that belongs to a
part. For more information, see Viewing Modeling Information on page 171 of
the guide, Learning ADAMS/View Basics.
Place the cursor over the part containing the geometry and hold down the right
mouse button.
Point to the name of the geometry that you want to modify and then select
Modify.
The modify dialog box for the geometry appears.
Change the name of the geometry, if desired, and assign a unique ID number
to the geometry, if appropriate. The ID is an integer used to identify the
element in the ADAMS/Solver dataset (.adm) file. You only need to specify
an ID number if you are exporting the model to an ADAMS/Solver dataset,
and you want to control the numbering scheme used in the file.
Enter a positive integer or enter 0 to have ADAMS set the ID for you.
Add any comments about the geometry that you want to enter to help you
manage and identify the geometry. You can enter any alphanumeric
characters. The comments that you create appear in the information window
when you select to display information about the object, in the ADAMS/View
log file, and in a command or dataset file when you export your model to
these types of files.
To enter comments for extrusions, revolutions, lines, and polylines, select the
Comments
tool at the bottom of the dialog box. The Comments dialog box
appears. For more information, see Adding Comments to Objects on page 183
of the guide, Learning ADAMS/View Basics.
Enter the values for the geometry as explained in Tables 5, 6, and 7 and select
OK.
83
84
To modify:
Markers
85
To modify:
Markers
(continued)
86
To modify:
Markers
(continued)
Point 2
Point 1
Point 3
Plane
To define an axis and a plane, you need three points. You can
enter either two or three locations, however. If you enter three
locations, the axis points from the first location to the second and
the plane is parallel to the plane defined by the three locations. If
you enter only two locations, ADAMS/View uses the location
you specified in the Location text box as the first point and the
other two locations as the second and third points.
ADAMS/View applies the location coordinates in the coordinate
system in the Relative To text box.
By default, you direct the z-axis of the coordinate system marker
and locate the zx plane. You can use the DEFAULTS
ORIENT_AXIS_AND_PLANE AXIS_AND_PLANE_SETTING command to
change this convention. For example, selecting X_AXIS_XY_PLANE
directs the x-axis and orients the xy plane.
To modify:
Lines/
Polylines
From the option menu, select Location or Path Curve and then specify
either:
Locations to be used to define the polyline. By default, you
supply Cartesian (x, y, z) coordinates. ADAMS/View applies the
location coordinates in the coordinate system you identify using
the Relative To parameter.
button to display
To easily edit the locations, select the More
the Location Table. For more information on using the Location
Table, see Editing Locations Using the Location Table on
page 102.
A geometry object whose path defines the polyline. You can
select arcs, circles, spline curves, polylines, and outlines.
ADAMS/View extracts the values of the vertices of the path
curve and uses them to create the polyline.
87
88
To modify:
Arcs and
circles
Center Marker - Marker at the center of the arc or circle. Orient the
center marker so that its z-axis is normal to the plane of the circle or
arc.
Angle Extent
Radius or Ref Radius By Marker - Enter either the radius of the arc or
circle or enter a radius marker. If you specify a radius marker,
ADAMS/View calculates the radius of the arc or circle as the distance
from the center marker origin to the radius marker origin.
ADAMS/View stores the radius value, not the marker name. If you
later move the marker, the radius does not change.
89
To modify:
Arcs and
circles
(continued)
Chord - Closes the arc from the starting point to the ending point.
Yes - Closes the arc from the starting point to the ending point.
Figure 40. Close Options
End
Start
Chord
End
End
Start
Sector
End
Start
Start
No
Yes
90
To modify:
Splines
For both closed and open curves, there are no limits to how many and
how few segments you use (other than hardware limitations), but for
every curve there is a plateau, beyond which increasing the number
of segments does not enhance the graphics of your spline.
Values - Locations of the points that define the spline. The points are
relative to the reference marker.
button to
To edit the locations of the points, select the More
display the Location Table. For more information on using the
Location Table, see Editing Locations Using the Location Table on
page 102.
To modify:
Spline
(continued)
the spline. The marker acts as a reference coordinate system for the
coordinate values used to define the reference curve points.
mathematically define the spline. When you define the points that
make up the spline, ADAMS/View creates a curve fit through the
points.
Reference Matrix - A data element matrix that contains all the spline
point coordinates. For more information on data element matrixes,
see Using the General Method on page 347.
91
92
Specify:
Boxes
Corner Marker - A marker used to define the anchor point for the box.
Diag Corner Coords - Location of the diagonal corner from the marker
measured in the coordinate system of the corner marker.
Figure 41. Box Modify Options
Corner
marker
Diagonal corner
coordinates
Planes
Ref Marker Name - Reference marker used to locate and orient the
plane.
93
Specify:
Cylinders
Length
Radius
y
x
Center marker
Center Marker - Center marker that defines the center of base of the
cylinder.
right-hand rule) about the z-axis of the center marker. The angle
starts at the positive x-axis of the center marker and extends the arc
of the cylinder.
94
Specify:
Cylinders
(continued)
Spheres
Side Count For Body - Number of flat sides ADAMS/View draws on the
side of the cylinder. The number of sides you specify affects the
calculations ADAMS/View uses to determine a parts mass and
inertia. See Modifying Mass and Inertia for Rigid Bodies on page 108.
Center Marker - Center marker that defines the center of the ellipsoid.
95
Specify:
Frustums
Bottom
Radius
Length
= Angle of Extent
x
the center marker so that its z-axis is normal to the bottom of the
frustum and points towards the top of the frustum.
right-hand rule) about the z-axis of the center marker. The angle
starts at the positive x-axis of the center marker and extends the arc
of the frustum.
Side Count For Body - Number of flat sides ADAMS/View draws on the
side of the frustum. The number of sides you specify affects the
calculations ADAMS/View uses to determine a parts mass and
inertia. See Modifying Mass and Inertia for Rigid Bodies on page 108.
96
Specify:
Frustums
(continued)
Torus
right-hand rule) about the z-axis of the center marker. The angle
starts at the positive x-axis of the center marker and subtends the arc
of the torus.
along the spine of the torus. The number of sides you specify affects
the calculations ADAMS/View uses to determine a parts mass and
inertia. See Modifying Mass and Inertia for Rigid Bodies on page 108.
97
Specify:
Links
The options for modifying a link as explained below. The options are
also shown in the Figure 44.
Figure 44. Link Options
I marker
D ep
th
J marker
h
Widt
Width - Width of the link. The width of the link also controls the
radius of the semicircular ends (the radius is equal to one half of the
links width).
98
Specify:
Plates
Marker Name - The markers used to define the vertices of the plate.
The first marker listed is the anchor point for the plate. It is the first
point that you specified when you created the plate.
Width - Thickness of the plate measured along the z-axis of the corner
marker.
Profile Points - Locations of the points that define the profile. The
99
Specify:
Extrusions
(continued)
Path Points - Points used to define the path of the extrusion. The
Path Curve - Object used to define the path of the extrusion. You
can specify an arc, circle, spline curve, polyline, chain, or
outline. The object defines the path along which the profile
curve is extended.
Length along Z - Z-axis of the reference marker defining the
straight line along which the profile curve will be extruded.
Enter a positive length to extrude along the +z-axis.
100
Specify:
Revolutions
right-hand rule) about the z-axis of the reference marker. The angle
starts at the x-axis of the reference marker and extends the arc of the
revolution.
101
To modify:
Specify:
Holes and
Bosses
Hollows and
Shells
Thickness - Depth of the remaining shell after you hollow the object.
Chamfers
and Fillets
Radius2 - Ending radius of the fillet. You specify the end radius if
you are creating a variable blend fillet. For more information, see
Chamfering and Filleting Objects on page 57.
102
The next sections explain more about using the Location Table:
For general information on using tables in ADAMS/View, see Using Tables to Enter
Values on page 77 in the guide, Learning ADAMS/View Basics.
103
In the Set Selected text box, enter the text that you want to insert.
Resizing Columns
You can change the size of columns displayed in the Location table. You can also
resize all columns equally.
To resize a column:
1
Point to the right border of the column heading that you want to resize. The
cursor changes to a double-sided arrow.
or Narrow tool
104
Select the row above which you want to insert a new row.
Select Insert.
Select the row below which you want to insert a new row.
Select Append.
To delete a row:
1
Select Delete.
You can save the current location information in the Location Table in ASCII format.
ADAMS/View places spaces between each cell.
You can also read in location information from an ASCII file to be used as the location
of points in the associated geometry. The information must be in the same format as
numeric data that you input into ADAMS/View using the Import command. For more
information, see Importing Test Data on page 40 in the guide, Exchanging Data in
ADAMS.
Note that ADAMS/View reads the location information starting at the first line that
has numerical information. If there are headers in the file, ADAMS/View reads the
header information when you first read in the file and changes the headers in the
Location Table accordingly. It resets the headers to the default headers (X, Y, and Z),
however, the next time you open the Location Table.
To read or write in location information:
In the File Name text box, type the file name you want to open, or highlight the
file in the list.
Select OK.
Resetting Values
If you have made changes to values in a table that you would like to clear out and reset
to the current values of the object, you can reset the table.
To reset the Location Table:
Select Reset.
105
106
Initial velocities
ADAMS/View automatically calculates the total mass of the part and its inertia based
on the parts 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. You can set how you want ADAMS/View to calculate these properties as well
as define these properties yourself as explained in the next sections.
Note: You can also modify part properties using the Table Editor. For information
on using the Table Editor, see Editing Objects Using the Table Editor on
page 401.
107
Sets mass
properties
Set velocity
initial conditions
Set position
initial conditions
Set position
initial conditions
Set velocity
initial conditions
108
109
110
If you havent already done so, display the Modify Rigid Body dialog box as
explained in Accessing Modify Dialog Boxes on page 420.
From the option menu, select how you want ADAMS/View to calculate mass
and inertia, enter the appropriate values, and select OK. Refer to Table 8 for
assistance.
Table 8. Options for Mass and Inertia Properties
From the
option menu,
select:
Geometry and
Material Type
And enter:
In the Material Type text box, the type of material for the
part. ADAMS/View displays the materials composition
below the text box. ADAMS/View uses the density
associated with the material type and volume of the
geometry of the part to calculate the parts mass and
inertia.
To select a material type from the Database Navigator or
create a new material type, right-click the text box, and
then select the appropriate command. For more
information on material types, see Setting Up Materials
on page 118.
Geometry and
Density
111
From the
option menu,
select:
And enter:
User Input
Mass - In the Mass text box, enter the mass of the part.
112
Ixy = xy dm
Ixz = xz dm
Iyz = yz dm
references define these terms as the negative of these integrals. You should
be sure to compute these values as shown above.
In the Rigid Body Modify dialog box, you can enter either just the principal mass
moments of inertia (Ixx, Iyy, Izz) or enter the cross products of inertia (Ixy, Ixz, and Iyz).
You will want to enter the mass products of inertia if the inertia marker or CM marker
is not at the center of mass of the part and not aligned with the principal axes. To enter
cross products of inertia, clear the check box Off-Diagonal Terms. The Modify Rigid
Body dialog box displays text boxes for entering the cross products of inertia.
Displaying Calculated Mass Moments of Inertia
If you select to have ADAMS/View calculate the mass moments of inertia of a part
based on the parts geometry and material type or density, you can view the
mass-inertia tensor matrix that ADAMS/View calculates.
To view the matrix:
In the Modify Rigid Body dialog box, select Show calculated inertia.
If you specify initial velocities, ADAMS/View uses them as the initial velocity of the
part during assemble model operations regardless of any other forces acting on the
part. You can also leave some or all of the velocities unset. Leaving a velocity unset
lets ADAMS/View calculate the velocity of the part during an assemble operation
depending on the other forces and constraints acting on the part. Note that it is not the
same as setting the initial velocity to zero. Setting an initial velocity to zero means that
the part will not be moving in the specified direction when the simulation starts
regardless of any forces and constraints acting upon it.
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114
If the Display the Modify Rigid Body or Modify Point Mass dialog box is not
already displayed, display it as explained in Accessing Modify Dialog Boxes on
page 420.
Set translational
velocity
Set angular
velocity
115
Set the translational and angular velocity as explained in Table 9 and select
Apply.
Table 9. Options for Translational and Angular Velocity
To:
Do the following:
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117
Display the Modify Rigid Body or Modify Point Mass dialog box as explained
in Accessing Modify Dialog Boxes on page 420.
Control initial
location
coordinates
Control initial
orientation
coordinates
Select the coordinates or angles that you want fixed during assemble model
operation and select Apply.
118
Setting Up Materials
Parts have material properties, defined by their composition, such as restitution
coefficient, Young's modulus, Poissons ratio, and mass density. Part material
properties are important in determining the mass moments of inertia of a part. You can
select or modify a part material from the ADAMS/Views library of materials or you
can set up your own material type.
Table 10 shows the material properties for the standard material types in
ADAMS/View. All material types in ADAMS/View are assumed to be linearly
elastic. ADAMS/View automatically calculates the materials Shear Modulus (G)
from the Youngs Modulus (E) and Poissons Ratio () according to the equation:
E
G = --------------------2(1 + )
Table 10. Standard Material Types in ADAMS/View
The material:
Poissons
Ratio:
Density (kg/meter3):
Aluminum
7.1705E+ 10
0.33
2740.0
Cast iron
1.0E+11
0.211
7080.0
Steel
2.07E+11
0.29
7801.0
Stainless steel
1.9E+11
0.305
7750.0
Magnesium
4.48E+10
0.35
1795.0
Nickel
2.07E+11
0.291
7750.0
Glass
4.62E+10
0.245
2595.0
Brass
1.06E+11
0.324
8545.0
Copper
1.19E+11
0.326
8906.0
Lead
3.65E+10
0.425
11370
119
The material:
Poissons
Ratio:
Density (kg/meter3):
Titanium
1.0204E+11
0.3
4850.0
Tungsten
3.447E+11
0.28
19222
Wood
1.1E+10
0.33
438.0
From the Build menu, point to Materials, and then select either New or Modify.
If you selected Modify, the Database Navigator appears. Select a material type
to modify and select OK. For more information on the Database Navigator, see
Navigating Through a Modeling Database on page 147 of the guide, Learning
ADAMS/View Basics.
The Create or Modify Material dialog box appears.
Change the default name assigned to the new material type, if desired.
Enter the values for Youngs Modulus, Poissons Ratio, and mass density.
Select OK.
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All Bodies in current model to calculate the aggregate mass of all bodies in your
model.
If you selected to calculate the aggregate mass of only a selected set of parts,
select Select. A list of parts in your model appears. Select the desired parts.
To use the mouse to select a continuous set of parts, drag the mouse over the
parts that you want to select or click on one part, hold down the Shift key, and
click the last part in the set. All part between the two selected parts are
highlighted.
To use the up and down arrow keys to select a continuous set of parts, click
on the first part, hold down the Shift key, and then use the up or down arrow
to select a block of parts.
To select a noncontinuous set of parts, click on a part, hold down the Ctrl key,
and click on the individual parts that you want.
To clear any part in the selected list, hold down the Ctrl key and then click
the selected part to clear its selection.
In the Relative to text box, if desired, enter another coordinate system, with
respect to which youd like calculations to be relative. By default the
calculations are relative to the global coordinate system.
Select how you want the output displayed. You can display it in the
information window and to a file. (Note that currently, Brief Output has no
impact on the type of information displayed.)
If you want to save the results to a file, in the File Name text box, enter the name
of the file in which you want to save the information. If you want the
information written to a directory other than the one from which you are
running ADAMS/View, enter the path.
Select OK.
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122
Magnitude
x, y, and z component
Angular displacement
You can also select that ADAMS/View calculate the results relative to a reference
marker. When you select a reference marker, ADAMS/View calculates the distance
information in the coordinate system of the reference marker. If you do not specify a
reference marker, ADAMS/View calculates the distance relative to the ground part.
You can select to measure the distance at the models initial configuration (how you
built it) or at particular simulation step. You can specify a time, frame number, or a
configuration of the model. For the model configuration, you can select:
You can view the results in an information window or have ADAMS/View store the
results in a file.
Enter the marker or markers whose distance you want to calculate in the first
three text boxes.
First Marker Name - Enter the marker from which you want to measure the
distance.
Second Marker Name - Enter the marker to which you want measure the
distance.
Ref Marker Name - Enter the marker to be used as the reference marker.
Select how you want the distance information displayed. You can select all of
the following:
In a file - In the Write Result to File Name text box, enter the name of the file in
which you want to save the distance information. If you want the
information written to a directory other than the one from which you are
running ADAMS/View, include the path.
Select either:
Model Name if you want to calculate the distance based on the current
configuration of a model.
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124
Enter the options in the dialog box as explained in the table below and select
OK. As you set options, remember that you can use the pop-up menu that
appears when you hold down the right mouse button in a text box to select an
object from the screen or a list
Table 11. Model and Analysis Options
If you selected:
Do the following:
Model Name
Analysis Name
1
2
Overview
After youve 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 chapter explains the different
types of constraints and how to add them to your model. It
contains the following sections:
126
About Constraints
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. The next sections explain more about constraints.
127
Types of Constraints
ADAMS/View provides a library of constraints including:
Figure 48 shows some of the different types of idealized joints that ADAMS/View
supports.
Figure 48. Different Types of Constraints
Constant
Convel Velocity
Joint
Fixed Joint
Fixed
Cylindrical
Cylindrical Joint
Planar
Planar
Joint
128
Table 12 lists all of the idealized joints except screw, gear, and coupler
joints. It does not contain screw joints because they couple one rotational
and one translational DOF and cannot be placed in any one of the
categories in the table. The table does not contain gears and couplers
because they connect joints rather than parts.
Table 13 lists all of the joint primitives. It also shows the DOF that the joint
primitives remove when used alone or in combination with other primitives.
129
Table 15 lists motions that can be applied to the axes of parts. It places the
general point motion in all fields of the table because a general point
motion can apply motion to none, any, or all axes of a part.
Table 12. DOF Removed by Idealized Joints
0
0
(Part)
Planar
Spherical
Hooke/Universal
Constant Velocity
Cylindrical
Translational
Revolute
Fixed
130
0
1
(Part)
Perpendicular
Parallel Axes
Orientation
In Plane
In Plane +
Perpendicular
In Plane +
Parallel Axes
In Plane +
Orientation
In Line
In Line +
Perpendicular
In Line +
Parallel Axes
In Line +
Orientation
(Spherical) +
Perpendicular
(Spherical) +
Parallel Axes
(Spherical) +
Orientation
(Spherical)
0
0
(Part)
Cams
131
0
1
2
(Part)
Point Motion
Point Motion
Point Motion
Point Motion
Point Motion
Point Motion
Rotational
Joint Motion
Point Motion
Point Motion
Point Motion
Point Motion
Point Motion
Point Motion
Translational
Joint Motion
Point Motion
132
Explicitly select the parts to be connected. The first part that you select
moves relative to the second part that you select.
If you created your model in exploded view, which lets you create
individual parts and then assemble them together into a model, you can
specify the parts to be connected by the constraint and then select a
different location for the constraint on each part. When you assemble the
parts into a model, ADAMS/View joins the parts together at the location on
the first part that you selected.
When you create a constraint, ADAMS/View creates markers at the specified location
on both parts. ADAMS/View orients the markers in the direction of the axis along
which the parts can move with respect to each other. The marker on the first part is
often called the I marker and the marker on the second part is called the J marker.
Orienting Constraints
You can orient a constraint to the global coordinate system or the working grid if it is
turned on. You can also select a direction vector along which you want the constraint
oriented.
The numbers are ADAMS IDs used to identify the element in the ADAMS/Solver
dataset (.adm) file.
You can rename your constraints as desired. See Renaming Objects on page 425 for
more information.
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134
Settings
container
Joint tool stack
on Main toolbox
Joint palette
135
As you create constraints, ADAMS/View provides settings that you can control when
specifying the constraints. It provides the settings in a container at the bottom of the
palette or Main toolbox. The settings change depending on the type of constraint that
you are creating. For example, Figure 49 shows the attachment and alignment values
associated with creating a revolute joint that appear in the settings container.
You can use the settings to control how you want ADAMS/View to create the
constraints. For example, when you create a rotational motion, ADAMS/View lets
you specify its speed before creation. You can also define design variables or
expressions for these setting values.
To display the Joint palette:
From the Main toolbox, right-click the Joint or Motion tool stack.
136
Build your model by adding constraints to a few parts and testing the
constraint connections frequently. By building your model, you can more
easily pinpoint the cause of any simulation problems.
Be sure that you connect the right parts and that you correctly define which
part should move relative to another part.
If you do not define constraint directions correctly, you might not remove
DOF from the model that you intended to and, in fact, you might remove
DOF that you did not intend to.
For example, if you have a slider-crank model and you direct a translational
joint between the slider and ground so that it is out of the plane of desired
motion, the model locks up immediately when you run a simulation.
Try to find only one constraint that removes all the DOF that you need to
remove. If you define more than one constraint between two parts, you get
the union of the DOF that each constraint removes, which may not be what
you expected.
For example, if you have two concentric, cylindrical parts that you want to
allow to rotate and translate with respect to each other, and you use one
translational and one revolute joint between the parts, you lock the parts
together. They lock together because the translational joint allows no
relative rotational movement and the revolute joint allows no relative
translational movement. In this case, instead of using the two joints, you
should use a single cylindrical joint.
Use the Verify command to check the DOF in your model to make sure you
have the correct number of parts and constraints. For more information on
the Verify command, see Verifying Your Model on page 92 of the guide,
Simulating Models in ADAMS/View.
137
138
Overview
This chapter explains how to work with the two types of joints
in ADAMS/View:
140
Revolute Joints
Translational Joints
Cylindrical Joints
Spherical Joints
Planar Joints
Constant-Velocity Joints
Screw Joints
Fixed Joints
Hooke/Universal Joint
Complex joints indirectly connect parts by coupling simple joints. They include:
Couplers
Couplers
141
142
Revolute Joints
A revolute joint (shown in Figure 50) allows the rotation of one part with respect to
another part about a common axis. The revolute joint can be located anywhere along
the axis about which the joints parts can rotate with respect to each other.
The orientation of the revolute joint defines the direction of the axis about which the
joints parts can rotate with respect to each other. The rotational axis of the revolute
joint is parallel to the orientation vector and passes through the location.
You can also add friction to a revolute joint as explained in Adding Friction to Joints
on page 162.
Figure 50. Revolute Joint
Location
First part
Axis of
rotation
Second part
143
Translational Joints
A translational joint (shown in Figure 51) allows one part to translate along a vector
with respect to a another part. The parts can only translate, not rotate, with respect to
each other.
When you create a translational joint, you specify its location and orientation. The
location of a translational joint does not affect the motion of the joint. It simply
determines where ADAMS/View places the joint. The orientation of the translational
joint, however, determines the direction of the axis along which the parts can slide
with respect to each other. The direction of the motion of the translation joint is
parallel to the orientation vector and passes through the location.
You can also add friction to a translational joint as explained in Adding Friction to
Joints on page 162.
Figure 51. Translational Joint
Axis of
translation
First
part
Second
part
144
Cylindrical Joints
A cylindrical joint (shown in Figure 52) allows both relative rotation as well as
relative translation of one part with respect to another part. A cylindrical joint can be
located anywhere along the axis about which the parts can rotate or slide with respect
to each other.
The orientation of the cylindrical joint defines the direction of the axis about which
the parts can rotate or slide along with respect to each other. The rotational axis of the
cylindrical joint is parallel to the orientation vector and passes through the location.
You can also add friction to a cylindrical joint as explained in Adding Friction to Joints
on page 162.
Figure 52. Cylindrical Joint
Axis of
translation
and rotation
First part
Second part
145
Spherical Joints
A spherical joint (shown in Figure 53) allows the free rotation about a common point
of one part with respect to another part. The location of the spherical joint determines
the point about which the joints parts can pivot freely with respect to each other.
You can also add friction to a spherical joint as explained in Adding Friction to Joints
on page 162.
Figure 53. Spherical Joint
Second part
Location
First part
146
Planar Joints
A planar joint (shown in Figure 54) allows a plane on one part to slide and rotate in
the plane of another part. The location of the planar joint determines a point in space
through which the joints plane of motion passes.
The orientation vector of the planar joint is perpendicular to the joints plane of
motion. The rotational axis of the planar joint, which is normal to the joints plane of
motion, is parallel to the orientation vector.
Figure 54. Planar Joint
Normal axis
Location
First part
Second part
147
Constant-Velocity Joints
A constant-velocity joint (shown in Figure 55) allows two rotations on one part with
respect to another part, while remaining coincident and maintaining a constant
velocity through the spin axis.
You can also add friction to a constance-velocity joint as explained in Adding Friction
to Joints on page 162.
Figure 55. Constant-velocity Joint
Location
148
Screw Joints
A screw joint specifies the rotation of one part about an axis, as the part translates
along the axis with respect to a second part.
The screw joint does not require that the two parts remain parallel with respect to the
axis of rotation and translation. However, the z-axis of the coordinate system marker
on the first part and the z-axis of the coordinate system marker on the second part must
always be parallel and co-directed. Although the screw joint does not enforce this
parallelism, the chain of parts and joints that connects the two markers should.
After you create a screw joint, you need to specify the pitch value. The pitch value is
the distance from one peak on a thread of the screw to the next thread. It defines the
amount of translational displacement of the first part for every rotation of the second
part about the axis of rotation. By default, ADAMS/View sets the pitch value to 1. The
pitch value is in length units. A positive pitch creates a right-hand thread, and a
negative pitch creates a left-hand thread.
Figure 56. Screw Joint
Axisof
of
Axis
translation
Translation
and
andRotation
rotation
First
First
part
Rigid
Body
Second
Second
part
Rigid
Pitch
zi
xi
zj
Body
xj
149
Fixed Joints
A fixed joint locks two parts together so they cannot move with respect to each other.
The effect is similar to defining two parts as a single part. If you want to have the two
parts move relative to each other in a future analysis, simply delete the fixed joint and
use another type of joint.
Figure 57. Fixed Joint
First
FirstBody
Rigid
part
Second
Second
Rigid
part Body
For a fixed joint, the location and orientation of the joint often do not affect the
outcome of the simulation. In these cases, you can place the joint at a location where
the graphic icon is easily visible. However, occasionally the placement of the fixed
joint can allow force moments to become quite large depending on where you place
the joint as shown in Figure 58. In this type of case, be sure to place it where you get
the results that you want.
150
Force
No or small torque
generated at joint
Force
Hooke/Universal Joint
A hooke/universal joint (shown in Figures 59 and 60) allows the rotation of one rigid
body to be transferred to the rotation of another rigid body. This joint is particularly
useful when transferring rotational motion around corners, when you need to simulate
the non-constant velocity of a physical universal joint, or when transferring rotational
motion between two connected shafts that are permitted to bend at the connection
point (such as the drive shaft on an automobile).
The location point of the universal joint represents the connection point of the two
parts. For a hooke joint, two shaft axes leading to the cross bars identify the axes about
which the two parts are permitted to rotate with respect to each other. Note that
ADAMS/View uses rotational axes that are parallel to the rotational axes you identify
but that pass through the location point for the hooke joint. For a universal joint, the
cross bars identify the axes about which the two parts are permitted to rotate with
respect to each other.
You can also add friction to a hooke/universal joint as explained in Adding Friction to
Joints on page 162.
151
152
Second axis
Location
First axis
Second axis
First
part
Second
part
The following procedure explains how to create a simple joint. Note that this
procedure only sets the location and orientation of the joint. If you want to set the
friction of a joint, change the pitch of a screw joint, or set initial conditions for joints,
modify the joint as explained in Modifying a Simple Idealized Joint on page 155.
To create a simple idealized joint:
1
From the Joint tool stack or palette, select the joint tool representing the
idealized joint that you want to create.
How you want the joint connected to parts. You can select the following:
1 location (Bodies Implicit) - Lets you select the location of the joint and
connected by the joint and the location of the joint on each part. You
should use this option if you are working in exploded view. For more
on exploded view, see Assembling Your Model on page 102 of the
guide, Simulating Models in ADAMS/View.
For more on the effects of these options, see Connecting Constraints to Parts
on page 132.
Normal to Grid - Lets you orient the joint along the current working grid,
if it is displayed, or normal to the screen.
Pick Feature - Lets you orient the joint along a direction vector on a
153
154
Select the first part to be connected using the left mouse button. If you
selected to explicitly select the parts to be connected, select the second part in
your model using the left mouse button.
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.
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.
You can change several properties about a simple idealized joint after you create it.
The properties include:
Basic properties, such as the parts that the joint connects and the joints
type.
Note: You can also modify joint properties using the Table Editor. For more
information on editing objects using the Table Editor, see Editing Objects
Using the Table Editor on page 401.
155
156
To change the properties for a simple idealized joint, you use the Modify Joint dialog
box shown in Figure 61.
Follow the instructions in Accessing Modify Dialog Boxes on page 420 to display the
Modify Joint dialog box and follow the instructions in the next sections to modify
joint properties using the dialog box.
Figure 61. Modify Joint Dialog Box
Set basic
properties
Apply friction
to joint
Apply motion
Set initial
conditions
You can change several basic properties about a joint. These include:
Parts that the joint connects. You can also switch which part moves relative
to another part.
What type of joint it is. For example, you can change a revolute joint to a
translational joint. The following are exceptions to changing a joints type:
You can only change a simple idealized joint to another type of simple
idealized joint or to a joint primitive.
You cannot change a screw joints type nor can you change another
joint to a screw joint.
Whether or not forces that are applied to the parts connected by the joint
appear graphically on the screen during an animation. You can select to
display force graphics for either part that the joint connects. Force graphics
display an arrow in the direction of the force. The length of the arrow is
proportional to the magnitude of the force. By default, ADAMS/View turns
off all force graphics for joints. For information on setting preferences for
force graphics, see Setting Up Force Graphics on page 201 of the guide,
Simulating Models in ADAMS/View.
For a screw joint, you can also set the pitch of the threads of the screw. For
more on the pitch value, see Screw Joints on page 148.
157
158
If you havent already done so, display the Modify Joint dialog box as
explained in Accessing Modify Dialog Boxes on page 420.
If desired, in the First Body and Second Body text boxes, change the parts that
the joint connects. The part that you enter as the first body moves relative to
the part you enter as the second body.
From the Type option menu, select the type of joint to which you want to
change the current joint.
Select whether you want to display force graphics for one of the parts that the
joint connects.
Select OK, or select Apply to apply the changes but keep the dialog box
displayed so that you can change other joint properties as explained in the
next sections.
You can specify initial conditions for revolute, translational, and cylindrical joints.
ADAMS/View uses the initial conditions during an assemble model operation, which
it runs before it runs a simulation of your model.
You can specify the following initial conditions for revolute, translational, and
cylindrical joints:
159
160
If you impose initial conditions on the joint that are inconsistent with those on a part
that the joint connects, the initial conditions on the joint have precedence over those
on the part. If, however, you impose initial conditions on the joint that are inconsistent
with imparted motions on the joint, the initial conditions as specified by the motion
generator take precedence over those on the joint.
To modify initial conditions:
1
If it is not already displayed, display the Modify Joint dialog box as explained
in Accessing Modify Dialog Boxes on page 420.
3
Tip:
You can impose a motion on any of the axes (DOF) of the joint that are free to move.
For example, for a translational joint, you can apply translational motion along the zaxis. For more on point motions, see Imposing Point Motion on page 186.
Note: For translational, revolute, and cylindrical joints, you might find it easier to
use the joint motion tools to impose motion. For more information, see
Imposing Joint Motion on page 181.
To impose motion on a joint:
1
If the Modify Joint dialog box is not already displayed, display it as explained
in Accessing Modify Dialog Boxes on page 420.
Enter a name for the motion. ADAMS/View assigns a default name to the
motion.
Enter the values for the motion as explained in Table 18 on page 193, and
select OK.
161
162
You can model both static (Coulomb) and dynamic (viscous) friction in revolute,
translational, cylindrical, hooke/universal, and spherical joints.
To add friction to a joint:
1
If the Modify Joint dialog box is not already displayed, display it as explained
in Accessing Modify Dialog Boxes on page 420.
From the Modify Joint dialog box, select the Friction tool
The Joint Friction dialog box appears. The options in the dialog box change
depending on the type of joint for which you are adding friction.
3
Enter the values in the dialog box and select OK. For more information on the
values to be entered in the dialog box, see the FRICTION statement in the
guide, Using ADAMS/Solver.
You can use a gear joint to relate the motion of parts and joints. The following sections
explain more about gears:
About Gears
A gear joint (shown in Figure 62) creates a gear pair that relates the motion of three
parts and two joints using a coordinate system marker, called the common velocity
marker, to determine the point of contact. It connects two of the parts, which are called
the geared parts, by coupling together the allowable degrees of freedom in two joints.
The coupled joints are attached to the third part, called the carrier part. The joints can
be translational, revolute, or cylindrical joints. Using different combinations of joint
types and orientations, you can model many different physical gears, including spur,
helical, planetary, bevel, and rack-and-pinion.
163
164
Part A
Joint 2
Joint 1
Carrier part
Common
velocity marker
(on carrier)
When you create the joints to be geared together, you must create them so the first part
you select is a geared part and the second part is the carrier part. Therefore, the I
marker parameters of the joints must belong to the geared parts and the J marker
parameters must belong to the carrier part. In addition, the common velocity marker
must belong to the carrier part.
The gear uses the location of the common velocity marker to determine the point of
contact or mesh of the two geared parts. The direction of the z-axis of the common
velocity marker points in the direction of the common motion of the geared parts. This
is also the direction in which the gear teeth forces act.
The location of the common velocity marker is constant with respect to the carrier
part. Its location does not change when the direction of power flow through the gear
changes.
The algebraic equation that the gear joint adds to your model, in general, looks like
the following:
S 1 q1 + S 2 q2 = 0
where:
You do not explicitly define the scalar multipliers (gear ratio) when creating a gear.
Instead, ADAMS/View automatically determines the gear ratio as the distance
between the origin of the common velocity marker and the origins of the coupled
joints. The gear ratio is shown in Figure 63.
Figure 63 also shows a specific case of creating a spur gear. For this gear, the general
equation is:
a . A = b . B
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166
Joint,B
Z
Joint,A
Common
velocity marker
Creating and Modifying a Gear
When you create or modify a gear, you specify or change the two translational,
revolute, or cylindrical joints located on the carrier part and the coordinate system
marker defining the point of contact between the geared parts.
To create or modify a gear:
1
To modify a gear, display the Constraint Modify Complex Joint Gear dialog
box as explained in Accessing Modify Dialog Boxes on page 420.
Both the gear create and modify dialog boxes contain the same set of
options.
In the Gear Name text box, enter or change the name for the gear. If you are
creating a gear, ADAMS/View assigns a default name to the gear.
In the Adams Id text box, assign a unique ID number to the gear. The ID is an
integer number used to identify the gear in the ADAMS/Solver dataset. You
only need to specify an ADAMS ID if you are exporting the model to an
ADAMS/Solver dataset, and you want to control the numbering scheme used
in the file.
Enter a positive integer for the ID or enter 0 to let ADAMS set the ID for you.
In the Comments text box, add or change any comments about the gear to help
you manage and identify the gear. You can enter any alphanumeric characters.
The comments appear in the information window when you select to display
information about the gear, in the ADAMS/View log file, and in a command
or dataset file when you export your model to these types of files.
In the Joint Name text box, enter or change the two translational, revolute, or
cylindrical joints to be geared together. ADAMS/View automatically
separates the joint names with a comma (,).
In the Common Velocity Marker text box, enter or change the marker defining the
point of contact between the geared parts. You need to make sure the z-axis of
the common velocity marker points in the direction of motion of the gear teeth
that are in contact. In Figure 62 on page 164, the z-axis of the common
velocity marker is tangent to the pitch circle of the spur gears.
To create a marker, right-click the Common Velocity Marker text box, and then
select Create.
Tip: If you encounter a warning message that the gear has a suspicious
Select OK.
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A coupler joint lets you couple two or three joints together. The following sections
explain more about couplers and how to create and modify them.
A coupler joint (shown in Figure 64) creates a coupler between two or three joints. It
relates the translational and/or rotational motion of the joints through a linear scaling
of the relative motions or through non-linear relationships that you define by entering
parameters to be passed to a user-written subroutine that is linked into ADAMS/View.
Couplers are useful if your model uses belts and pulleys or chains and sprockets to
transfer motion and energy.
Figure 64. Coupler Joint
Coupler 1
Coupler 2
Joint
Joint used in
two couplers
Joint
Although you can couple only two or three joints, more than one coupler can come
from the same joint, as shown in Figure 64.
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When you create a coupler, you can only create a two-joint coupler. You select the
driver joint, the joint to which the second joint is coupled, and the coupled joint, the
joint that follows the driver joint. To specify the relationship between the driver and
the coupled joint or to create a three-joint coupler, you modify the coupler.
To create a coupler:
1
From the Joint tool stack or palette, select the Coupler tool
Select which joint is the driver joint and which are the coupled joints.
If you specify a linear relationship, enter scales for the coupled joints.
Note: You can also modify coupler properties using the Table Editor. For more
information on editing objects using the Table Editor, see Editing Objects
Using the Table Editor on page 401.
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If desired, in the Name text box, change the name of the coupler.
Select whether or not you want a three-joint coupler or a two-joint coupler and
the relationship between the joints (either linear or nonlinear).
If desired, in the Driver and Coupled text boxes, change the joints to be coupled
and, from the Freedom Type option menu, select their type.
If you have any cylindrical joints, you can specify either translational or
rotational displacement. Translational joints always have translational
displacements. Revolute joints always have rotational displacements.
If the coupler is linear, enter a scale for the second and third coupled joints.
The scales are r2 and r3 in the following equation:
delta1 + r2 * delta2 + r3 * delta3 =0
If the coupler is nonlinear, specify the user parameters to be passed to a userwritten subroutine. For more on user-written subroutines, see the guide,
Using ADAMS/Solver Subroutines.
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Note that joint primitives are only available from the Joint palette, not the Joint tool
stack on the Main toolbox.
After you create a joint primitive as explained in the next procedure, you can modify
it. You modify it just as you would modify a simple idealized joint. For more
information, see Modifying a Simple Idealized Joint on page 155.
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The primitive:
Inline
Inplane
Orientation
An example:
First part
Second part
Second
part
First part
x
y
x
Second part
x
First part
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The primitive:
Parallel axes
Perpendicular
axes
An example:
First
part
Second part
First
part
Second part
From the Joint palette, select the joint primitive tool representing the joint that
you want to create.
How you want the joint connected to parts. You can select the following:
1 Location - Bodies implicit - Lets you select the location of the joint and
connected by the joint and the location of the joint on each part. You
should use this option if you are working in exploded view. For more
on exploded view, see Assembling Your Model on page 102 of the
guide, Simulating Models in ADAMS/View.
For more on the effects of these options, see Connecting Constraints to Parts
on page 132.
Normal to Grid - Lets you orient the joint along the current working grid,
if it is displayed, or normal to the screen.
Pick Geometry Feature - Lets you orient the joint along a direction vector
If you selected to explicitly select the parts to be connected, select each part in
your model using the left mouse button.
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.
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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.
Applying Motion
Overview
A motion generator dictates the movement of a part as a
function of time. It supplies whatever force is required to make
the part satisfy the motion. For example, a translational joint
motion prescribes that a joint on a part move at 10 mm/second
in the z direction. You can apply the motion to either idealized
joints or between a pair of parts.
The following sections explain more about motions and how to
create and modify them.
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Types of Motion
ADAMS/View provides you with the following types of motion:
Point Motion - Prescribes the movement between two parts. When you
create a point motion, you specify the direction along which the motion
occurs. You can impose a point motion on any type of idealized joint, such
as a spherical or cylindrical. For more information on imposing point
motion on a joint, see Imposing Point Motion on a Joint on page 161.
Point motions enable you to build complex movements into your model
without having to add joints or invisible parts. For example, you can
represent the movement along an arc, of a ship in the ocean, or a robots
arm.
For a listing of the DOF that the motions remove, see Table 15 on page 131.
When ADAMS/View creates the motion, it uses the value you enter as the
motion function. It also converts the rotational motion speed to radians.
When you modify the motion, you can change the value or enter a function
expression or a user-written subroutine as explained next.
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The motions that you assign determine the initial displacements and
velocities of your model. For any joint that has a motion applied to it, do
not specify initial conditions that act in the same direction as the motion. If
you specify initial conditions for both the joint and the motion,
ADAMS/Solver, the analysis engine, uses the motion conditions and
ignores the initial conditions you specified for the joint.
You can define a zero motion with respect to time, which is the same as
locking two parts together.
If you defined the motion using velocity and acceleration, you cannot set a
dynamic simulation so that it uses the ABAM integrator. For more on
controlling your simulation, see Changing Solution Settings for Dynamic
Simulations on page 147 in the guide, Simulating Models in ADAMS/View.
The next sections explain how to create and modify a joint motion.
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From the Motion tool stack or the Joint palette, select the joint motion tool
representing the motion that you want to create. Select either:
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. For information on using the Function
Builder, see the guide, Using the ADAMS/View Function Builder.
Use the left mouse button to select the joint on the screen to which the motion
will be applied
Initial displacement that defines the translation of the first part in units
of length or angles relative to the second part. You can set initial
displacement on any joint motion whose magnitude is defined as
velocity or acceleration.
Initial velocity that defines the velocity of the first part with respect to
the second part in units of length or angles per unit of time. You can
set initial velocity on any joint motion whose magnitude is defined as
acceleration.
Note: You can also modify joint properties using the Table Editor. For more
information on editing objects using the Table Editor, see Editing Objects
Using the Table Editor on page 401.
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Display the Impose Joint Motion dialog box as explained in Accessing Modify
Dialog Boxes on page 420.
The Impose Joint Motion dialog box appears. The text boxes in the dialog box
change depending on the type of motion you are modifying. The following
shows the Impose Joint Motion when you are modifying a motion defined by
its velocity.
Enter the values in the dialog box as explained in Table 17, and then select OK.
Table 17. Options for Impose Joint Motion Dialog Box
To:
Do the following:
In the Joint text box, enter the new joint. The Joint
Type text box automatically updates to the selected
type of joint.
To select the joint from the screen, browse for a
joint, or create a new joint, right-click the text
box, and then select the appropriate command.
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Table 17. Options for Impose Joint Motion Dialog Box (continued)
To:
Do the following:
Function expression
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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).
When you create a point motion, you specify the parts to which the motion is to be
applied and the location and orientation of the motion. ADAMS/View creates
coordinate system markers on each part at the location of the motion. The marker that
ADAMS/View creates on the first part you select is called the moving point. It moves
or rotates relative to the marker on the second part, called the reference marker. The
z-axis of the reference marker defines the positive direction using the right-hand rule.
The next sections explain how to create and modify a point motion.
By default, ADAMS creates the point motion around or along the z-axis.
You specify the direction of the z-axis when you create the single point
motion. You can change the axis around or along which the motion is
applied.
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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:
How you want the motion applied to parts. You can select the following:
1 Location - Lets you select the location of the motion and have
2 Bodies - 1 Location - Lets you explicitly select the two parts to which
the motion is to be applied and the location of the motion.
2 Bodies - 2 Locations - Lets you explicitly select the two parts to which
the motion is to be applied and the location of the motion on each part.
You should use this option if you are working in exploded view. For
more on exploded view, see Assembling Your Model on page 102 of
the guide, Simulating Models in ADAMS/View.
For more on the effects of these options, see Connecting Constraints to Parts
on page 132.
Normal to Grid - Lets you orient the motion along the current working
Pick Geometry Feature - Lets you orient the motion along a direction
If you are creating a single point motion, specify the direction of the motion
from the Characteristic option menu and enter the speed of the motion in the
Speed text box.
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.
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.
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Initial displacement that defines the translation of the first part in units
of length relative to the second part. You can set displacements on any
point motion whose magnitude is defined as velocity or acceleration.
Initial velocity that define the velocity of the first part with respect to
the second part in units of length per unit of time. You can set initial
velocity on any point motion whose magnitude is defined as
acceleration.
The following procedure explains how to modify a single or general point motion
defined between two parts. The options available for modifying a general point
motion between two parts are also the same options available for creating a general
point motion on a joint. For information on creating a general point motion on a joint,
see Imposing Point Motion on a Joint on page 161. Also refer to Table 18 for
information on the options that you can set.
Note: You can also modify point motion using the Table Editor. For more
information on editing objects using the Table Editor, see Editing Objects
Using the Table Editor on page 401.
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If desired, in the Moving Point and Reference Point text boxes, change the
coordinate system markers that define the location and orientation of the
motion on the parts.
To select a marker from the screen, browse for a marker in the Database
Navigator, or create a marker, right-click the text box, and then select the
appropriate command.
Enter the values in the dialog box for each DOF to which you want to apply
motion to as explained in Table 18 on page 193, and then select OK.
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To:
Do the following:
Function expression
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Overview
You use forces to model elastic connections between parts,
spring and damping elements, actuation and control forces, and
many other part interactions. This chapter introduces forces
and explains how to create and modify forces. It contains the
sections:
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About Forces
Forces define loads and compliances on parts. Forces do not absolutely prohibit or
prescribe motion. Therefore, they do not add or remove degrees of freedom (DOF)
from your model. Some forces can resist motion, such as spring-dampers, and some
can try to induce motion.
ADAMS/View provides the following types of forces:
Applied forces - Applied forces are forces that define loads and
compliances on parts. Applied forces are very general, but you must supply
your own description of the force behavior by specifying a constant force
value, ADAMS/View function expression, or parameters to a user-written
subroutine that is linked into ADAMS/View.
Special forces - Special forces are forces that are commonly encountered,
such as tire and gravity forces. For more on gravity and setting gravity, see
Specifying Gravitational Force on page 40 of the guide, Learning
ADAMS/View Basics. For more information on defining tires, see the guide,
Using ADAMS/Tire.
Contacts - Specify how parts react when they come in contact with each
other when the model is in motion.
The following two sections explain in more detail how to define forces in
ADAMS/View:
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Enter values used to define stiffness and damping coefficients. In this case,
ADAMS/View automatically makes the force magnitude proportional to
the distance and velocity between two points. The coefficients represent the
proportionality constants. You specify coefficients for flexible connectors,
such as spring-dampers and beams. You can also specify these values for
applied forces.
Force functions that allow the force to depend on other forces in the
system. An example would be a Coulomb friction force that is
proportional to the normal force between two bodies.
Enter parameters that are passed to user-written subroutines that are linked
to ADAMS/View. You can enter parameters for all types of applied forces.
You can also enter parameters to a subroutine for the field flexible
connector to create a nonlinear force between two parts. For more
information on how to use subroutines to define your force magnitudes, see
the guide, Using ADAMS/Solver Subroutines.
If your force direction remains fixed with respect to some part in your model, either a
moving part or the ground part, then you can define the force using one vector
component and specify only one magnitude and direction.
If you have two or more forces whose directions always remain perpendicular to one
another (such as a normal force and a friction force), you can either define multiple
single-component forces whose directions are perpendicular or you can use a
multiple-component force element. You must define several expressions, one for each
of the force magnitudes you need.
If the direction along which you want the force applied is defined by the line between
two points in your model and is constantly changing throughout the simulation, you
only need to define one component of force along this direction and one expression
for the corresponding force magnitude.
As you define forces, ADAMS/View gives you shortcuts for defining the force
application. These shortcuts allow you to let ADAMS/View automatically create the
force definition using only a few clicks of the mouse. For example, as you create a
bushing, you can simply specify one location. ADAMS/View automatically
determines the parts which should be included. You can also specify that the force be
aligned to the coordinates of the working grid or screen or a feature of a part. Each
section of the guide that describes the force also describes how to use the shortcuts.
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Settings
container
202
As you create forces, ADAMS/View provides basic settings that you can control. It
provides the settings in a container at the bottom of the palette or Main toolbox. The
settings change depending on the type of force that you are creating. For example,
Figure 68 shows the stiffness and damping coefficients for creating a translational
spring-damper.
You can use the settings to control how you want ADAMS/View to create forces. You
can also define design variables or expressions for these setting values.
To display the Create Forces palette:
From the Main toolbox, right-click the Create Forces tool stack. By default,
the Translational Spring-Damper tool
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Fz , Tz
Fy , Ty
z
x
Fx , Tx
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Parts to which the force is applied and its direction - You can apply the
force to two parts or to one part and ground. ADAMS/View creates a
marker on each part. The first part you select is the action body and
receives the force action. The second part you select is the reaction body
and receives the force reaction. If you specify one part and ground, the
reaction force is on the ground part, and, thus, has no effect on your model.
Characteristic, which defines the magnitude of the force. You can specify:
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Single-component Force
To one movable part - You select the part, the location of the point of
application, and the direction. ADAMS/View automatically applies the
force to ground.
To two parts - You select the parts and the locations of the point of
application on each part. ADAMS/View automatically defines the direction
based on the line of sight between the two locations. The direction is
continuously updated during simulation.
FA
Point of application
Action Body
Ground
Note: You cannot use the line-of-sight method if the two points that define the
force will become coincident during a simulation because the force direction
becomes undefined. When running a simulation, ADAMS/Solver warns you
when the points become nearly coincident. The following shows an example
of a warning:
WARNING: The direction cosines for SFORCE model_1.FORCE_1 are
invalid. This is usually caused by a (nearly) zero length SFORCE or
SPRINGDAMPER.
You can ignore the warning only if the computed force is zero when the points
are coincident (for example, when you are using a BISTOP function that is
inactive when its markers are coincident). Otherwise, having coincident
points is a modeling error with unpredictable results.
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Single-Component Torque
A single-component torque applies a rotational force to either one part or two about a
specified axis. You specify the point of application and the direction. Figure 71 shows
an example of a single-component torque applied to one part.
Figure 71. Example of Single-Component Torque
Action Body
*
TA
Point of Application
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When you create a single-component force, you have three options for specifying the
number of parts affected and the direction of the force:
F1
*
F1
F1
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F1
*
F1
F1
Two bodies - Applies the single-component force to two parts that you
select, at two locations that you select. ADAMS/View defines the direction
based on the line of sight between the two locations you selected.
Figure 74. Example of Two Bodies
F1
F2
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The number of parts and the nature of the force direction. You can select the
following:
Space Fixed
Body Moving
Two Bodies
For more on the effects of these options, see Specifying Force Direction on
page 208.
Normal to Grid - Lets you orient the force normal to the current working
Pick Feature - Lets you orient the force along a direction vector on a
Custom - ADAMS/View does not set any values for you, which, in
effect, creates a force with zero magnitude. After you create the force,
you modify it by entering a function expression or parameters to a
user-written subroutine that is linked to ADAMS/View.
3
If you selected to orient the force 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 force oriented. When the direction vector
represents the desired orientation, click.
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Action body to which the force is applied. If you created the force between
two parts, you can also change the reaction body. You cannot change a
force created on one part and ground to a force created between two parts
because the direction methods are not compatible. Youll have to delete the
force and create it again.
Enter the values in the dialog box as explained in Table 19 and select OK.
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To:
Do the following:
To:
Do the following:
Function expression
From the Force Display option menu, select whether you want
to display force graphics for one of the parts, both, or none.
By default, ADAMS/View displays the force graphic on the
action body for single-component forces.
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Three-component force
Three-component torque
A multi-component force applies an action force to the first part you select, which is
called the action body. ADAMS/View automatically applies a corresponding reaction
force to the second part you select, which is called the reaction body. If you define the
force characteristics as bushing-like, ADAMS/View generates equations to represent
a linear spring-damper in the specified component directions.
To define the points of application of the multi-component force, ADAMS/View
creates a coordinate system marker for each part. The marker belonging to the action
body is the action marker, and the marker belonging to the reaction body is the
reaction marker. ADAMS/View keeps the reaction marker coincident with the action
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marker at all times. The reaction marker is often referred to as a floating marker
because its location is not fixed relative to the body to which it belongs. Action and
reaction markers are also referred to as I and J markers.
ADAMS/View also creates a third coordinate system marker called a reference (R)
marker that indicates the direction of the force. You define the orientation of the
reference marker when you create a multi-component force. You can align the marker
to the working grid, if it is turned on, or to the global coordinate system. You can also
orient the marker using any feature in your model, such as along an edge of a part.
Figure 75 illustrates the movement of reaction forces and the placement of the
reference marker. The figure shows a ball bouncing on a board. As the ball bounces,
its location changes relative to the board. The reaction forces applied to the board also
change location because the reaction (J) marker moves with the ball. The reaction
forces applied to the board do not change direction because the reference (R) marker
belongs to the stationary board.
Figure 75. Example of Action and Reaction Force Movement
Fa (applied
to action body)
Reference
marker
Action
body
Reaction
body
Action and
reaction markers
coincident
Tip:
Fr (applied
to reaction body)
You can use the Info command to see the markers that ADAMS/View creates
for a multi-component force. You can also see the markers when you modify
the force. For more information on the Info command, see Viewing Modeling
Information on page 171 of the guide, Learning ADAMS/View Basics.
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The following sections explain how ADAMS/View calculates the total force and/or
torque of a multi-component force:
For a six-component general force and a three-component force, the total force that
ADAMS/Solver, the analysis engine, supplies is the vector sum of the individual force
components that you specify. Its magnitude is the square root of the sum of the squares
of the three mutually-orthogonal force components:
F a = FX x rm + FY y rm + FZ z rm
where:
x-component.
y-component.
z component.
where F r is the reaction force applied to the reaction body. If you apply the force to
a part and ground, ADAMS/Solver does not calculate the reaction forces.
where:
where T r is the reaction torque applied to the reaction body. If you apply the torque
to a part and ground, ADAMS/Solver does not calculate the reaction torques.
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1 Location - Lets you select the location of the force and have
2 Bodies - 1 Location - Lets you select the two parts to which the force will be
applied and the common point of application on each part. The first part
you select is the action body; the second part is the reaction body.
2 Bodies - 2 Locations - Lets you select the two parts to which the force is
applied and a different location for the force on each part. If the markers
defining the locations of the forces are not coincident and aligned, the
forces may be non-zero at the beginning of the simulation.
Table 20 summarizes the bodies and locations you specify as you create a force.
Table 20. Comparison of Methods
The method:
Tip:
Number of bodies:
Number of points:
1 Location
2 Bodies - 1 Location
2 Bodies - 2 Locations
To precisely orient your force, first orient the working grid so its x-, y-, and
z-axes align with the desired force axes. Then, use the Normal To Grid
orientation method when you create the force. For more information on the
working grid, see Setting the Location and Orientation of the Working Grid on
page 133 of the guide, Learning ADAMS/View Basics.
From the Create Forces tool stack or palette, select the tool representing the
multi-component force that you want to create. Select:
The method you want to use to define the bodies and force-application
points. You can select the following:
1 location
2 bodies - 1 location
2 bodies - 2 locations
Normal to Grid - Lets you orient the force using the x-, y-, and z-axes of
the current working grid, if it is displayed, or using the x-, y-, and
z-axes of the screen.
Pick Feature - Lets you orient the force along direction vectors on
features in your model, such as the face of a part. The direction vectors
you select define the x- and y-axes; ADAMS/view calculates the
z-axis automatically.
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Custom - ADAMS/View does not set any values for you. After you
If you selected to orient the force along direction vectors using features, 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 x-axis orientation and then click again for the y-axis
orientation.
Action and reaction body to which the force is applied or the action and
reaction markers.
Reference marker.
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Options available
depend on number
and type of force
components
Enter the values in the dialog box as explained in Table 21, and then select OK.
To:
Do the following:
From the Force Display option menu, select whether you want
to display force graphics for one of the parts, both, or none.
By default, ADAMS/View displays force graphics for the
action body.
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The following constitutive equations define how ADAMS/View uses the data for a
linear bushing to apply a force and a torque to the action body depending on the
displacement and velocity of the I marker on the action body relative to the J marker
on the reaction body.
Fx
K 11 0
0 K 22 0
0 K 33 0
0 K 44 0
Ty
0 K 55 0
Tz
0 K 66 c
C 11 0
Vx
F1
0 C 22 0
Vy
F2
0 C 33 0
Vz
0 C 44 0
T1
0 C 55 0
T2
0 C 66 z
T3
Fy
Fz
Tx
F3
Note: A bushing has the same constitutive relation form as a field element. The
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where:
Fx, Fy, and Fz are measure numbers of the translational force components in
F1, F2, and F3 are measure numbers of any constant preload force
Tx, Ty, and Tz are rotational force components in the coordinate system of
the J marker.
T1, T2, and T3 are measure numbers of any constant preload torque
The bushing element applies an equilibrating force and torque to the J marker in the
following way:
Fj = - F i
T j = - T i - Fi
is the instantaneous deformation vector from the J marker to the I marker. While the
force at the J marker is equal and opposite to the force at the I marker, the torque at
the J marker is usually not equal to the torque at the I marker because of the moment
arm due to the deformation of the bushing element.
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Note: For the rotational constitutive equations to be accurate, at least two of the
rotations (a, b, c) must be small. That is, two of the three values must remain
smaller than 10 degrees. In addition, if a becomes greater than 90 degrees, b
becomes erratic. If b becomes greater than 90 degrees, a becomes erratic.
Only c can become greater than 90 degrees without causing convergence
problems. For these reasons, it is best to define your bushing such that angles
a and b remain small (not a and c and not b and c).
Creating a Bushing
To create a bushing:
1
From the Create Forces tool stack or palette, select the Bushing tool
How you want the force applied to parts. You can select the following:
1 location
2 bodies - 1 location
2 bodies - 2 locations
Normal to Grid - Lets you orient the force using the x-, y-, and z-axes of
the current working grid, if it is displayed, or using the x-, y-, and
z-axes of the screen.
Pick Feature - Lets you orient the force along a direction vector on a
feature in your model, such as the face of a part. The direction vector
you select defines the z-axis for the force; ADAMS/View calculates
the x- and y-axes automatically.
The translational and rotational stiffness and damping properties for the
bushing.
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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.
Modifying a Bushing
To modify a bushing:
1
Enter the values in the dialog box as explained in Table 22 and select OK.
Table 22. Options for Modifying Bushing
To:
Do the following:
forces.
To select a part from the screen or browse for a part in the
Database Navigator, right-click the text box, and then select the
appropriate command.
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To:
Do the following:
Change the
properties of
the force
Do the following:
For the translational force applied by the bushing, enter:
Set force
graphics
From the Force Display option menu, select whether you want to
display force graphics for one of the parts, both, or none.
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positive
F A> 0
*
Action
Body
Reaction
Body
FR = - FA
You can specify the damping and stiffness values as coefficients or use a spline to
define the relationship of damping to velocity or stiffness to displacement. You can
also set the stiffness value to 0 to create a pure damper or set the damping value to 0
to create a pure spring.
You can also set the length of the spring-damper when it is in its preloaded state and
any preload forces on the spring. By default, ADAMS/View uses the length of the
spring-damper when you create it as its preload length.
The next sections explain more about creating and modifying spring-dampers.
234
where:
r is the distance between the two locations that define the spring damper.
dr/dt is the relative velocity of the locations along the line-of-sight between
them.
Creating a Spring-Damper
You add a translational spring-damper to your model by defining the locations on two
parts between which the spring-damper acts. You define the action force that is
applied to the first location, and ADAMS/Solver, the analysis engine, automatically
applies the equal and opposite reaction force to the second location.
To create a spring-damper:
1
From the Create Forces palette or tool stack, select the Translational Spring-Damper
tool
If desired, enter stiffness (K) and damping (C) coefficients in the Settings
container.
Select a location for the spring-damper on the first part. This is the action
body.
Select a location for the spring-damper on the second part. This is the reaction
body.
Modifying a Spring-Damper
Stiffness and damping values, including specifying a spline that defines the
relationship of stiffness to displacement. For more information on defining
splines, see Creating Data Element Splines on page 332.
Preload values.
Spring and damper graphics - You can specify that spring and
damper graphics are always on, always off, or on whenever you have
defined a spring or damping coefficient.
Force graphics - You can select to display force graphics for either
part to which the force is applied. Force graphics display an arrow in
the direction of the force. The length of the arrow is proportional to the
magnitude of the force. By default, ADAMS/View turns on force
graphics for the action body. For information on setting preferences
for force graphics, see Setting Up Force Graphics on page 201 of the
guide, Simulating Models in ADAMS/View.
To modify a spring-damper:
1
In the Action Body and Reaction Body text boxes, change the parts to which the
spring-damper force is applied, if desired.
Enter values for stiffness and damping as explained in Table 23 on page 236,
and then select OK.
235
236
To set:
Stiffness
Do the following:
237
To set:
Do the following:
Do the following:
In the Preload text box, enter the preload force
for the spring-damper. Preload force is the force
of the spring-damper in its unloaded (preload)
position.
Tip:
Set graphics
238
239
ADAMS/Solver automatically computes the terms da/dt and a. The term a is the angle
between the x axes of the I and the J markers. ADAMS/Solver takes into account the
total number of complete turns.
Figure 77. Rotational Displacement About Two Markers
Y j
Y
i
X i
X
j
Z i
Z j
You can specify the damping and stiffness values as coefficients or use a spline to
define the relationship of damping to velocity or stiffness to displacement. You can
also set the stiffness value to 0 to create a pure damper or set the damping values to 0
to create a pure spring. For more information on defining splines, see Creating Data
Element Splines on page 332.
You can also set the rotation angle of the torsion spring when it is in its preload state
and any preload forces on the spring. By default, ADAMS/View uses the rotation
angle of the torsion spring when you create it as its preload angle.
Caution: By its definition a beam is asymmetric. Holding the J marker fixed and
deflecting the I marker produces different results than holding the I marker
fixed and deflecting the J marker by the same amount. This asymmetry
occurs because the coordinate system frame that the deflection of the beam
is measured in moves with the J marker.
240
From the Create Forces palette or tool stack, select the Torsion Spring tool
How you want the force applied to parts. You can select the following:
1 location
2 bodies - 1 location
2 bodies - 2 locations
Normal to Grid - Lets you orient the force along the x-, y-, and z-axes of
the current working grid, if it is displayed, or along the x-, y-, and
z-axes of the screen.
Pick Feature - Lets you orient the force along a direction vector on a
feature in your model, such as the face of a part. The direction vector
you select defines the z-axis for the force; ADAMS/View
automatically calculates the x- and y-axes.
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.
Stiffness and damping values, including specifying a spline that defines the
relationship of stiffness to displacement. For more information on defining
splines, see Creating Data Element Splines on page 332.
Preload values.
Whether or not force graphics appear. You can select to display force
graphics for either part to which the force is applied. Force graphics display
an arrow in the direction of the force. The length of the arrow is
proportional to the magnitude of the force. By default, ADAMS/View turns
on force graphics for the action body. For information on setting
preferences for force graphics, see Setting Up Force Graphics on page 201
of the guide, Simulating Models in ADAMS/View.
In the Action Body and Reaction Body text boxes, change the parts to which the
torsion spring is applied, if desired.
Enter values for stiffness and damping as explained in Table 24 on page 242,
and then select OK.
241
242
To set:
Stiffness
Do the following:
243
To set:
Do the following:
Do the following:
In the Preload text box, enter the preload force
for the torsion spring. Preload force is the force
of the torsion spring in its preload position.
Set graphics
244
About Beams
A beam creates a linear translational and rotational force between two locations that
define the endpoints of the beam. It creates coordinate system markers at each
endpoint. The marker on the action body, the first part you select, is the I marker. The
marker on the reaction body, the second part you select, is the J marker. The forces
the beam produces are linearly dependent on the relative displacements and velocities
of the markers at the beams endpoints.
Figure 78 shows the two markers (I and J) that define the endpoints of the beam and
245
s8
s11
s10
s2
s7
s12
s5
s9
J
s1
s4
s6
s3
z
L
The x-axis of the J marker defines the centroidal axis of the beam. The y-axis and
z-axis of the J marker are the principal axes of the cross section. They are
perpendicular to the x-axis and to each other. When the beam is in an undeflected
position, the I marker has the same angular orientation as the J marker, and the
I marker lies on the x-axis of the J marker. ADAMS/View applies the following
forces in response to the translational and the rotational deflections of the I marker
with respect to the J marker:
Bending moments about the y-axis and z-axis (s5, s6, s11, and s12)
Note: You can use a field element instead of a beam to define a beam with
characteristics unlike those that the beam assumes. For example, a field
element can define a beam with a non-uniform cross section or a beam with
nonlinear material characteristics. (For more information, see Adding a Field
Element on page 255.)
246
The following constitutive equations define how ADAMS/Solver uses the data for a
linear field to apply a force and a torque to the I marker on the action body. The force
and torque it applies depends on the displacement and velocity of the I marker relative
to the J marker on the reaction body. The constitutive equations are analogous to those
in the finite element method.
Fx
K 11 0
Fy
Fz
0 K 22 0
0 K 26
xL
y
0 K 33 0 K 35 0
0 K 44 0
Ty
K 53
0 K 55 0
Tz
K 62
Tx
0 K 66
C 11 C 21 C 31 C 41 C 51 C 61 Vx
C 21 C 22 C 32 C 42 C 52 C 62 V y
C 31 C 32 C 33 C 43 C 53 C 63 V z
C 41 C 42 C 43 C 44 C 54 C 64 x
C 51 C 52 C 53 C 54 C 55 C 65 y
C 61 C 62 C 63 C 64 C 65 C 66
z
where:
Fx, Fy, and Fz are the measure numbers of the translational force
Tx, Ty, and Tz are the rotational force components in the coordinate system
of the J marker.
respect to the J marker as expressed in the x-, y-, and z-axis, respectively, of
the J marker.
x, y, and z are the measure numbers of the angular velocity of the I
marker as seen by the J marker, expressed in the J marker coordinate
system.
Note that both matrixes, Cij and Kij, are symmetric, that is, Cij=Cji and Kij=Kji. You
define the twenty-one unique damping coefficients when you modify the beam.
ADAMS/Solver defines each Kij in the following way:
K11 = E A / L
K22 = 12 E Izz /[L3 (1+Py)]
K
= G Ixx / L
26
33
35
44
55
66
where:
ASY = Correction factor (shear area ratio) for shear deflection in the y
ASZ = Shear area ratio for shear deflection in the z direction for
Timoshenko beams.
247
248
L is the instantaneous displacement vector from the J marker to the I marker. While
the force at the J marker is equal and opposite to the force at the I marker, the torque
is usually not equal and opposite, because of the force transfer.
Creating a Beam
To create a beam:
1
From the Create Forces palette or tool stack, select the Massless Beam tool
Select a location for the beam on the first part. This is the action body.
Select a location for the beam on the second part. This is the reaction body.
Select the direction in the upward (y) direction for the cross-section geometry.
Modifying a Beam
To modify a beam:
1
Display the Force Modify Element Like Beam dialog box as explained in
Accessing Modify Dialog Boxes on page 420.
Change the name of the beam, if desired, and assign a unique ID number to
the beam. The ID is an integer used to identify the element in the
ADAMS/Solver dataset (.adm) file. You only need to specify an ID number if
you are exporting the model to an ADAMS/Solver dataset, and you want to
control the numbering scheme used in the file.
Enter a positive integer or enter 0 to have ADAMS set the ID number for you.
Enter any comments about the beam that might help you manage and identify
the beam. You can enter any alphanumeric characters. The comments that you
create appear in the information window when you select to display
information about the object, in the ADAMS/View log file, and in a command
or dataset file when you export your model to these types of files.
Enter values for the beam properties as explained in Table 25 on page 250,
and then select OK.
249
250
To set:
Do the following:
Area moments of
inertia
251
To set:
Do the following:
y
Q
------ dA
lz
2
where:
Qy is the first moment of cross-sectional area
to be sheared by a force in the z direction.
lz is the cross section dimension in the
z direction.
For the z direction:
A
Z = ----2
Iz
z
Q
------ dA
ly
where:
Qz is the first moment of cross-sectional area
to be sheared by a force in the y direction.
ly is the cross section dimension in the
y direction.
Common values for shear area ratio based on the
type of cross section are:
Solid rectangular - 6/5
Solid circular - 10/9
Thin wall hollow circular - 2
252
To set:
Do the following:
253
To set:
Do the following:
Damping ratio or
damping matrix
r01
r02
r03
r04
r05
r06
r07
r08
r09
r10
r11
r12
r13
r14
r15
r16
r17
r18
r19
r20
r21
254
To set:
Do the following:
The following sections explain more about field elements and how to create and edit
them.
255
256
The following constitutive equations define how ADAMS/Solver uses the data for a
linear field to apply a force and a torque to the I marker depending on the displacement
and velocity of the I marker relative to the J marker.
Fx
K 11 K 12 K 13 K 14 K 15 K 16 x x 0
Fy
K 21 K 22 K 23 K 24 K 25 K 26 y y 0
Fz
Tx
K 31 K 32 K 33 K 34 K 35 K 36 z z 0
K 41 K 42 K 43 K 44 K 45 K 46 a a 0
Ty
K 51 K 52 K 53 K 54 K 55 K 56 b b 0
Tz
K 61 K 62 K 63 K 64 K 65 K 66 c c 0
C 11 C 12 C 13 C 14 C 15 C 16 Vx
F1
C 21 C 22 C 23 C 24 C 25 C 26 V y
F2
C 31 C 32 C 33 C 34 C 35 C 36 V z
C 41 C 42 C 43 C 44 C 45 C 46 x
F3
T1
C 51 C 52 C 53 C 54 C 55 C 56 y
T2
C 61 C 62 C 63 C 64 C 65 C 66 z
T3
For a nonlinear field, the following constitutive equations are defined in the FIESUB
subroutine:
Fx=f1(x,y,z,a,b,c,Vx,Vy,Vz, a , b , c )
Fy=f2(x,y,z,a,b,c,Vx,Vy,Vz, a , b , c )
Fz=f3(x,y,z,a,b,c,Vx,Vy,Vz, a , b , c )
Tx=f4(x,y,z,a,b,c,Vx,Vy,Vz, a , b , c )
Ty=f5(x,y,z,a,b,c,Vx,Vy,Vz, a , b , c )
Tz=f6(x,y,z,a,b,c,Vx,Vy,Vz, a , b , c )
ADAMS/Solver applies the defined forces and torques at the I marker. In the linear
and nonlinear equations:
Fx, Fy, and Fz are the three translational force measure numbers.
Tx, Ty, and Tz are the three rotational force measure numbers associated
with unit vectors directed along the x-, y-, and z-axes of the J marker.
x0, y0, z0, a0, b0, and c0 are the free lengths.
the I marker with respect to the J marker expressed in the coordinate system
of the J marker.
Vx, Vy, and Vz are the scalar time derivatives of x, y, and z, respectively.
F1, F2, F3, T1, T2, and T3 are the translational and rotational pre-tensions.
257
258
When you create a field element, you define the location of the force element.
ADAMS/View creates I and J markers defining the location and direction of the field.
To define other properties of the field element, such as its damping values, you must
modify the field.
To create a field:
1
From the Create Forces palette or tool stack, select the Field Element tool
How you want the force applied to parts. You can select the following:
1 Location
2 Bodies - 1 Location
2 Bodies - 2 Locations
Normal to Grid - Lets you orient the force using the x-, y-, and z-axes of
the current working grid, if it is displayed, or using the x-, y-, and
z-axes of the screen.
Pick Feature - Lets you orient the force along a direction vector on a
feature in your model, such as the face of a part. The direction vector
you select defines the z-axis for the force; ADAMS/View calculates
the x- and y-axes automatically.
3
If you selected to orient the force along a direction vector on 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. When the direction vector
shows the correct z-axis orientation, click.
After youve created a field element, you can modify it to define a linear or nonlinear
force.
To modify a field element:
1
Display the Force Modify Element Like Field dialog box as explained in
Accessing Modify Dialog Boxes on page 420.
Change the name of the field element, if desired, and assign a unique ID
number to the field. The ID is an integer used to identify the element in the
ADAMS/Solver dataset (.adm) file. You only need to specify an ID number if
you are exporting the model to an ADAMS/Solver dataset, and you want to
control the numbering scheme used in the file.
Enter a positive integer or enter 0 to have ADAMS set the ID number for you.
Enter any comments about the field that might help you manage and identify
the field. You can enter any alphanumeric characters. The comments that you
create appear in the information window when you select to display
information about the object, in the ADAMS/View log file, and in a command
or dataset file when you export your model to these types of files.
Enter values for the field properties as explained in Table 26 on page 260, and
then select OK.
259
260
To set:
Do the following:
Translational and
rotational preload of
field
261
To set:
Do the following:
Force preload or
parameters to a
user-written
subroutine
262
To set:
Do the following:
Stiffness matrix
r7
r 13 r 19 r 25 r 31
r2
r8
r 14 r 20 r 26 r 32
r3
r9
r 15 r 21 r 27 r 33
r 4 r 10 r 16 r 22 r 28 r 34
r 5 r 11 r 17 r 23 r 29 r 35
r 6 r 12 r 18 r 24 r 30 r 36
Enter the elements by columns from top to bottom,
then from left to right. The units for the translational
and rotational components of stiffness matrix
should be force per unit displacement and torque per
radian, respectively.
Tip:
263
To set:
Do the following:
Damping
coefficients
r7
r 13 r 19 r 25 r 31
r2
r8
r 14 r 20 r 26 r 32
r3
r9
r 15 r 21 r 27 r 33
r 4 r 10 r 16 r 22 r 28 r 34
r 5 r 11 r 17 r 23 r 29 r 35
r 6 r 12 r 18 r 24 r 30 r 36
Tip:
264
The three rotational displacements (a, b, and c) that define the field are not
Euler angles. They are the projected angles of the I marker with respect to
the J marker. ADAMS/Solver measures them about the x-, y-, and z-axis of
the J marker.
Reference and scale a load case defined in the flexible bodys modal load
matrix. This option can only be used in ADAMS/View on flexible bodies
that have been built with modal neutral file (MNF) that contains modal load
case information. For more information on flexible bodies, their modal load
matrix, and how to generate modal load case information in a modal neutral
file, see Creating Load Case Files on page 175 in the guide, Using
ADAMS/Flex.
More than one modal forces can be defined on a flexible body. For each modal force
defined on a flexible body a modal force icon appears at its local part reference frame.
You can transfer modal forces from one flexible body to another.
265
266
From the Main toolbox, from the Create Forces tool stack, select the Modal Force
tool
Do the following:
267
Do the following:
268
Do the following:
If you select to specify a flexible body with modal load case information, you
also specify:
Load Case - Lets you select a modal load case label from a list. The list
of modal load case labels is generated from the MNF.
Scale Function - Lets you specify an expression for the scale factor to be
Select OK.
The part to which the reaction resultant of the modal force is applied.
To modify a MFORCE:
1
Select OK.
269
270
Double-click the flexible body to display the Flexible Body Modify dialog
box.
From the Flexible Body Modify dialog box, select Modal ICs.
The Modify Modal ICs... dialog box appears. Preloads for the flexible body
appear in the last column.
Overview
Using contacts, you can go beyond just modeling how parts
meet at points and model how points on parts follow curves or
model how curves on one part follow curves on another part.
In addition, you can model how solid bodies react when they
come in contact with one another when the model is in motion.
The following sections explain more about contacts.
For a listing of the DOF that the contacts allow, see Table 14
on page 130.
272
Pin-in-Slot Cams
The pin-in-slot cam defines a point-to-curve constraint that restricts a fixed point
defined on one part to lie on a curve 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 or closed. The first part cannot lift off the second part;
it must always lie on the curve. A pin-in-slot contact removes two translational DOF
from your model.
When you specify the location of the pin-in-slot on the first part, ADAMS/View
creates a coordinate system marker at that location. The marker is called the I marker.
The I marker can only translate in one direction relative to the curve. The I marker,
however, is free to rotate in all three directions.
You can use the pin-in-slot cam to model a pin-in-slot mechanism (shown in
Figure 79) or a simple cam follower mechanism (shown in Figure 80) where a lever
arm is articulated by the profile of a revolving cam.
When modeling a pin-in-slot mechanism, the pin-in-slot contact keeps the center of
the pin in the center of the slot, while allowing it to move freely along the slot and
rotate in the slot.
273
Cam
Rigid
Body
Cam
part
LocationPoint
point
Location
Curve
Curve
Follower
Follower
part
Rigid Body
Figure 80. Point-Follower Mechanism
Follower
Follower
Rigidpart
Body
Location
LocationPoint
point
Curve
Curve
CamRigid
partBody
Cam
274
Curve-on-Curve Cams
A curve-on-curve cam (shown in Figure 81) restricts a curve defined on the first part
to remain in contact with a second curve defined on a second part. The curve-on-curve
cam is useful for modeling cams where the point of contact between two parts changes
during the motion of the mechanism. The curve-on-curve cam removes three DOF
from your model.
An example of a curve-on-curve cam is a valve lifter where a cam lifts a plate-like
object. The point of contact between the plate and the cam change depending on the
position and shape of the cam.
Figure 81. Curve-on-Curve Cam
Follower
part
Cam
part
The two curves of the cam, which you define by selecting edges in your model, must
lie in the same plane. It is possible to initially select curves that are not in the same
plane, but ADAMS/Solver moves the parts during simulation to ensure that the two
curves are constrained to the same plane of motion with respect to each other. Both
curves can be open or closed.
The curves always maintain contact, even when the dynamics of the model might
actually lift one curve off the other. You can examine the constraint forces to
determine if any lift-off should have occurred. If your results require an accurate
simulation of intermittent contact, you should model the contact forces directly using
a vector force.
The curve-on-curve cam models only one contact. Therefore, if the curves have
contact at more than one point, you need to create a curve-on-curve cam for each
contact, each with a initial condition displacement near the appropriate point. For
more on initial conditions, see Modifying a Cam on page 278.
Note: Instead of defining a curve by selecting a curve on a part, you can also use a
curve element that you create to define the curve. To specify a curve element,
you can create geometry for the curve and select that geometry as you create
the cam or modify the cam to reference the curve element. For more
information, see Creating Data Element Curves on page 322.
Creating a Cam
Before creating a cam, read Tips on Creating Cams on page 276.
To create a pin-in-slot or curve-on-curve cam:
1
From the Joint palette, select the cam joint tool representing the cam that you
want to create. Select:
Select either:
For a pin-in-slot cam, select a point on a part that will travel along a curve.
For a curve-on-curve cam, select a curve that will travel along a second
curve.
Select the curve along which the point or first curve will travel. The curve can
be closed or open. Note that when you select a closed curve, the Dynamic
Model Navigator highlights only a portion of the curve. ADAMS/View will
use the entire curve.
275
276
When you select a curve, be sure that it contains a sufficiently large number
of points to achieve an acceptable fit.
Define curves that cover the entire expected range of motion of the cam.
ADAMS/Solver stops a simulation if the contact point moves off the end of
an open curve. Therefore, be sure that the curve you define covers the
expected range of motion of the contact point.
Avoid defining an initial configuration with the initial point of contact near
to one of the end points of the curve.
Avoid curve-on-curve cams that have more than one contact point.
277
Convex
Curve
Convex Curve
Multiple
contacts
possible
Multiple contacts
possible
Nonconvex
Curve
Nonconvex Curve
You can create more than one contact using the same curve.
278
Modifying a Cam
After you create a cam, you can change the curve and points used in defining the
contact, as well as specify initial conditions for the cam. The next sections explain
how to perform these operations:
Velocity with which the point (I marker) moves along the curve. You
specify the velocity in the coordinate system of the part containing the
curve. Therefore, you specify the speed of the I marker from the
standpoint of an observer on the part containing the curve. Thus, if the
curve, not the I marker, moves globally then the velocity of the
I marker is still nonzero.
Initial point of contact on the curve. If the point you specify is not
exactly on the curve, ADAMS /View uses a point on the curve nearest
to the point you specified. By default, you specify the initial point of
contact in the coordinate system of the part containing the curve. If
another coordinate system is more convenient, you can specify another
initial conditions coordinate system marker and enter the initial point
in its coordinates.
If you supply an initial point, ADAMS/View assembles the model with
the I marker at the specified point on the curve, even if it must override
part initial conditions to do so. If you do not supply an initial point,
ADAMS/View assumes the initial contact is at the point on the curve
closest to the I marker position. ADAMS/View may adjust that contact
point to maintain other part or constraint initial conditions.
The initial conditions are only active during an assemble model operation, which
ADAMS/View runs before it runs a simulation of your model.
You can also leave some or all of the initial conditions unset. Leaving an initial
condition unset lets ADAMS/View calculate the initial conditions of the cam during
an assemble model operation depending on the other forces and constraints acting on
the cam. Note that it is not the same as setting an initial condition to zero. Setting an
initial condition to zero means that the cam will not be moving in the specified
direction or from a specified point when the simulation starts, regardless of any forces
and constraints acting upon it. For a kinematic simulation, the initial conditions are
redundant. Therefore, for a model with zero DOF, you should always leave the initial
conditions unset.
279
280
To change the basic properties and set initial conditions for a pin-in-slot or curve-oncurve, you use the Constraint Modify Higher Pair Contact Point Curve dialog box or
the Constraint Modify Higher Pair Contact Curve Curve dialog box, respectively,
shown in Figures 83 and 84. Follow the instructions in Accessing Modify Dialog
Boxes on page 420 to display the appropriate cam modify dialog box and follow the
instructions in the next section to modify basic properties and set initial conditions
using the dialog box.
Note: You can also modify joint properties using the Table Editor. For more
information on using the Table Editor, see Editing Objects Using the Table
Editor on page 401.
Figure 83. Constraint Modify Higher Pair Contact Point Curve Dialog Box
Change
basic
properties
Set initial
conditions
Figure 84. Constraint Modify Higher Pair Contact Curve Curve Dialog Box
Change
basic
properties
Set initial
conditions
281
282
Change the name of the cam, if desired, and assign a unique ID number to the
cam. The ID is an integer used to identify the element in the ADAMS/Solver
dataset (.adm) file. You only need to specify an ID if you are exporting the
model to an ADAMS/Solver dataset, and you want to control the numbering
scheme used in the file.
Enter a positive integer or enter 0 to have ADAMS set the ID number for you.
In the Comments text box, add any comments about the cam that you want to
enter to help you manage and identify the cam. You can enter any
alphanumeric characters. The comments that you create appear in the
information window when you select to display information about the cam, in
the ADAMS/View log file, and in a command or dataset file when you export
your model to these types of files.
Set the initial conditions as explained in Table 29 on page 287, and then select
OK. For more on initial conditions, see About Cam Initial Conditions on
page 278.
283
To modify:
Pin-in-slot
J floating
marker
y j (normal)
j (ta
ng
en
t)
Curve
z j (binormal)
Center of
Curvature
284
To modify:
Pin-in-slot
(continued)
To modify:
Curvecurve
along which the first curve (I curve) moves. You can enter
a curve on a part or a curve element. For more information
on curve elements, see Creating Data Element Curves on
page 322.
285
286
To modify:
Curvecurve
(continued)
287
To modify:
Pin-in-slot
288
To modify:
Curve-curve
289
To modify:
Curve-curve
(continued)
290
Note: You currently cannot model contact between a two-dimensional and a three-
For more on the theory behind contact forces, see the CONTACT statement in the
guide, Using ADAMS/Solver.
Contact Force Algorithms
Note: Contact defined between planar geometry (for example, circle to curve) must
be constrained to lie in the same plane. You usually accomplish this using
planar joints or an equivalent set of constraints that enforce the planarity.
Failure to enforce planarity will result in a run-time error when the bodies go
out of plane during a simulation.
Supported Geometry in Contacts
Sphere
Cylinder
Frustum
Box
It does not support non-solid, three-dimensional geometries, such as shells that do not
represent an enclosed volume.
ADAMS/View supports two-dimensional contact between the following geometry:
Arc
Circle
Curve
Point
Plane
You can specify your own two-dimensional geometry as curves using the CURSUB
user-written subroutine. Refer to Table 30 on page 292 for a listing of the supported
geometry combinations.
291
292
Circle
Curve
Point
Plane
(Sphere
only)
Box
Cylinder
Frustum
Elliposoid
Parasolid
Geometry
Shell
(enclosed
volume)
Shell (enclosed
volume)
Parasolid
geometry
Plane
Elliposoid
Point
Frustum
Curve
Cylinder
Circle
Box
Arc
Arc
293
From the Force tool stack or palette, select the Contact Force tool
Enter values in the dialog box as explained in Table 31 and select OK.
Tip: You can change the direction of the force on some geometry (for
example, circle, curve, and sphere) by selecting the Change Direction
tool
.
Table 31. Contact Force Options
To:
Do the following:
Refine the
normal force
between two sets
of rigid
geometries that
are in contact
294
To:
Do the following:
Define a
restitution-based
contact
295
To:
Do the following:
Define an impact
contact
296
To:
Do the following:
Model the
friction effects at
the contact
locations using
the Coulomb
friction model
stiction.
For more on friction in contacts, see Contact Friction Force
Calculation on page 52 for the CONTACT statement in the
guide, Using ADAMS/Solver
Placement of
contact
297
298
Copy the command file valve.cmd to your local directory. It is located in the
install_dir/aview/examples/user_guide directory, where install_dir is the
directory in which the ADAMS software is installed.
Zoom in on the location where the cam and follower meet so that your
window looks similar to the one shown in Figure 87.
Figure 87. Zoomed Valve Cam Example
Follower (rod.Circle_1)
Cam
(.cam.GCU173)
299
Now youll create a contact force between the cam and follower. When modeling
contacts, you will typically have several options for how you define the contact. In this
example, you could define the contact between three-dimensional solid objects (for
example, the cylinder on the follower and the extrusion representing the cam). You
will, however, use two-dimensional elements to reduce the time it takes to solve the
simulation.
To create the contact:
1
From the Force tool stack, select the Contact Force tool
Right-click the First Curve text box, point to Contact_Curve, and then select Pick.
Select the follower geometry on the part Rod (Circle_1). For the location of
Circle_1, see Figure 87.
Right-click the Second Curve text box, point to Contact_Curve, and then select
Pick.
300
Select OK.
Now youll simulate the model to see how the cam and follower come into contact
now that youve added a contact force.
To run a simulation:
1
Set the simulation to have an end time of 1.0 second and 100 output steps.
Notice how the follower lifts off the cam during the simulation.
To divide the window into two viewports, right-click the Page Layout tool
stack
Animate and observe the animation as the cam goes through three cycles.
Notice the increased force as the lifter begins movement and the spline when
it loads.
301
302
303
Type:
First
Geometry:
Second
Geometry:
Sphere-in-sphere
Ellipsoid
Ellipsoid
Sphere-to-sphere
Ellipsoid
Ellipsoid
Three-dimensional point-to-point
contact
Sphere-plane
Ellipsoid
Marker
(z-axis)
Circle-plane
Circle
Marker
(z-axis)
Circle-in-circle
Circle
Circle
Circle-to-circle
Circle
Circle
Two-dimensional point-to-point
contact
Point-to-curve
Point
Curve
Knife-edge follower
Circle-to-curve
Circle
Curve
Cam follower
Plane-to-curve
Plane
Curve
Cam follower
Curve-to-curve
Curve
Curve
Cam follower
Example Application:
304
Note: Both circle-in-circle and circle-to-circle contacts use the same detection
305
Before creating contact forces, you may want to read Force-Based Contact
Considerations on page 311 for issues that you may want to look out for.
Tips: You can use the following types of curves for defining two-dimensional curve
contacts:
Splines that youve created from a trace using the Create Trace Spline
command on the Review menu. For more information, see Creating a
Spline from a Trace on page 75.
Curves youve converted from polylines using the Spline tool on the
Main toolbox. Using this method, you can specify the number of
points to distribute in the curve. For more information, see Creating
Splines on page 28.
From the Force tool stack or palette, select the Force-Based Contact tool
Enter values in the dialog box as explained in Table 33 and select OK.
Tip: You can change the direction of the force on a curve by selecting the
Change Direction tool
306
To:
Do the following:
You can modify force-based contacts using the Contact Force Modify Dialog box.
To modify a contact force:
1
Display the Contact Force Modify dialog box as explained in Accessing Modify
Dialog Boxes on page 420.
Change the options in the dialog box as desired. The options for modifying a
contact force are identical to the options for creating a contact force. For more
information on the options, see Table 33.
Note: The contact force screen icon is identical to the general force icon.
307
308
You use the Create Contact Array dialog box to create a contact array.
To create a contact array:
1
In the Create Contact Force dialog box or the Modify Contact Force dialog
box, right-click the Contact Array text box, point to Contact Array, and then select
Create.
The Create Contact Array dialog box appears as shown next.
Normal force
magnitude from
the IMPACT
function
Friction options
(optional)
309
Enter values in the dialog box as explained in Table 34, and then select OK.
Table 34. Contact Array Options
Stiffness
Force Exponent
Damping
Penetration Depth
Dynamic Friction
Coefficient (k)
Dynamic Friction
Transition Velocity (Vk)
310
Coefficient
value
Velocity
You modify contact arrays using either the Create Contact Force or Modify Contact
Force dialog boxes.
To access the Modify Contact Array dialog box:
1
In the Create Contact Force Dialog box or the Modify Contact Force dialog
box, right-click the Contact Array text box, point to the name of the contact array,
and then select Modify.
The Modify Contact Array dialog box appears. The options for modifying a
contact array are the same as the options for creating a contact array.
311
Considerations:
312
Considerations:
Contact is a numerically
discontinuous event. Even though
the implementation includes
methods to gradually transition the
contact forces, these transitions
require considerable integrator
work to find a solution.
Friction is a numerically
discontinuous phenomenon and
requires additional integrator work
to solve, especially at low
velocities.
313
Considerations:
314
Overview
Using data elements, you can create and manage the storage of
alpha-numeric information used in your model. Data elements
include arrays, curves, splines, matrices, and strings. After
creating data elements, you can reference them in the definition
of modeling objects.
Note that data elements by themselves do nothing. They simply
hold supporting data for other ADAMS elements or for your
user function expressions or subroutines. For example, you
reference matrices in the definition of a linear state equation. In
addition, a linear state equation uses arrays of variables to
define input, output, and state characteristics. You can also use
curves to create contact constraints.
The next sections explain each type of data element and how to
create them.
316
The element:
Array
Curve
Defines a three-dimensional
parametric curve whose points you
can specify directly or through a
subroutine.
Spline
Matrix
String
run-time functions.
317
318
Types of Arrays
There are four types of arrays:
States (X) and Outputs (Y) - Designate the state or output variable arrays
for a system element, such as a linear state equation, general state equation,
or transfer function. ADAMS/Solver, the analysis engine, computes these
values during a simulation.
To use the arrays, you reference them in function expressions. You can
reference the array as the state or output variable array of only one system
element in a model (for example, only one linear state equation or one
general state equation).
For more information on system elements, see Using System Elements to
Add Equations on page 365.
Inputs (U) - An array that groups together a set of variables used to define
the inputs for a system element. ADAMS/View computes variable values
from the specified variable data elements.
The inputs (U) and the initial conditions arrays can exist independently, and do not
need to be referenced by another system element.
Both function expressions and user-written subroutines can access the array values.
Function expressions use the function ARYVAL (ARRAY_NAME, COMPONENT) to
access the values. ARRAY_NAME specifies the name of the array, and COMPONENT
specifies the position of the desired value in the array definition.
You should note that you can only access states (X), outputs (Y), and inputs (U) arrays
in functions because the initial condition array is not accessible in the model
definition. You can access the initial condition array in a user-written subroutine. To
access all the elements of an array, call the subroutine SYSARY. To access one
element of an array in a subroutine, call the subroutine SYSFNC. For more
information on subroutines, see the guide, Using ADAMS/Solver Subroutines.
319
Transfer functions
(TFSISO)
General state
equations (GSE)
States (X) array size must be the same size as the row
dimension of the matrix used to define the state
transition matrix for the linear system.
Outputs (Y) size must be the same size as the row
dimension of the matrix used to define the output
matrix for the linear system or the matrix used to define
the feed forward matrix for the linear system.
States (X) size is determined by the transformation from
polynomial ratio type to canonical state-space form,
which is a set of coupled, linear, constant-coefficient
differential equations and a single algebraic equation.
Outputs (Y) size is always 1.
States (X) size is the same as the number defined in the
matching general state equation definition.
Outputs (Y) size is the same as the number of output
equations, as defined in the same general state equation
definition.
320
From the Build menu, point to Data Elements, point to Array, and then select either
New or Modify.
If you selected:
New, the Create /Solver Array dialog box appears, as shown below, and you
should continue with Step 3.
Options change
depending on
the type of array
system element if you name the array elements and the corresponding
system elements with like names. For example, the states (X) array that
goes with general state equation GSE_100 would be ARRAY_100; the
inputs (U) array would be ARRAY_101; and the outputs (Y) array would
be ARRAY_102.
321
Select the type of array that you want to define. Refer to Types of Arrays on
page 318 for an explanation of the different array types. The dialog box
changes depending on the selection you make.
Depending on the type of array you are creating or modifying, enter or change
the values in the dialog box as explained in the next table, and then select OK.
Table 38. Dialog Box Options
To
create/modify:
Do the following:
States (X)
Outputs (Y)
Inputs (U)
322
You can define a curve using data points (curve points or control points) or a userwritten subroutine:
323
The next sections explain how to define and create a curve element:
Step 1:
Step 2:
Create a
matrix element
or subroutine
Create a curve
element
Optional
Step 3:
Create b-spline
geometry
Step 4:
Use the
curve in your
model
324
Step 2: Create a curve element - Next, you create a curve element that
defines how ADAMS/View should create the curve, such as define whether
or not is open or closed and reference either a matrix element or subroutine.
automatically creates the curve and matrix elements for you. You
can substitute your curve values for the values ADAMS/View
creates. For information on modifying a spline, see Modifying Rigid
Body Geometry on page 80.
Step 4: Use the curve in your model - Once youve created a curve
element, you can use it in your model.
When you define the points stored in a matrix element as control points, you define
points through which ADAMS/View should form a uniform B-spline. The curve
starts at the first control point and ends at the last. In between, it is attracted to, but
does not necessarily hit, the intermediate control points.
ADAMS/View uses a uniform knot vector with quadruple multiplicity at both ends,
ensuring that the curve passes through starting and ending points. ADAMS/View
parameterizes a B-spline starting at -1 and ending at +1. The following figure shows
a curve that was created from control points.
Figure 92. Curve from Control Points
Controls points
325
326
A more direct way to define the curve is to supply curve points. ADAMS/View
computes a tensioned B-spline that fits the curve points. Again, ADAMS/View
parameterizes the curve from -1 to +1. Closed curves always exactly fit the curve
points. The tension factor indicates the degree of curviness desired in the
interpolation. If the tension factor is 0, the result is a cubic spline. If the tension factor
is large, the result is nearly a polygonal line. Figure 93 shows a set of curve points and
several fitted curves with different values of tension.
Figure 93. Curve from Curve Points with Differing Tension Values
Tension = 0
Tension = 5
Tension = 100
327
328
Cams - When you create or modify a cam, you can pick the geometric
curves that youve created from the curve element or you can modify the
cam to use a different curve. For more information on using the curve
element in the definition of cams, see Working with Cams on page 272.
Geometry of a part - You can use the curve that you create in the
definition of a part. For example, when you create a construction geometry
spline using the geometric modeling tools as explained in Creating Splines
on page 28, ADAMS/View automatically creates a curve element defining
the spline. You could replace the default curve element with a curve
element that you create. You could also create an empty part using the
Table Editor, and modify it to contain a curve element.
Function expression - You can use the curve element as the input to a
function, such as CURVE (B-Spline fitting method). For more information
on using curves in a function expression, see Spline Functions on page 413
of the guide, Using the ADAMS/View Function Builder.
From the Build menu, point to Data Elements, point to Curve, and then select
either New or Modify.
If you selected:
New, the Data Element Create Curve dialog box appears and you should
continue with Step 3.
Add or change any comments about the curve element that you want to enter
to help you manage and identify the element. You can enter any alphanumeric
characters. The comments that you create appear in the information window
when you select to display information about the object, in the ADAMS/View
log file, and in a command or dataset file when you export your model to
these types of files.
Set Closed to either no to create an open curve or yes to create a closed curve.
Set the option menu in the middle of the dialog box for how you want to
define the curve (either from a matrix or a subroutine). The dialog box
changes depending on the selection you made.
329
330
Depending on the type of curve you are creating, enter values in the dialog
box as explained in the next two tables and select OK.
Table 39. Matrix Options
To set:
Do the following:
Matrix to be used
Tension
331
To set:
Do the following:
User-written
subroutine to be
used
Minimum and
maximum curve
parameters
332
333
-0.33
-38.5
-0.17
-27.1
-0.09
-15.0
0.0
0.0
0.10
10.0
0.25
30.0
0.40
43.5
0.70
67.4
Using this table, you can determine the force when deflection equals -0.33, and the
force when deflection equals -0.17. You cannot, however, determine the force
when the deflection is -0.25. To determine the force at any deflection value,
ADAMS/View creates a continuous function that relates deflection and force. The
continuous approximation is then used to evaluate the value of the spring force at a
deflection of -0.25. If you input two sets of values (x and y) using a spline data
element, you can define the curve that the data represents.
You would then use the spline data element in a function or subroutine that uses cubic
spline functions to fit a curve to the values. The curve allows ADAMS/View to
interpolate a value of y for any value of x.
334
Briefly, the steps that youd perform to use the spline data element to define the force
deflections are:
1
Create the spline as explained in Using the Spline Editor on page 336 or Using
the General Method on page 347.
Build a simple nonlinear spring-damper, and then modify it to use the spline.
To use the spline in the spring-damper definition, under Stiffness and Damping in
the Spring-Damper Modify dialog box, change the stiffness coefficient to
Spline: F=f(defo). ADAMS/View builds a function expression for you, using
AKISPL and modeled spring length as free length.
For more information on creating and modifying spring-dampers, see Working
with Translational Spring-Dampers on page 233.
Note: You can also use a single- or multi-component force to define the force
deflections. In this case, you would select Custom as you create the force, and
You can use the Function Builder for assistance in building the expression.
Use the general method to define spline data points by referencing either a
file containing a set of points or results from a simulation. You can also
enter numerical values directly.
Use the data from a plot and save it as a spline. For more information, see
Creating Splines from Curves on page 96 of the guide, Using
ADAMS/PostProcessor.
335
336
From the Build menu, point to Data Elements, point to Spline, and then select New.
The Spline Editor appears.
Figure 94. Spline Editor in Tabular Format
337
338
You can choose to view your spline as a plot or as a table in tabular format:
Plot view - Viewing the spline as a plot lets you view the data in the spline
as a curve and apply several operations on the curve, such as change the
curve-fitting techniques being used to create the curve, view the results of
linear extrapolation, or view the changes you made against the original
spline values.
Tabular view - Viewing a spline in tabular view gives you the most
accuracy for setting the location of the spline data points. It also lets you
quickly add points by inserting rows of data.
339
You can select to create two- or three-dimensional splines. When you create a threedimensional spline in tabular view, the Spline Editor displays a second column for
adding z values. The following figure shows the additional column. Note that you
cannot view the z dimension in plot view. You also need to recompute the spline in
plot view to set a three-dimensional spline.
Figure 95. Spline Editor with Z Column
Z column
Select Recompute if you are in plot view to see the effect of the changes. For
more information on recomputing plots, see Changing Plotting Methods and
Recomputing the Plot on page 343.
340
Linear extrapolation extends the curve created from the spline values by estimating
the values that follow from the spline values.
To specify linear extrapolation:
Change the Spline Editor to plot view and select Extrapolation Tails.
Plotting a Spline
You can plot a spline to view curves that would be generated from the curves. In plot
view, you also have the options of:
Note: You can change the spline plot properties, such as the color of a curve.
There are several ways you can change the view of the spline plot, including viewing
the slope of the curve, turning off the display of the data points that make up the spline,
and more. Be default, ADAMS/View displays a curve and hotpoints representing the
spline data points.
To view the curve that ADAMS/View generates from the data points:
Select Symbols.
Note: You can edit the data points. See Editing Spline Data Points on
page 342.
To retain the original curve as you edit the data points:
341
342
Hotpoints appear on the curve in the plot window at each data point in the spline. You
can drag the hotpoints to change the data point locations. The hotpoints are shown in
the figure below.
Figure 96. Hotpoints on a Spline
Hotpoints
Click the data point that you want to edit. Note that you must turn on the
viewing of symbols.
Hotpoints appear at each data point.
Position the cursor on a hotpoint and drag the hotpoint to the desired location.
By default, ADAMS/View displays a curve from your spline data points using 50
curve points and the Akima curve-fitting method. You can change the number of
points and the method used to calculate the curve. You must recompute the spline to
see the effect of these changes. As you recompute the spline, you can select to use the
values stored for the spline in the modeling database or use the values as youve edited
them.
To change the number of points used to display a curve:
Note: Changing the number of points only changes the display of the
Select Recompute.
ADAMS/View asks you if you want to use the current values for the spline or
the ones stored in the modeling database.
343
344
Editing a spline in tabular format gives you the most control over the location values.
The following sections explain how to use the Spline Editor in tabular format:
You can change any of the values in the cells of the Spline Editor tables.
To enter text in a cell:
1
Press Tab.
Select the text in the cell that you want to cut or copy.
Right-click the cell containing the text to be cut or copied, and then select
Copy or Cut.
To paste text:
Right-click the cell where you want to insert the text, and then select Paste.
345
Often, information displayed in a cell of the Spline Editor is longer than the width of
the cell. When this happens, ADAMS/View displays the first portion of the
information. In UNIX, it also displays an arrow next to the cell to indicate that there
is more information than can fit in the cell. Figure 97 shows the Spline Editor as it
appears in UNIX when cells contain more information than can be displayed at once.
Figure 97. Cells with Partial Information (UNIX Only)
Arrow indicating
more information
Click in the cell. ADAMS/View displays the last portion of the information
in the cell.
346
Resizing Columns
You can change the size of any column displayed in the Spline Editor.
To resize a column:
1
Point to the right border of the column heading that you want to resize. The
cursor changes to a double-sided arrow.
You can add rows to the X and Y table and to the Z table if you are creating a threedimensional spline.
To add a row to the beginning of the X and Y table:
Enter a row number in the Insert Row After text box and select Insert Row After.
Enter the row number in the Remove Row text box and select Remove Row.
File - The file is in RPC III, DAC, or user-defined format. The file contains
x, y, and, optionally, z values that define the spline data points. You can
specify that ADAMS/View only use a particular named block or channel
within the file. You can only enter time response data in RPC III and DAC
files if you are using ADAMS/Durability. For more information on using
splines in ADAMS/Durability, see the guide, Using ADAMS/Durability.
Numerical values directly input in the dialog box - You can directly
input x, y, and, optionally, z values in the dialog box.
From the Build menu, point to Data Elements, point to Spline, and then select
General.
347
348
Add any comments about the spline that you want to enter to help you manage
and identify it. You can enter any alphanumeric characters. The comments
that you create appear in the information window when you select to display
information about the object, in the ADAMS/View log file, and in a command
or dataset file when you export your model to these types of files.
Depending on how you are creating the spline, enter or change the values in
the dialog box as explained in the next table and select OK.
Table 42. Dialog Box Options
To create a
spline from:
Do the following:
File
Result set
components
349
To create a
spline from:
Do the following:
Numerical input
350
Modifying Splines
The method you use to modify a spline (Spline Editor or general method) depends on
the input to the spline.
Numerical values or result set components - If the input for the spline
data points was numerical values or result set components, then when you
select to modify the spline, ADAMS/View displays the Spline Editor
because it provides the most convenient method for directly editing values.
File - If the method of input for the spline data points was a file,
ADAMS/View displays the Data Element Modify Spline dialog box, for
you to change the file or interpolation method using the general method.
Note that because you do not always modify splines using the same method that you
used to create them, you cannot change the input to the spline data points without first
deleting the spline and making it again. For example, if you created a spline using the
result set component TIME as the x values, and you want to change the spline to
reference the result set component that defines the force on a part, you would have to
delete the spline and create it again referencing the new component. In addition, if you
defined spline data points using direct numerical values and you want to instead
reference a file, you must delete the spline and make it again using the general
method.
To modify a spline:
1
From the Build menu, point to Data Elements, point to Spline, and then select
Modify.
The Database Navigator appears.
Select a data element spline to modify. For more information on the Database
Navigator, see Navigating Through a Modeling Database on page 147 in the
guide, Learning ADAMS/View Basics.
The Spline Editor or Data Element Modify dialog box appears.
Follow the instructions in Using the Spline Editor on page 336 or Using the
General Method on page 347, as appropriate.
The x and z data must cover the anticipated range of values. However, the following
situations sometimes cause ADAMS/Solver to evaluate a spline outside of its defined
range:
To avoid these problems, try to use real points, and extend spline values 10 percent
beyond the total dynamic range.
351
352
Sparse format - You list the row position, column position, and value for
only nonzero entry values.
If one-third or more of the entries in a matrix are nonzero, we recommend that you
use full format since it takes less time to create. If the matrix is mostly empty and
entering each nonzero entrys row position, column position, and value takes less time
than entering all of the values, you should use the sparse format.
Note: You must create additional matrix elements in your ADAMS/View model if
353
354
When you create or modify a matrix using full format, you enter all the values in the
matrix. For more information on formats for matrices, see Matrix Format Types on
page 352.
To create or modify a matrix using full format:
1
From the Build menu, point to Data Elements, point to Matrix, and then select
either New or Modify.
If you selected:
New, the Create Matrix dialog box appears, as shown in Figure 98, and you
should continue with Step 3.
Options change
depending on
how you input
the values for
the matrix
In the Matrix Name text box, accept the default name or enter a new name.
Select the units that you want assigned for values in your matrix. Select
no_units if you do not want units associated with the values. If you set the units
for your matrix values, ADAMS/View automatically performs any necessary
unit conversions if you ever change your default modeling units.
Select Full Matrix to enter all the values for the M N array.
To list the values in column order, select Enter Input Ordered by Columns.
To list the values in row order, select Enter Input Ordered by Rows.
From the next option menu, select User Entered Numbers to enter the values
yourself.
In the Row Count and Column Count text boxes, enter the number of rows and
columns in the matrix.
In the Values text box, enter the values in the matrix in either row or column
order depending on the order you selected in Step 6 above. You can separate
the values using a comma or by pressing Enter after each value.
Example: If you want to enter the following matrix of values in full format
1.364
0.000
3.546
0.000
0.000
0.000
4.008
0.7999
10
Select OK.
Row Count - 4
Column Count - 2
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356
When you create or modify a matrix using sparse format, you enter only nonzero
values. For more information on formats for matrices, see Matrix Format Types on
page 352.
To create or modify a matrix using sparse format:
1
From the Build menu, point to Data Elements, point to Matrix, and then select
either New or Modify.
If you selected:
In the Matrix Name text box, accept the default name or enter a new name.
Select the units that you want assigned for values in your matrix. Select
no_units if you do not want units associated with the values. If you set the units
for your matrix values, ADAMS/View automatically performs any necessary
unit conversions if you ever change your default modeling units.
Select Sparse Matrix to enter the row position, column position, and value for
only nonzero values.
Row Index - Enter the row numbers, separated by commas, in your matrix
containing nonzero values. Enter the row number each time there is a value
in the row.
nonzero values. Enter the column number each time there is a value in the
column.
Values - Enter the nonzero values in your matrix starting with the first
column. Separate each value with a comma.
Example: If you want to enter the following matrix of values in sparse format
1.364
0.000
3.546
0.000
0.000
0.000
4.008
0.7999
Select OK.
Row Index - 1, 3, 3, 4
Column Index - 1, 1, 2, 2
357
358
You can only use a result set component as matrix values using full format and
entering all the values stored in the result set component. For more on result set
components, see About Simulation Output on page 6 of the guide, Simulating Models
in ADAMS/View.
To define a matrix using result set components:
1
From the Build menu, point to Data Elements, point to Matrix, and then select
either New or Modify.
If you selected:
In the Matrix Name text box, accept the default name or enter a new name.
Select the units that you want assigned for values in your matrix. Select
no_units if you do not want units associated with the values. If you set the units
for your matrix values, ADAMS/View automatically performs any necessary
unit conversions if you ever change your default modeling units.
To list the values in column order, select Enter Input Ordered by Columns.
To list the values in row order, select Enter Input Ordered by Rows.
To obtain the values from the results of a simulation, select Result Set
Component.
In the Result Set Component Names text box, enter the name or names of the
components.
Select OK.
You can define any size matrix using an external data file. You can also specify in the
data file whether you are entering the matrix values in full or sparse format. For more
information on the format of matrix data files, see About the Format for Matrix Data
Files on page 360.
To create or modify a matrix using a data file:
1
From the Build menu, point to Data Elements, point to Matrix, and then select
either New or Modify.
If you selected:
In the Matrix Name text box, accept the default name or enter a new name.
Select the units that you want assigned for values in your matrix. Select
no_units if you do not want units associated with the values. If you set the units
for your matrix values, ADAMS/View automatically performs any necessary
unit conversions if you ever change your default modeling units.
Enter the name of the file containing the matrix values and the name of the
matrix in the file. The name of the matrix is necessary even if the file contains
only one matrix. You will need to create additional matrices to read other
matrices from the same file. For more information, refer to About the Format
for Matrix Data Files on page 360.
Select OK.
359
360
Although no other formats are supported, the ADAMSMAT option is fairly general
because the format for reading in the data is specified within the file, and should meet
your requirements.
The first record in any file type contains an 80-character header that indicates the
format of the file as listed in the table below. The remainder of the first record can be
used as a title to identify the kind of data in the file.
Table 43. Header Characters and File Formats
If the characters
are:
ADAMSMAT or
ADAMSMAT2
MATRIXx
package
MATSAVE
software package
Note that the specifications for the format of the data file are case-sensitive.
Uppercase letters and a lowercase x must be used to indicate MATRIXx.
The second record contains only an integer n right-justified within the first five spaces
(the I5 FORTRAN format). It tells how many matrices are contained in the file. The
next several records (one or more) contain the alphanumeric names (eight characters
or less) of all of the matrices in the file. The names are listed sequentially, four to a
line, in eight-character fields separated by ten blanks. That is, the FORTRAN format
for the records containing the matrix names is A8, 10X, A8, 10X, A8, 10X, A8.
Sets of contiguous records define each matrix. Without any intervening blank lines,
the blocks of records begin immediately after the last line of matrix names. The first
record in each block contains the name of the matrix in the first eight characters of the
line. The code searches through the file until it finds the block of records
corresponding to the name of the matrix element.
The first record of the block contains the type of matrix (either FULL or SPARSE)
within the second eight spaces on the record. If the type is FULL, the next eight spaces
(from 17 through 24) contain the string CORDER or RORDER to indicate that the
values are listed by column or by row, respectively. Otherwise, if the type is SPARSE,
the space is left blank. (For more information on full or sparse formats, see Matrix
Format Types on page 352.)
The numerical values specified on the first record of the block include the:
Number of columns N.
If the matrix type is SPARSE, then the total number of entries must be less than or
equal to (generally much less than) M N. If the matrix is FULL, the total number
must be equal to M N.
For a matrix in the ADAMSMAT format, the values for M, N, and the total
number of entries must be right justified in the fields 25 to 29, 30 to 34, and
35 to 39, respectively.
For a matrix in the ADAMSMAT2 format, the values for M, N, and the
total number of entries must be separated by spaces.
361
362
The final entry on the first line of the block of records defining each matrix is the
format specification for the records containing the values of the matrix. Beginning in
column 40, 41 spaces are allowed for the character string containing the FORTRAN
format specification, which must include delimiting parentheses. The lines of data
begin on the next record and continue with successive records until the code has read
into storage either M N values if the matrix is full or the total number specified if
the matrix is sparse.
Table 44. Specifications for ADAMSMAT Data File
Item:
Number of
records:
Contents:
Argument/
Symbol:
FORTRAN
format:
ADAMSMAT
I5
(n+3)/4
NAME
4
(8A,10X)
NAME
A8,
A8,
A8,
M,N,
315,
number
A41
A(I,J)
FORMAT
or
I,J, A(I,J)
FORMAT
variable
FULL.
FORMAT
SPARSE
Note: Items 4 and 5 have to be repeated n times, once for each matrix
named in Item 3.
363
Number of
records:
Contents:
Argument or
symbol:
FORTRAN
format:
ADAMSMAT2
I5
(n+3)/4
NAME
4
(8A,10X)
NAME
A8,
A8,
A8,
M,N,
number
FORMAT
Values
separated
by spaces
A41
A(I,J)
or
I,J, A(I,J)
variable
FORMAT
FORMAT
Note: Items 4 and 5 have to be repeated n times, once for each matrix named in Item 3.
For a full matrix, the code simply reads matrix entries sequentially from the file. If the
matrix is sparse, organize the data in triplets; ADAMS/View reads the row and
column indexes followed by the corresponding entry in the matrix. One triplet follows
another until ADAMS/View has read the specified total number of values into the
storage arrays.
If the file contains another matrix, the block of records defining its structure and
containing its values must follow immediately after the last line of data for the
previous matrix.
364
From the Build menu, point to Data Elements, point to String, and then select
either New or Modify.
If you selected New, the Data Element Create String Element dialog box
appears. If you selected Modify, the Database Navigator appears.
If you selected:
New, the Data Element Create String Element dialog box appears, and you
should continue with Step 3.
In the Name text box, enter the name that you want assigned to the string.
Select OK.
10
Overview
System elements let you create one or more general differential
and/or algebraic equation that enables you to model system
components that are not as easily represented by standard
ADAMS/View modeling objects, such as parts, constraints,
and forces.
System elements are useful for modeling components or
subsystems that have dynamics of their own. You can use
system elements to represent a control system, for example, or
to model the dynamics of an electro-mechanical, hydraulic, or
pneumatic actuator. You can also use system elements to
compute simulation output. For example, you might calculate
the energy dissipated in a damper.
This chapter introduces you to system elements. It contains the
sections:
366
Defines:
Differential
Equation
General state
equation
Linear state
equation
Transfer
function
State variable
367
368
State variables
Arrays
Matrices
Transfer functions
369
370
You define each of these arrays using an array data element stored in the current
modeling database. All array sizes must be consistent with the definition of the system
elements. Do not define arrays with zero-size and zero-valued partial-derivative
matrices. ADAMS/Solver correctly formulates the system equations based on those
arrays and derivatives that do exist.
In conjunction with plant input and plant output elements to identify inputs
and output for an ADAMS/Linear solution. For information on using
ADAMS Linear and plant inputs and plant outputs, see the guide, Using
ADAMS/Solver.
With array elements to identify inputs to linear state equations, general state
equations, and transfer functions. See the appropriate sections in this
chapter for more information on linear state equations, general state
equations, and transfer functions.
371
372
Function expressions and user-written subroutines can access the computed value of
the variable using the ADAMS/View function VARVAL(variable_name) to represent
the value, where variable_name specifies the name of the variable. User-written
subroutines access a single variable by calling the subroutine SYSFNC.
For more information on functions, see the guide, Using the ADAMS/View Function
Builder. For more information on subroutines, see the guide, Using ADAMS/Solver
Subroutines.
You are defining the following algebraic equation that has no solution:
V=V+1
From the Build menu, point to System Elements, point to State Variable, and then
select either New or Modify.
Run-Time Expression and enter the function expression that defines the
variable.
If desired, select Guess for F(1, 0..) and specify an approximate initial value for
the variable. ADAMS/Solver may adjust the value when it performs an initial
condition simulation. Entering an accurate value for initial conditions can help
ADAMS/Solver converge to the initial conditions solution.
373
374
y = f ( y, q, q, t )
where:
You need to use the implicit form if the first derivative of the state variable cannot be
isolated. The following equation defines the implicit form of a differential equation:
0 = F ( y, y , q, q , t )
From the Build menu, point to System Elements, point to Differential Equation, and
then select either New or Modify.
375
376
From the Type option menu, select either Explicit or Implicit to indicate that the
function expression or subroutine defines the explicit or implicit form of the
equation. For more on the forms of differential equations, see Ways to Define
Differential Equations on page 374.
From the Definition option menu, select Run-time Expression, and enter a
function expression that ADAMS/Solver evaluates during a simulation. In
the function expression, the system variable DIF(i) is the value of the
dependent variable that the differential equation defines, and DIF1(j) is the
first derivative of the dependent variable that the differential equation
defines.
User Written Subroutine and enter parameters that are passed to a user-written
subroutine.
6
The initial value of the user-defined variable at the start of the simulation.
ADAMS/Solver might adjust the value of the time derivative when it performs
an initial conditions simulation. Entering an initial value for the time derivative
helps ADAMS/Solver converge to a desired initial conditions solution.
7
Select whether or not ADAMS should hold constant the value of the
differential equation during static and quasi-static simulations. For more
information on holding the values constant, see Controlling Equilibrium Values
when Using System Elements on page 369.
You specify the state variables, x, the inputs, u, and the outputs, y, using array data
elements. You use a matrix data element to define the coefficient matrices A, B, C,
and D. A single linear state equation can have a maximum of 1,200 inputs, 1,200
states, and 1,200 outputs. You can develop the linear state equation, arrays, and
matrices manually or using other software packages.
The next sections explain different ways in which you can use linear state equations
and explains how to create and modify them in ADAMS/View:
377
378
Linear state equations provide a very general capability for defining a linear
element. The ADAMS/Solver integrators, however, have been developed
and refined for sparse systems of equations that arise from the modeling of
mechanical systems. With a linear state equation, you can create very dense
sets of equations. If these equations form a large portion of your completed
model, ADAMS/Solver can perform more slowly than expected.
Note that, if the algebraic equations defined by the linear state equation
have no solution or multiple solutions (this is possible because of the
general nature of the input array), ADAMS/Solver most likely fails to
converge or possibly converge to an unexpected answer. To avoid this
possibility, you should not reference the states (X) or outputs (Y) arrays in
the variables listed in the inputs (U) array.
From the Build menu, point to System Elements, point to Linear State Equation, and
then select either New or Modify.
If you selected Modify, the Database Navigator appears. Select a linear state
equation to modify. For more information on the Database Navigator, see
Navigating Through a Modeling Database on page 147 of the guide, Learning
ADAMS/View Basics.
The Part Modify or Create Equation Linear State Equation dialog box appears.
Both dialog boxes contain the same options.
Change the name of the linear state equation element, if desired, and assign a
unique ID number to it. The ID is an integer used to identify the element in
the ADAMS/Solver dataset (.adm) file. You only need to specify an ID
number if you are exporting the model to an ADAMS/Solver dataset, and you
want to control the numbering scheme used in the file.
Enter a positive integer or enter 0 to have ADAMS/View set the ID for you.
Add or change any comments about the equation element that you want to
enter to help you manage and identify the element. You can enter any
alphanumeric characters. The comments that you create appear in the
information window when you select to display information about the object,
in the ADAMS/View log file, and in a command or dataset file when you
export your model to these types of files.
Enter the arrays and matrices in the next text boxes as explained below.
X State Array Name - Enter the array element in the current modeling database
that defines the state array for the linear system. The array must be a states
(X) array. It cannot be used in any other linear state equation, general state
equation, or transfer function.
U Input Array Name - Enter the array element in the current modeling database
that defines the input (or control) array for the linear system. Entering an
inputs (U) array is optional. The array must be an inputs (U) array. If you
enter an inputs (U) array, you must also specify either a B input matrix, a D
feedforward matrix, or both. The B and D matrices must have the same
number of columns as there are elements in the inputs (U) array.
Y Output Array Name - Enter the array element in the current modeling database
that defines the column matrix of output variables for the linear system.
Entering an outputs (Y) array is optional. If you enter an outputs (Y) array,
you must also specify a C output matrix or a D feedforward matrix. The
corresponding matrix elements must have the same number of rows as there
are elements in the outputs (Y) array. It also must be an outputs (Y) array,
and it cannot be used in any other linear state equation, general state
equation, or transfer function.
IC Array Name - Enter the array element in the current modeling database that
defines the column matrix of initial conditions for the linear system.
Entering the IC array is optional. The must have the same number of
elements as the states (X) array (equal to the number of rows in the A
state matrix). When you do not specify an IC array, ADAMS/Solver
initializes all states to zero.
379
380
A State Matrix Name - Enter the matrix data element in the current modeling
database that defines the state transition matrix for the linear system. The
matrix must be a square matrix (same number of rows and columns), and it
must have the same number of columns as the number of rows in the states
(X) array.
B Input Matrix Name - Enter the matrix data element in the current modeling
database that defines the control matrix for the linear system. The B input
matrix must have the same number of rows as the A state matrix and the
same number of columns as the number of elements in the inputs (U) array.
Entering a B input matrix is optional. If you enter a B input matrix, you
must also include an inputs (U) array.
C Output Matrix Name - Enter the matrix data element in the current modeling
database that defines the output matrix for the linear system. The C output
matrix must have the same number of columns as the A state matrix and the
same number of rows as the number of elements in the outputs (Y) array.
D Feedforward Matrix Name - Enter the matrix data element in the current
modeling database that defines the feed forward matrix for the linear system.
The D feedforward matrix must have the same number of rows as the
number of elements in the Y output array and the same number of columns
as the number of elements in the inputs (U) array.
When you enter a D feedforward matrix, you must also include both a
Y output matrix and an inputs (U) array.
6
From the Static Hold options menu, select yes if you do not want the linear state
equation states to change during static and quasi-static simulations; select no if
they can change. For more information holding values constant, see
Controlling Equilibrium Values when Using System Elements on page 369.
Select OK.
x = f ( x, u, t )
y = g ( x, u, t )
The differential equations for x , and the equations for the outputs, y, are user-defined
functions of:
Inputs, u
State variables, x
Time, t
You define the equations, differential and algebraic, using array data elements and
user-written subroutines. Note that the general state equations for nonlinear systems
are analogous to linear state equations for linear systems. A single general state
equation can have a maximum of 1,200 inputs, 1,200 states, and 1,200 outputs.
Note that a system that a general state equation defines is restricted to explicit
functions of the states and inputs. The state variables, however, included in the outputs
(U) array can be completely general. You can write general state equations that
depend on any available state variable.
The current values for the state derivatives and output arrays of the general state
equation are computed in the user-supplied GSESUB subroutine, the same as for any
other user-written subroutine. Additionally, you must provide GSEXX, GSEXU,
GSEYX, and GSEYU subroutines to compute the necessary internal partial derivatives.
For more information, see the guide, Using ADAMS/Solver Subroutines.
The next sections explain more about general state equations:
381
382
From the Build menu, point to System Elements, point to General State Equation, and
then select either New or Modify.
Change the name of the general state equation element, if desired, and assign a
unique ID to it. The ID is an integer number used to identify the element in the
ADAMS/Solver dataset (.adm) file. You only need to specify an ID if you are
exporting the model to an ADAMS/Solver dataset, and you want to control the
numbering scheme used in the file.
Enter a positive integer or enter 0 to have ADAMS set the ID for you.
Add or change any comments about the equation element that you want to
enter to help you manage and identify the element. You can enter any
alphanumeric characters. The comments that you create appear in the
information window when you select to display information about the object,
in the ADAMS/View log file, and in a command or dataset file when you
export your model to these types of files.
In the State Equation Count and Output Equation Count text boxes, enter the number
of state equations (differential variables) that are used in the definition of
are used in the definition of y = g (x, u, t). There must be at least one state
equation in your general state equation. If you specify an output equation
count greater than 0, then you must specify an outputs (Y) array.
383
384
Enter the arrays and matrices in the next text boxes as explained in the list
below:
X State Array Name - Enter the array element in the current modeling database
that defines the state variables for the general state equation. The array must
be an state (X) array, and cannot be used in any other linear state equation,
general state equation, or transfer function. If you specified the size of the
array when you created it, you must make its size the same as the number of
state equations you specified in the State Equation Count text box.
U Input Array Name - Enter the array element in the current modeling database
that defines the input (or control) variables for the general state equation.
Entering a inputs (U) array is optional. If you do not enter an inputs (U)
array, there are no system inputs. The array must be an inputs (U) array, and
you must also specify the Df Du Method or Dg Du Method, or both.
ADAMS/Solver infers the number of inputs to the general state equation
from the number of variables in the inputs (U) array.
Y Output Array Name - Enter the array element in the current modeling database
that defines the output variables for the general state equation. You only
need to enter an outputs (Y) array if the number of output equations is
greater than 0. Otherwise, there are no outputs for the system.
If you enter an outputs (Y) array, the array must be an output (Y) array. It
also cannot be used with any other linear state equation, general state
equation, or transfer function. You must also set the Dg Dx Method or Dg
Du Method, or both, to USER. If you specified the size of the array when
you created it, its size must be the same as the number of output equations
that you entered in the Output Equation Count text box.
IC Array Name - Designates the array data element in the current modeling
database that defines the initial conditions array for this system element.
Entering the initial conditions array is optional. If you enter an initial
conditions array, it must be of an IC array, and it must have the same number
of elements as the states (X) array. If you do not enter an IC array,
ADAMS/Solver initializes all states to zero.
From the option menus, set how you want ADAMS to compute the matrices
as explained below. For more information on subroutines, see the guide, Using
ADAMS/Solver Subroutines.
of the state equations with respect to the inputs. The possible values for this
flag are USER and NONE. USER means that you must provide a GSEXU
subroutine to return the current values of these partial derivatives, and NONE
means that the state equations do not depend on the inputs.
of the output equations with respect to the states. The possible values for this
flag are USER and NONE. USER means that you must provide a GSEYX
subroutine to return the current values of these partial derivatives, and NONE
means that the output equations do not depend on the states.
From the Static Hold option menu, select yes to indicate that the general state
equation states are not permitted to change during static and quasi-static
simulations. Select no if they can change. For more information on static hold,
see Controlling Equilibrium Values when Using System Elements on page 369.
10
Select OK.
385
386
( s -) = b
0 + b1 s + + bm s
G ( s ) = y-------------------------------------------------------------1
k
u(s)
a0 + a1 s + + ak s
Transfer functions are especially useful for describing elements from control-system
block diagrams. The characteristic equation for a single transfer function can be a
polynomial of degree less than 30.
Internal to ADAMS/Solver, there is an algorithm to automatically convert the list of
fixed numerator and denominator coefficients to the following elements:
You define the arrays for a transfer function using array data elements. The arrays
define the transfer function input and let you reference the states and output of the
transfer function. Initial conditions for a transfer function are assumed to be
identically zero.
The next sections explain more about transfer functions:
387
where array p is of length k+1. Array q is also of length k+1, padded with zeros,
if necessary. The entries in arrays p and q are labeled from 0 to k for the following
analogous transfer function:
1
q0 + q 1 s + + q k s
y( s)
G ( s ) = ---------- = --------------------------------------------------1
k
u( s)
p0 + p 1 s + + p k s
{xy} = AC DB{xu}
388
where:
p k 1
p
k 2
A=
p1
p
0
.
.
.
0
.
.
.
0
1
.
.
.
.
.
.
.
.
.
.
.
.
.
1
0
0
q k 1 p k 1q k
q p q
0
k 2 k
k 2
. B=
1
q 1 p1 q k
q p q
0
0 k
0
C =[
0]
D=[
qk
Note that except in the specific case where the numerator and denominator are of
equal orders, qk = 0.
From the Build menu, point to System Elements, point to Transfer Function, and
then select either New or Modify.
Enter the arrays for the transfer function in the next three text boxes as
explained below:
Input Array Name (U) - Enter the array that defines the input (or control) for the
transfer function. The array must be an inputs (U) array. If you specified the
size of the array when you created it, it must be one.
State Array Name (X) - Enter the array that defines the state variable array for
the transfer function. The array must be a states (X) array, and it cannot be
used in any other linear state equation, general state equation, or transfer
function. If you specified the size of the array when you created it, it must
be one less than the number of coefficients in the denominator.
Output Array (Y) - Enter the array that defines the output for the transfer
function. The array must be an outputs (Y) array, and it cannot be used in
any other linear state equation, general state equation, or transfer function.
If you specify the size of the array when you created it, its size must be one.
389
390
In the Denominator Coefficients and Numerator Coefficients text boxes, specify the
coefficients of the polynomial in the denominator and numerator of the
transfer function. List the coefficients in order of ascending power of s,
starting with s to the zero power, including any intermediate zero coefficients.
The number of coefficients for the denominator must be greater than or equal
to the number of coefficients for the numerator. The number of coefficients
for the denominator must be greater than or equal to the number of
coefficients for the numerator.
Select whether or not ADAMS/Solver should hold constant the states of the
transfer function during static and quasi-static simulations. For more
information on holding state values constant, see Controlling Equilibrium
Values when Using System Elements on page 369.
Select OK.
11
Overview
Once youve created modeling objects, you can easily modify
them. You modify all modeling objects using the same set of
tools and commands. This chapter explains how to edit
modeling objects. It contains the sections:
392
393
The object appears with a thicker line width. If the object is a rigid body, its
hotpoints and object position handle appear on the body so that you can rotate
and position the bodys geometry.
To select a single object using the pop-up menu:
1
Place the cursor over the object that you want to select.
394
Position the cursor on the screen where you want a corner of the selection box
and drag the mouse to draw a rectangle that encloses or touches the objects
that you want to select.
y
x
y
z
x
z
y
x
This object
selected even
though not
entirely in box
y
x
z
x
z
Press the Ctrl key and click the right mouse button when the cursor is the area
of the screen containing the desired object.
Deselecting Objects
To deselect objects:
395
396
From the Edit menu, select Select List. The Select List Manager appears.
Current objects
in select list
The current objects in the select list appear in the Select List Manager
window. Refer to the next sections for information on using the Select List
Manager to manage the objects in the list.
Adding a Single Object to the Select List
To add a single object to the select list:
In the Object Name text box, enter the name of the object that you want to
add, and then select the Add button next to the text box.
To search for or select an object from the screen, place the cursor in the
Object Name text box and hold down the right mouse button. From the popup menu that appears, select Browse or Select.
397
398
You can add multiple objects to or remove multiple objects from the select list by
selecting the desired objects or by setting up search criteria based on an objects name,
type, such as geometry, group, or parent. ADAMS/View gives you the flexibility to:
Limit the scope of the objects to be added or removed to only objects that
belong to a particular object in the modeling database. For example, you
can tell ADAMS/View to limit the scope from all markers to only markers
belonging to a PART_1.
To add or remove multiple objects to and from the select list based on search
criteria:
1
In the Name Filter text box, enter the name of the objects that you want to add to
or remove from the select list. Type any wildcards that you want included.
Set the Type Filter option menu to the type of object or objects that you want to
add or remove. To display all the different object types, select Browse from the
option menu.
In the Scope text box, limit the scope of objects to be added or removed to
only objects belonging to a certain object by entering the name of the parent
object.
To select an object on the screen or browse for an object in the Database
Navigator, right-click the text box, and then select the appropriate command.
To use the mouse to select a continuous set of objects, drag the mouse over
the objects that you want to select or click on one object, hold down the Shift
key, and click the last object in the set. All objects between the two selected
objects are highlighted.
To use the up and down arrow keys to select a continuous set of objects,
click on the first object, hold down the Shift key, and then use the up or down
arrow to select a block of objects.
To clear any object in the selected list, hold down the Ctrl key and then click
the selected object to clear its highlighting.
Select OK.
399
400
You can update the list of objects in the Select List Manager window so that it reflects
any selections that you made using the mouse or pop-up menus as explained in the
previous sections.
To update the select list display:
Select Refresh.
You can add to or remove objects in a group to the Select List Manager just as you
would for any type of object as explained in Adding or Removing Objects on
page 398. Before adding the object to the select list, you can set whether or not you
want to list each object in the group in the Select List Manager or just list the name of
the group.
To list all objects in a group in the Select List Manager:
For general information on using tables in ADAMS/View, see Using Tables to Enter
Values on page 77 in the guide, Learning ADAMS/View Basics.
401
402
Lock
button
Perform operations
on multiple cells
Input box
Cell
Row
header
Set object
display
Column
header
403
404
You can display any type of object that is in your current modeling database through
the Table Editor. For example, you can select to view all coordinate system markers
or all motions. You can only view one type of object at a time.
ADAMS/View provides option buttons for selecting the most common modeling
objects. The option buttons appear along the bottom of the Table Editor. You can also
view non-standard modeling objects, such as splines or interface objects. As you
select to view a non-standard object type, you can also narrow the display of objects
based on the objects name or parent.
Note: Be careful when you select a non-standard type of object because the object
information may not be appropriate for editing in the Table Editor. For
example, you can select to display information about the view layouts in your
main window, which are not appropriate for editing in table format. You may
receive error messages if you select to edit or create an object of a nonstandard type through the Table Editor.
To set the type of objects displayed to a standard type:
Select a check box of the desired object type from along the bottom of the
Table Editor.
If you do not see any objects in the Table Editor, the filter may not be set
correctly for the type of object you selected. For example, by default, the
filter for joints is set to only display revolute joints. Therefore, if you have no
revolute joints in your model, you will not see any joints displayed in the
Table Editor when you select Joints as the type of object. For more
information on setting filters, see Setting Filters for Standard Objects on
page 407.
Select Filters.
The Anything Table Editor Filters dialog box appears.
In the Scope text box, limit the scope of the search, if desired, to all objects
beneath a particular object in the database hierarchy by entering the name of
the object.
Tip: For more information on entering information in this text box, see Setting
Filters for Standard Objects on page 407.
In the Name Filter text box, enter the name of the object or objects that you want
to display. Type any wildcards that you want included. By default,
ADAMS/View displays all objects that meet the search criteria regardless of
their name. For more on wildcards, see Using Wildcards on page 161 of the
guide, Learning ADAMS/View Basics.
Tip: For more information on entering information in this text box, see Setting
Filters for Standard Objects on page 407.
In the Entity type text box, enter the type of object you want displayed in the
Table Editor. To select a category of object from a list, select Select. You can
only select one object category.
In the Object Fields text box, select the type of information you want displayed
about the objects. To select information categories from a list, select Select.
You can select more than one category.
Select OK.
about beams, which are non-standard objects. In the example, you first
select Anything and then Filters at the bottom of the Table Editor. When
the Anything Table Editor Filters dialog box appears, you set the Entity
type to Beam and then select four fields of information to display about
beams. The result in the Table Editor is a listing of five beams.
405
406
You can filter the categories of information that the Table Editor displays about
standard types of objects, such as markers. You can also select a type of joint or force
about which you want to display information.
You can also narrow the display of objects based on an objects name or parent, such
as to display only markers that belong to PART_1, which is called setting the scope.
You can also narrow the display based on the names of objects. For example, you can
set the name filter to only display the names of objects that contain the number 2
(MARKER_20, MARKER_21, and so on). Using the scope and name filter together,
you can focus on those objects of interest and filter out the rest.
Note: For non-standard object types, you filter the information categories displayed
and narrow the number of objects displayed as you select the non-standard
object type to be displayed. For information, see Setting Types of Objects
Displayed on page 404.
The categories of information that you can display about an object depend on the type
of object. For example, for parts, you can display their location, initial conditions, and
attributes, such as whether they are visible or active in the current simulation. For
markers, you can view their locations, as well as their locations relative to ground. For
forces, you cannot change the information displayed, only the types of forces
displayed. For joints, you can change the information displayed as well as the type of
joints displayed.
To filter the information displayed in the Table Editor:
1
407
408
In the Scope text box, limit the scope of the search, if desired, to all objects
beneath a particular object in the database hierarchy by entering the name of
the object. Note that you cannot enter wildcards in the Scope text box.
For example, enter .model_1 to display all objects under your entire model or
enter .model_1.PART_3 to display objects belonging only to PART_3.
In the Name Filter text box, enter the name of the object or objects that you
want to display. Type any wildcards that you want included. By default,
ADAMS/View displays all objects that meet the scope entered in the previous
step regardless of their name. For more on wildcards, see Using Wildcards on
page 161 of the guide, Learning ADAMS/View Basics.
For example, enter the following to display all markers whose names start with
MARKER_2 or MARKER_3 (MARKER_20, MARKER_30, MARKER_31, and so
on).
MARKER_[23]*
5
Select the categories of information or set the type of object that you want
displayed and select OK.
about markers. In the example, you first select Markers from the bottom
of the Table Editor. When the Markers Table Editor Filters dialog box
appears, you set the types of information to display about markers. The
result in the Table Editor is a listing of six markers.
409
410
After youve set up the type of objects and categories of information you want
displayed, you can sort the information. You can sort the information by object name
or by a particular column. You can also set the type of sorting. You can select:
Numeric sorting, which sorts objects based on their numeric value. It sorts
any alphabetic characters as zeros.
Note: When you sort the Table Editor, ADAMS/View sets the values displayed in
cells back to those stored in the modeling database. Therefore, you lose any
changes that you made to cells and did not apply to your modeling database.
To sort objects in the Table Editor:
1
To set:
The category
on which
objects are
sorted
Sort order
Note: The operations you perform with the Table Editor are not stored in your
modeling database until you apply them. For more information on applying
changes, see Applying Changes on page 418.
Copying Objects
You can create a new object by copying an existing object. ADAMS/View assigns the
new object a default name and displays its information in the last row of the Table
Editor.
To copy an object:
1
Right-click a cell in a row that is not selected. From the pop-up menu that
appears, select Copy Object.
ADAMS/View creates a duplicate of the object. It places the object in the last
row of the Table Editor.
411
412
Creating Objects
Using the Table Editor, you can create certain types of modeling objects. For most
types of objects, you can only create an object if another object of that type already
exists in the modeling database. For example, if the Table Editor is set to display
forces but you currently have no forces in your modeling database, you cannot create
a force through the Table Editor.
You can create parts, points, and coordinate system markers, however, regardless of
whether or not an object of that type already exists in the modeling database. For
example, you can create a new marker if the Table Editor is set to display coordinate
system markers. You do not have to have an object of this type already in the database.
Note that you cannot create a joint through the Table Editor.
To create a part, marker, or point with default values:
1
Display parts, markers, or points in the Table Editor. For information on setting
the type of object displayed in the Table Editor, see Viewing Objects in the
Table Editor on page 403.
Select the Create button along the bottom of the Table Editor.
ADAMS/View creates an object with default values. It displays the objects
information in the last row of the Table Editor.
Display the type of object you want to create in the Table Editor. For
information on setting the type of object displayed in the Table Editor, see
Viewing Objects in the Table Editor on page 403. An object of the type to be
created must already exist in the database.
Right-click a cell that is not selected. From the pop-up menu that appears,
select Create Object.
ADAMS/View displays a dialog box that helps you create the object.
Deleting Objects
You can delete any object in the modeling database using the Table Editor. Be careful,
however, when you delete non-standard objects, such as view layouts or interface
objects. Deleting a non-standard object may have more consequences that you are not
aware of.
To delete an object:
1
Right-click a cell in the row. From the pop-up menu that appears, select Delete
Object.
ADAMS/View deletes the object from the Table Editor.
413
414
Note: The operations you perform with the Table Editor are not stored in your
modeling database until you apply them. For more information on applying
changes, see Applying Changes on page 418.
415
While you can enter text directly into the cells of the Table Editor, you can also use
the input box that appears at the top of the Table Editor. The input box lets you add
text to more than one cell at a time and quickly update the values in the cell. For an
illustration of the input box, see Figure 100 on page 402.
To enter text in a cell:
1
Place the cursor in the input box and type the text you want.
To insert the text in the input box into the cell, do either of the following:
Press Enter.
You can use the input box to insert the same text into multiple cells at once.
To insert text into multiple cells:
1
Select the cells in which you want to insert the text as explained in Selecting
Cells and Rows on page 79 of the guide, Learning ADAMS/View Basics.
In the input box, enter the text that you want to insert as explained in Entering
Text in Cells on page 415.
416
When you create function expressions or parameterize your model, you often need to
include the full name of a modeling object, which is the name of the objects parent
followed by the objects name, and the name assigned to the information you want
associated with the object as it appears in the modeling database. For example, when
building a function for a force, you often refer to a markers displacement in the x
direction. In a function expression, you enter the following:
.model_1.PART_2.MAR_1.Loc_X
The Table Editor provides a shortcut for entering the object and field names so that
you can build functions and parameterize your model quickly.
To quickly enter an objects full name and information field into the input box:
1
Place the cursor in the input box where you want the object name to be
inserted.
Select the Object Name & Field tool f(x) on the Table Editor.
Select any cell in the row containing the object whose name you want to
input.
ADAMS/View inserts the objects full name and field information into the cell.
For more information on building functions, see the guide, Using the ADAMS/View
Function Builder. For information on parameterizing your model, see Automating
Design Changes Using Parameterization on page 13 of the guide, Refining Model
Designs in ADAMS/View.
Using the Table Editor, you can quickly update the current value in many cells at
once. For example, you can update the x location of all markers to be that of their
current location plus 3. The Table Editor creates a variable based on the current
contents of a cell ($cell), which you can use to update the cells.
For a marker example, the Table Editor would create a text string in the input box that
represents the current x location of all selected markers. You would then create an
expression to add 3 to any current cell value. The input box would look like the
following:
$cell + 3
When you insert the expression into the x location cell of a selected marker, the
variable changes to the current value of the selected cell. For the marker example, the
cell for MARKER_1 whose current value is 20, now looks like the following:
(20 + 3)
When you apply the changes to the modeling database, ADAMS/View stores the
value as an expression (an expression in ADAMS/View always is enclosed in
parenthesis ( )):
(20 + 3)
To have ADAMS/View evaluate the expression and store only a number, enter eval
in front of the expression in the input box as shown below and then insert the
expression to the cells:
eval($cell + 3)
417
418
Display the type of object you want to update in the Table Editor, if necessary.
For information on setting the type of object displayed in the Table Editor, see
Viewing Objects in the Table Editor on page 403.
Select the cells you want to update as explained in Selecting Cells and Rows
on page 79 of the guide, Learning ADAMS/View Basics.
Enter how you want to update the cells in the input box as explained in
Entering Text in Cells on page 415. Select the Cell Variable tool
to create a
variable representing the current contents of the cells.
ADAMS/View updates the cells with the information in the input box.
Select Reload.
Applying Changes
You must apply any changes you make to objects in the Table Editor before
ADAMS/View saves them in the modeling database.
To apply changes:
In the Directories list box, select the directory in which you want the file
located.
Select OK.
419
420
Right-click the object whose properties you want to modify, point to the
type of object, and then select Modify. For example, for a joint, the pop-up
menu displays the word Joint. You would point to Joint, and then select
Modify.
Tip: You can zoom in on the object on the screen to more easily place the
cursor over just that object. For more on zooming objects, see
Zooming the Model Display on page 107 of the guide, Learning
ADAMS/View Basics.
The modify dialog box appears.
Shortcut: Double-click the object to display its modify dialog box or select the
object and then enter Ctrl + e.
Select the object whose properties you want to modify. For information on
selecting objects in the Database Navigator, see Navigating Through a
Modeling Database on page 147 of the guide, Learning ADAMS/View Basics.
Select OK.
The modify dialog box appears.
421
Copying Objects
You can copy any selected objects within the same model. ADAMS/View creates an
identical copy of the selected object. ADAMS/View assigns a default name to the
duplicated object using the copied object name as the base name and appending _2 to
the name. For example, if ADAMS/View copies a rigid body called PART_1, it
assigns the new object the name PART_1_2.
To copy selected objects:
1
Select the objects that you want to copy. For information on selecting objects,
see Selecting and Deselecting Objects on page 392.
422
Basics.
2
Select the object you want to copy. For more on selecting objects from the
Database Navigator, see the section, Navigating Through a Modeling Database
on page 147 of the guide, Learning ADAMS/View Basics.
Select OK.
Deleting Objects
You can delete any object that you created in the current modeling database, including
deleting a model. For more information on the effects of deleting a model, see
Deleting a Model on page 170 of the guide, Learning ADAMS/View Basics.
You can delete any object that has a graphical representation on the screen, such as a
rigid body or link, by selecting them first and then deleting them. You can also select
objects that do not have graphical representations by searching for them through the
Database Navigator and then deleting them.
To delete selected objects:
1
Select the objects that you want to delete. For information on selecting objects,
see Selecting and Deselecting Objects on page 392.
Basics.
2
423
424
Select the object you want to delete from the Database Navigator. For more on
selecting objects from the Database Navigator, see Working with Models on
page 163 of the guide, Learning ADAMS/View Basics.
Select OK.
Renaming Objects
As you create objects in ADAMS/View, ADAMS/View automatically assigns names
to them. The name consists of the type of object and a unique ID. For example, it
names a joint JOINT_1 and a motion MOTION_1.
An object also has a full name, which is the name of the objects parent followed by
the name of the object. A full name always begins with a . (dot). For example, a part
with the name PART_1 in the model SLA has the full name .SLA.PART_1.
Objects must have a unique name relative to other objects that belong to their parents.
For example, you cannot have two points named PT1 on part PART_1, but you can
have PT1 on more than one part because the full names of each point would be unique
(.SLA.PART_1.PT1 and .SLA.PART_2.PT1.)
ADAMS/View allows you to change the default name assigned to any object but you
cannot change its full name. ADAMS/View often shows you just the name of the
object and not its full name to simplify the display of objects.
To rename a selected object:
1
Select the object that you want to rename. For information on selecting objects,
see Selecting and Deselecting Objects on page 392.
In the New Name text box, enter the name you want to assign to the object.
Select OK.
425
426
Basics.
2
In the New Name text box, enter the name you want to assign to the object.
Select OK.
From the Edit menu, select Rename. The Database Navigator appears.
Select the object that you want to rename from the Database Navigator. For
more information on selecting objects from the Database Navigator, see
Selecting Objects from the Database Navigator on page 150 of the guide,
Learning ADAMS/View Basics.
The Rename Object dialog box appears.
In the New Name text box, enter the name you want to assign to the object.
Select OK.
You have imported part graphics from a CAD program and you havent
constrained all of the parts yet. By deactivating some of them, you can keep
them in your modeling database without having them affect the simulation.
You can also test each constraint that you create individually.
You are debugging your model and you want to see which objects are
causing problems. You can deactivate those you think are most likely to be
generating errors.
You are studying design variations and you want to alternate between
different variations. For example, you could create both a bushing and a
joint between two parts in your model. During the first simulation, you
could activate the bushing and deactivate the joint. During the second
simulation, you could deactivate the bushing and activate the joint. Finally,
during a third simulation, you could activate both.
Note: You can also create a scripted simulation to turn on and off the activation
427
428
You can set the activation status of the following objects. All objects are active by
default.
Groups (You set the activation status of groups as you create them. For
more information, see Grouping and Ungrouping Objects on page 431.)
Differential equations
Markers
Constraints
Forces
Data elements
Output controls
When you activate an object, it only becomes truly active if and when all of its
ancestors are active. In addition, if you deactivate an object, you also deactivate all its
children. For example, if you have a part (PART_1) with two markers (MARKER_1
and MARKER_2), you can only activate MARKER_1 if PART_1 is also active. Also, if
you deactive PART_1, you also deactivate its markers. The following figure shows the
possible activation states for PART_1 and its markers.
Figure 103. Activation and Deactivation States for Children
Part_1
Marker_1
Marker_2
Part_1
Marker_1
Marker_2
Part_1
Marker_1
Marker_2
To change the activation status of an object on the screen and its children:
1
Basics.
2
Set the activation of the object and select whether or not you want the objects
children to inherit the activation status of the parent.
Select OK.
429
430
Select the object you want to activate or deactivate from the Database
Navigator. For more on selecting objects from the Database Navigator, see
Navigating Through a Modeling Database on page 147 of the guide, Learning
ADAMS/View Basics.
Select OK.
Do not use
Note: The option menu Expand Groups is only present to provide backward
Enter a name for the group of objects. ADAMS/View assigns a default name
for you.
Add any comments about the group that you want to enter to help you manage
and identify the group. You can enter any alphanumeric characters. The
comments that you create appear in the information window when you select
to display information about the group, in the ADAMS/View log file, and in a
command or dataset file when you export your model to these types of files.
431
432
To:
Do the following:
Explicitly specify
the objects to be
grouped
Specify whether or not the group of objects is active during a simulation. You
can enter an expression that evaluates to 0 (not active) or 1 (active) or enter 1
or 0. If you do not specify a value, ADAMS/View uses the activation status
you set using the Activate and Deactivate commands as explained in Activating
and Deactivating Objects on page 427.
Select OK.
To ungroup objects:
1
Select OK.
433
Visibility of the object and its name on the screen and how transparent or
opaque the object is.
Color of the different elements of the object. For example, you can set the
color of the objects outline or its name.
Size of the screen icons that represent the object in your model.
Original geometry
When you first set the level of detail, ADAMS/View must process the
geometry. It stores a file for the object in a subdirectory called lod. Once
ADAMS/View has processed an object, you can change the objects level of
detail, increasing or decreasing it, without incurring the processing time
again.
Note: The lod subdirectory is not portable across platforms.
434
If desired, select the object whose appearance you want to set as explained in
Selecting and Deselecting Objects on page 392. If you do not select an object,
you can use the Database Navigator to search for the object.
Shortcut: Right-click the object on the screen, point to the name of the object,
and then select Appearance.
Change the object whose appearance you want to set or specify an entire type
of object whose appearance you want to set as explained in Table 49.
Table 49. Object Appearance Options
To:
Do the following:
Explicitly specify
the object whose
appearance you
want to set
In the Icon Size text box, enter the size you want for the icons. Note that these
changes take precedence over the size you specify globally for the modeling
database as explained in Setting Screen Icon Display on page 134 of the guide,
Learning ADAMS/View Basics.
From the Visibility option menu, select how you want to set the visibility of the
selected object or object. You can select:
Inherit - Lets the objects simply inherit the display settings from its parent.
For example, a coordinate system marker inherits settings from its parent
part.
7
From the Name Visibility option menu, select whether or not you want the name
of the objects displayed in the view window. Refer to Step 6 for an
explanation of the choices.
From the Color Scope option menu, enter the color you want used for the
objects and set which elements of the objects should be affected by the
selected color. You can select the following from the Color Scope menu:
Polygon Fill sets the color of those areas of a graphic that can be shaded (they
Edge sets the color of the lines making up the edges of the facets of a graphic
that can be shaded.
Outline sets the color of the lines that make up those graphics that cannot be
To browse for a color in the Database Navigator or create a new color, rightclick the Color text box, and select Browse or Create.
435
436
Use the Transparency slider to set how transparent the object or objects are. The
higher the value, the more transparent the object is, allowing other objects to
show through. The lower the value, the more opaque the object is, covering
other objects.
Use the Level of Detail slider to reduce the complexity of an objects graphics to
improve animation speed.
11
Select OK.
437
The Object Color tool stack on the Main toolbox contains 15 colors to which you can
set the color of a object. The Object Color tool stack is shown in Figure 105.
Figure 105. Object Color Tool Stack
Object
Colors
Select the object or objects whose color you want to change as explained in
Selecting and Deselecting Objects on page 392.
438
You can change the colors that are available for displaying objects and create new
colors. Note that the color changes are not reflected in the color tools on the Object
Color tool stack. These are fixed and remain the same colors as the default colors. To
set an object to new colors that you create, use the Object Appearance dialog box as
explained in Setting Object Appearance on page 433.
To modify or create a color:
1
From the Settings menu in either the main or plotting window, select Colors. The
Edit Color dialog box appears.
Displays
current color
Displays
new color
To modify a color, select the color that you want to modify from the Color
option menu. The selected color appears in the Old color box. Its color values
also appear in the Red, Green, and Blue color value sliders. ADAMS/View
creates the color by mixing the red, green, and blue light as specified in the
color value sliders.
To create a new color, select New Color. The New Color dialog box appears.
Enter the name of the color and select OK.
Change the color values for the color in the Red, Green, and Blue color value
sliders, as appropriate.
Select OK.
12
Overview
ADAMS/View gives you many ways in which you can move and
rotate objects in your model. You can simply select and drag the
object to a new location or you can enter precise coordinate
locations. You can also use a variety of graphical approaches to
rotate and translate objects.
Note that if you move a part, its associated points, center of mass
icon, and geometry move along with it. If you move a point, all
parts attached to the point move accordingly.
The following sections explain how to position and rotate
objects.
440
Move tools available from the Move tool stack on the Main toolbox.
The Select tool and Move tool stack are shown next. The object position handle is
explained in Translating and Rotating Objects Using Position Handle on page 443.
Figure 106. Move Tool Stack
Select
tool
441
Four of the tools on the Move tool stack are not explained in this chapter because they are
shortcuts to other operations or apply more to parameterization. Table 50 lists the tools
that are not explained in this chapter and tells you where to find information about them.
Table 50. Move Tools Explained in Other Chapters
The tool:
As you move objects using the move tools, ADAMS/View provides settings that you can
control. It provides the settings in a container at the bottom of the Main toolbox. The
settings change depending on the move operation. For example, Figure 106 on page 440
shows the values associated with incrementally moving objects. For more on controlling
settings, see Controlling Settings on page 54 of the guide, Learning ADAMS/View
Basics.
To display the contents of the Move tool stack:
From the Main toolbox, right-click the Move tool stack. By default, the
Increment tool
442
Select the objects that you want to translate as explained in Selecting and
Deselecting Objects on page 392.
Click anywhere on the selected objects and hold down the mouse button.
Drag the selected objects to the desired location and release the mouse button.
443
Y axis
Z axis
X axis
The following sections explain how to use the position handle in more detail.
444
Select the object on which you want to display the handle. To see the
handle, you can have only one object selected. See Selecting and
Deselecting Objects on page 392 for more information.
The position handle appears. It appears over the first point of the geometry
that you created or in the center of spherical geometry. The following
shows the position handle as it appears on a box, sphere, and translational
joint.
Figure 108. Examples of the Object Position Handle
cm
445
Click on any of the axis stems of the object position handle and drag the stem.
The position handle moves the object in either direction along the selected
axis.
Figure 109. Example of Translating an Object about Its Axis
z
x
xy
z
x
z
x
z
z
xy
446
Click on the ball at the end of any of the axes of the handle and pivot the axis
around the origin of the handle. Moving the x-axis ball rotates about the
y-axis, moving the y-axis ball rotates about the z-axis, moving the z-axis ball
rotates about the x-axis.
Note: You can also use the object position handle to rotate an object in the plane of
the screen when one axis of the object is perpendicular to the screen.
Figure 110. Example of Rotating an Object About its Z-Axis
Tip:
To gain more precise control on the rotation angles, move the mouse away
from the center of the position handle as you rotate the object. The farther
you move the mouse away from the position handle, the smaller
ADAMS/View makes the angles of rotation.
447
page 451. If other objects are also selected, ADAMS/View moves them to
positions relative to the new position of the global position handle.
To set a global position handle:
From the Move tool stack, select Object Position Handle tool
Select Set Handle Location and click on the screen to indicate the location for the
handle.
If desired, orient the axes of the handle as explained below. By default, the
orientation of the position handle is set to that of the current working grid
axes.
Select how you want to orient the handle from the Orientation Via option
menu.
Select Close.
Note: You can also delete the global position handle just as you would any object in
your modeling database as explained in Deleting Objects on page 413 of the
448
Note: For another way in which to center the view, see Setting the Center of a View
449
Select the object that you want to move as explained in Selecting and
Deselecting Objects on page 392.
The settings in the container on the Main toolbox change to those for
incrementally positioning objects, as shown below.
Rotates about
z-axis of view
Sets pivot
point
Specifies
increment
Shortcuts to setting
view orientation
Note: For information on setting the view orientation using the shortcuts, see
Orienting a View Precisely on page 102 of the guide, Learning ADAMS/View
Basics.
3
If desired, select a new view center about which to rotate the object. To select
a new center:
Select a point on screen about which you want to rotate the object.
450
In the Angle text box, set the amount by which you want to incrementally
rotate the object.
Translates along
the y-axis
Specifies
increment
Translates along
the x-axis
Shortcuts to setting
view orientation
Note: For information on setting the view orientation using the shortcuts, see
Orienting a View Precisely on page 102 of the guide, Learning ADAMS/View
Basics.
2
In the Distance text box, set the amount by which you want to incrementally
translate the object.
Select the appropriate translation arrows to translate the object along the x- or
y- axis of the view coordinate system. ADAMS/View translates the object
each time you select an arrow.
451
If more than one object is selected or youve created a global position handle,
ADAMS/View moves the first object you selected or the handle to the specified location
and moves all other selected objects to positions relative to the first selected object or
the handle. For information on creating a global position handle, see Creating a Global
Position Handle on page 447.
To position an object precisely or get the location of an object:
1
Select the object or objects that you want to position or the object whose
coordinate location you want to display as explained in Selecting and
Deselecting Objects on page 392.
From the Move tool stack, select the Exact Position tool
The settings in the container on the Main toolbox change to those for precisely
positioning objects, as shown in Figure 113 on page 452.
452
In the 1, 2, or 3 Location and Orientation text boxes, enter the locations and
orientations to which you want to move the object.
The coordinate locations are in the current coordinate system. For example,
if the coordinate system is set to Cartesian, then Location 1 is the x
coordinate.
Orientation 1 is the first rotation angle, Orientation 2 is the second, and
Orientation 3 is the third. The axis to which ADAMS/View applies these
angles depend on the current rotation sequence. For example, if the rotation
sequence is body-fixed 313, ADAMS/View applies Orientation 1 to the
z-axis. For more on rotation sequences, see the section, About Orientation
Angles and Rotations on page 34 of the guide, Learning ADAMS/View
Basics.
Select the object to which the locations and orientations are relative. The
coordinates are relative to the location of the objects position handle. By
default, the coordinates are relative to the working grid.
If you selected that the coordinates are relative to an object, enter the object in
the lower text box. To browse for an object or select an object from a list,
right-click the lower text box, and then select the appropriate command.
Select Set.
453
454
Pick two locations. The first location defines the location from which to
move and the second location defines the point to which to move the
selected object. The objects move relative to the selected locations.
Define a distance and a vector along which to translate the selected objects.
The following figures shows a link (LINK_2) being centered over a hole of LINK_1 by
moving the link from position A to position B.
Figure 114. Example of Translating From One Location to Another
As you translate the objects you can rotate an object that you select during the translation
operation or translate all objects currently selected. In addition, you can translate a copy
of the selected objects instead of the actual objects.
455
If you did not choose Selected in the settings container, select the object that
you want to translate.
Select the first point on the screen from which to translate the object or
objects.
Select the second point on the screen to which to translate the object.
Select Direction Distance from the option menu and enter the distance to
translate the object in the Distance text box.
Select the object that you want to translate if you did not select Selected in the
settings container.
Select an axis or define the vector along which to translate the object by
selecting two points on the screen.
456
Align - Rotates an object about its axis to align it with another object.
Align One Axis - Orients an axis of an object to be in the same direction as the
axis of another object. This is useful if the axis of a joint or force is defined
by a marker in your model.
Align Two Axis - Orients an object so it is the same direction as the axis of
another object and rotates the object about that axis to place a second axis
in the plane defined by the two directions.
You can rotate an object that you select during the rotate operation or rotate all objects
currently selected. In addition, you can rotate a copy of the selected objects instead of
the actual objects.
Figure 115. Example of Aligning Axes of Two Objects
457
From the Move toolstack, select the Align & Rotate tool
From the option menu, select the method you want to use to rotate or align
objects. If you selected About, enter the amount to rotate the object in the
Angle box.
If you did not choose Selected in the settings container, select the object or
objects that you want to rotate.
Follow the prompts in the status bar to select the axis or axes about which to
rotate or align the objects. Refer to Table 51 for assistance.
Table 51. Options for Rotating Objects
If you selected:
Do the following:
About
Align
Align Same As
458
Do the following:
459
ADAMS/View Basics.
Figure 116. Example of Aligning Faces
Faces to
be mated
From the Move tool stack, select the Mate Faces tool
Select the face with which to align the selected objects face.
460
By increments
To precise coordinates
You can select to move the objects relative to a specified objects coordinate system,
called the reference coordinate system. You can also select to move objects relative to
the screen. In addition, you can use the Precision Move dialog box to view the
coordinates of one object in relation to another. Figure 117 shows the Precision Move
dialog box as it appears when you move objects relative to a model.
Figure 117. Precision Move Dialog Box
Rotate and translate objects
by increments
relative to the or about the
objects coordinate system
Part to be
moved
The Precision Move dialog box consolidates some operations that are available using the
By Increments and Precise Coordinates tools and provides new functionality for rotating
objects by increments relative to any object. (For more information on the other tools,
see Translating and Rotating Objects By Increments on page 448 and Translating and
Rotating Objects to an Exact Position on page 451.)
The next sections provide information on using the Precision Move dialog box:
Overall Procedure for Using the Precision Move Dialog Box, 461
If you want to move the objects along or about axes that another object in the
model defines (the reference coordinate system), then select either Relative to
the or About the, and enter the name of the object that is to define the reference
coordinate system.
Note: If you do not enter a reference coordinate system, ADAMS/View
Then, either:
If you know the destination coordinates of the objects you are moving, enter
the destination coordinates into the C1 through C3 (for translation) and A1
through A3 (for rotation) text boxes, and then select OK.
Use the Rotate and Translate dials to move the objects by incremental
values.
461
462
From the Move tool stack, select the Precision Move tool
Set Relocate the to the desired object type (for example, part or marker).
Enter the name or names of the objects to move. You can select the object on
the screen, enter the name of the object, or browse for the object.
View - ADAMS/View defined view, such as front, right, or left. Use the
Database Navigator to select the name of the view.
Entity - Any entity, including those that are not on the screen. Entities also
include the working grid and gravity.
Screen - The plane of the screen. When you select to move objects relative
to the screen, the Precision Move dialog box changes. For more
information, see Translating and Rotating Objects Using Screen
Coordinates on page 469.
You can specify two options for the reference coordinate system: Relative to the or
About the:
If you specify the Relative to the option for rotations, objects rotate in place
(their locations do not change) and their rotations are with respect to the
coordinate system specified in the Relative to the text box.
If you specify the About the option for rotations, the objects rotate about the
origin of the coordinate system specified (their locations change) and the
rotations are with respect to the coordinate system specified in the About the
text box.
In the text box to the right, enter the object whose coordinate system is to be
used as the reference coordinate system.
Note: If you do not enter a reference coordinate system, the Precision Move
dialog box moves the objects about the current default coordinate
system.
463
464
Change
direction
of move
Incremental
value
Enter new values for translation or rotation in the text boxes below the
cubes, and then press Enter.
Click the + or -.
Click a cube for the direction you want to translate or rotate the object.
465
Example One:
Rotate a marker (MAR2) 180 degrees relative to the y axis of the coordinate system that
MAR1 defines:
1
Set Relocate the to marker, and then enter MAR2 in the text box to the right.
Set Relative to the, and then enter MAR1 in the text box to the right.
MAR1
MAR2
MAR2
466
Example Two:
Set Relocate the to marker, and then enter MAR2 in the text box to the right.
Set About the, and then enter MAR1 in the text box to the right.
MAR1
MAR2
MAR2
Select Load.
ADAMS/View loads the current coordinates relative to the reference
coordinate system.
467
468
Select OK.
Example:
Move a marker (MAR2) to (0, -4, -4) in another markers (MAR1) coordinate system.
1
Set Relocate the to marker, and then enter MAR2 in the text box to the right.
Set Relative to the, and then enter MAR1 in the text box to the right.
C1:
C2:
-40
C3:
-40
Select OK.
MAR1
MAR2
MAR2
469
Think of the translation as pulling the object in the direction of the arrow.
For example, when you select the small arrow that points up, you pull an
object up along the vertical axis. The double arrows to the right translate an
object along an axis that is normal to the screen (works only if the view is
in perspective mode).
Specifies
increment
Rotates objects
normal to screen
Translates into
and out of axis
normal to screen
470
Click an arrow for the direction you want to translate or rotate the object.
471
Index
A-B
Accessing modify dialog boxes 420
Activate command, using 429
Activating
determining status of 430
objects 427
ADAMS/View standard material types 118
ADAMSMAT format 360
Adding
rows 104
rows to Spline Editor 346
Aggregate mass, calculating 120
Aggregate Mass, using 120
Align & Rotate tool
A-B
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
Applied forces
See also Multi-component forces
See also Single-component forces
described 196, 203
W-Z
472
A-B
Arcs
creating 25
modifying 88
C-D
E-F
Arrays
creating 320
creating contact 308
determining size of 319
modifying 320
modifying contact 310
overview of 317
types of 318
using with system elements 369
Beams
constitutive equations for 246
creating 248
described 244
modifying 249
Bodies/Geometry command, using 15
Boolean operation
difference 55
intersection 54
union 53
Boss tool, using 59
Bosses
adding to objects 59
modifying 101
Box tool, using 33
Boxes
creating 32
modifying 92
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
Bushings
about 226
constitutive equations for 227
creating 229
modifying 231
By Increments tool
C-D
Calculating aggregate mass 120
Cams
contact points on 276
creating 275
initial conditions for 278
modifying 278
tips on creating 276
types of 272
Cautions
for field elements 264
for general state equations 382
for linear state equations 378
for state variables 372
Cells
editing text in 344
entering object names into 416
entering text in 344, 415
inserting text into multiple 103, 415
modifying current contents 417
moving between 344
viewing contents of 345
Chain tool, using 49
473
A-B
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
474
Chamfering
creating 57
modifying 101
A-B
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Columns
moving between 344
resizing 103, 346
Q-R
S-T
U-V
W-Z
Constitutive equations
for beams 246
for bushings 227
for field elements 256
for torsion springs 238
Constraints
See also Contacts
See also Idealized joints
See also Joint primitives
about 126
about connecting to parts 132
accessing tools for creating 134
how oriented 133
naming 133
tips on creating 136
types of 127
Construction geometry
chaining 49
creating 1830
described 13
extruding 50
modifying using dialog boxes 81101
modifying using hotpoints 80
Contact arrays
about 308
creating 308
modifying 310
Contact Force tool, using 293
Contact forces
algorithms used in 290
creating 293
example of 297
more about 311
supported geometry in 291
with planar geometry 291
475
A-B
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
476
Contact point
about 276
specifying initial for curve-on-curve cam 279
specifying initial for pin-in-slot cam 278
A-B
Contacts
degrees of freedom removed 130
described 196
See Cams
See Contact forces
See Force-based contact
E-F
Control points
defined 322
using to define curves 325
Conventions
constraint naming 133
force naming 200
part naming 8
Convex curves on cams 276
C-D
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
Copying
MFORCE 269
objects 421
objects in Table Editor 411
text in cells 344
Corners
chamfering 57
filleting 57
U-V
W-Z
477
Coupler joint
about 168
creating 169
modifying 169
A-B
E-F
about 201
using 202
Create Trace Spline command, using 77
Creating
arcs and circles 25
arrays 320
beams 248
boxes 32
bushings 229
complex joint 163
contact arrays 308
contact forces 293
coupler joint 169
curve data element 329
cylinders 35
differential equations 375
extrusion 43
field elements 258
force-based contacts 305
frustums 37
gear joint 166
general state equations 383
global position handle 447
joint motion 182
joint primitives 172
linear state equations 378
lines and polylines 23
links 40
markers 21
C-D
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
478
matrixes 353359
MFORCE 266
multi-component forces 221
object colors 438
objects in Table Editor 412
planes 34
plates 41
point masses 73
point motion 187
points 18
revolutions 47
simple joint 153
single-component forces 210
spheres 36
spline from trace 77
splines 28
spring-dampers 234
state variables 373
tips on, parts 9
torsion springs 240
torus 38
transfer functions 389
Crowd, selecting objects in 395
CSG, defined 52
Curve command, using 329
A-B
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
Curve points
defined 322
using to define curves 326
Curve-fitting techniques
in ADAMS/View 335
setting in Spline Editor 343
Curve-on-curve cam
creating 275
described 274
initial conditions for 279
modifying 278
tips on 276
Curve-on-curve tool, using 275
Cutting
solid geometry 55
text in cells 344
479
A-B
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
Cylinders
creating 35
modifying 93
W-Z
Cylindrical joint
adding friction to 162
creating 153
described 144
modifying 155
setting initial conditions for 159
Damping coefficient, specifying for torsion spring 242
Damping matrix
specifying for beam 253
specifying for field element 263
480
Deactivating
determining status of 430
objects 427
Defining
force direction 199
magnitude of force 198
Degrees of freedom
about 128
for parts 8
that contacts remove 130
that idealized joints remove 129
that joint primitives remove 130
that motions remove 131
Delete command, using 424
Deleting
MFORCE 269
objects 423
objects using Table Editor 413
rows 104
A-B
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
Determining
activation status of objects 430
array sizes 319
Dialog boxes
about part modify 106
displaying modify 420
using to modify geometry 81
Differential Equation command, using 375
Differential equations
creating/modifying 375
overview of 374
ways to define 374
ways to use 375
Direction
overview of defining force 199
specifying for single-component force 208
481
A-B
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
482
E-F
A-B
Edges
chamfering 57
filleting 57
C-D
Elements
See Data elements
See System elements
Entering mass moments of inertia for parts 112
Equations
constitutive for bushings 227
constitutive for field elements 256
for beams 246
for spring-dampers 234
for torsion springs 238
Equilibrium, controlling using system elements 369
Exact Position tool, using 451
Examples
of contact forces 297
of creating spline from trace 75
of system elements 368
of using spline 333
Expressions, with arrays 318
Extrude tool, using 51
Extruding geometry 50
Extrusion tool, using 46
Extrusions
creating 43
limits of 44
modifying 98
Faces, aligning 459
Features, moving objects along 456
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
Field elements
about specifying linear 255
about specifying nonlinear 255
cautions for 264
constitutive equations for 256
creating 258
described 255
modifying 259
Files
matrix data 360
reading in Location table information 105
saving Location table information to 105
saving Table Editor information to 419
Fillet tool, using 58
Filleting
creating 57
modifying 101
483
A-B
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
484
Flexible links
about 63
creating 67
modifying 73
positioning 65
types of 64
A-B
Force graphics
displaying for bushing 231
displaying for multi-component forces 223
displaying for single-component forces 212
displaying for spring-dampers 235
displaying for torsion springs 241
G-H
Force magnitude
about defining 198
about defining for applied forces 204
calculating for multi-component forces 218
modifying for multi-component forces 223
modifying for single-component force 212
specifying characteristics for single-component force 211, 222
M-N
Force-based contacts
about geometry for 311
and simulation results 311
contact arrays for 308
creating 305
friction with 312
modifying 307
modifying contact array for 310
types of pairs 303
C-D
E-F
I-J
K-L
O-P
Q-R
S-T
U-V
W-Z
Forces
See also Applied forces
See also Flexible connectors
See also Multi-component forces
See also Single-component forces
accessing tools for creating 201
defining direction of 199
defining magnitude of 198
described 196
naming convention 200
specifying direction for single component 208
485
A-B
C-D
E-F
G-H
I-J
K-L
Formats
for matrices 352
for matrix data files 360
M-N
Friction
about using with force-based contacts 312
adding to joints 162
specifying for contact forces 309
Q-R
U-V
Frustums
creating 37
modifying 95
W-Z
Full format
defining matrix using 354
described 352
Function Builder, See the guide Using the ADAMS/View Function
Builder 195
Function expressions
defining for force 198
defining for motion 179
using with arrays 318
O-P
S-T
486
G-H
Gear joint
algebraic equation for 165
creating 163
creating and modifying 166
ratio 165
Gear tool, using 166
A-B
C-D
E-F
G-H
I-J
K-L
M-N
Geometry
accessing 14
adding holes and bosses to 59
chaining wire 49
chamfering 57
creating box 32
creating cylinders 35
creating extrusion 43
creating from intersection 54
creating from union of two 53
O-P
Q-R
S-T
U-V
W-Z
creating frustum 37
creating link 40
creating plane 34
creating plate 41
creating revolution 47
creating sphere 36
creating torus 38
cutting one solid from another 55
extruding 50
filleting 57
hollowing 60
modifying using dialog boxes 81101
modifying with hotpoints 80
setting level of detail of 433
splitting solid 56
supported in contacts 291
types of 13
types of spline 76
Global position handle
creating 447
turning off 447
487
A-B
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
Groups
creating for objects 431
selecting 400
Hole tool, using 59
Holes
adding to objects 59
modifying 101
Hollow tool, using 61
W-Z
488
Hollowing objects
creating 60
modifying 101
Hooke joint
adding friction to 162
creating 153
described 151
modifying 155
A-B
C-D
E-F
G-H
I-J
Hotpoints
using to edit splines 342
using to modify geometry 80
K-L
I-J
M-N
Idealized joints
See also Complex joints
See also Simple joints
about 140
degrees of freedom removed 129
described 127
IMPACT-function-based contact, about 290
O-P
Q-R
S-T
U-V
W-Z
489
A-B
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
Inserting
rows 104
S-T
U-V
Intersecting geometry 54
Joint motion
creating 182
described 178
modifying 183
Joint primitives
creating 172
degrees of freedom removed 130
described 127
Joint tool stack
about 134
using 135
W-Z
490
Joints
See also Idealized joints; Primitive joints
adding friction to 162
A-B
C-D
K-L
Level of detail, setting for geometry 433
Limits for planar geometry in contacts 291
Linear extrapolation, selecting in Spline Editor 340
Linear forces
about specifying field element as 255
bushing 226
defining field element as 259
spring-damper 233
torsion spring 238
Linear State Equation command, using 378
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
Lines
creating 23
modifying 87
W-Z
Links
creating 40
flexible, working with 6373
modifying 97
Local coordinate systems, described 7
Location Table
adding rows 104
inserting text into multiple cells of 103
resetting 105
resizing columns 103
U-V
Location table
about 102
displaying 103
reading information from file 105
saving information to file 105
491
A-B
C-D
E-F
Locations
modifying initial for parts 116
positioning objects at 454
viewing object 467
G-H
M-N
K-L
Magnitude
calculating for multi-component forces 218
defining for motion 179
defining force 198
modifying for multi-component forces 223
modifying for single-component force 212
Manifold, defined 44
Markers
creating 21
creating in Table Editor 412
measuring distance between 122
Mass
calculating aggregate 120
modifying part 108
point, creating 73
Mass moments of inertia, entering for parts 112
Massless beam, See Beams
Mate Faces tool, using 459
Materials
setting for parts 118
specifying for beams 249
standard types 118
I-J
M-N
O-P
Q-R
S-T
U-V
W-Z
492
A-B
C-D
E-F
G-H
I-J
K-L
Modal forces
See MFORCE 265
Modal preloads, viewing 270
Modeling database
applying changes to through Table Editor 418
reloading values in table from 418
M-N
O-P
Q-R
S-T
U-V
W-Z
493
Models
copying 421
tips on constraining 136
using curve data elements in 328
A-B
E-F
C-D
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
494
about 134
using 135
Move tool stack
about 440
displaying 441
A-B
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
Moving
about tools for 440
between cells and columns 344
by aligning faces 459
objects along their axes 445
objects based on grid or features 456
objects by aligning faces 459
objects by dragging 442
objects by increments 448
objects from point to point 454
objects in screen coordinates 469
objects relative to/about coordinate system 464, 468
objects to exact position 451
objects using Precision Move dialog box, overview 461
objects, about 439
selecting reference coordinate system for 462
Multi-component forces
creating 221
described 216
displaying force graphics for 223
force equations for 218
modifying 223
shortcuts for applying to parts 220
torque equations 219
Multiple cells, inserting text into 103, 415
Names
changing 425
entering complete in cells 416
of constraints 133
of forces 200
of parts 8
Narrowing columns in Location table 103
Nonconvex curves on cams 276
495
A-B
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
496
Nonlinear force
about specifying field element as 255
defining field element as 259
A-B
C-D
Non-manifold, defined 44
Numeric sorting 410
E-F
O-P
G-H
Object axes
rotating objects about their 446
translating along 445
Object Color tool stack, using 437
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
moving ground 7
moving in screen coordinates 469
moving relative to/about coordinate system 464, 468
positioning precisely 451
removing from select list 399
removing multiple from select list 398
renaming 425
rotating about their axes 446
rotating by increments 448
rotating in screen plane 446
selecting from crowd 395
selecting one 393
selecting several 394
setting appearance of 433
setting color of 437
setting type displayed in Table Editor 404
sorting in Table Editor 410
translating by increments 450
updating in select list 400
Open curves, specifying 327
Orientation
modifying initial, for parts 116
of constraints 133
Orientation joint, creating 172
Outputs (Y) arrays
creating/modifying 320
described 318
determining size of 319
Pairs of force-based contacts 303
Parallel axes joint, creating 172
Parameterization, building in as you create parts 11
497
A-B
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
498
Parts
See also Flexible Links
See also Point Masses
See also Rigid Bodies
building parameterization into 11
calculating aggregate mass 120
creating in Table Editor 412
degrees of freedom, about 8
ground 7
how constraints connect 132
modifying initial velocities 113
modifying part properties 106117
naming 8
setting up materials for 118
tips on creating 9
types of 6
Pasting text in cells 344
A-B
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
Planes
creating 34
modifying 92
S-T
U-V
W-Z
499
A-B
Plates
creating 41
modifying 98
C-D
E-F
Plotting
methods for Spline Editor 343
splines 340
Point Mass command, using 74
Points
creating 18
creating in Table Editor 412
positioning objects to 454
Point-to-Point tool
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
500
Properties
changing simple joint 157
modifying part 106117
A-B
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
Q-R
Ratio of gear 165
Reading in Location table information 105
Recomputing, splines 343
Reference coordinate system, selecting 462
Reloading values in Table Editor 418
Removing rows in Spline Editor 346
Rename command, using 425
Renaming objects 425
Resetting values in Location Table 105
Reshaping geometry 80
U-V
W-Z
Resizing
columns 103, 346
geometry 80
501
A-B
C-D
E-F
G-H
I-J
K-L
M-N
Revolutions
creating 47
modifying 100
O-P
Rigid bodies
about 10
accessing tools for creating 14
adding features to 5761
creating complex 4956
creating construction 1830
creating solid 3148
merging geometry 62
modifying mass and inertia 108
modifying using dialog boxes 81101
modifying using hotpoints 80
types of 13
Rotating
objects about grid or features 456
objects about their axes 446
objects by increments 448
objects to exact position 451
objects, overview of 439
Q-R
S-T
U-V
W-Z
502
Rows
adding and deleting 104
adding and removing in Spline Editor 346
moving between 344
S-T
Saving
Location table information 105
Table Editor information 419
Screen coordinates, moving objects in 469
A-B
C-D
E-F
G-H
I-J
K-L
M-N
Screen plane
moving objects in 445
rotating objects in 446
O-P
Screw joint
creating 153
described 148
modifying 155
S-T
Select list
adding multiple objects to 398
adding single object to 397
removing all objects from 399
removing multiple objects from 398
updating 400
viewing groups in 400
Select List command, using 397
Q-R
U-V
W-Z
503
A-B
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
504
A-B
C-D
Single-component forces
creating 210
described 205, 206
displaying force graphics for 212
modifying 212
specifying direction of 208
torque 207
Single-component Torque tool, using 210
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
505
A-B
Sparse format
defining matrix using 356
described 352
C-D
E-F
Spheres
creating 36
modifying 94
Spherical joint
adding friction to 162
creating 153
described 145
modifying 155
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
506
A-B
G-H
Splines
creating 28
creating from trace 77
example of creating from trace 75
modifying 90
types of created from trace 76
Split tool, using 56
C-D
E-F
I-J
K-L
M-N
O-P
Spring-dampers
creating 234
described 233
equations defining force of 234
modifying 235
specifying graphics for 235
Q-R
State variables
cautions with 372
creating/modifying 373
overview of 371
ways to define 372
W-Z
S-T
U-V
507
A-B
C-D
E-F
Subroutine
creating for motions 179
defining for force 199
System elements
differential equations 374376
example of 368
general state equations 381385
linear state equations 377380
overview of 365
state variables 371373
terminology 370
transfer function 386390
types of 367
using arrays with 369
using to control equilibrium 369
Table Editor
applying changes in 418
copying objects in 411
creating objects in 412
deleting objects from 413
described 401
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
508
displaying 402
entering complete object names in 416
entering text in cells 415
filtering information in 407
inserting text into multiple cells of 415
modifying cell information 417
reloading 418
saving information to file 419
setting types of objects displayed in 404
sorting objects in 410
A-B
C-D
E-F
G-H
I-J
K-L
Tabular view
editing a spline in 344
in Spline Editor 338
M-N
O-P
Text
editing in cells 344
entering in cells 344, 415
inserting into multiple cells 103, 415
Q-R
U-V
S-T
W-Z
509
A-B
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
Torsion springs
creating 240
described 238
equations for 238
modifying 241
Torus
creating 38
modifying 96
Torus tool, using 39
Trace
creating spline from 77
example of creating spline from 75
types of splines created from 76
Transfer Function command, using 389
U-V
W-Z
510
Transfer functions
creating/modifying 389
details of 387
overview of 386
A-B
Translating
objects about their axes 445
objects by dragging 442
objects by increments 450
objects from point to point 454
objects to exact position 451
E-F
Translational joint
adding friction to 162
creating 153
described 143
modifying 155
setting initial conditions for 159
Translational motion tool, using 182
C-D
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z
Types
of arrays 318
of data elements 316
of flexible links 64
of material 118
of matrix formats 352
of motion 178
of objects in Table Editor 404
of parts 6
of spline geometry 76
of system elements 367
selecting objects based on their 396
U-V
511
A-B
C-D
Union of geometry 53
E-F
Universal joint
adding friction to 162
creating 153
described 151
modifying 155
G-H
I-J
K-L
User-written subroutine
creating for motions 179
defining for force 199
using to define curve 327
with arrays 318
M-N
Values
editing in cells 344
entering in Spline editor 344
reloading in table 418
resetting in Location Table 105
Vector, translating objects along 455
Velocities
modifying initial for parts 113
specifying initial for curve-on-curve cam 279
specifying initial for motions 183
specifying initial for pin-in-slot cam 278
Viewing
locations of objects 467
Viewing contents of cell 345
Viscous damping coefficients, defining for field element 263
Visibility, setting object 433
O-P
Q-R
S-T
U-V
W-Z
512
W-Z
A-B
Wire geometry
chaining 49
extruding 50
Working grid, moving objects along 456
C-D
E-F
G-H
I-J
K-L
M-N
O-P
Q-R
S-T
U-V
W-Z