L13

LECTURE 13
- accel & F2 ~ dyn, Cor

L13
Acceleration and Force Analysis (cont.)
Forces and Torques

• now the forces and torque can be found

2
 L13

Same FBD
as static
case

L13

Same FBD
as static
case

4
 L13

L13

SOLVING
FG2X = -5260. N
FG2Y = -1369. N
FAX = 5260. N
FAY = -1369. N
TSH = 193.8 N-m
FG4X = 832.3 N
FG4Y = -4566. N
FN = 832.3 N

☞ for directions consult the FBD’s

6
 L13
• in this case, a static analysis does not give a good
approximation for the dynamic analysis

L13
BUT

If accelerations, masses or moments of inertia are small, the

static analysis could be very close to the dynamic analysis
AND IT IS

➤ easier to obtain !

➤ easier to change in an iterative design process !

See PS3 Q1 for a dynamic analysis that can be done by hand,

including solving a matrix by algebraic substitution.

8
 L13
THE NEXT LEVEL OF COMPLEXITY IN KINEMATICS

● what if a body 1 is connected to a slider which moves in a

slot and this slot is in a body 2 which is rotating and
translating

➤ often convenient to use a rotating frame of reference

which involves a specification of the Coriolis
acceleration (that you learned all about in ME 212)

● consider the following example....

L13
absolute angular
velocity and absolute
angular acceleration of
BODY 2 and of the xy
coordinate axes (or xy
frame)

10
 L13

The midterm covers up to here. The

Specific Design Project is also based on
material up to here. Together they form
40% of the evaluation for ME 321. This
first part of the course will NOT be
directly evaluated again. Be sure to study
for the midterm with more care than
usual. It is essentially a mini final exam.

11
 A13

ME 321

Simulating a Four-bar
Mechanism in
ADAMS - View

Prepared by John Medley

A13

Acknowledgements
Mohsen Azimi
John McPhee
Adel Izadbakhsh

2
 A13
A fairly simple problem (find TD) …
[oscillates through 60o]

[in this case ~ NOT

the same as the
NOT TO SCALE SDS Project!]
At all pin joints, each link extends a
distance of b/2 as shown in the
sketch on the right. The pins are all
located at the midpoint of the width
of each link. The centres of mass
are located at the midpoint of the
link lengths O2A and AB O4B
a = 4 mm a = 10 mm
b = 8 mm b = 20 mm
3

A13
Where to find ADAMS?

ADAMS should be installed in these labs

1. Fulcrum
2. Helix
3. Lever
4. WEEF
5. Wheel

4
 A13
To start ADAMS – View …

Programs →
Engineering →
MSC.ADAMS →
Aview →
ADAMS - View

A13
Operational steps involve …
1. ADAMS interface specifications
2. Link geometries and positions
3. Link mass and mass-moment of
inertia
4. Pin joints
5. Load torque
6. Crank angular velocity
7. Run a simulation for 1 cycle of crank
8. Finding TD (driving torque)
6
 A13

1. ADAMS interface specifications

A13
To create a new model …

Select where to save your model

Give a model name

Select units as

When everything above

is done, Click OK

8
 A13
… and get the starting interface

A13
To input an appropriate grid …

Settings →
Working Grid

10
 A13

make these changes

by left clicking on the
box, selecting text and
inputting values using
your keyboard

Hit Apply

Hit OK

11

A13
It looks a little weird so …

12
 A13

To get a better fit use …

- zoom: hit “z” and hold left button of mouse

and move mouse up and down
- pan: hit “t” and hold left button of mouse
and move mouse around

13

A13
… and mess about until you get something like
this (can re-adjust later using “z” and “t” again)

14
 A13

2. Link geometries and positions

(Note: In the example that I am doing in this tutorial, I refer to values
calculate in an Excel file. This file is not provided and you would be
expected to develop it yourself or simply calculate the required
values using your calculator. The present tutorial just indicates how
an Excel value can be easily inserted into ADAMS.)

15

A13
To add ground link …
Left click here

Left click and select

On Ground
Left click

Paste in length from

Excel as follows:
(1.18050836506990E-01m)
for my chosen case (can use “Ctrl c” to
“copy” and “Ctrl v” to “paste” then
backspace once to see values in box). Can also use your
calculator to get the value and just type in using the keyboard!
16
 A13

Move cursor to
drawing area
(watching the
command line
for feedback),
left click on
starting point
(origin) and drag
to the right

17

A13
If you make a mistake
(at any time) left click
here and do it again (but
colours and icons may
change) OR left click on
the link then right click
on it and select delete
from the menu and do it
again.

18
 A13
To add crank …
Left click here

Left click

Type in as follows:
(0.03m)

Repeat the above two steps

for Width and Depth(not really
necessary but avoids a
Warning later)
19

A13

Left click and

drag as done
previously with
the ground,
placing the crank
in the “90o
position” as
shown

20
 A13

Create the
Coupler and
Output Rocker
links guessing at
their orientation
(note that there
is a gap between
them and that
the output link
has a different
Width and
Depth)

21

A13

3. Link mass & mass-moment

of interia

(Note: In the example that I am doing in this tutorial, I

refer to values calculate in an Excel file. This file is not
provided and you would be expected to develop it
yourself or simply calculate the required values using
your calculator. The present tutorial just indicates how
an Excel value can be easily inserted into ADAMS.)

22
 A13
To add mass and mass-moment
of inertia …
Double left click on the Input Crank

then left click

here and
select User
Input

23

A13

Left click here

and paste in from
Excel (or use
calculator and
type in)
Left click Last step: left
on Apply click on OK 24
 A13

Repeat instructions of the last two slides for

the Coupler and the Output Rocker.

Note that Ixx + Iyy ≥ Izz in all cases and this is

important because, if it is not true, ADAMS may
inexplicably give incorrect results. Also, for the
values of the present case, the TD values are not
very sensitive to Izz variations. However, if the
input speed were higher or the TL value lower, Izz
variations would change TD more significantly.

25

A13

4. Pin joints

26
 A13
To add pin joints …
Left click here
(or if revolute joint
is not there, right click
on lower left corner
of the button and select
the revolute joint)

27

A13
Left click on
the crank (Part 2) to
select the First
Body (again
watching the
command line for
feedback) then left
click on the ground
and finally on the
joint itself (Wiggle
the cursor around
to get the correct
selections ~ the
screen will give a
message to tell you
which body or joint
you are on!) 28
 A13

Repeat the
process for the
second joint
between crank
and coupler
selecting Part 3 as
the First Body and
Part 2 as the
Second Body

29

A13

Repeat the
process for the
third joint BUT
select 2 Bod-2 Loc
here

30
 A13

For the third joint

between coupler
and output link,
select Part 4 as
the First Body and
Part 3 as the
Second Body and
the First Location
on Part 4 and the
Second Location
on Part 3

31

A13

Repeat the
process for the
fourth joint BUT
select 2 Bod-1 Loc
here

32
 A13

For the fourth

joint select Part 4
as the First Body
and ground as
the Second Body

33

A13

5. Load torque

34
 A13
To add the load torque (TL) …

Right click on the

lower right corner
of the “Spring”
button and left
click on the torque
arrow to select it

Left click

Left click on box

and type in -157 35

A13

Move cursor to
work area,
select the
body (Part 4)
and the point
of application
(ground.MARK
ER_2)

36
 A13

6. Crank angular velocity

37

A13
To add the crank angular velocity …

Left click

Left click on box and from

Excel paste in the angular
velocity of the crank in deg/s

38
 A13

Left click on
the arrow for
joint 1 (crank
to ground
joint) to add
the angular
velocity to
your model

39

A13

To modify the
ridiculous
large motion
arrow, right
click on it and
select
Appearance

40
 A13

Then
do all
this

41

A13

Do the same
thing for the
torque arrow
(typing in
0.020) and get
this appearance
(much nicer!)

42
 A13

7. Run a simulation for

1 cycle of crank

43

A13
To run a simulation … 1. Hit this

2. Enter time for 1

cycle from Excel or
your calculator
4. Hit run!
3. Enter 200 steps

44
 A13

You could get this

kind of crap from
ADAMS. It means
you must start over
and do everything
again very carefully!
Fortunately, I have a
previous model that
ran and I will now exit
ADAMS and insert my
previous model (by
selecting) Opening an
existing database in
the first menu of
ADAMS.
45

A13
A simulation that ends
like this will occur. A
Warning box may appear
and ruin the simulation
but select it and shrink it
so it is out of the way.
Then, hit the Reset
Arrow button just below
Simulation in the Toolbox
and then the forward
arrow to run it again.
Left click on the Hit Tools → Purge
workspace to get nicer Cache Files to keep
colours. Always hit the space available on your
Reset Arrow before the computer. Also, log out
Run button. and in again if ADAMS
does not want to run.
46
 A13

8. Finding TD (driving torque)

47

A13
To find the driving torque (TD) …

Left click
here

48
 4. Then hit this A13

7. To return
to simulation
5. And move cursor here

6. to get answer of 76.1966 Nm

1. Left click for TD.
and select
Result Sets

2. Select 3. Hit this

49

A13

You are done but read

on one more slide ...

50
 A13
With a little effort, you can construct complex graphs like
this to verify the load torque and crank angular velocity
(but this was not required for the project).

51

A13

END
(finally)

52
 L14

LECTURE 14
Cams 1 ~ intro,
graphical

L14
CAMS

• cams transmit motion ➤ to a follower

• motion - depends directly on cam shape

- can be rolling and/or sliding

• advantage compared with bar & bar-slider mech’s

- specific output displacement (easy to achieve)

• common type ➤ rotating disc cam with

reciprocating or oscillating follower

2
 L14

[from Design of Machinery, 2nd Ed, Norton]

L14

from Design of Machinery, 2nd Ed, Norton

4
 L14

• in ME 321 will consider

➤ disc cams with reciprocating followers

➤ specified follower displacement with

low accelerations so that dynamic
effects are avoided

Some Notation and Advice L14

• large pressure angle causes significant side thrust

- thus usually keep below 30o
• keep profile smooth to avoid vibration and impact problems
6
 L14
A Graphical Design Method

• disc cam with flat-faced follower

1. start at the minimum follower displacement (r = rB)

2. rotate follower about the cam in the opposite direction to

the cam rotation

3. move the follower radially outward to the specified position

4. draw the cam tangent to the polygon formed by the follower

faces

L14

Start like this Given

r θ
rB 0o
r1 θ1
r2 θ2
r3 θ3
etc.

8
...and eventually get (face half width) L14
part of the cam profile

cam
profile

follower
cam rotation face

base circle
9

L14
Extension to a Roller Follower
• now draw
cam profile
tangent to
follower’s
circular face

10
 L15

LECTURE 15
Cams 2 ~ analytical,
guidelines

An Analytical Method L15

• for a disc cam with a flat-faced follower

2
 L15
Given: r = C + f (θ ) .... (1) where C = constant
Find: cam profile coordinates (x, y) and face half-width ( l max )
Soln:
• let f ≡ f (θ ) and from the geometry note that

L15
From the geometry, note that
x = r cos θ - l sin θ .... (3)
y = r sin θ + l cos θ .... (4)

4
 L15
DISCUSSION OF GENERAL PRINCIPLES IN CAM DESIGN

[some examples of the issues involved

in cam selection and design]

FOR all but very slow speeds

• follower displacement, velocity and acceleration

should be continuous

• also jerk (time rate of change of acceleration)

should be finite

L15
If you want

you must live with piecewise functions "patched"

together in a continuous fashion.

• often simply want a number of specific positions ~ can fit

profile curves together to minimize shock loading
6
 L15
Linear Reciprocating or Oscillating Follower?

• reciprocating with linear motion of follower often required but

the linear bearings needed for this follower are more complex
and expensive than those of the pin of the oscillating follower
֜ SO could try to approximate straight line
motion with a long oscillating follower

L15
• if a roller is used for the contact with the cam, the linear
reciprocating follower must be prevented from rotating
֜ BUT the pin of the oscillating follower already
provides this constraint

• if a roller is used for the contact with the cam, the linear
reciprocating follower must be prevented from rotating
֜ BUT the pin of the oscillating follower already
provides this constraint

• if a flat-faced follower is used, the linear reciprocating action

allows placing the follower axis slightly out-of-plane which
allows friction to cause slow rotation about the follower axis
֜ distribute wear over the face

ADVANTAGE COMPARED TO OSCILLATING FOLLOWER!

8
 L15
Spring-loaded Follower or Face Cam?
• face cam expensive and may have friction and wear
problems along with cross-over shock (impact when
contact force moves from one side of the track to the
other) causing vibration and additional wear problems.
֜ BUT eliminates follower jump

• spring can act to reduce shock loads by allowing

compliance in the system
֜ BUT may allow some follower jump

L15
Roller or Flat-Faced Follower?

• roller allows concave regions of the cam

• roller easy to replace
• roller friction lower
BUT more space needed and high temperatures
may "cook" the oil (degrade and leave hard deposits)
in the axle of the roller

AS A RESULT flat-faced followers more common

in internal combustion engines 10
 L15
To Dwell or Not to Dwell?
- dwell is a period in one revolution of the cam
when the follower does not move

• yes!! an easy follower motion to implement that may be

required in a machine design

• if dwell is not required should consider using a bar or

bar-slider mechanism (rather than a cam-follower
system ) which would be cheaper and be less likely to
have wear problems

11

L15
To Grind of Not to Grind?

• ground cam usually has smoother operation and

less wear than an as-milled cam
֜ BUT increases the cost

• sometimes a good boundary lubricant (one with

molecules that "stick" to the surface) will allow run-
in of a milled cam WHICH may be a cheaper
alternative to grinding

12
 L15
To Lubricate or Not to Lubricate?
• yes! unless application prevents you (for example,
camera cam and linkages cannot have liquid lubricant
unless sealing is perfect)
• recommend generous supply of clean oil of type used
for hypoid gears (powerful boundary lubricant
additives)
• lubricant also removes
heat and high
temperatures that often
increase wear

13

L15

END OF CAMS

14