MTR 501 Introduction To Mechatronics: MSC Adams

MTR 501
INTRODUCTION TO
MECHATRONICS
MSC ADAMS
TUTORIAL #1: SIMPLE MECHANISM
AB is a uniform bar with a mass of 2 kg and a length of 450mm. Bar AB swings
in a vertical plane about the pivot at A. The angular velocity (theta dot) = 3 rad/s
when theta = 30 degrees. Compute the force supported by the pin at A at that
instant.
1.1. Starting ADAMS.
On a Windows Machine, click on the Start  Programs  ADAMS 12.0 
AView  ADAMS – View
The Welcome to ADAMS dialog box appears as shown in Figure 1.
Under the heading "How would you like to proceed", select Create a new
model.
Verify the Gravity text field is set to Earth Normal (-Global Y).
Verify that the Units text field is set to MMKS - mm,kg,N,s,deg.
Select OK.
One last thing before we start, we are going to changed the coordinate
settings; this is done by going to ADAMS/View Settings menu and select
Working Grid. The Working Grid Settings dialog box appears. One of the
options we have is to change the spacing, change it to 25mm, click OK after it
is finished. This can allow you to change other grid settings, such as
dimensions and design. You can also switch to polar coordinates in this
window, which is useful for measuring angles.
Making the bar.
1.Click on the parts palette in the Toolbox with the right mouse button.
The button stack for parts appears.

2.Select the Rigid Body: Link tool. with the left mouse button.
3.In the link container at the bottom of the Toolbox, activate the Length
toggle switch and enter 450mm in the text field below.
4.Activate the Width toggle switch and enter 20mm in the text field.
5.Activate the Depth toggle switch and enter 27.5mm in the text field.
6.Click once with the left mouse button on the point (-225,0,0) to select
the starting point (to see the coordinate press F4) and click once with
the left mouse button anywhere right of the start point along the global
x-axis to select the direction. ADAMS will create and display the bar.
The display should appear similar to Figure 2 below.
Setting the position of the bar.
1.To set the angle of the bar at 30 degrees, click on the
Position icon in the Toolbox.
2.Enter 30 in the Angle entry and select the bar so it is
highlighted.
3.Click on the clockwise arrow once.
The bar is now at a 30 degree angle from horizontal.

Creating a pivot.
1.Click on the Joint icon in the Main Toolbox and select the
Joint:Revolute icon from the joints button stack.
2.Verify that the Construction text field reads 1 Location and Normal
to Grid.
3.Position the cursor over the marker PART_2 MARKER_1 at the left
end of the bar and click once with the left mouse button.
4.A joint between the bar and the ground is created at that location.
Setting initial motion.
All of the parts have now been created and the constraints added.
The next step is to add an initial motion to the revolute joint that
specifies a starting rotation rate of three radians per second.
Click and hold the bar with the right mouse button and follow the pull
right menu for Part:PART_2 and select Modify.
In the Category: entry, use the pull down arrow to select Velocity
Initial Conditions.
Under the heading Angular velocity about, select Part CM.
Corrections by Li Wang (Please think about what’s wrong with the old
version):
3. Under the heading Angular velocity about, select Marker. In the
box below, enter MARKER_4 or double click the box and find
MARKER_4 under the ground directory.
Below that, click on the Z axis selection box and enter 3.0r, for 3.0
radians per second, in the text field that appears next to it.
Click on Apply and close the window.
Click on Ok in the Modify window.
Verify the model.
The model verification step is one way to find errors in the model
definition. ADAMS checks for error conditions such as
misaligned joints, unconstrained parts, or massless parts in
dynamic systems, and alerts you to other possible problems in the
model.
1.In the lower right corner of the modeling window, click on the
Information icon with the right mouse button.
The information palette appears.

2.Click on the Verification icon.
The Info Window appears.

3.After seeing that the model has verified successfully, click on
the Close button in the upper right corner to close the
Information Window.
Setting measure for the force supported by the pivot at point A.
Click on the revolute joint at the upper left end of the bar with the right mouse
button and follow the pull-right menu for Joint:JOINT_1 and select Measure.
The Joint Measure dialog box opens.

Select Force for the Characteristic entry and mag (magnitude) for the
Component entry.
Click OK.
A graph window named JOINT_1_MEA_1 appears. This is where the reaction

force will be displayed during the simulation and animation.
Solution:
• The force supported by pivot A is 14.5 N.

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MTR 501

The button stack for parts appears.

The bar is now at a 30 degree angle from horizontal.

The information palette appears.

The Info Window appears.

The Joint Measure dialog box opens.

A graph window named JOINT_1_MEA_1 appears. This is where the reaction

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