Adams 2020 Training 701 Coursenotes

Complete Multibody Dynamics Analysis with Adams
ADM701 Course Notes

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Contents
Section Page
1 Introduction
Welcome to Adams Training 1-2
Course Objectives 1-4
What is Motion Simulation 1-5
What is Adams? 1-6
Adams Applications 1-7
Why build an Adams model? 1-8
SimCompanion 1-9
Organization of Workshops 1-13
2 Virtual Prototyping Process
Virtual Prototyping Process 2-2
Workshop 1, Stamping Mechanism
3 Adams View Interface Overview
What is in this Section 3-2
Model Hierarchy 3-3
Renaming Objects 3-4
3 | TOC – ADM701 © MSC Software Corporation

Contents
Section Page
3 Adams View Interface Overview (Cont.)

Adams View Interface 3-6
Simple Simulations 3-8
Saving Your Work 3-9
Adams View Graphics on Windows 3-12
Workshop 2: “Valve Train Mechanism”
4 Adams PostProcessor Interface overview
Post-Processing Interface Overview 4-3
Adams View Window 4-4
Recording Animation 4-7
Printing Plot to File 4-8
Exporting Numerical Data 4-9
Plot Configuration File 4-10
Creating Plot Configuration File 4-11
Workshop 3: “Adams Postproccessor Overview”

Contents
Section Page
5 Parts and Coordinate Systems

Coordinate Systems 5-3
Part Coordinate Systems 5-5
Coordinate System Marker 5-6
Differences Between Parts and Geometry 5-8
Parts, Geometry, and Markers 5-11
Types of Parts in Adams View 5-13
Part Mass and Inertia 5-14
Measures 5-16
Workshop 4, Falling Stone
6 Initial Conditions and Point Trace
Partial Initial Conditions 6-3
Initial Velocities 6-4
Point Trace 6-5

Contents
Section Page
6 Initial Conditions and Point Trace (Cont.)

Workshop 5, Projectile Motion
7 Constraints
Constraints 7-3
Constraints Example 7-4
Use of Markers in Constraints 7-5
Degrees of Freedom (DOF) 7-7
Joint Initial Conditions 7-9
Merging Geometry 7-10
Angle Measures 7-12
Workshop 6, One DOF Pendulum
8 Rotation and Friction
Euler Angles 8-3
Precise Positioning: Rotate 8-5

Contents
Section Page
8 Rotation and Friction (cont.)

Modeling Friction 8-6
Measure in LCS 8-10
Workshop 7: “Inclined Plane”
9 Geometry and Precise Positioning
Building Geometry 9-3
Construction Geometry Properties 9-5
Solid Geometry 9-7
Precise Positioning: Move 9-9
Workshop 8: “Lift Mechanism I”
10 Joint Motion and Functions
Applying Motion 10-3
Joint Motion 10-4
Functions in Adams 10-6

Contents
Section Page
10 Joint Motion and Functions

Workshop 9: “Lift Mechanism II”
11 Joint Primitives
Types of Joint Primitives 11-3
Perpendicular Joint Primitive 11-5
Workshop 10: “Lift Mechanism III”
12 Point Motions and System-Level Design
Applying Point Motions 12-3
System-Level Design 12-5
Command Language Introduction 12-7
Workshop 11: “Suspension System I”
13 Measurements, Displacement Functions, and CAD Geometry
Taking Measurements 13-3

Contents
Section Page
13 Measurements, Displacement Functions, and CAD Geometry (Cont.)

Displacement Functions 13-5
Importing CAD-Based Geometry 13-7
Workshop 12: “Suspension System II”
14 Add-On Constraints, Couplers, and Assembling Models
Add-on Constraints 14-3
Couplers 14-5
Assembling Subsystem Models 14-7
Workshop 13: “Suspension-Steering System”
15 Simulations
Assemble Simulation 15-3
Simuation Hierarchy 15-5
Types of Simulations 15-6
Forces in Adams 15-10

Contents
Section Page
15 Simulations (Cont.)
Spring Dampers in Adams 15-11
Magnitude of Spring Dampers 15-13
Workshop 14: “Spring Dmaper”
16 Forces and Splines
Single-Component Forces: Action-Reaction 16-3
Spline Functions 16-5
AKISPL Function 16-7
Workshop 15: “Nonlinear Spring”
17 Bushings
Bushings 17-3
Bushing Statement Documentation 17-5
Static Equilibrum 17-6
Workshop 16: “Suspension-Steering System II”

Contents
Section Page
18 Impact and Velocity Functions

Impact Functions 18-3
Velocity Functions 18-7
Workshop 17: “Hatchback I”
19 STEP Functions and Simulation Scripts
STEP Function 19-3
Scripted Simulations 19-6
Adam/Solver Commands 19-8
Workshop 18: “Hatchback II”
20 Adams Solver
Adams Solver Overview 20-3
Files in Adams Solver 20-4
Example of an Adams Solver Dataset (.adm) File 20-5

Contents
Section Page
20 Adams Solver (Cont.)

Stand-Alone Adams Solver 20-6
Solver Compatibility 20-7
Example: 2D Pendulum 20-8
Formulation of the Equations of Motion 20-11
Phases of Solution 20-12
Debug/Eprint (Dynamics) 20-19
Workshop 19: “Hatchback III”
21 Sensors and Design Variables
Sensors 21-3
Design Variables 21-5
Temporary Settings File 21-8
Workshop 20: “Hatchback IV”
22 Splines and Constraints

Contents
Section Page
22 Splines and Constraints (Cont.)

Splines from Traces 22-3
Curve Constraints 22-4
Automated Contact Forces 22-6
Flexible Parts – Adams Flex 22-9
Flexible Parts – ViewFlex 22-11
Workshop 21: “CAM-Rocker-Valve
23 Multi-Components Forces and Design Studies
Multi-Component Forces 23-3
Design Studies 23-7
Workshop 22: “Target Practicce”
24 FE_Part: Geometric Nonlinearity
Introduction to FE_Part 24-3
FE_Part Comparison 24-4

Contents
Section Page
24 FE_Part: Geometric Nonlinearity (Cont.)

Available FE_Part Formulations 24-5
FE_Parts Nodes: FE Nodes 24-6
Distributed Applied Load: FE_Load 24-7
Advantages of implementing FE_Part 24-8
Workshop 23: “FE_PART”
25 Recommended Practices
General Approach to Modeling 25-3
Modeling Practices: Parts 25-4
Modeling Practices: Constraints 25-6
Modeling Practices: Compliant Connections 25-8
Modeling Practices: Run-time Functions 25-9
Debugging Tips 25-13
Documentation 25-28
Workshop 24: “Switch Mechanism”

Contents
Appendix
A Tables
B Tools and Menus

Introduction
Welcome to Adams Training
• What’s in this section:

• Course Objectives
• What is Motion Simulation?
• What is Adams?
• Adams Applications
• Why Build an Adams Model?
• SimCompanion: Technical Articles, Documentation & Forums
• Organization of Workshops
• Getting Help
2 | Introduction © MSC Software Corporation

Welcome to Adams Training
• Adams Full Simulation Package is a powerful modeling and simulating environment that lets you build, simulate, refine,
and ultimately optimize any mechanical system, from automobiles and trains to VCRs and backhoes.
• The Complete Multibody Dynamics Analysis with Adams class will teach you how to build, simulate, and refine a
mechanical system using MSC Software’s Adams Full Simulation Package.

Course Objectives
• After taking this course you will be able to:

• Build Adams View models of moderate complexity.
• Understand Adams product nomenclature and terminology.
• Understand basic modeling principles and extend your proficiency by creating progressively more complex models.
• Use the crawl-walk-run approach to virtual prototyping.
• Debug your models for the most common modeling challenges (redundant constraints, zero mass properties, broken
joints, etc.).
• Use and be informed about all methods of Adams product support.
• Use the product documentation well.

What is Motion Simulation?
• Also called:
• Mechanical Systems Simulation (MSS)
• Multi-Body Dynamics (MBD)
• Equations of motion generated from the model
• CAD-like graphical interface or text file input
• Large angles, large displacements, nonlinear forces
• Differential and algebraic equations integrated directly
• Result is system animation and plotting of all kinematics (displacement, velocity, etc.) and dynamics (reactions, etc.)

What is Adams?
• Automatic Dynamic Analysis of Mechanical Systems

• Development started in 1974 at the University of Michigan
• Mechanical Dynamics, Inc. started with Adams Solver
• MDI was acquired by MSC in 2002
• Euler-Lagrange method to create equations of motion
• Predictor-corrector methods to solve equations
• Integrated animation and plotting
• Powerful parametric, scripting and post-processing abilities

Adams Applications
• The general purpose graphical user interface is Adams View

• Model building, simulation submission, animation
• Equations are built and integrated with Adams Solver
• Solver is a standalone application, but typically used seamlessly from within Adams View
• Plotting and animation done with Adams PostProcessor
• Tightly integrated with Adams View
• Industry verticals (e.g., Adams Car) for model templates

Why Build an Adams Model?
• Verify Motion Performance (~60%)

• “Will it work?”
• Example: will landing gear fully deploy in these conditions?
• Compute Detailed Loads in a Mechanism (~30%)
• “Will it break?”
• Example: what are the cyclic loads on a wind turbine driveshaft?
• Examine Clearances in a Complex Mechanism (~10%)
• “Will it fit?”
• Example: will launch vehicle fairing deploy without hitting the payload?

SimCompanion
• One stop for full online support

• FAQs
• Documentation
• Webinars & Multimedia
• Known Issues
• Find answers to your questions
• Subscribe to email notification
• Access to other support resources
• MSC Community
• Discussion Forums
• Case Management
• Training Information
https://simcompanion.mscsoftware.com

SimCompanion
• Personalized Support via the

following channels
• Web
• Create a Support Case
• Manage My Support Cases
• Email
• List of Addresses in Support Contact Information
• Phone
• List of Phone Numbers in Support Contact Information

SimCompanion
• Product Info and Docs

• Access to all Product Documentation

Support: MSC Community
• Access MSC Community from SimCompanion
• Discussion Forums for User Collaboration

• Follow Topics of Interest, including Email
Settings
• Replying to Email will upload your post
• Know what’s Trending
• Leaderboard for User Recognition
• Manage Support Cases
• Search Discussions and Your Cases

Organization of Workshops
• The workshops get progressively more complex. Each workshop focuses on solving an engineering-based problem and
covers mechanical system simulation (MSS) concepts that will help you use Adams most optimally. The earlier
workshops provide you with more step-by-step procedures and guidance, while the later ones provide you with less.
• Each workshop is divided into the following sections:
• Workshop Objectives
• Software Version
• Files Required
• Problem Description
• Steps to Complete Workshop
• Workshop Review

Getting Help: Online Help
• Online Help
• To access the online help, do either of the following:
• From the main menu bar, right click on icon and select Adams View Help to display the home page for the Adams View
online help.
• On Windows, go to Start > Adams 2020 > Online Help
• While working in any Adams View dialog box, press F1 to display online help specific to that dialog box.
• Once the online help is displayed, you can browse the table of contents, use the index, or search for keywords.

Getting Help: Online Help
Index/search entire
Adams help
Contents of
selected tab
Table of contents

Getting Help: Consulting
• MSC Software provides comprehensive engineering consulting services to help you realize the benefits of Virtual
Product Development quickly and confidently.
• Staff Augmentation
• Technology Transfer
• Customization & Process Automation
• Methods Development
• Toolkit Solutions
• Simulation Data and Process Management
• On-site Support
• For more information on MSC Consulting Services, go to: http://www.mscsoftware.com/services/engineering-services

Virtual Prototyping Process
Design Cut time and Increase Increase IMPROVED

Problem costs quality efficiency PRODUCT
Build Test Review Improve
• Build a model of your design using:

• Bodies
• Forces
• Contacts
• Joints
• Motion generators
2 | Virtual Prototyping Process © MSC Software Corporation

Design Cut time and Increase Increase Improved

Problem costs quality efficiency Product
• Test your design using:

• Measures
• Simulations
• Animations
• Plots
• Validate your model by:
• Importing test data
• Superimposing test data


• Review your model by adding:

• Friction
• Forcing functions
• Flexible parts
• Control systems
• Iterate your design through variations using:
• Parametrics
• Design Variables


• Improve your design using:

• DOEs
• Optimization
• Automate your design process using:
• Custom menus
• Macros
• Custom dialog boxes

Exercise
• Perform Workshop 1, “Stamping Mechanism”

Adams View Interface Overview
What is in this Section
• Model Hierarchy
• Renaming Objects
• Adams View Interface
• Simple Simulations
• Saving Your Work
2 | Adams View Interface Overview © MSC Software Corporation

Model Hierarchy
• Adams View Modeling Hierarchy

• Adams View names objects based on this model hierarchy. For example, Adams View names geometry as
.model_name.part_name.geometry_name.
• To change the parent for an object, rename the object.
Model
Simulations Objects More
Measures Constraints Parts Forces
Analyses
Markers Construction Geometry

Points
Results Sets
Are not saved in model

Components
command files (.cmd)
See Also: Assembling Subsystem Models in Section “Add-on Constraints, Couplers, and Assembling Models”

Renaming Objects
• Adams View naming conventions:
.mod
Simulations Objects More
.mod.meas_1 .mod.joint_1 .mod.part_1 .mod.spring_1
.mod.run_1
.mod.part_1.mar_1 .mod.part_1.point_1 .mod.part_1.box_1

.mod.run_1.joint_1
Are not saved in model

.mod.run_1.joint_1.fx

Renaming Objects
• Renaming objects clarifies model topology

• Names can have underscores but not spaces or symbols
Not renamed Renamed

Adams View Interface
Menus
Adams View Main Window – Default View
Ribbon
Working grid
Toolbox container Model name
Tree View
View triad Status bar

Adams View Interface
Adams View Main Window – Classis View
Main Toolbox Model name Working grid Menus
Tool
Arrow denotes
tool stack
Toolbox container
View triad Status bar

Simple Simulations
• Simulation versus animation

• Simulations are solutions to equations of motion describing a mechanical system.
• Animations display a graphical playback of previously completed simulations.
Simulation output
Simulation time interval
Step Size: amount of time
End Time: absolute point between steps
in time to stop simulation Steps: total number of
Duration: relative amount steps in a specified
of time to simulate over amount of time
Animation tool

Saving Your Work
• Most common formats in which you can save Adams View models
• Adams View database files (.bin)
• Include the entire modeling session including models, simulation results, plots, and so on.
• Are typically large (start at 5 MB).
• Have been platform independent since Adams 11.0 (2002)
• Adams View command files (.cmd)
• Include only model elements and their attributes.
• Are relatively small, editable text files.
• Are platform independent.

Saving Your Work
Adams View
database files (.bin)
Adams View

Saving Your Work
• Other formats in which you can import and export data

• Adams Solver input files (.adm)
• Geometry files (STEP, IGES, DXF, DWG, Wavefront, Stereolithography)
• Test and spreadsheet data files
• Simulation results files (.msg, .req, .gra, .res).

Adams View Graphics on Windows
• Adams View uses the OpenGL graphics standard

• Early versions of Windows graphics card drivers sometimes do not have OpenGL fully implemented
• Signs of graphics driver issues:
• Display “freezes” (stops updating)
• Adams View application crashes or disappears
• Adams Exception 11 errors
• SOLUTION: Update the graphics card drivers
• http://www.nvidia.com then pick Download Drivers
• For ATI and AMD video cards, http://support.amd.com

Exercise
• Perform Workshop 2, “Valve Train Mechanism”

Adams Postprocessor Interface Overview
• Post-Processing Interface Overview

• Adams View Window – Animating, Plotting, Reporting
• Recording Animation
• Printing a Plot File
• Exporting Numerical Data
• Plot Configuration File
• Creating Plot Configuration File
• Creating Plots using a Plot Configuration File
For more information, see the Adams Postprocessor online help.
2 | Adams Postprocessor Interface Overview © MSC Software Corporation

Post-processing Interface Overview
• Adams Postprocessor has these modes:

• Animation
• Plotting: Plot 3D (Available only for Adams Vibration analyses)
• Reporting
• As you switch between the modes, the Adams View window’s menus change, as shown on the next few pages.

Adams View Window: Animating
Mode type Treeview Main toolbar Viewport
Property editor
Dashboard
For more information, see the Animate tab in the Adams Postprocessor online help.
Adams View Window: Plotting
Main toolbar
Mode type Treeview
Viewport
Property editor
Dashboard
For more information, see the Plot tab in the Adams Postprocessor online help.
Adams View Menu: Reporting
Treeview Viewport
Mode type Main toolbar
For more information, see the Report tab in the Adams Postprocessor online help.

Recording Animation
• AVI or MPEG format on Windows

• MPEG format on Unix/Linux

Printing Plot to File
• PNG format is a lossless bitmap file

Exporting Numerical Data
• Export Formats:
• Numeric data
• Spreadsheet
• Table

Plot Configuration File
• Plot configuration files in Adams Postprocessor:

• Helps to set up a set of plots that could be used repetitively.
• Set up the vertical and horizontal components of the plot.
• Set up the general settings and preferences, such as titles, labels, horizontal and vertical spacing, scaling, legend
text, and more.
• Also holds data for Bode plots, Scatter plots, Curve math and Some complex function expressions with multiple
analysis result component references.
• Plot configuration files are TeimOrbit files and are stored in your working directory.

Creating Plot Configuration File
• You can create a plot configuration file containing all of the plots currently in Adams Postprocessor or only a selected
set of plots.
• To create a plot configuration file:
• Create and configure plots as desired, including specifying labels and spacing. For example, you can create a set of
plots and add subtitles to all of them that describe the type of analysis with which the plots are associated.
• From the File menu, point to Export, and then select Plot Configuration File. The Save Plot Configuration File dialog
box appears.
• In the Configuration File Name text box, enter the name for the plot configuration.
• Check either “All Plots” option or Select the plots and curves that you want to include.
• You can include some customization commands for plots and curves.
• Select OK.

Creating Plots Using a Plot Configuration File
• After you've run an analysis, you can view the series of plots defined in a plot configuration file, use the File menu, point
to Import, and then select Plot Configuration File.
• The plot configuration file specifies a subtitle for your plots. In addition, in the File Import dialog box you can:
• Add a title to all the plots.
• Plot results of multiple analyses on one plot using the Cross Plotting option.
• Change the look of your plot, such as fonts and size, using the option Execute Custom Macros. To use this option,
you must have a macro that defines the commands to be executed.

Exercise
• Perform Workshop 3, “Adams Postprocessor Overview”

Parts and Coordinate Systems
• Coordinate Systems
• Part Coordinate System
• Coordinate System Marker
• Differences Between Parts and Geometry
• Parts, Geometry, and Markers
• Types of Parts in Adams View
• Part Mass and Inertia
• Measures
2 | Parts and Coordinate Systems © MSC Software Corporation

Coordinate Systems
• Definition of a coordinate system (CS)

• A coordinate system is essentially a measuring stick to define kinematic and dynamic quantities.

Coordinate Systems
• Types of coordinate systems

• Global coordinate system (GCS):
• Rigidly attaches to the ground part.
• Defines the absolute point (0,0,0) of your model and provides a set of axes that is referenced when creating local coordinate
systems.
• Local coordinate systems (LCS):
• Part coordinate systems (PCS)
• Markers

Part Coordinate Systems
• Definition of part coordinate systems (PCS)

• They are created automatically for every part.
• Only one exists per part.
• Location and orientation is specified by providing its location and orientation with respect to the GCS.
• When created, each part’s PCS has the same location and orientation as the GCS.

Coordinate System Marker
• Definition of a marker
• It attaches to a part and moves with the part.
• Several can exist per part.
• Its location and orientation can be specified by providing its location and orientation with respect to GCS or PCS.

Coordinate System Marker
• Definition of a marker (cont.)

• It is used wherever a unique location needs to be defined. For example:
• The location of a part’s center of mass.
• The reference point for defining where graphical entities are anchored.
• It is used wherever a unique direction needs to be defined. For example:
• The axes about which part mass moments of inertia are specified.
• Directions for constraints.
• Directions for force application.
• By default, in Adams View, all marker locations and orientations are expressed in GCS.

Differences Between Parts and Geometry
• Parts
• Define bodies (rigid or flexible) that can move relative to other bodies and have the following properties:
• Mass
• Inertia
• Initial location and orientation (PCS)
• Initial velocities

• Geometry
• Used to add graphics to enhance the visualization of a part using properties such as:
• Length
• Radius
• Width
• Not necessary for most simulations.
• Note: Simulations that involve contacts do require the part geometry to define when the contact force will turn on or off. We will
discuss contact forces in Workshop 20 - Hatchback IV.

.model_1.UCA (Part)
.model_1.UCA.cyl_1 (Geometry)
.model_1.UCA.sphere_1 (Geometry)

Parts, Geometry, and Markers
• Dependencies in Adams
• To understand the relationship between parts, geometry, and markers in Adams View, it is necessary to understand
the dependencies shown below:
Model
.mod
Part
.mod.pend
Geometry Marker Marker Marker Geometry

.mod.pend.sph .mod.pend.mar_1 .mod.pend.cm .mod.pend.mar_2 .mod.pend.cyl

Parts, Geometry, and Markers
pend
mar_2
cyl
cm sph
mar_1

Types of Parts in Adams View
• Rigid bodies
• Are movable parts.
• Possess mass and inertia properties.
• Cannot deform.
• Flexible bodies
• Are movable parts.
• Possess mass and inertia properties.
• Can bend when forces are applied to them.
• Ground part
• Must exist in every model and is automatically created when a model is created in Adams View.
• Defines the GCS and the global origin and, therefore, remains stationary at all times.
• Acts as the inertial reference frame for calculating velocities and acceleration.

Part Mass and Inertia
• Mass and inertia properties

• Adams View automatically calculates mass and inertial properties only for three-dimensional rigid bodies.
• Adams View calculates the total mass and inertia of a part based on the part’s density and the volume of its
geometry.
• You can change these properties manually.
• Adams View assigns mass and inertial properties to a marker that represents the part’s center of mass (cm) and
principal axis.
• You can change the position and orientation of the part’s cm marker.
• The orientation of the cm marker also defines the orientation of inertial properties Ixx, Iyy, Izz.
• Note: part mass properties are constant during a simulation. For methods to model the effects of time-varying mass
see SimCompanion KB8019687
https://simcompanion.mscsoftware.com/infocenter/index?page=content&id=KB8019687

Part Mass and Inertia
Part 1 Part 1
cm marker
cm marker (shifts as
new geometry is
added to the part)

Measures
• Measures in Adams
• Represent data that you would like to quantify during a simulation such as:
• Displacement, velocity, or acceleration of a point on a part
• Forces in a joint
• Angle between two bodies
• Other data resulting from a user-defined function
• Capture values of measured data at different points in time over the course of the simulation.
• Measures operate much like virtual instrumentation

Measures
• Definition of object measures

• Measure pre-defined measurable characteristics of parts, forces, and constraints in a model.

Exercise
• Perform Workshop 4, “Falling Stone”

Initial Conditions and Point Trace
• Part Initial Conditions

• Initial Velocities
• Point Trace
2 | Initial Conditions and Point Trace © MSC Software Corporation

Part Initial Conditions
• Initial location and orientation

• The design configuration of all the parts (their part coordinate systems) in a model defines their initial locations and
orientations.
• You can fix a part’s location and orientation so it can be used during the assemble simulation procedure (covered
later).

Initial Velocities
• In Adams, a part initially moves (at t = 0) as follows:

Point Trace
• Definition of a point trace

• Tracks the location of a marker during an animation.
• Can be used to visualize the clearance between two bodies during a simulation.
• Example of a point trace
• Trajectory of a ball.

Exercise
• Perform Workshop 5, “Projectile Motion”

Constraints
• Constraints
• Use of Markers in Constraints
• Degrees of Freedom (DOF)
• Joint Initial Conditions (ICs)
• Angle Measures
2 | Constraints © MSC Software Corporation

Constraints
• Definition of a constraint
• Restricts relative movement between parts.
• Represents idealized connections.
• Removes rotational and/or translational DOF from a system.

Constraints Example

Use of Markers in Constraints
• Constraint equations in Adams

• Constraints are represented as algebraic equations in Adams Solver.
• These equations describe the relationship between two markers.
• Joint parameters, referred to as I and J markers, define the location, orientation, and the connecting parts:
• First marker, I, is fixed to the first part.
• Second marker, J, is fixed to the second part.

Use of Markers in Constraints
• Anatomy of a constraint in Adams

Degrees of Freedom (DOF)
• Constraints and DOF

• Each DOF in mechanical system simulation (MSS) corresponds to at least one equation of motion.
• A freely floating rigid body in three-dimensional space is said to have six DOF.
• A constraint removes one or more DOF from a system, depending on its type.

Degrees of Freedom (DOF)
• Determining the number of system DOF

• Adams View provides an estimated number of system DOF by using the Gruebler’s Count:
System DOF = (number of movable parts ⋅ DOF/part)

− � [#Constraints ⋅ #DOF(Constraint)]
i = type
• Adams View also provides the actual number of system DOF, as it checks to see if:
• Appropriate parts are connected by each constraint.
• Correct directions are specified for each constraint.
• Correct type of DOF (translational versus rotational) are removed by each constraint.
• There are any redundant constraints in the system.
• See also: DOF removed by a revolute joint in Appendix A.

Joint Initial Conditions (ICS)
• Characteristics of joint initial conditions

• You can specify displacement and velocity initial conditions for revolute, translational, and cylindrical joints.
• Adams View uses the specified initial conditions of the joint while performing a simulation, regardless of any other
forces acting on the joint.
• If you do not specify joint initial conditions, Adams Solver calculates the conditions of the connecting parts while
performing a simulation depending on the other forces acting on the joint.
• Question: What would happen if the joint initial conditions in a system were different from the part initial conditions?

Merging Geometry
• Methods of attaching multiple geometry to a part

• Use fixed joint to constrain geometric objects.

Merging Geometry
• Adding new geometry to an existing part.
• Note: Adams Solver handles simulations better if you merge geometry on a rigid part as opposed to constraining
multiple parts.
• Question: When you merge geometry, is the overlapping volume accounted for?

Angle Measures
• Definition of angle measures: They are used to measure the included angle, θ:
• Between two vectors
• Defined by three markers
• Defined throughout a simulation

Angle Measures
• Notes:
• The units used for angle measures are in current Adams View angle units (degrees or radians).
• The sign convention (+/-) is defined such that the first nonzero value is positive.

Exercise
• Perform Workshop 6, “One DOF Pendulum”

Rotation and Friction
• Euler Angles (Rotation Sequence)

• Precise Positioning: Rotate
• Modeling Friction
• Measures in LCS
2 | Rotation and Friction © MSC Software Corporation

Euler Angles (Rotation Sequence)
• Definition of Euler angles

• Adams View uses three angles to perform three rotations about the axes of a coordinate system.
• These rotations can be space-fixed or body-fixed and are represented as Body [3 1 3], Space [1 2 3], and so on,
where:
• 1 = x axis
For rotation about these axes, use the right
• 2 = y axis
hand rule
• 3 = z axis
• Default in Adams is Body [3 1 3].

Euler Angles (Rotation Sequence)
• Example of body [3 1 3]: [90°, -90°, 180°]:
• Example of space [3 1 3]: [90°, -90°, 180°]:

Precise Positioning: Rotate
• To rotate objects about an axis in Adams View, specify:

• The objects to rotate.
• The axis about which the objects are rotated.
• The angle through which the objects are rotated.
• Note: Be careful with the sign of the angle. Adams View uses the right-hand rule. You can rotate several objects at
once about the same axis.

Modeling Friction
• Joint friction can be applied to:

• Translational joints (Translational Joint, DOF Removed by, see Appendix A)
• Revolute joints
• Cylindrical joints
• Hooke/Universal joints
• Spherical joints
• Friction forces 𝐹𝐹𝑓𝑓
• Are independent of the contact area between two bodies.
• Act in a direction opposite to that of the relative velocity between the two bodies.
• Are proportional to the normal force (N) between the two bodies by a constant (μ).
• 𝐹𝐹𝑓𝑓 = 𝜇𝜇𝜇𝜇

Modeling Friction
• Phases that define friction forces

• Stiction
• Transition
• Dynamic

Modeling Friction
• Idealized Case
• Stiction |Vrel| = 0
0 < μ < μs
• Transition 0 < |Vrel| = V1
μ d < μ < μs
• Dynamic V1 < |Vrel|
μ = μd
• Adams Solver case

• Stiction |Vrel| < ΔVs
0 < μ < μs
• Transition ΔVs < |Vrel| < 1.5ΔVs
μ d < μ < μs
• Dynamic 1.5ΔVs < |Vrel|
μ = μd

Modeling Friction
• Effect of maximum deformation on friction
• Input forces to friction

• Always include preload and reaction force.
• Bending and torsional moment are possible (however, advanced uses of joint friction are beyond the scope of this
course).

Measures in LCS
• Measures can be represented in:

• Global coordinate system (GCS) (default)
• A marker’s local coordinate system (LCS)
• Example
• When a ball falls due to gravity:

Measures in LCS
• Acceleration due to gravity in the GCS using symbols 𝑥𝑥�𝑔𝑔 , 𝑦𝑦�𝑔𝑔 , 𝑧𝑧𝑔𝑔̂ to represent the global x, y, and z components is:
• Acceleration due to gravity in MAR_1's coordinate system is:

Exercise
• Perform Workshop 7, “Inclined Plane”

Geometry and Precise Positioning
• Building Geometry
• Construction Geometry Properties
• Solid Geometry
• Precise Positioning: Move
2 | Geometry and Precise Positioning © MSC Software Corporation

Building Geometry
• Properties of geometry
• It must belong to a part and moves with the part.
• It is used to add graphics to enhance the visualization of a part.
• It is not necessary for performing simulations.
• Locations and orientations are defined indirectly by parts using anchor markers.
• Note: If you move an anchor marker, all associated geometry moves with it. Conversely, anchor markers move when
you move the associated geometry.

Building Geometry
• Types of geometry in Adams View

• Construction geometry
• Includes objects that have no mass (spline, arc, and so on).
• Is used to define other geometry.
• Solid geometry
• Includes objects with mass (box, link, and so on).
• Can be based on construction geometry.
• Is used to automatically calculate mass properties for the parent part.

Construction Geometry Properties
• Marker geometry has

• Anchor marker, which is itself
• Parent: part
• Orientation and location
• Point geometry has

• No anchor marker
• Parent: part
• Location

Construction Geometry Properties
• Polyline geometry has

• No anchor marker
• Parent: part
• One line or multiple lines
• Open or closed
• Length, vertex points, and angle
• Arc geometry has
• Anchor marker
• Parent: part
• Start and end angle, radius
• Spline geometry has
• Anchor marker
• Parent: part
• Segment count, open/closed, points

Solid Geometry
• Block geometry has

• Anchor marker, which is the corner marker
• Parent: part
• Length (x), height (y), depth (z) with respect to corner marker
• Torus geometry has
• Anchor marker, which is the center marker
• Parent: part
• Radius of ring (xy plane), radius of circular cross section (⊥ to xy plane)
• Extrusion geometry has
• Anchor marker, which is the reference marker
• Parent: part
• Open/closed profile, depth, forward/backwards

Solid Geometry
• Cylinder Geometry has

• Anchor marker, which is the center marker (placed at first end)
• Parent: part
• Length (z), radius

Precise Positioning: Move
• To move objects in Adams View, specify:

• The object being moved (or copied).
• One of the following:
• a point on the object and the location to which the selected point will be moved.
• a vector and distance along the vector.

Precise Positioning: Move
• The moved object maintains its orientation.

Exercise
• Perform Workshop 8, “Lift Mechanism I”

Joint Motion and Functions
• Applying Motion
• Joint Motion
• Functions in Adams
2 | Joint Motion and Functions © MSC Software Corporation

Applying Motion
• Adams View provides two types of motions

• Joint motion
• Point motion
• Joint motion
• There are two types:
• Translational: applied to translational or cylindrical joints (removes 1 DOF).
• Rotational: applied to revolute or cylindrical joints (removes 1 DOF).
• You define the joint to which motion is applied.
• Adams automatically uses the joint’s I and J markers, bodies, and single DOF.
• You define function for magnitude.
• Questions: How does a motion remove DOF? Does this mean that a motion is considered a constraint?

Joint Motion
• Marker usage in joint motions

• The I and J markers (and, therefore, the parts to which they belong) referenced in the joint move with respect to
each other as follows:

Joint Motion
• The I and J markers overlap when motion θt = 0.

• During simulation, the z-axes of both markers are aligned.
• You can define motion magnitude as a:
• Displacement
• Velocity
• Acceleration function of time

Functions in Adams
• Definition of functions in Adams

• You use functions to define magnitudes of input vectors used in:
• Motion drivers
• Applied forces
• Functions can depend on time or other system states such as displacement, velocity, and reaction forces.
• Every function evaluates to a single value at each particular point in time.
• Motion drivers can only be a function of time:
• M = f(time)
• Functions defining motion driver magnitudes can be:
• Displacement (time)
• Velocity (time)
• Acceleration (time)

Functions in Adams
• Note:
• You can use the Function Builder to create and verify functions in Adams View. To access the Function Builder, right-
click any text box that expects a function.
Display the Function Builder and press F1 to learn about creating

functions

Exercise
• Perform Workshop 9, “Lift Mechanism II”

Joint Primitives
• Types of Joint Primitives

• Perpendicular Joint Primitive
2 | Joint Primitives © MSC Software Corporation

Types of Joint Primitives

Types of Joint Primitives
• See also: DOF removed by joint primitives, Appendix A

Perpendicular Joint Primitive
• Example using inline and parallel primitives

• Example of I and J markers in a perpendicular joint primitive

• I marker:
• Parent part: Bucket
• Its yz-plane is co-planar to the ground plane.
• J marker:
• Parent part: ground
• Its z-axis is perpendicular to the z-axis of the I marker.
• When constrained, the z-axes of the I and J markers are always perpendicular during simulation.
• Use the construction method 2 Bod-1 Loc.
• Question: Would the lift mechanism behave any differently if the J marker’s parent part was Base?

Exercise
• Perform Workshop 10, “Lift Mechanism III”

Point Motions and System-level Design
• Applying Point Motions

• System-level Design
• Command Language Introduction
2 | Point Motions and System-level Design © MSC Software Corporation

Applying Point Motions
• Point motions
• There are two types:
• Single-point motion (removes 1 DOF)
• General-point motion (removes 1 to 6 DOF)
• You define:
• I and J markers to which motion is applied (via two bodies, location and orientation).
• Constraint nature of the motion (between 1 and 6 DOF).
• Functions for magnitudes of motion.

Applying Point Motions

System-level Design
• The crawl-walk-run approach

• Do not build the entire mechanism at once.
• As you add a new component, make sure that it works correctly.
• Check your model at regular intervals.

System-level Design
• Avoid the need for complex debugging by following the crawl-walk-run approach

Command Language Introduction
• Most operations in Adams View correspond to Adams View commands.

1. Command Navigator presents command hierarchy.
2. Auto-generated dialog boxes appear for each command.
3. Command Language is issued in Adams View.

Command Language Introduction
• Commands can be assembled to create scripts.

• Example script to modify locations of three hardpoints in the model:
• Update hardpoint location for configuration #1:
• point modify point_name=HP5 location=-325.0,12.75,124.979722
• point modify point_name=HP7 location=-400,177.125,-114.376702
• point modify point_name=HP2 location=-200,360.766667,71.0
• Scripts are usually given a .cmd extension and can be imported (F2) into Adams View as command files.

Exercise
• Perform Workshop 11, “Suspension System I”

Measurements, Displacement Functions and
CAD Geometry
• Taking Measurements
• Displacement Functions
• Importing CAD-Based Geometry
2 | Measurements, Displacement Functions and CAD Geometry © MSC Software Corporation

Taking Measurements
• Point-to-point measures
• Measure kinematic characteristics of one point relative to another point, such as the relative velocity or acceleration.
• To define them, you specify:
• Characteristic (displacement, velocity, or acceleration)
• To-point marker location (I marker)
• From-point marker location (J marker, default is global origin)
• Represent coordinates in marker coordinate system (R marker, default is GCS)
• Component to return (x, y, z, or magnitude)
• Adams View uses displacement, velocity, or acceleration functions.

Taking Measurements
• Function measures
• Lets you evaluate arbitrary, user-defined expressions of interest during solution runtime, such as:
• Flow rate
• Aerodynamic pressure
• Stress
• You can create them in the Function Builder.
• Unlike other measures, function measures let you specify plotting attributes.

Displacement Functions
• Displacement functions
• For translational displacement, return scalar portions of vector components (measurements are taken to I, from J,
resolved in R’s CS), as shown on the next slide.
• For rotational displacement, return angles associated with a particular rotation sequence.

Displacement Functions
• Example:

Importing CAD - Based Geometry

• Supported File Formats

• Stereolithography (*.stl) and render (*.slp) files - Polygonal representation of surfaces.
• Shell (*.shl) files - Geometry representations. Adams specific.
• Wavefront (*.obj) files - Set of output files that contain a description of the model graphics and motion data.
• CAD Files – Requires Adams Exchange. Import and export the following geometry formats: STEP, IGES, DXF, DWG,
Parasolid.
• CAD Assemblies (Adams 2011 and onwards) – Requires CAD Interoperability. Import native CAD files from Pro/E,
Catia v5, Solidworks, and other systems.
• Note: Adams Exchange and CAD Interoperability are optional modules for Adams View that are available from MSC

• Recommendation for CAD File formats

• For CAD systems based on the Parasolid kernel, there are many benefits to transferring geometry in Parasolid files.
Adams View creates solid bodies from the Parasolid information that allows for further Boolean operations as well as
the selection of geometric features such as the center of a circle.
• Parasolid files can be imported as either a single Adams part or as an assembly (separate parts)
• If the geometry is to be used for visualization only, simpler formats such as Render and Stereolithography are good
choices
• If the geometry will be used with solid contacts then Parasolids are the best choice. STEP and IGES solids of
individual parts also work well (see KB8016245, “Using Imported STEP files for a 3D Solid-to-Solid Contact
Analysis”). Solid contacts will work with shells as long as the bodies are properly closed.
• For comparison of CAD file formats and recommendations for exporting CAD data please refer to the online Help.

Exercise
• Perform Workshop 12, “Suspension System II”

Add-on Constraints, Couplers, and
Assembling Models
• Add-on Constraints
• Couplers
• Assembling Subsystem Models
2 | Add-on Constraints, Couplers, and Assembling Models © MSC Software Corporation

Add-on Constraints
• Add-on (complex) constraints

• Set up relationships between existing constraints in a system.
• Connect parts directly and indirectly.
• Types of Add-on constraints

Add-on Constraints
• Types of Add-on constraints (cont.)

Couplers
• Definition of couplers
• Couplers connect multiple parts indirectly by coupling 2 joints.
• Couplers remove 1 DOF.
• Couplers can be defined:
• By displacements
• By scales
• User defined
• Modeling of couplers requires two joints (applicable types are translation, revolute, and cylindrical)

Couplers
• Example of a coupler
For help on defining By Displacement and User Defined, press F1.

Assembling Subsystem Models
• When you assemble models

• Any number of models can be assembled.
• Assembling models will create a new model.
• All assembled models (model1, model2) will continue to exist in the database along with the new model (model3).


• Parts in assembled models

• They maintain their global location and orientation, unless otherwise specified.
• If parts have the same name in different merged models, Adams View will either:
• Merge them into one part.
• Rename the parts.
• See also: Model Hierarchy in Section 3 (Adams View Interface Overview)

Exercise
• Perform Workshop 13, “Suspension-Steering System”

Simulations
• Assemble Simulation
• Simulation Hierarchy
• Types of Simulations
• Forces in Adams
• Spring Dampers in Adams
2 | Simulations © MSC Software Corporation

Assemble Simulation
• Definition of assemble simulation

• Attempts to resolve any conflicts in the initial conditions specified for the entities in the model (for example, broken
joints).
• Also known as an initial conditions simulation.
• Initial location and orientation of parts
• You specify the initial position and orientation for a part when you create it.
• For a part to be held fixed during the assemble simulation, you can specify up to three positions (xg, ŷg, zg) and up
to three orientations (psi, theta, phi).

Assemble Simulation
• Note: Use initial positions sparingly. If you fix the initial positions of too many parts, the assemble simulation can fail.

Simulation Hierarchy
• Note: Often a linear simulation is used after a static equilibrium or dynamic simulation.
Assemble Simulation
Assemble
Nonlinear Linear
Motion Study Equilibrium

Calculation(s)
Default* Static*
Nonlinear
DOF = 0 DOF > 0 Eigensolution

or State Matrices
Kinematic* Dynamic*
Linear
* Automatically performs an assemble simulation
While working in any Adams View dialog box, press F1 to display online help
specific to that dialog box.
Types of Simulations
• Static
• System DOF > 0.
• All system velocities and accelerations are set to zero.
• Can fail if the static solution is a long way
from the initial condition.
• Dynamic
• System DOF > 0.
• Driven by a set of external forces and excitations.
• Nonlinear differential and algebraic
equations (DAEs) are solved.

• Kinematic
• System DOF = 0.
• Driven by constraints (motions).
• Only constraint (algebraic) equations are being solved.
• Calculate (measure) reaction forces in constraints.

• Linear
• Adams Solver can linearize the system of nonlinear equations of motion about a particular operating point.
• From the linear set of equations, you can ask for an eigen-simulation to obtain eigenvalues and eigenvectors for the
linearized system to:
• Visualize the natural frequencies and mode shapes of your system.
• Compare with test data or results data from FEA.

• Example of linear simulation

• Must linearize about an operating point (often the equilibrium).
• Extraction of natural frequency.
• Natural frequency =

Forces in Adams
• Definition of forces
• Try to make parts move in certain ways.
• Do not perfectly connect parts together the way constraints do.
• Do not absolutely prescribe movement the way motion drivers do.
• Neither add nor remove DOF from a system.
• Characteristics of forces

Spring Dampers in Adams
• Definition of spring dampers

• They are pre-defined forces.
• They represent compliance:
• Between two bodies.
• Acting over a distance.
• Along or about one particular direction.

Spring Dampers in Adams
• Characteristics of spring dampers
• See Also: Characteristics of a spring damper, Appendix A

Magnitude of Spring Dampers
• Magnitude based on stiffness and damping coefficients

• Linear spring-damping relationship can be written as:
𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 = −𝑘𝑘 𝑞𝑞 − 𝑞𝑞0 − 𝑐𝑐𝑞𝑞̇ + 𝐹𝐹0

where:
q - Distance between the two locations that define the spring damper
𝑞𝑞̇ - Relative speed of the locations along the line-of-sight between them
k - Spring stiffness coefficient (always > 0)
c - Viscous damping coefficient (always > 0)
F0 - Reference force of the spring (preload)
q0 - Reference length (at preload, always > 0)
t - Time

Magnitude of Spring Dampers
• In Adams Solver, the user-defined equation is:
−k ∗ 𝐷𝐷𝐷𝐷 I, J − 𝑞𝑞0 − c ∗ 𝑉𝑉𝑉𝑉 I, J + 𝐹𝐹0
• Spring-damper forces become ill-defined if endpoints become coincident because of undefined direction.

Exercise
• Perform Workshop 14, “Spring Damper”

Forces and Splines
• Single-Component Forces: Action-Reaction

• Spline Functions
• AKISPL Function
2 | Forces and Splines © MSC Software Corporation

Single-component Forces: Action-reaction
• Characteristics of action-reaction single-component forces (Sforces)

Single-component Forces: Action-reaction
See Also: Characteristics of an action-reaction S-force, Appendix A

Note: Adams applies action and reaction forces to the I and J markers that it
automatically creates.

Spline Functions
• Test data that can be incorporated into a simulation includes:

• Empirical data from suppliers or standard tables for:
• Nonlinear compliances (force versus velocity).
• Curves for torque versus motor speed (torque versus angular velocity).
• Data taken from physical prototype simulations for:
• Accelerometer data (acceleration versus time).
• Tire lateral force as a function of normal force and slip angle.
• To incorporate data into a simulation
• First, create a spline from either:
• Data points entered manually into the Spline Editor.
• Imported test data from a file.

Spline Functions
• Then, reference the spline through a spline function used in a motion or force. Several interpolation methods are
available (using the function type):
• Cubic-fitting method (CUBSPL)
• Akima-fitting method (AKISPL)
• B-spline method (CURVE)

AKISPL Function
• Syntax for AKISPL function:

AKISPL (x, z, spline, iord)
• x - Independent variable specifying the value along the x-axis.
• z - Optionally, a second independent variable specifying the value along the z-axis of the surface being interpolated.
• spline - Spline used to map the one-to-one correspondence of the dependent variables (y) against independent
variable values (x or z).
• iord - An integer variable that specifies the order of the interpolated point (usually 0, but can be 1 or 2).
• 0 returns the independent variable itself;
• 1 returns its first derivative;
• 2 returns its second derivative.

AKISPL Function
• Example of an AKISPL function:
AKISPL (DM(I, J), 0, spline_1, 0)
• Note: You can create the CUBSPL and CURVE functions exactly as you create the AKISPL function.

Important Note
• Using SFORCE element vs SPRING-DAMPER elements

• Spring-damper elements are convenient, but it is more efficient to use the basic
SFORCE element.
• It is easy to create a spring-damper force using the Two-Bodies construction method for
an SFORCE as shown:
• As shown using the K and C characteristic, the resulting SFORCE has the desired
spring-damper expression like so:
-10*DM(I,j)-[initial_length]-0.1*VR(I,J)

Exercise
• Perform Workshop 15, “Nonlinear Spring”

Bushings
• Bushings
• Static Equilibrium
2 | Bushings © MSC Software Corporation

Bushings
• Definition of a bushing
• Pre-defined force
• Represents compliance:
• Between two bodies
• Along or about three vectors

Bushings
• Characteristics of a bushing
• See Also: Forces Tables (Incomplete), Appendix A

Bushing Statement Documentation
• Caution: For the rotational constitutive equations to be accurate, at least two of the rotations must be small. That is, two
of the three values must remain smaller than 10 degrees.

Static Equilibrium
• Determines static force balance in the model

• Velocities and accelerations are set to zero
• Typically used to take slack out of a mechanism before the start of a dynamic simulation
• Automobile settling on suspension and tires before course event
• Crane cables stretch before maneuver simulation
• See the EQUILIBRIUM statement in the Adams Solver documentation

Equilibrium Settings in Adams View
• Settings ⟶ Solver ⟶ Equilibrium

• ERROR is the convergence threshold
• TLIMIT is the maximum translation per iteration
• ALIMIT is the maximum rotation per iteration
• MAXIT is maximum number of iterations
• For some models (e.g., contacts) TLIMIT should be smaller which may require
larger MAXIT

Exercise
• Perform Workshop 16, “Suspension-Steering System II”

Impact and Velocity Functions
• Impact Functions
• Velocity Functions
2 | Impact and Velocity Functions © MSC Software Corporation

Impact Functions
• Impact functions in Adams

• Used with user-defined force elements to model contacts, impacts, collisions, and so on.
• Mimic nonlinear spring and damping forces that turn on and off depending on the distance between two objects.
• Just like a compression-only spring damper, Adams turns the force on when the distance between two objects, q,
becomes less than the user-specified reference distance, q0:
𝐹𝐹𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼 = 𝑂𝑂𝑂𝑂𝑂𝑂, 𝑖𝑖𝑖𝑖 𝑞𝑞 > 𝑞𝑞0
𝐹𝐹𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼 = 𝑂𝑂𝑂𝑂, 𝑖𝑖𝑖𝑖 𝑞𝑞 ≤ 𝑞𝑞0

Impact Functions
• Applications of one-sided impact functions (IMPACT)
• Applications of two-sided impact functions (BISTOP)

Impact Functions
• Syntax for IMPACT function:
IMPACT 𝑞𝑞, 𝑞𝑞,̇ 𝑞𝑞0 , 𝑘𝑘, 𝑒𝑒, 𝑐𝑐𝑚𝑚𝑚𝑚𝑚𝑚 , 𝑑𝑑

where :
• q - Actual distance between the two objects (defined with a displacement function)
• q̇ - Time rate of change of the variable q
• q0 - Trigger distance used to determine when the contact force turns on and off; it should be specified as a real, constant value
• k - Stiffness coefficient
• e - Stiffness force exponent
• cmax - Damping coefficient
• d - Damping ramp-up distance

Impact Functions
• In Adams, the one-sided impact force is calculated as
𝐹𝐹 = 0 𝑖𝑖𝑖𝑖 𝑞𝑞 > 𝑞𝑞0

𝑒𝑒
𝐹𝐹 = 𝑘𝑘 𝑞𝑞0 − 𝑞𝑞 − 𝑐𝑐𝑚𝑚𝑚𝑚𝑚𝑚 𝑞𝑞̇ ∗ 𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 𝑞𝑞, 𝑞𝑞0 − 𝑑𝑑, 1, 𝑞𝑞0 , 0 𝑖𝑖𝑖𝑖 𝑞𝑞 ≤ 𝑞𝑞0

Velocity Functions
• Definition of velocity and acceleration functions

• Returns scalar portions of velocity or acceleration vector components (translational or rotational).
• Syntax for velocity functions
• VM(I,[J], [L])
• VR(I,[J], [L])
• VX, VY, VZ(I,[J],[R], [L])
• Notes:
• Velocity function, VR, is used to define velocity along the line of sight, which is commonly used in spring dampers.
• If the markers are separating: VR > 0.
• If the markers are approaching: VR < 0.

Exercise
• Perform Workshop 17, “Hatchback I”

STEP Functions and Simulation Scripts
• STEP Function
• Scripted Simulations
• Adams Solver Commands
2 | STEP Functions and Simulation Scripts © MSC Software Corporation

STEP Function
• Definition of a STEP function

• In Adams, the STEP function approximates an ideal mathematical step function (but without the discontinuities).
• Avoid discontinuous functions because they lead to solution convergence difficulties.
• The STEP function steps quantities, such as motions or forces, up and down, or on and off.
• Note: A STEP function is used when a value needs to be changed from one constant to another.

STEP Function
• Syntax for STEP function:

STEP (q, q1, f1, q2, f2)
where:
q - Independent variable
q1 - Initial value for q
f1 - Initial value for f
q2 - Final value for q
f2 - Final value for f
Note: q1 < q2

STEP Function Example
• Example

Scripted Simulations
• In Adams View there are two ways to run a simulation

• Scripted
• Interactive
• Simulation scripts
• Let you program the simulation before submitting the simulation.
• Let you quickly repeat a simulation with the same set of parameters.
• Let you perform more sophisticated simulations.
• Are required for design studies, design of experiments, and optimization simulations.
• Simulation scripts are children of a model, and are, therefore, saved in a command file.

Scripted Simulations
• Types of scripted simulations in Adams View

• Simple run
• Adams View commands
• Adams Solver commands

Adams Solver Commands
• Scripted simulations based on Adams Solver commands

• Adams Solver commands let you perform sophisticated simulations, such as:
• Changing model parameters during a simulation.
• Using different output step sizes over different simulation intervals (versus specifying only one duration and output step size).
• Using different solution parameters (such as convergence tolerance) over different intervals.

Adams Solver Commands
• Example of a simulation script that changes model topology while you work on your model:
• simulate/dynamic, end=3.0, steps=30
• deactivate/joint, id=3
• simulate/dynamic, duration=2.0, steps=200

Exercise
• Perform Workshop 18, “Hatchback II”

Adams Solver
• Adams Solver Overview

• Files in Adams Solver
• Example of an Adams Solver Dataset (.adm) File
• Stand-Alone Adams Solver
• Example: 2D Pendulum
• Formulation of the Equations of Motion
• Phases of Solution
• Debug/Eprint (dynamics)
2 | Adams Solver © MSC Software Corporation

Adams Solver Overview
Adams View
Integrated
Adams Solver
Import Export
Legacy FORTRAN Analysis files Dataset

. out .gra . adm
solver only . req .res
Output Input
Interactive
Input Solver
commands
Adams Solver
OR
Adams
Input Command file
.acf
Output
Message file
. msg

Files in Adams Solver
• Adams Solver dataset files (.adm)

• Statements define an element of a model such as a part, constraint, force, and so on.
• Functions are numeric expressions that define the magnitude of an element such as a force or motion.
For more information, see the Adams Solver online help.
• Adams Solver command files (.acf)

• Commands define an action that needs to be taken during a simulation.
• See also: Adams Solver Commands in Section 19 (STEP Functions and Simulation Scripts)

Example of an Adams Solver Dataset (.adm) File

Stand-alone Adams Solver
• Simulations in stand-alone Adams Solver

• Interactive:
• Not scripted: enter commands one by one.
• Scripted: use an Adams Solver command file (.acf).
• Batch - Run multiple jobs in the background using an ACF file.
• One way that ACF files are represented is: they start with the name of the model to be analyzed and followed by the
analysis files name prefix:
• Another way that ACF files are represented is: they start with an empty line followed by the second line calling the
model name and determining the analysis file name prefix, in case a name other than the model name is desired:
• In both forms an ACF file must end with a STOP command.

• You can run simulations externally in Adams Solver from within Adams View

Solver Compatibility
• With Adams, the new Adams Solver (C++) version has added significant functionality. With these additions, Adams
Solver (C++) now supports some entities that are not supported for Adams Solver (FORTRAN). For this reason, a
solver-compatibility check has been added. When using Adams View, this check is called as each object is created.
• The check is also called for:
• Each object as it is created when a .cmd file is imported
• The entire model when an .adm file is imported
• The entire model before simulation

Example: 2D Pendulum
• Adams Implementation: Euler-Lagrange Equations

• Description
• A link of mass M, moments of inertia I, and length 2L is attached to ground using a revolute joint at the global origin
O. The joint is oriented in such a way that motion is only allowed in the X-Y plane of the global coordinate system.
• The coordinates of the center of mass of the link, with respect to the global origin, are represented by the states
(x,y).
• A coordinate system (Op-Xp-Yp) is attached at the center of mass of the link, such that Xp is along the length of the
link. The angle between Xp and Xg is denoted by θ.


• Force balance equations
• Momentum equations (only in θ)
• Order reduction equations
• Constraint equations

Formulation of the Equations of Motion
• Nonlinear system - Nine differential and algebraic equations (DAE’s)
Equations of Motion Unknown
Force balances
Momentum
Order reduction
Constraints

Phases of Solution
• Task
• Solve the differential and algebraic equation:
• Two major components: Predictor and Corrector
• Phase 1:
• Predict an initial solution
• Phase 2:
• Correct the prediction
• Phase 3:
• Evaluate quality of solution (accept solution)
• Phase 4:
• Prepare for next step

Phases of Solution
• Task
• Phase 1:
• Predict an initial value using an explicit method.
• The predictor is simply looking at past values to guess the solution at the next time. The governing equations for G are not
satisfied.
• This is simply a good starting point for the next phase.
• Phase 2:
• Phase 3:
• Phase 4:

Phases of Solution
• Task
• Phase 1:
• Phase 2:
• Evaluate G. If G is near zero, corrector is finished. Go to phase 3.
• Use the Newton-Raphson method to correct the prediction.
• Solve for ∆y. Update y.
• Repeat iteration until ||∆y|| < corrector error tolerance

Phases of Solution
• Example:
As a first guess, set q=2
• The exact answer is q = 1.0

• Phase 3:
• Phase 4:

Phases of Solution
• Task
• Phase 1:
• Phase 2:
• Phase 3:
• Estimate local truncation error
• if estimated < (εL)
• Yes – Accept solution. Go to phase 4
• No – Reject solution and repeat phase 1 and 2 with new step size

Phases of Solution
• Global Error (εG)

• The difference between the current
solution and the true solution
• Local Truncation Error (εL)
• The error introduced in a single step
• Phase 4:

Phases of Solution
• Task
• Phase 1:
• Phase 2:
• Phase 3:
• Phase 4:
• Prepare for the next step
• Update higher order derivatives used in prediction for the next step
• Determine step size and order for next step
• Go back to phase 1, and start a new step

DEBUG/EPRINT (Dynamics)
• Each GSTIFF integrator step consists of two phases:

• Phase 1: a forward step in time (the predictor for dynamics)
1. The step number - A running count of the number of steps taken and can be used as a measure of how hard Adams Solver is
working.
2. The order of the predictor for dynamics - Corresponds to the order of the polynomial Adams Solver uses to predict the solution at
the end of the integration step.
3. The value of time at the beginning of the step.
4. The size of the step.

• Phase 2: the solution of the equations of motion (the corrector for dynamics).
5. The cumulative number of iterations - A running count of the iterations needed to solve the equations of motion and can be used
as a measure of how many computations Adams Solver is performing.
6. The iteration number - One at the beginning of each step and increments by one until Adams Solver converges to a solution or
exceeds the maximum allowable number of iterations.
7. Absolute value of largest equation residual error - This number is an indicator of how far Adams Solver is from a solution. This
number should decrease after every iteration in healthy simulations.
8. Dataset element associated with #7 - The equation that has the largest equation residual error for the above dataset element.
9. Equation associated with #8.

10. Absolute value of the largest change in a variable - The final iteration should not need to change variables very much. This
number is an indicator of how far Adams Solver needs to change variables to approach a solution. Ideally, this number should
decrease after every iteration.
11. Dataset element associated with #10.
12. Variable with the largest change for #11.
13. Jacobian updates - If Adams Solver has updated the Jacobian, YES appears under the new Jacobian header.

1. Running count of successful steps
3. Time at beginning of step 2. Order of predicting polynomial
5.
4.
6. 7. 8. 9. 10. 11. 12. 13.

Corrector
information

Exercise
• Perform Workshop 19, “Hatchback III”

Sensors and Design Variables
• Sensors
• Design Variables
• Temporary Settings File
2 | Sensors and Design Variables © MSC Software Corporation

Sensors
• Sensors
• Monitor any quantity of interest in a model during a simulation and take a specified action when the quantity reaches
or exceeds a critical value.
• Take one of the following actions:
• Completely stop the simulation.
• If used with a script, sensors halt the current simulation and continue with the next command in the script.
• Can be used to evaluate certain expressions when the required condition is met. You can access this value using the Adams Solver
function, SENVAL. See the following SimCompanion Technical Articles:
• Using SENVAL to count full rotations of a spinning part: KB8016078
• Finding min/max of a state using a SENSOR: KB8016215
• A sensor basically represents an If/Then statement:
• If quantity = value (+/- tolerance)
• Then take a specified action

Sensors
• Example of using sensors with scripts

• Monitor the reaction force in a constraint and deactivate the constraint when the force exceeds a specified value.
• Monitor the distance between two objects and reduce the solution step size just before contact, to avoid
convergence problems.

Design Variables
• Design variables
• Define independent parameters that can be tied to objects.
• Organize the critical parameters of the design into a concise list of values that can be easily reviewed and modified.
• Example:
• You can create a design variable called cylinder_length to control the lengths of all three cylinders as shown in the
next slide:

Design Variables
• Note: You can also use parametric analyses to automatically run a series of simulations that vary your design
variables, which you will do in Workshop 22.

Design Variables
Design Variable Command

• The Adams View command for creating a design variable or modifying the standard value is straightforward:
• variable modify variable_name=DV_stiffness real=105.0
• Can write a script with variable modify commands to change all design variable values for a particular configuration

Temporary Settings File
• The new Adams View temporary settings capability provides a convenient means to specify sets of model parameter
data and/or solver settings that can be applied temporarily for a given simulation.
• One can quickly apply, and switch between, sets of data to a model for a simulation without altering the baseline model.
• Here is an example of the contents of a Temporary Settings File (TSF) containing design variables and solver settings
of interest:

Temporary Settings File
• This option can be enabled in the Adams Registry Editor (Adams Settings
& License):
• After making temporary changes to the parameters of interest, the

temporary settings file can be loaded and appended to the simulation:

Exercise
• Perform Workshop 20, “Hatchback IV”

Splines and Constraints
• Splines from Traces

• Curve Constraints
• Automated Contact Forces
• Flexible Parts - Adams Flex
• Flexible Parts - ViewFlex
2 | Splines and Constraints © MSC Software Corporation

Splines from Traces
• Definition of spline from a trace

• A point trace tracks a location of a marker or circle over time with respect to another part.
• Adams View can create a two- or three-dimensional spline from a trace.
• Creating a spline from a trace is used to back-calculate (reverse engineer) the shape of an existing part based on its
motion (cam synthesis).
• Notes:
• When you trace an object and create a spline from it, the point or circle should move in a smooth, even path.
• If the path is closed, you should simulate for one cycle only.

Curve Constraints
• Types of curve constraints in Adams

• Point-on-curve
• Curve-on-curve
• Curve-on-curve constraints
• Used where a curved edge on one part always follows a curved edge on a different part.
• Remove two DOF.
• Modeling of curve-on-curve constraints requires:
• Two parts
• Two curves that will always remain in contact
• Typical applications include general cam-to-cam systems.

Curve Constraints
Note: Curve-on-curve constraints do not allow lift off.

See Also: DOF removed by curve constraints in Appendix A

Automated Contact Forces
• Contact forces
• Special forces acting on parts that are activated when part geometries come in contact with each other.
• Have values that are determined by a set of contact parameters identical to those in the IMPACT function.
• Multiple contact forces can be combined to create more complex contacts.

• Contact pairs in Adams

• Things to note while creating automated contact forces

• Point-to-curve The x-y planes of the two reference
• Curve-to-curve markers must be parallel.
• Sphere-to-plane The z-axis of the reference marker of the plane
• Curve-to-plane (the plane’s normal vector) must point away
• Point-to-plane from the plane and at the circle or sphere.

Flexible Parts: Adams Flex
• Better loading predictions for durability analyses

• The flexible component is the focus of your attention.
• Basically asking the question: "What is the system doing to my flexible component?"
• Improved system performance
• The model fidelity is the focus of your attention. Component flexibility is just another parameter of the system design.
• Basically asking the question: "What is the flexible component doing to my system?"

Flexible Parts: Adams Flex
• Allows you to create flexible bodies in the Adams environment

• Allows for easy substitutions of flexible bodies for rigid bodies in your Adams models
• Can perform quick modifications on the flexible bodies to perform multiple iterations of the flexible body model

Flexible Parts: Viewflex
• Allows you to create a flexible body without leaving the Adams environment
• No dependency upon external FE Software
• Options for controlling the mesh size
• Automatic detection of attachments points
• Construction Methods :
• Geometry
• Extrusion
• Mesh Import
To run through a workshop, see the Adams Flex Examples. For

more information, see the Adams Flex, ViewFlex online help.

Exercise
• Perform Workshop 21, “Cam-Rocker-Valve”

Multi-component Forces and Design Studies
• Multi-Component Forces
• Design Studies
• Introduction to Adams Explore
2 | Multi-component Forces and Design Studies © MSC Software Corporation

Multi-component Forces
• Types of multi-component forces

• Vector force (three translational components)
• Vector torque (three rotational components)
• General force vector (three translational, three rotational components)
• Characteristics of vector force

• Notes:
• The floating J marker always maintains the same location as the I marker.
• The characteristics of other multi-component forces conceptually work the same way.

• Example of a force vector

• A vector force representing a contact between a ball and a cantilever:

• Because the J marker belongs to part B, the force acts on part B when the bodies collide.
• Because the J marker moves with the I marker, part B knows where to apply the reaction force.
• Note: In the example, the J and R markers must belong to the same part. However, the R marker can belong to any
part.
• See Also: Characteristics of a multi-component force, in Appendix A

Design Studies
• Trial and error method (manual iterations)
Model
Parts Simulate View results
Joints
Forces
Is the
Loop is repeated design Yes
several times optimal?
Manually change No Completed

the variable

Design Studies
• Design study method (automated iterations)
Design Variable Model Results

(V) Parts Simulate automatically
generated
Joints
Objective (O) Forces
Is this
Variable the final
Model gets changes No iteration?
updated automatically (i=n)
Yes
The loop goes through specified
number of iterations (i=1,…n) Tabular Plot O versus V
report (for each iteration)

Design Studies
• Definition of a design study

• Varies a single design variable (V) across a range of values.
• Runs a simulation at each value.
• Reports the performance measure for each simulation.
• From the results generated, you can determine:
• The best value for V among the values simulated.
• The approximate design sensitivity of V (rate of change of performance measure with respect to V).

Design Studies
• Sensitivity, S, at iteration, I
• Looking at Trial 4 (i = 4):
• S4 is the approximate slope at Trial 4 (tip_y_loc=10.6) in the plot.

Design Studies

Introduction to Adams Explore
• Adams Explore provides a two-way interface between Adams and Microsoft Excel across a computer network.
• This enables a non-Adams user to modify the modeling parameters, launch analyses, view the updated outputs and
further post-process the them.
• The model file and the Excel interface are two separate entities.

Using Adams Explore with Adams View
• Excel-Only Workflow (Windows Only)

• Available on windows with the help of a special Excel add-in.
• The workbook file can be shared with non-Adams user
colleagues/customers.
• This file can be opened in Microsoft Excel with a provided add-in.
• Using the add-in, the workbook file is uploaded to the server and run.
• The Excel add-in asks the web server continuously, or at the request of
the user, for the status.
• When the job is completed and the file is available, the file can be
opened directly in Excel to review the responses of the tweaked
parameters.

Adams Excel Export
• An Adams analyst exports a workbook file with information about the Adams model from inside Adams View.
Such file contains:
• where the model is located
• where it is to be computed
• which parameters are subject to change
• which analyses to be run

Adams Excel Export
• Responses of interest such as plot curves and design objectives can also be added to the workbook file.

Adams Explore Excel
• A non-Adams user can change/edit the design variables in the spreadsheet and submit a analysis job without leaving
Excel. The Adams Explore add-in will connect the analysis machine server (can be either local or remote)

Adams Explore With Webpage
• Webpage Workflow
• The workbook file can be shared with non-Adams user colleagues/customers.
• This file can be opened in an editor that supports the format (MS Excel or Google Docs).
• The hyperlink in the spreadsheet loads a webpage.
• On this webpage the workbook file is uploaded to the server and run.

Exercise
• Perform Workshop 22, “Target Practice”

FE_PART: Geometric Nonlinearity
• Introduction to FE_PART
• Available FE_PART Formulations
• FE_PARTs Nodes: FE Nodes
• Distributed Applied Loads FE_Load, FEloadsub
• Advantages of Implementing FE_PART
2 | FE_PART: Geometric Nonlinearity © MSC Software Corporation

Introduction to FE_PART
• Modeling parts with large deformations.

• It is a basic finite-element component that is solved entirely within Adams. No external code/connections needed.
• Accurate geometric nonlinearity of beam-like structures.
• Modeling does not require FEA-produced files like MNFs.
• The FE_PART differs from the BEAM force element in that it possesses inertia properties.

FE_PART Comparison
• Nonlinear consideration:
• FE_PART can exhibit large deformations not possible with linear flex bodies
.
• Takes into account the nonlinear behavior of the component due to
geometrical nonlinearity.
Flexible Body
Discrete Flexible Link FE_PART

Available FE_PART Formulations
• The FE_PART is intended for modeling beam-like structures. Two formulation options are available:
• 3D Beam
• A three-dimensional fully geometrically nonlinear representation.
• Accounts for stretching, shearing, bending, and torsion.
• 2D Beam
• A two-dimensional geometrically nonlinear representation.
• The centerline of the beam can be assumed constrained to a plane parallel to the model's global XY, YZ or ZX plane.
• The 2D Beam can stretch or bend in plane.
• The 2D Beam will solve faster than the 3D Beam.
For more information, see FE_PART online help.

FE_PARTS Nodes: FE Nodes
• An FE_PART consists of two or more nodes.

• Each node defines a nodal coordinate system (attachment point).
• Each nodal coordinate system has three purposes:
• Defining the location of the center of mass of the cross section.
• Defining the x-axis as the normal to the cross section.
• The other axes are used to define the cross sectional properties and other geometry.

Distributed Applied Load: FE_LOAD
• FE_LOAD statement is used to apply distributed loads

• Force and moment per unit length, area or volume.
• The nature of load is automatically adjusted based on the FE_PART.
• For example, if the FE_PART is a beam, the load will be per unit length.
• Ex: FE_LOAD/1, FE_PART=3, FX= 0, FY= -30*SIN(PI*S), FZ= 0
• FEloadsub subroutine may also be used:

• FEloadsub is used when the functions are too complex to enter as expressions in an FE_LOAD statement.
• It computes a set of three distributed load per unit length and three distributed torques per unit length acting on an
FE_PART.
Note: FE_PART and FE_LOAD are supported by the Adams Solver C++ only.

Advantages of Implementing FE_PART
• Smoother, more continuous and more accurate results as compared to discrete flex link.
• By simply applying a desired number of FE nodes, a smoother and more accurate solution can be achieved in
comparison to that of discrete flexible link.
• Easier to set up than discrete flex link.
• Since an FE_PART is a single part as compared to a discrete flex link, set up procedure and later modifications can
be done very easily.
• Quickly set up a complicated loading profile such as hydrodynamic forces.
• The availability of FE_LOAD and FEloadsub simplifies the application of complicated loading scenarios.

Exercise
• Perform Workshop 23, “FE_PART”

Recommended Practices
• General Approach to Modeling

• Modeling Practices: Parts
• Modeling Practices: Constraints
• Modeling Practices: Compliant Connections
• Modeling Practices: Run-time Functions
• Debugging Tips
• Documentation
2 | Recommended Practices © MSC Software Corporation

General Approach to Modeling
• Crawl-walk-run
• Try to understand the mechanism from a physical standpoint.
• Use building blocks of concepts that have worked in the past.
• Add enhancements to the model while testing periodically.
• Build kinematic models before building dynamic models.
• Use motions to check models before applying forces.
• Use motions which start with zero velocity.
• Verify enhancements to a complex model on a simpler model first.

Modeling Practices: Parts
• Geometry associativity errors

• Geometry may be added to the wrong part.
• Mass properties
• Using imported CAD-created geometry (IGES, STL, and so on) can yield inaccurate mass properties.
• Ensure inertia matrix is realistic.
• Use aggregate mass for a quick check of system mass and inertia.
• Use the Table Editor to do a quick check and potentially fix individual part masses and inertia.
• Small part mass and inertia lead to unrealistically high frequencies.
• Check to see that part initial velocities are consistent.

Modeling Practices: Parts
• Dummy parts
• Whenever possible, avoid using them.
• If absolutely needed, constrain all six DOF and assign a mass of 0.0 (not 1e-20).
• Design configuration
• Build a model close to assembled position.
• Build a model close to a stable equilibrium position, if possible.

Modeling Practices: Constraints
• Fixed joints
• Not needed, since two or more parts can be combined or merged into a single part.
• An extra part with a fixed joint adds unnecessary equations to your system.
• When locking a part to ground, enormous torque may develop due to large moment arms.
• If absolutely needed, then add fixed joints at the center-of-mass (cm) location of lightest part.
• If locking a part to ground, consider assigning a very large mass/inertia to it so it can behave like ground.

Modeling Practices: Constraints
• Universal joints
• When a universal joint is at 90º, you get a singular matrix.
• Motion
• Motion elements should only be functions of time.
Note: Avoid redundant constraints.

Modeling Practices: Compliant Connections
• Spring dampers
• Ensure that the marker endpoints (DM(I,J)) are never superimposed.
• Watch out for springs with very stiff spring constants.
• Watch out for springs with no damping.
• Bushings
• Watch out for bushings with large rotations.

Modeling Practices: Run-time Functions
• Function Builder
• Assists in building functions.
• Assists in function verification.
• Has function plot capability.
• Velocity
• Make sure velocities are correct in force expressions. For example, in the damping function: -c*VX(i, j, j, _), the
fourth term is missing.
• Splines
• Approximate forces with smooth, continuous splines.
• Extend the range of spline data beyond the range of need.
• Cubic splines (CUBSPL) work better on motions than Akima.
• Akima splines (AKISPL) work better on forces than Cubic.
• The Akima interpolation method is faster and can be defined as a surface, but its derivatives are generally
discontinuous.

• IMPACTs/BISTOPs
• Do not use 1.0 for exponent on IMPACT or BISTOP functions (should always be greater than 1.0)
• Models with IMPACTs/BISTOPs should have slight penetration in design position when doing statics.
• Measures
• Set up measures of your run-time functions.
• Set up measures of components of your run-time functions.
• Ensure that your function will not divide by zero.

• Contacts
• Do not use 1.0 for exponent on IMPACT or BISTOP functions (should always be greater than 1.0).
• Models with contacts should have slight penetration in design position when doing statics.
• Tires
• Models with tires should have slight penetration in model position when doing statics.
• If only rear tires penetrate, the static position could be a “handstand.”

• Units
• Use consistent units throughout the model (time, mass, stiffness, damping, and so on).
• Choose units (mass, force, time, and so on) that do not require using very large or very small numbers.
• Be wary when your model contains numbers like 1e+23 or 1e-20.
• Use appropriate units—when modeling large models such as an aircraft landing on a runway, length units of
millimeters may not be appropriate. Conversely, when modeling small models such as a power window switch (made
up of small moving parts), using length units of meters may not be appropriate.
• Use reasonable time units—high frequencies may be better modeled with time units of milliseconds rather than
seconds.
• Gravity
• Check magnitude and direction.
• Check for multiple gravity elements.

Debugging Tips
• Model verify
• Lists number of moving parts, number of each type of constraint.
• Lists Gruebler's count and actual DOF count.
• Lists redundant constraints.
• Reports misaligned forces/force elements, joints, and so on.
• Helps identify and eliminate causes for input warning (don't ignore).
• Model topology
• Text or graphical model topology.
• Table Editor provides spreadsheet-like overview of model content.

Debugging Tips
• Icon Feedback
• Broken icon in design configuration probably means incorrectly defined joint or force.
• Table Editor
• Convenient way to inspect and modify models (particularly large ones).
• Interactive Simulation
• By default is turned on.

Debugging Tips
• Model display update

• As Adams Solver performs the simulation, you have the option to get immediate graphical feedback of the simulation
at every:
• Output step
• Integration step
• Iteration
• Icons visible during simulation
• This may help you monitor behavior of model components.
• Adams View Graphics Settings

• Please refer to the SimCompanion knowledge base articles below for tips on how to maintain a graphically stable
Adams View session:
Strategies to resolve crashes and graphics issues in Adams View & Adams Car
Adams on machines with dual graphics cards

Debugging Tips
• Subroutines
• Check for their existence.
• While debugging a model, eliminate user subroutines so that they are not the source of the error.
• Gravity
• Turning gravity off can accentuate modeling errors and make debugging easier.

Debugging Tips
• Statics
• When applicable, perform an initial static simulation first.
• If static solution fails:
• Turn on Model display update = at every iteration to provide additional insight.
• Identify and eliminate the undesired static configuration—there could be more than one static configuration and Adams Solver
could be finding the undesired one.
• Check to see if there are any floating parts.
• Check the signs of applied forces.
• Experiment with Alimit/Tlimit/Maxit/Stability.
• Check if impacts are initially in contact; if not, they should be.
• Running an initial dynamic simulation can help you determine why the model is not finding static equilibrium.

Debugging Tips
• Dynamics
• If integrator fails to start-up:
• Check sign and magnitude of forces.
• Look at accelerations to understand what is happening.
• Perform initial static analysis first.
• Try a quasi-static simulation.
• Try changing integrator parameter - HINIT.
• Try a different integrator.
• If integrator fails in the middle of a simulation:

• Look at animation and plots until failure, to understand simulation.
• Decrease integrator parameter - HMAX.
• Do not let the integrator step over important events.
• Short duration events, such as an impulse can be captured by setting the maximum time step, HMAX, to a value less than the
impulse width.
• Use HMAX so Adams Solver acts as a fixed-step integrator
• Decrease error.

Debugging Tips
• Try a different integrator. If integrator takes very small steps:

• Look for sudden changes in force and motion input.
• Rescale model to get more uniform numbers.
• Velocities at time=0

Debugging Redundant Constraints
• Adams Solver provides messaging for redundant constraints

Revolute
• Example: over-constrained four-bar linkage with MOTION on 2X

disk: Revolute
Translational
This constraint: unnecessarily removes this DOF:
.slider.JOINT_1 (Revolute Joint) Rotation Between Zi & Xj

.slider.JOINT_4 (Translational Joint) Rotation Between Zi & Xj
.slider.JOINT_4 (Translational Joint) Rotation Between Xi & Yj

• Close-up view and message

interpretation:
• Unnecessary rotation constraint between
Z & X axis of markers (i.e. no rotation
about Y-axis).
• Unnecessary rotation constraint between Z
X & Y axis of markers (ie: no rotation
about Z-axis).
X
.slider.JOINT_1 (Revolute Joint) Rotation Between Zi & Xj

.slider.JOINT_4 (Translational Joint) Rotation Between Zi & Xj
.slider.JOINT_4 (Translational Joint) Rotation Between Xi & Yj

• Change translational joint to cylindrical – one

Revolute
redundant constraint is removed:
2X
Revolute
Cylindrical
.slider.JOINT_1 (Revolute Joint) Rotation Between Zi & Xj One less

.slider.JOINT_4 (Cylindrical Joint) Rotation Between Zi & Xj redundant

• Adams Solver runtime messaging corresponds with ‘model Revolute

verify’ output:
2X
Revolute
Cylindrical
Degree-of-freedom analysis identified redundant constraints in the model:

-------------------------------------------------------------------------
- deactivating constraint equation Zi.Xj in slider.JOINT_4
- deactivating constraint equation Zi.Xj in slider.JOINT_1

• Loading considerations: apply a side-load to the slider
• What kind of reactions appear in the cylindrical joint?
• Recall the Solver message regarding removal of the constraint equation for the cylindrical joint.

• Resultant reactions:
• Side-load does not show up as a torque in the joint!

• Recall the Solver message regarding removal of the constraint equation for the cylindrical joint.

• System constrained without redundants: Revolute
2X
Revolute
Inplane
Inplane
0 Degrees of Freedom for .slider
There are no redundant constraint equations.

Revolute
• System constrained without redundants (alternate
arrangement):
• System is not over-constrained and now reaction forces appear Revolute

in the cylindrical joint
Cylindrical
Spherical

Documentation
• Use F1 for help on open Adams View dialog boxes

• Use the PDF icon in the documentation toolbar to access printable versions (especially helpful with tutorials)
• Use the Adams Solver documentation:

• Statements: model entities such as PART
• Functions: run-time functions such as STEP
• Commands: used in Adams View simulation scripts such as ACTIVATE
• Important topics:
• INTEGRATOR
• CONTACT

Exercise
• Perform Workshop 24, “Switch Mechanism”

Appendix A
Tables
Tables
• What’s in this appendix:

• Constraints Tables (Incomplete)
• Forces Tables (Incomplete)
• Constraints Tables (Completed)
• Forces Tables (Completed)
2 | Appendix A - Tables © MSC Software Corporation

Constraint Tables (Incomplete)

Constraint Tables (Incomplete)

Force Tables (Incomplete)

Force Tables (Incomplete)

Constraint Tables (Completed)

Constraint Tables (Completed)

Forces Tables (Completed)

Forces Tables (Completed)

Appendix B
Adams View Tools, Menus, and Shortcuts
What is in this Appendix
• Ribbon – Tools
• Tools and Tool Stacks
• Menus and shortcuts
• Popup menu for zooming and changing the view orientation
2 | Appendix B - Adams View Tools, Menus, and Shortcuts © MSC Software Corporation
Ribbon: Tools
• The Adams View (Refresh View) is comprised of ribbon and Model Browser. The ribbon holds all the Tool that used to
be under Main Tool Stack under classis view. The ribbon holds and display all the Tools. The following pages show the
ribbon.
Ribbon
Box Cylinde Sphere Frustum Torus Adams Flex Flex to Flex Discrete Flexible Create FE Part
r Link
Link Plate Extrusio Plane Rigid to Flex MNF Xform ViewFlex

Revoluti
n on
Ribbon: Tools
Ribbon
Point Marker Polyline Fillet an edge Chamfer an Add a hole

edge
Arc/Circle Spline Point Mass Add a boss Hollow out a

solid
Unite two Merge two Intersect two

solids bodies solids
Cut out a solid Split a solid Chain

with another into its construction
primitives geometry lines
Ribbon: Tools
Create a Create a Create a Create a Create a

Fixed Joint Revolute Joint Translational Joint Cylindrical Joint Spherical Joint
Create a Constant Create a Hooke Joint / Create a Create a

Velocity Joint Universal Joint Screw Joint Planar joint
Create a Parallel Create an Orientation Create an

Joint Primitive Joint Primitive Perpendicular Joint
Primitive
Create an Inplane Create an Inline Joint

Joint Primitive Primitive
Ribbon: Tools
Point-Curve Constraint 2D Curve-Curve

Joint (Add-on
(No lift-off) Constraint (No lift-off)
Constraint): Gear
Joint (Add-on General Constraint

Constraint): Coupler
Ribbon: Tools
Translational Joint Point Motion

Motion
Rotational Joint General Point Motion

Motion
Ribbon: Tools
Create a Force Create a Force Vector Create a General Force Create a Create a Modal Create a FE
(Single-Component) (Three-Component Vector (Six-Component Contact Force
Applied Force Force) Applied Force Force) Applied Force Load
Create a Torque Create a Tire Create Gravity

Create a Torque
(Single-Component) Vector(Three-Component
Applied Force Force) Applied Force
Create a Bushing Create a Rotational Create a Field

Spring-Damper Element
Create a Create a Massless

Translational Beam
Spring-Damper
Ribbon: Tools
Build a 2D or 3D Create an Adams Create an Adams Create an ADAMS FEMdata Create an ADAMS
Data Spline Array Curve statement object Plant Output
Create a File Create a New Create an Create an ADAMS Create an ADAMS

based Spline Matrix ADAMS String plant input Plant State
Create a State Variable Create a Transfer Create a General

defined by an Algebraic Function State Equation
Equation
Create a State Variable Create a Linear

defined by a Differential State Equation
Equation
Ribbon: Tools
Create a Function Controls Toolkit
Ribbon: Tools
Create a Design
Variable Create a Create a Display the Adams Insight export
New Request Run-Time dialog
Clearance
Create a New Displays the required Adams Insight

Sensor experiment
Create a Design Create a Design Evaluate all

Create a New Create a Create a New Create a New Objective Constraint Design Objectives
Measure New Angle Range Measure Function
Measure
Create a New Create a New Create a New Display a Evaluate the Evaluate a Design Design
Point-to-Point Orientation Computed Measure Design Objective Constraint for an Evaluation Tool
Measure Measure Measure Analysis
Ribbon: Tools
Load the Controls Load the Load the Durability Load the Mechatronics
Plug-in Vibration Plug-in Plug-in Plug-in
Ribbon: Tools
Load the Controls

Load the Vibration
Plug-in
Plug-in
Load the Controls

Plug-in Load the
Vibration Plug-in
Ribbon: Tools
Displays the Displays the linear

Animation control modes control dialog
Opens Adams Postprocessor
dialog
Trace a point’s relative

position from last simulation
Tools and Tool Stacks
• The ADAMS View (Classis View) Main Toolbox

is comprised of tools and stacks. Tool stacks Rigid body tool stack
hold two or more tools and have a default tool Measure tool stack
Select Tool
that appears on top of the stack. A small
triangle in the bottom right corner of the tool Undo/Redo tool stack Simulate tool
indications that it serves as a tool stack . To Joint tool stack
expand a tool stack, right click on it. This page Color tool stack Animate tool
identifies all the tools and tool stacks. The Motion tool stack
following pages show the expanded tool Move tool stack Plotting tool
stacks. Zoom box tool Create forces tool stack
Fit tool Center tool

Dynamic Rotation tool stack Zoom in/out tool
View right/left tool stack Translate tool stack
View Front/bock tool stack View top/bottom tool stack
Isometric view Measure tool stack

Align view to object Y tool
Background color
Window layout tool stack
tool stack
Toggle tool stack
Link Box Cylinder
Sphere Frustum Torus

Rigid Body Tool Stack
Extrusion Revolution Plate
Point Marker Plane
Measure Tool Stack

Polyline Arc Spline
Union Intersect Cut

Point-to-Point Included angle
Split Merge Chain
Fillet Chamfer Hole
Boss Hollow Displays

Geometric
Modeling Palette
Joint tool stack Revolute joint Hooke/Universal Fixed joint

joint
Translational Constant Point-curve

Undo/redo tool stack
joint velocity joint constraint
Undo Redo
Cylindrical Coupler 2D curve-curve

joint constraint
Motion tool stack

Spherical Screw joint General
joint constraint
Color tool stack Planar joint Gear Displays the

Rotational Point Motion
motion joints palette
Translational General Displays the

joint motion Point Motion joint palette
Translational Single- Contact force

Create Forces Tool Stack spring damper component force
Torsion Single- Tire

spring component torque
Increment Exact f(x) Bushing Three Modal Force

Position component force
Move Tool Stack Point to Working f(θ) Field Element Three- Gravity
point Grid component torque
Align & Object position

Massless Six-component Displays the
rotate handle
beam general force create forces
palette
Mate Coordinate Precision
faces system move
View Front/Back Tool Stack

Dynamic Rotation Tool Stack
Front Back
Rotate XY Rotate Z
View Front/Back Tool Stack

Translate Tool Stack
Right Left
Translate Translate Z
View Top/Bottom Stack
Top Bottom
Toggle Tool Stack
Triad Coordinate
window
Title View
rotation
One view Two views Two views
side/side over/under
Three views Three views Three views
Three views Three vertical Three horizontal

Window Layout Tool Stack views views
Background Color Four views Six views Six views

Tool Stack
Menus and Shortcuts
• The following pages show the Adams View menus and submenus. Note the shortcuts listed to the right of some menus.
Shortcut
Menus and Shortcuts
Menus and Shortcuts
2
3
1. Displays the Geometric

Note: Build and Simulate
Palette
menus are available in
2. Displays the joints palette Classis View
3. Displays the create forces
Palette
Menus and Shortcuts
Menus and Shortcuts
Menus and Shortcuts
Menu for Zooming and Changing Orientation
• In the main Adams View window, right-click away from modeling objects. Adams
View displays a popup menu that you can use to set the display of the main
window, such as zooming in on your model or changing the view orientation.

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Complete Multibody Dynamics Analysis with Adams

ADM701 Course Notes

3 | TOC – ADM701 © MSC Software Corporation

3 Adams View Interface Overview (Cont.)

4 | TOC – ADM701 © MSC Software Corporation

5 Parts and Coordinate Systems

5 | TOC – ADM701 © MSC Software Corporation

6 Initial Conditions and Point Trace (Cont.)

6 | TOC – ADM701 © MSC Software Corporation

8 Rotation and Friction (cont.)

7 | TOC – ADM701 © MSC Software Corporation

10 Joint Motion and Functions

8 | TOC – ADM701 © MSC Software Corporation

13 Measurements, Displacement Functions, and CAD Geometry (Cont.)

9 | TOC – ADM701 © MSC Software Corporation

10 | TOC – ADM701 © MSC Software Corporation

18 Impact and Velocity Functions

11 | TOC – ADM701 © MSC Software Corporation

20 Adams Solver (Cont.)

12 | TOC – ADM701 © MSC Software Corporation

22 Splines and Constraints (Cont.)

13 | TOC – ADM701 © MSC Software Corporation

24 FE_Part: Geometric Nonlinearity (Cont.)

14 | TOC – ADM701 © MSC Software Corporation

15 | TOC – ADM701 © MSC Software Corporation

• What’s in this section:

2 | Introduction © MSC Software Corporation

3 | Introduction © MSC Software Corporation

• After taking this course you will be able to:

4 | Introduction © MSC Software Corporation

5 | Introduction © MSC Software Corporation

• Automatic Dynamic Analysis of Mechanical Systems

6 | Introduction © MSC Software Corporation

• The general purpose graphical user interface is Adams View

7 | Introduction © MSC Software Corporation

• Verify Motion Performance (~60%)

8 | Introduction © MSC Software Corporation

• One stop for full online support

9 | Introduction © MSC Software Corporation

• Personalized Support via the

10 | Introduction © MSC Software Corporation

• Product Info and Docs

11 | Introduction © MSC Software Corporation

• Access MSC Community from SimCompanion

• Discussion Forums for User Collaboration

12 | Introduction © MSC Software Corporation

13 | Introduction © MSC Software Corporation

14 | Introduction © MSC Software Corporation

15 | Introduction © MSC Software Corporation

16 | Introduction © MSC Software Corporation

Design Cut time and Increase Increase IMPROVED

Build Test Review Improve

• Build a model of your design using:

2 | Virtual Prototyping Process © MSC Software Corporation

Design Cut time and Increase Increase Improved

Build Test Review Improve

• Test your design using:

3 | Virtual Prototyping Process © MSC Software Corporation

Design Cut time and Increase Increase Improved

Build Test Review Improve