Download ADAMS/Solver Primer

1.
Introduction ................................................................................................................. 3
1.1.
Solving Nonlinear Equations. The Newton Method .......................................... 3
2. Definitions, Notations, Conventions ........................................................................... 9
2.1.
Generalized Coordinates used in ADAMS ......................................................... 9
2.2.
Joints in ADAMS.............................................................................................. 11
2.3.
Motions in ADAMS.......................................................................................... 12
3. Initial Condition Analysis ......................................................................................... 13
3.1.
Position Initial Condition Analysis ................................................................... 13
3.2.
Velocity Initial Condition Analysis .................................................................. 17
3.3.
Force and Acceleration Initial Condition Analysis ........................................... 18
4. Kinematic Analysis ................................................................................................... 20
4.1.
Position-Level Kinematic Analysis .................................................................. 20
4.2.
Velocity-Level Kinematic Analysis .................................................................. 20
4.3.
Acceleration Level Kinematic Analysis ........................................................... 21
5. Dynamic Analysis ..................................................................................................... 22
5.1.
Nomenclature, Conventions, Definitions. ......................................................... 22
5.2.
Formulation of Equation Of Motion in ADAMS ............................................. 23
5.3.
Numerical Solution for Dynamic Analysis. Jacobian Computation. ............... 24
6. Statics Analysis ......................................................................................................... 28
6.1. The STATIC approach .......................................................................................... 28
6.2. The DYNAMIC Approach ................................................................................... 29
6.3. The STATIC_HOLD Attribute ............................................................................. 29
7. A Simple Pendulum Example ................................................................................... 31
7.1.
The Simple Pendulum Model ........................................................................... 31
7.2.
Initial Condition Analysis ................................................................................. 32
7.3.
Dynamic Analysis ............................................................................................. 36
Conversion to First-order System ............................................................................. 41
7.4.
Kinematic Analysis ........................................................................................... 46
7.5.
Static Analysis .................................................................................................. 48
8. Ways and Means for Improving your MSC.ADAMS Simulation ............................ 50
8.1.
Settings in the INTEGRATOR Statement ........................................................ 50
8.2.
Settings in the EQUILIBRIUM Statement ....................................................... 51
8.3.
Rules of Thumb for Creating Robust Models in ADAMS ............................... 53
8.4.
Validating your Simulation Results .................................................................. 59
8.5.
Debugging Support in ADAMS/Solver ............................................................ 61
8.5.1.
DEBUG/EPRINT ...................................................................................... 61
8.5.2.
DEBUG/RHSDUMP ................................................................................ 64
8.5.3.
DEBUG/JMDUMP ................................................................................... 65
Appendix A. Integration Jacobian ................................................................................... 66
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