Contents

1. Modeling Exercise .................................................................................................2

2. Simple Pendulum ...................................................................................................4

3. PROJECTILE PROBLEM...................................................................................12

4. Mass with Spring145. Four Bar Mechanism

..................................................................................................................................16

6. Slider Crank Mechanism......................................................................................18

7. Quick Return Mechanism ....................................................................................19

8. V- Engine .............................................................................................................21

9. Toggle Mechanism...............................................................................................23

10. Elliptic Trammel Mechanism ............................................................................24

11. Cam-Rocker Valve.............................................................................................25

12. Latch Design Problem........................................................................................27

13. Gear Design........................................................................................................28

14. Kinematic/Dynamic analysis of Steering and Suspension Mechanism ............30

15. Kinematic/Dynamic analysis of an Excavator Mechanism ...............................32

16. Flexible Crankshft Analysis ...............................................................................34

17. ADAMS/CAR Introduction ...............................................................................37

18. Performing a Full vehicle Analysis ...................................................................44

1
 1. Modeling Exercise

Use ADAMS/View to create each moving part of the lift mechanism shown next:

The following diagrams provide the dimensions for building the lift mechanism.

All units are in meters.

2
Top View of Lift Mechanism

Front View of Lift Mechanism

3
 2. Simple Pendulum

AB is a uniform bar with a mass of 2 kg and a length of 450mm. Bar AB swings in

a vertical plane about the pivot at A. The angular velocity (theta dot) = 3 rad/s
when theta = 30 degrees. Compute the force supported by the pin at A at that
instant.

Procedure:

1.1. Starting ADAMS

• From the ADAMS product menu, select ADAMS.

• The Welcome to ADAMS dialog box appears as shown in Figure below.

• Under the heading "How would you like to proceed", select Create a new
model.

• Verify the Gravity text field is set to Earth Normal (-Global Y).
Verify that the Units text field is set to MMKS - mm,kg,N,s,deg.
Select OK.

4
1.2. Making the bar

• Click on the parts palette in the Toolbox with the right mouse button.

• The button stack for parts appears.

• Select the Rigid Body: Link tool. With the left mouse button

• In the link container at the bottom of the Toolbox,

• Activate the Length toggle switch and enter 450mm in the text field below.

• Activate the Width toggle switch and enter 20mm in the text field.

• Activate the Depth toggle switch and enter 27.5mm in the text field.

• Click once with the left mouse button on the point (-225,0,0) to select the
starting point and click once with the left mouse button anywhere right of
the start point along the global x-axis to select the direction. ADAMS will
create and display the bar. The display should appear similar to Figure
below.

5
1.3. Setting the mass of the bar

• The problem specifies that the bar has a mass of 2 kg. ADAMS
automatically calculates the mass properties based on the material and the
geometry, but in this case, it can be set manually since the mass of the bar is
given as an initial condition.

• Click on the bar with the right mouse button. Follow the pull-right menu for
Part:PART_1 and select Modify.

• The Modify Rigid Body dialog box appears.

• In the Mass & Inertia defined by: entry, use the pull down arrow to select
User Input.

• An alert box may open. Click on Close.

• In the Mass text field of the Modify dialog box, type in 2.0 and click OK.

• The mass of the bar is now set at 2 kg.

Note: Manually override the inertias that are automatically calculated by

ADAMS/View based on geometry volume and density. Instead use the formula

6
Iyy=Izz=1/12*m*L**2 to set Ixx=0, Iyy=(1/12*2*450**2), and
Izz=(1/12*2*450**2).

1.4. Setting the position of the bar

• To set the angle of the bar at 30 degrees, click on the Position icon in
the Toolbox.

• Enter 30 in the Angle entry and select the bar so it is highlighted.

• Click on the clockwise arrow once.

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

1.5. Creating a pivot

• Click on the Joint icon in the Main Toolbox and select the Joint:Revolute

icon from the joints button stack.

• Verify that the Construction text field reads 1 Location and Normal to Grid.

• Position the cursor over the marker MAR_1 at the left end of the bar and
click once with the left mouse button.

• A joint between the bar and the ground is created at that location.

1.6. Setting initial motion

• All of the parts have now been created and the constraints added. The next
step is to add an initial motion to the revolute joint that specifies a starting
rotation rate of two radians per second.

• Click and hold the bar with the right mouse button and follow the pull right
menu for Part:PART_1 and select Modify.

7
 • Click on the Velocity ICs button to open the Settings dialog box.

• Under the heading Initial angular velocity about:, select Part CM.

• Below that, click on the Z axis selection box and enter 3.0r, for 3.0 radians
per second, in the text field that appears next to it.

• Click on Apply and close the window.

• Click on Ok in the Modify window.

1.7. Verify the model

• The model verification step is one way to find errors in the model definition.
ADAMS checks for error conditions such as misaligned joints,
unconstrained parts, or mass less parts in dynamic systems, and alerts you to
other possible problems in the model.

• In the lower right corner of the modeling window, click on the Information

icon with the right mouse button.

• The information palette appears.

• Click on the Verification icon.

The Info Window appears.

After seeing that the model has verified successfully, click on the Close button in
the upper right corner to close the Information Window.

The completed model should appear similar to the figure below

8
Model building is now complete.

Set up and run a simulation.

1.8. Setting measure for the force supported by the pivot at point A

• Click on the revolute joint at the upper left end of the bar with the right
mouse button and follow the pull-right menu for Joint:JOINT_1 and select
Measure.

• The Joint Measure dialog box opens.

• Select Force for the Characteristic entry and mag (magnitude) for the
Component entry.

• Click OK.

A graph window appears. This is where the reaction force will be displayed during
the simulation and animation.

1.9. Running the simulation

9
 • Click on the Simulation icon in the Toolbox. For End Time, enter 0.5
and for Steps, enter 50.

• Click on the Play icon.

•
You should see the bar swing about the pivot and corresponding data should
be plotted on the JOINT_1_MEA_1 graph.

• When the simulation ends, click on the Rewind icon.

1.10. Find the force supported by the pivot

• Click on a blank area inside the small plot window with the right mouse
button and follow the pull right menu. Select Transfer to Full Plot.

•
The ADAMS Plot Window will open, replacing the Modeling window.

• Now go to the Plot Window and select the Display Plot Statistics icon.

•
Since we know the initial conditions are met at the start of the simulation,
move the cursor over the starting point of the plot.

• At the top of the window, X will be displayed as 0 and Y, which is the force
on the pivot, will be displayed. That is your answer.

• Compare it to the results given in the Solution section of this Lab.

• To return to the modeling window, go to the File pull-down menu and select
Return to Modeling.

1.11. Saving your Modeling Session.

10
 • Under the File pull-down menu, select Save Database As...

• The Save Database As dialog box appears as shown in Figure X.

• In the text field next to File Name, enter the name you wish to give this
model, for example, pendulum.

• Select OK.

• An ADAMS Binary File is created.

Solutions:

Theoretical: F=14.493 Newtons

ADAMS: F=14.493 Newtons

11
 3. PROJECTILE PROBLEM
Compute the range, R, when a stone is launched as a projectile with an initial speed
of 6 m/s at an angle of 60o, as shown

Problem solving outcomes

• Part Initial Conditions

• Animation Controls
• Point Trace
• Measures

Steps for solving the problem

• Set the Units to MKS system.

• Create the box part as ground part and Ellipsoid as projectile.
• Apply the velocity initial conditions to the projectile in x and y directions as
Vx = 6*cos(60d) and Vy = 6*sin(60d)
• Simulate the model
• Animate the model and find the time taken for the projectile to hit the
ground.
• Find the range using ADAMS postprocessor
• Save the model.

12
Analytical solution:
X o = 0, X f = R
Yo = 0 Yf = 0
V xo =6000 × cos60°=3000 mm/sec
V yo =6000 × sin60°=5196 mm/sec
y f = y o + V yo t - gt2
0 = 0 + 5196t – 0.5 × 9806 × t2
0 =(5196 – 4905t)t
t = 1.06 sec
x f = x o V xo t
R = 0 + 3000 × 1.06
R = 3180 mm

13
 4. Mass with Spring

The 10-kg cylinder is released from rest with x = 1 m, where the spring is
unstretched. Determine (a) the maximum velocity v of the cylinder and the
corresponding value of x and (b) the maximum value of x during the motion. The
stiffness of the spring is 450 N/m.

Procedure:

This ADAMS model will be created in the following steps:

14
• Start ADAMS.

• Create a new model. (Units = mks, Gravity = -y earth)

• Enlarge working grid area to accomodate model. (height approx. 1.5 m)

• Create part. (cylinder geometry, mass = 10 kg)

• Create spring-damper element. (spring-damper, k = 450 N/m, c = 0 N-s/m)

• Testing the ADAMS model:

• Create measures for displacement and velocity of block.

• Run analysis.

• Plot results.

15
 5. Four Bar Mechanism

In the four-bar linkage shown, control link OA has a counterclockwise angular

velocity omega = 10 rad/s during a short interval of motion. When the link CB
passes the vertical position shown, point A has coordinates x = -60 mm and y = 80
mm. Determine the angular velocity of AB and BC.

Procedure:
This ADAMS model will be created in the following steps:

16
• Start ADAMS.

• Create a new model. (Units = mmks, Gravity = none)

• Create a marker at each of the following coordinates:

O (0, 0, 0); A (-60, 80, 0); B (180, 180, 0); C (180, 0, 0)

• Create links OA, AB, and BC, using the markers as end points.

• Make revolute joints between two links at points A and B, and between link
and ground at O and C.

• Apply motion to revolute joint connecting OA to ground with magnitude

(omega_dot= 10 rad/s)

• Create Function measures for the angular velocities of the two links AB and
BC relative to ground (in rad/sec).

• Testing the ADAMS model.

• Run simulation (end time = 1.5)

• Go to the plotting window and view plots for displacement of OA and

angular velocities of AB and BC.

17
 • Get value of angular velocities of AB and BC at t=0 (that is, when system is
in the specified configuration).

Results: Theoretical:
Angular velocity of AB = 2.5 rad/s
Angular velocity of BC = 5.83 rad/s
ADAMS:
Angular velocity of AB = 2.5 rad/s
Angular velocity of BC = 5.83 rad/s

6. Slider Crank Mechanism

If the crank and connecting rod are 150 mm and 600 mm long respectively and the
crank rotates at a constant speed of 100 rpm, determine

1. Velocity and Acceleration of piston and

2. Angular velocity and Angular acceleration of connecting rod. The angle which
the crank makes with the inner dead centre is 300.

r = 150 mm = .15 m
l = 600mm = .6m
N = 100 rpm

18
 7. Quick Return Mechanism

Modeling of Quick Return Mechanism as shown in figure using the details given
below

Procedure:

19
• Start ADAMS.

• Create a new model. (Units = mmks, Gravity = none)

• Create Link 1, length = 600 mm, width = 60 mm, depth= 20 mm

• Rotate Link 1 to 30 D in view plane.

• Create Link 2, length = 50 mm, width = 60 mm, depth= 20 mm

• Rotate Link 2 to 30 D in view plane.

• Move Link 3 to Link 1 cm

• Create link 3, form marker link 1 cm to loc 0,250,0, width = 60 mm, depth=
20 mm
20
 • Make revolute joints as shown in figure

• Make translations joint between Link 1 and Link 2 as shown in figure

• Apply motion to revolute joint connecting Link 3 to ground with magnitude

360 d * time

Testing the ADAMS model.

• Run simulation (end time = 5)

• View animation

• Plot Link Cm position wrt time

• Plot Link Cm position wrt Angle

8. V- Engine

Objective:

• Creating a model, setting units and gravity

• Creating parts in the model and adding necessary joints

• Running and animating a simulation

• Plotting Results

Problem:

21
Modeling of V-Engine Mechanism as shown in figure using the details given
below

Procedure:

• Create the markers using the coordinates given below

A: -50.0, -100.0, 0.0

B: 0.0, 0.0, 0.0

C: -50.0, 50.0, 0.0

D: 150.0, 175.0, 0.0

E: -200.0, 175.0, 0.0

• Create a link between the markers A & B

• Create a plate using markers B,C & D

• Create a link between the markers C & E

• Create pistons using cylinder geometry at D & E

• Move the pistons cm positions to marker E & D using move option

22
 • Rotate the pistons to 30d about Z as shown in the figure above

• Add suitable constraints and motions

Testing the ADAMS model.

• Run simulation (end time = 1)

• View animation

• Plot pistons Cm position wrt time

• Plot pistons Cm position wrt Angle

Testing the ADAMS model.

• Run simulation (end time = 1)

• View animation

• Plot pistons Cm position wrt time

• Plot pistons Cm position wrt Angle

9. Toggle Mechanism

In the toggle mechanism as shown in fig, the slider D is constrained to move on a

horizontal path. The crank OA is rotating in the ccw direction at a speed of 180
rpm. The dimensions of the various links are as follow; OA = 180 mm;
CB=264.86mm; AB=360mm; BD=380mm and CD=590.93mm. For the given
configuration find

(i) Velocity of slider D and angular velocity of BD and

(ii) Acceleration of slider D and angular acceleration of BD.

23
 10. Elliptic Trammel Mechanism

In the elliptic trammel mechanism shown in fig, the angular velocity of link 3
relative to the frame is 10 rad/s CCW (constant). Also, the length QP=10cm and
QR is 20cm. Determine the position of point R and the velocity and acceleration of
point for a full rotation of the coupler.

24
 11. Cam-Rocker Valve

Design a cam profile based on desired valve displacement, and ensure that there is
no follower liftoff when the cam is rotated at 3000 rpm.

25
Splines and Point Traces

Curve Constraints

Automated Contact Forces

Inputs Required

Input for contact force between cam and follower

26
 • Stiffness (K): 1e6 (N/mm)

• Force exponent (e): 1.5

• Damping (C): 10 (N-sec/mm)

• Penetration depth (d): 1e-3 mm

• Static coefficient of friction (μs): 0.08

• Slip velocity (vs): 1 (mm/sec)

• Dynamic coefficient of friction (μd): 0.05

• Transition velocity (vt): 2 (mm/sec)

Inputs for spring-damper which is created between the plate near the top of the
valve and the top of the guide

• Stiffness (K): 20 (N/mm)

• Damping (C): 0.002 (N-sec/mm)

• Length at preload: design position

• Preload: 100 N

12. Latch Design Problem

27
Design Requirements
The latch model must meet the following design requirements:
1. Exerts at least 800 N clamping force.
2. Is hand-actuated by less than 80 N force.
3. Is hand released with minimal effort.
4. Must work within a given envelope.

13. Gear Design

28
Steps involved in creating Gear train

• Import gear macro

• Create a Cylinder

• Create gear geometry

• Create revolute joint

• Create gear joints

• Add motion

• Simulate

29
 14. Kinematic/Dynamic analysis of Steering and
Suspension Mechanism

Assemble a suspension-steering system and inspect the toe angle that the

wheel exhibits at steering wheel angles of 45o, 0o, and -45o.

Steps involved
• Creating Spherical Joint

• Creating Hooke Joint

• Applying Point Motions

• Taking Measurements using Function Builder

30
• Creating Displacement Functions

• Importing CAD-Based Geometry

• Adding Couplers

• Assembling Subsystem Models

• Creating Bushings

31
15. Kinematic/Dynamic analysis of an Excavator
Mechanism

32
Steps involved
• Importing Parasolid file to ADAMS

• Assigning STEP functions

• Creating Trace Splines

33
16. Flexible Crankshft Analysis

34
Steps involved
• Importing Parasolid file to ADAMS

• Creating MNF file

• Replacing Rigid body with Flexible body

• Viewing Von-mises stresses

• Viewing HOT SPOTS

• Creating Nodal Plots

35
36
 17. ADAMS/CAR Introduction

MSC/ADAMS

• [Link] stands for McNeal Schwendler Corp. Automatic Dynamic

Analysis of Mechanical Systems

• Can be used to analyze kinematics of mechanical systems and carry out their
dynamic analysis

ADAMS/Car

• ADAMS/Car is a sub product of ADAMS and is used to simulate the

behavior of a car

• Using ADAMS/Car it is possible to build computer models of entire

vehicles with suspensions, power-trains, engines, steering systems and other
complex assemblies

• These models can be exercised under various road conditions in the

computer, performing every maneuver normally run on the test track

Advantages of ADAMS/Car

• Bridges departments by sharing models and data

• Different departments can work with the same database, which

minimizes data loss

37
• Facilitates quick subsystem change

• You can easily replace one subsystem without changing any

other part of the vehicle

• Templates

Allow you to tailor one system for multiple vehicles

38
 Hierarchy in ADAMS/Car

• Basic Building blocks in ADAMS/Car is templates

• Subsystems such as brake, suspension, steering etc are built using these
templates

• Full vehicle assembly is created using these subsystems

39
 Template

• Defines vehicle sub-assemblies topology which includes how the parts

and joints fit together in the model, how information is transmitted,
and so on

• For example, a template could be a suspension type, which can be

defined either as front and/or rear

Subsystem

• A mechanical model that references a template and tailors it by

supplying parameters that adjust the template

• Define locations, part dimensions and spring stiffness

• These models are usually a major system of your vehicle, for

example, front suspension, steering system, and body

• The subsystem is a specific instance of the template in which the user

has defined new hard-point positions and property files

Assembly

• A list of subsystems and a single test rig combined in a vehicle or

suspension assembly

• A test rig is necessary to provide an actuation, in your model, for

analysis

Difference between templates and subsystems

• A template is the base-level [Link] model that defines the parts,

joints, bushings, forces, and other modeling elements that make up a specific
area of the vehicle, such as a front suspension.

• The ADAMS/Car template contains geometric and topological data

40
 • An ADAMS/Car subsystem is based on an ADAMS/Car template and
allows the standard user to change springs, dampers, hardpoints, parameters,
and other items

• Overall, a template defines the structure/topology of a model, and a

subsystem redefines whatever parameters the user wants to create an
instance of the template for analysis

User Modes in Adams/Car

• Within the ADAMS/Car configuration file (*.[Link]), the particular

application of ADAMS/Car is specified as either standard user mode and
expert user mode

Standard user (Standard Interface only)

• Specifically for designers and testing engineers

• Use libraries from the ADAMS/Car database to easily create vehicle

(sub)assemblies

• Simulation environment tailored to automotive standards

Expert user (Template Builder and Standard Interface)

• Allows creation of building-block of ADAMS/Car templates

• Template Builder

41
 • For experienced ADAMS users

• Access to all ADAMS modeling entities

Database Structure

• A database is a collection of directories stored in the hard drive

• The top directory, which has the extension *.cdb, stores a number of
directories

• Each directory is a placeholder for model information

Three types of database are

• Shared - Common to all users, provided by MDI with example files

• Private - User workspace (created by ADAMS/Car in your $HOME

directory)

• User - User/site specific

Naming Convention

• The ADAMS/Car entities are named after a naming convention

• The first three letters of a given entity identify the type and the symmetry
rule

Examples:

• gel_arm: General_Part_Left_….

• hps_lcs_front: Hard_Point_Single_...

• bkl_mount: Bushing_Kinematic_Left_...

• nsr_main_spring: Non-linear_Spring_Right_...

• pvs_toe_angle: ParameterVariable_Visible_Single_...

42
Basic ADAMS Terminologies

• ADAMS/Solver : The solution engine

• ADAMS/Solver dataset (*.adm) : the ASCII file submitted to ADAMS

Solver

• ADAMS/Solver command (*.acf) : An ASCII file that contains commands

to control how ADAMS/Solver runs the model

• ADAMS/Solver output files

o Graphics (*.gra) - Information about how graphics work

o Request (*.req) - Contains output for a specific set of results

o Results (*.res) - Contains results for every entity. This file is too big,
and is not produced by ADAMS/Car as default; you can, however,
change ADAMS/Car to print this

o Message (*.msg) - Information about the

solver/simulation/problems

o Output (*.out) - Output including initial conditions and request, and

content can depend on output specifications

43
 18. Performing a Full vehicle Analysis
• Different types of analysis in ADAMS/Car includes

• Acceleration

• Braking

• Power off straight line

• Drift

• Fish Hook

• Impulse steer

• Ramp steer

• Single lane change

• Step steer

• Sweep Sine steer

• Braking in turn

• Constant radius cornering

• Constant w/steer Release

• Lift off turn in

• Power off cornering

• ISO Lane change

• Constant Velocity cornering etc.,

Acceleration Analysis
44
 • During an acceleration analysis, the Driving Machine ramps the throttle
demand from zero at your input rate (open loop) or you can specify a desired
longitudinal acceleration (closed loop)

• You can specify either free, locked, or straight-line steering

• An acceleration analysis helps you study the anti-lift and anti-squat

properties of a vehicle

To Simulate Acceleration analysis

45
Inputs

Post processing

• After the simulation is over the user can view the animation file as well as
different graphs

To view the animation

46
Animation – Acceleration analysis

To view the graph

• Either go to post processing window or press F8 to view the post processing

window

47
Post processing window

Post processing

48
Interpretation of Results

• As the vehicle accelerates, the load gets transferred from front to rear

• As a result of this the load on front decreases and load on rear increases as
the vehicle accelerates

Changing road file

In the Input menu right click on Road data file and search it to [Link]

49
• Select the required file and press open

• Continue with the analysis

• These files can be open in notepad to change the parameters

• Open the file mdi_2d_flat.rdf (This is a 2d flat road)

50
• Road data for a Road with pot hole

51
• Road data file for a ramp road

• Acceleration analysis with road µ = 0.8

• Acceleration analysis with road µ = 0.4

52
• Acceleration analysis with road µ = 0.05

53
 Braking Analysis
• During a braking analysis, the Driving Machine ramps the brake input from
zero at your input rate or lets you specify a longitudinal deceleration (closed
loop)

• You can also specify either free or locked steering

• The braking test analysis helps you study the brake-pull anti-lift and anti-
dive properties of a vehicle

To simulate braking analysis

Inputs

54
Post processing

55
Interpretation of Results

• It is clear from the graph that as the vehicle decelerates, the load gets
transferred from rear to front

• As a result of this the load on front increases and load on rear decreases as
the vehicle decelerates

Fish-hook Analysis

• You use a fish-hook analysis to evaluate dynamic roll-over vehicle stability

• A fish-hook analysis consists of two mini-maneuvers

• A quasi-static phase sets up the vehicle at the desired initial conditions.

• The second mini-maneuver runs the actual fish-hook analysis in which

ADAMS/Car computes the steering signal as a combination of step
functions, and disengages the clutch

• The maneuver provides a basis for evaluating a vehicle's transitional

response and dynamic roll-over stability

• The most important factors for this evaluation are - steering wheel angle,
lateral acceleration, yaw rate, and roll angle

• ADAMS/Car conducts the analysis by driving at a constant speed, putting

the vehicle in neutral, and turning one direction in a preselected steering
wheel angle and then turning the opposite direction in another preselected
steering wheel angle

56
To Simulate Fish-hook analysis

Inputs

57
Post processing

Lateral displacement
58
Initial velocity of vehicle = 50kmph

Lateral displacement

Initial velocity of vehicle = 100kmph

59
 • The vehicle becomes unstable when the velocity is increased to 100kmph and
is not following the correct path for fish-hook maneuver . It skids off from
the path

Step Steer Analysis

• A step steer analysis yields time-domain transient-response metrics

• The most important quantities to be measured are

• Steering-wheel angle

• Yaw rate

• Vehicle speed

• Lateral acceleration
• During a step steer analysis, ADAMS/Car increases the steering input from
an initial value to a final value over a specified time

60
61
Constant radius cornering

• For constant-radius cornering analysis, the Driving Machine drives your full
vehicle down a straight road, turns onto a skidpad, and then gradually
increases velocity to build up lateral acceleration

• One common use for a constant radius cornering analysis is to determine the
understeer characteristics of the full vehicle

To Simulate Constant radius cornering

Inputs

62
Post processing

Braking-in-Turn

• The braking-in-turn analysis is one of the most critical analyses encountered

in everyday driving

• This analysis examines path and directional deviations caused by sudden

braking during cornering

• Typical results collected from the braking-in-turn analysis include lateral

acceleration, variations in turn radius, and yaw angle as a function of
longitudinal deceleration

• In a braking-in-turn analysis, the Driving Machine drives your full vehicle

down a straight road, turns onto a skidpad, and then accelerates to achieve a
desired lateral acceleration

• Once the desired lateral acceleration is reached, the Driving Machine holds
the longitudinal speed and radius constant for a time to let any transients
settle

• Then, it locks the steering wheel and brakes your full vehicle at a constant
deceleration rate
63
 • It maintains the deceleration rate for a given duration or until the vehicle
speed drops below 2.5 meters/second

Inputs

Post processing

64
Single Lane change Analysis

• During a single lane-change analysis, the steering input goes through a

complete sinusoidal cycle over the specified length of time

• The steering input can be

65
 • Length, which is a motion applied to the rack of the steering
subsystem

• Angle, which is angular displacements applied to the steering wheel.

• Force applied to the rack

• Torque applied to the steering wheel

To Simulate Single Lane Change

Inputs

66
Post processing

67
Vehicle Yaw motion

68
Double Lane change (ISO) Analysis

• During an ISO lane change analysis, a longitudinal controller maintains the

chassis velocity to the desired value, and a lateral controller module acts on
the steering system to maintain the vehicle on the desired ISO lane-change
path

• ADAMS/Car uses an external file to define the path for the maneuver:
iso_lane_change.dcd defines the trace of the desired path on the x-y plane

• The double lane-change test is designed to simulate an emergency maneuver

to determine vehicle handling

• The test is important because the more controllable and secure a vehicle is
when pushed to its handling limits the better chance the vehicle occupants
will avoid an accident

• In situations where an obstacle is in the way, due to the compromising

nature of vehicles, steering around it can cause the vehicle to go out of
control and result in a rollover

69
To Simulate Double Lane Change

Inputs

70
Post processing

Lateral Acceleration

• The vehicle becomes unstable at high velocities

71
Assigning Major and Minor Roles

• ADAMS/Car uses major and minor roles to create assembly

• Major and minor roles define the location of the subsystem within the
assembly

• Every template has a defined major role such as suspension, steering wheel
etc.,

• When a subsystem is created the standard user defines the subsystem minor
role as front, rear, trailer or any

• This enables the same suspension template to be used for both front and rear

Modeling

• As per the hierarchy any kind of modeling in ADAMS/Car has to start with
template builder mode

• ADAMS/Car has inbuilt default templates for most of the subsystems

• These templates are used and there hard-points are changed to suit the
vehicle of our choice

Create a full vehicle Assembly

To assemble a car using templates:

• Enter template builder mode

• Open the required template and make modifications according to

requirement

• Save the template (*.tpl) file in private data base

• Switch back to normal mode

• Create new subsystem using the above saved template file

• Save subsystem (*.sub) file in private data base

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 • Create new assembly using the above subsystem

Template building

• This is to be done in template builder mode

• Required template file (*.tpl) should be opened and modify

according to requirement

• Major role should be defined here

• Save the file

Subsystem building

• This is to be done in normal mode

• Here the user can create new subsystems using the saved
template

• Minor role should be defined here

• Assembly

• This also should be done in normal mode

• Here the user can create a new assembly using the saved subsystems

Template Building
• Template building can only be done in the template builder mode. This
option may not be activated in your machine. To do so browse to

documents and settings/user/.[Link]

• Open the file .[Link] in notepad and change the user mode to expert
instead of standard

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 • To open in template building mode, while starting Adams/Car will ask for
this option or can toggle using Tools – Adams/Car template builder or press
F9

Template Building process

While in template builder mode open required template file and edit it

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• *.tpl files are not Ascii files and cannot be opened in notepad

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 • But you can save it as Ascii file and edit properties

Macpherson strut template for suspension system

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 • To change the hardpoints

Subsystem Building process

• Once the template is saved, switch to normal mode

• Point to New – subsystem to create a new subsystem

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Subsystem opened

Assigning Mass and Inertia

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Save Subsystem

• Minor role has to be chosen properly while calling in templates and saving
subsystems

• In case of suspension system minor role can be either front or rear

depends on the vehicle chosen

Brake Subsystem

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TR_Brake_System.sub

• Kinematic flag : This is used to toggle between kinematic and compliance

mode. 0 = Kinematic & 1= Compliance

• Front_brake_mu : This is the frictional coefficient of brake pad

• Front_effective_piston_radius : This is the brake-effective-piston-radius

parameter, (length). This define the radius of piston

• Front_piston_area : This is the piston-area parameter, (length**2). This

define the cross sectional area of the piston. The difference between
effective piston radius and piston area is that the above term is used to
define radius (length) and this term is used to define area of the piston.

• Front_rotor_hub_wheel_offset : This will offset the hub wheel by x mm

• Front_rotor_hub_width : This is to define rotor hub width.

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 • Front_rotor_width : This is negative because to define/reflect width on
negative side of Y axis

• Max_brake_value : Heree you should use value of the pedal force, and
unit is depends on the units of the model

Subsystems required to create a full vehicle assembly

• Front Suspension Subsystem

• Rear Suspension Subsystem

• Steering Subsystem

• Front Wheel Subsystem

• Rear Wheel Subsystem

• Body Subsystem

• Brake Subsystem

• Power Train Subsystem

• Other Subsystem (If any)

Creation of Full Vehicle Assembly

• Once all the subsystems have been created in the same way and saved into
the new car database, they are ready to be called into an assembly

• ADAMS/Car is started in the standard mode and from file menu new full
vehicle assembly is selected

• The different subsystems which were saved in the new database is called
from their location in [Link] folder in the database

• Brakes and Powertrain subsystems are in OFF condition by default

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 • For acceleration and braking analysis these two systems should be selected
and their respective subsystems must be called from there respective
locations

• Vehicle Test Rig by default is MDI_SDI_Testrig

• If plugins like Ride and Chassis are switched on in the plug-in manager,
additional test rigs such as 4post test rig and the Driver test rig would be
available to be selected

Further analysis can be carried out using this vehicle

• Once these tests are conducted, graphs have to be plotted and compared
against standard graphs available in literature

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 • If the trends of the two are matching then it can be concluded that the
validation was successful and the model assembled can be used for further
experimentation

Velocity – Time graph

Editing various parameters of vehicle

Adjust Hard points

You adjust hard points when working in either subsystem or assembly mode on
either a suspension or a full-vehicle assembly

• From the Adjust menu, point to Hard point, and then select either Modify or
Table

• It is recommend that you select Table because it lets you adjust several hard
points at once

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Make Plots with Data Other than Time

• From the Review menu, select Postprocessing Window

In the lower right corner of ADAMS/PostProcessor, set Independent Axis to

Data

Set Toe, Camber, and Other Parameters

From the Adjust menu, point to Parameter Variable, and then select either Modify
or Table

• Set Subsystem to the name of the subsystem whose parameters you want to
modify

• In the table, make the changes

• Select OK.

Change the Tires

• Tires can be changed by right-clicking the wheel part and choosing Modify

• Then set Tire File to the name of the file you want to use

• You can alter a tire’s properties, such as radius and vertical stiffness, by
modifying the property file in a text editor

Modify Springs or Dampers

• Right-click on the spring or damper, and then select Modify

• You can edit the curve by dragging on the plot, or by changing values in the
data table

• You can modify springs or dampers when working in either subsystem or

assembly mode on either a suspension or a full-vehicle assembly

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 • ADAMS/Car stores spring and damper data in a property file in the
ADAMS/Car database directory structure

Modify Trackwidth

• You can only modify track width by changing the lateral (y) coordinate of
the relevant suspension hard points

Modify Wheelbase and Vertical Position

• Make sure that you have a suspension or full-vehicle assembly open

• From the Adjust menu, select Shift

• Set Subsystem to the name of the subsystem you want to move

• Specify a vertical and a fore/aft distance to move the subsystem

Changing Steering Ratio

• Make sure that you have a gear in your assembly or subsystem

• From the Adjust menu, select Gears

• In the Gear Name text box, select the gear you want modify

• In the Reduction Ratio text box, specify the desired ratio. Make sure to
change this, as the default value is 1.0

Set Powertrain Data

• From the Adjust menu, point to Parameter Variable, and then select either
Modify or Table

• Set Subsystem to the name of the powertrain subsystem whose parameters

you want to modify

• In the table, make changes to the gearing, idle speed, maximum engine
speed parameters, and so on

• Select OK

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 To control lower arm thickness

• Right-click either lower control arm (the red triangular area)

• Point to Arm: graarm_lower_control_arm, and then select Modify

• Change the Thickness

• Select OK

Creating new requests ( measures )

• To create new requests, in Template Builder, go to Build  Requests 

New

• You can only create requests in Template Builder mode

• The results set names appears in the Request list in ADAMS/Postprocessor

Adding CAD Graphics to Template

Load the chassis template in to ADAMS/Car

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• Ordinarily, you could right mouse click and delete the body graphic, or you
could select "Delete" from the File menu. Don't use these

• From the Tools menu, start the Command Navigator and find the "geometry
delete" command

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Import body graphic

As shown below, choose one of the file formats supported by ADAMS, such as
Parasolid, IGES, stl, slp, obj, etc.

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• Each file format may have slightly different information required or options
provided items like scaling, reference marker, rotation, translation, etc

• If you need to specify a reference marker, use the "shell_rm" marker

• Then, if necessary, move or rotate the "shell_rm" marker to fine-tune the

position of your frame/body graphics

• It is critical to specify the ges_chassis part as the part to which your

geometry will belong (when given the choice, specify "part" and not
"model").

Finished Product

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 19. Suspension Analysis
Steps involved in suspension Analysis

• Setting Up the Suspension and Steering Subsystems

• Performing a Parallel Wheel Travel Analysis

• Performing a Opposite Wheel Travel Analysis

• Performing a Pull Analysis

• Modifying the Suspension and Steering Subsystem

• Performing an Analysis on the Modified Assembly

• Comparing the Analysis Results

In order to determine the suspension system characteristics, suspension analysis

will be carried out in ADAMS/Car. The subassembly selected for the analysis is
shown in below figure. The subsystem includes Double Wishbone suspension
assembly and Rack and Pinion steering arrangement. Available templates in
ADAMS/Car are used to build the required Double Wishbone suspension assembly
and Rack and Pinion steering arrangement.

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Vehicle parameters selected for doing suspension analysis is shown in below table

Parameters Values
Tire Unloaded Radius 300 mm
Tire Stiffness 200 N/mm
Wheel Mass 10 kg
Sprung Mass 1400 kg
CG Height 300 mm
Wheelbase 2765 mm
Drive Ratio 100 (All driving force is applied to the front wheels.)
Brake Ratio 64 % of braking force is applied to the front brakes
In order to analyse the kinematics of the analysis two types of analysis is carried
out. They are:

• Parallel wheel travel analysis that moves the assembly vertically through the
suspension’s rebound-bump travel.

• Pull analysis to measure the brake pull at the steering wheel.

Performing Parallel wheel travel analysis

During Parallel wheel travel analysis, the wheels are moved vertically
relative to the vehicle body through a defined bump–rebound travel distance.
During the wheel motion, Adams/Car calculates many suspension characteristics,
such as camber and toe angle, Scrub radius, wheel rate, and roll centre height.

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The parameters selected for Parallel Wheel Travel analysis is shown in below table

Parameters Values

Bump Travel 100 mm

Rebound Travel -100 mm

Travel Relative To Wheel Centre

Steering Input Angle

Performing Pull analysis:

Pull analysis is done in order to calculate the resulting unbalanced force at the
steering rack and the pull (torque) needed at the steering wheel to keep the wheels
straight. Performing a pull analysis requires defining a load case file. The inputs
for pull analysis will be defined in load case files. The inputs include unequal
braking force on left and right wheel, upper steering wheel angle and lower
steering wheel angle.
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Assumptions made to calculate unequal brake forces:

1. Vehicle is braking at a rate of 0.5 g’s deceleration, with a 64% front and 36%
rear brake ratio

2. Front braking force split 55% left and 45% right.

Based on these assumptions, the total front braking force is:

1045 * 0.5 g’s * 9.81m/s2/g * 0.64 = 3280 N

From this, the left and right braking forces are:

Left braking force = 0.55 * 3280 N = 1804 N

Right braking force = 0.45 * 3280 N = 1476 N

These calculations were used to define the load case file.

The parameters set to create load case file is shown below.

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For the parameters entered, Adams/Car generates a table that varies steering wheel
angle from -180 to 180 in 15 steps, while holding the braking forces constant. The
load case file created will be used to perform an analysis that determines the pull
characteristics of the suspension and steering assembly. External files option is
used under suspension analysis to perform pull analysis.

Two important results that are analyzed during pull analysis are as follows:

• Steering Wheel Torque versus Steering Wheel Angle

• Scrub Radius versus Steering Wheel Angle

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Modifying Scrub Radius

Scrub radius is the distance between two imaginary points on the road surface.
The two imaginary points are:

• The point of centre contact between the road surface and the tire

• The point where the steering-axis centre-line contacts the road surface

Figure below shows positive and negative scrub radius.

Two hard point pairs that define the locations of these joints are shown below:

• hpl_lca_outer and hpr_lca_outer

• hpl_uca_outer and hpr_uca_outer

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The modified positions of hard points are shown in below table.

Hard point Hard point Position Hard point Position Comment

Before Modification After Modification
hpl_lca_outer -750 -775 Hard point is
shifted 25mm
inwards
hpl_uca_outer -675 -700 Hard point is
shifted 25mm
inwards

Comparison of Results

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