MSC ConfidentialPart Number: MDAM*R3*Z*FLEX*Z*SM-ADM710-NT Copyright 2009 MSC.Software CorporationJuly 2009ADM710 Course NotesADAMS/FLEXMSC.Software CorporationEuropeMSC.Software GmbHAm Moosfeld 1381829 Munich, GermanyTelephone: (49) (89) 43 19 87 0Fax: (49) (89) 43 61 71 6CorporateMSC.Software Corporation2 MacArthur PlaceSanta Ana, CA 92707 USATelephone: (800) 345-2078Fax: (714) 784-4056Asia PacificMSC.Software Japan Ltd.Shinjuku First West 8F23-7 Nishi Shinjuku1-Chome, Shinjuku-KuTokyo 160-0023, JAPANTelephone: (81) (3)-6911-1200Fax: (81) (3)-6911-1201MSC ConfidentialCopyright 2009 MSC.Software Corporation2Legal InformationMSC.Software Corporation reserves the right to make changes in specifications and other information contained in thisdocument without prior notice. The concepts, methods, and examples presented in this text are for illustrative andeducational purposes only, and are not intended to be exhaustive or to apply to any particular engineering problem ordesign. MSC.Software Corporation assumes no liability or responsibility to any person or company for direct or indirectdamages resulting from the use of any information contained herein.Copyright 2009 MSC.Software Corporation. All Rights Reserved. This notice shall be marked on any reproduction ofthis documentation, in whole or in part. Any reproduction or distribution of this document, in whole or in part, without theprior written consent of MSC.Software Corporation is prohibited.The MSC.Software corporate logo, Adams, Dytran, Easy5, Fatigue, Laminate Modeler, Marc, Mentat, MD Nastran, Patran,MSC, MSC Nastran, Mvision, Patran, SimDesigner, SimEnterprise, SimManager, SimXpert and Sofy are trademarks orregistered trademarks of the MSC.Software Corporation in the United States and/or other countries. NASTRAN is aregistered trademark of NASA. All other trademarks belong to their respective owners.MSC ConfidentialCopyright 2009 MSC.Software Corporation3CONTENTSSection Page0.0 Welcome to Adams/Flex TrainingAbout MSC.Software ..... 0-3Course Overview ... 0-4Getting Help .... 0-51.0 Introducing Adams/FlexVirtual Prototyping Process ..... 1-4How You Benefit from Using Adams/Flex . 1-8Linear Assumption . 1-12Flexible Body Linear Limit Check 1-13Controlling Modal Content 1-14Inertia Modeling . 1-19Visualization Attributes . 1-22Workshop 1: Preparing a Can Crusher Presentation .. WS1-12.0 Theoretical BackgroundModal Superposition ..... 2-4Craig-Bampton Component Mode Synthesis ... 2-7Mode Shape Orthonormalization . 2-8Kinematics of Markers on Flexible Bodies . 2-10Applied Forces ... 2-14Flexible Body Equations of Motion ..... 2-193.0 Replacing Rigid Bodies (Part I)Renaming Flexible Bodies ....... 3-4Modeling Attributes ....... 3-5List Info ........ 3-6Nodes ... 3-7Plotting ........ 3-10Workshop 2: Performing a Simple Swap ....... WS2-1MSC ConfidentialCopyright 2009 MSC.Software Corporation4CONTENTS (cont.)Section Page4.0 Replacing Rigid Bodies (Part II)About Joints and Motions ..... 4-4Joints Connection Limitations ...... 4-5About Dummy Parts ...... 4-7About Forces ...... 4-9Workshop 3: Performing an Advanced Swap ....... WS3-15.0 Optimizing MNFs and Exporting LoadsModal Neutral Files .... 5-4Introducing Adams/Flex Toolkit .. .... 5-5MNF Browser Application ..... 5-6Adams/Flex Toolkit Optimization Options .. 5-10Command Line Flex Toolkit . 5-25Exporting FEA Loads .... 5-29FEMDATA 5-32Workshop 4: Optimizing MNFs and Exporting Loads ..... ..... WS4-16.0 Using Flexible Body StatementsData Transfer ... 6-4Statements Used .... 6-5Matrix Files ...... 6-6Workshop 5: Using External Adams/Solver ...... WS5-17.0 Contacts and Modal ForcesContact with Flexible Bodies . 7-4Modal Applied Force and Preloaded Flexible Bodies .. 7-6Workshop 6: Using Contacts and Modal Force ..... ... WS6-1MSC ConfidentialCopyright 2009 MSC.Software Corporation5CONTENTS (cont.)Section Page8.0 Stress Recovery with Adams/DurabilityIntroduction to Adams/Durability . 8-4Theory of Modal Stress Recovery .. 8-5MSR Nastran Example 8-13Improving Graphics Performance in Adams/PostProcessor .. 8-18Using the Hot Spots Table ... 8-23Workshop 7: Stress Recovery with Adams/Durability ......... WS7-19.0 Fatigue AnalysisWhat is Metal Fatigue? ..... 9-4Durability Design Process .... 9-5Determining Loads .... 9-6Overview of Fatigue Life Analysis ....... 9-7Stress Life (S-N) Approach .. 9-8Strain Life (E-N) Approach 9-9MSC.Fatigue .. 9-10Workshop 8: Fatigue Analysis using Adams and Fatigue ........................ WS8-110.0 MNF Generation in NastranModal Neutral Files 10-3Superelement Definition ... 10-4Selecting Attachment Points 10-9What is a Spider Web? .. 10-10ADAMSMNF Case Control .. 10-11Units . 10-16ADMOUT = YES 10-18FLEXONLY = NO .. 10-19Residual Vectors ....... 10-20Releasing DOF ...... 10-25Common MD DB 10-26MSC ConfidentialCopyright 2009 MSC.Software Corporation6CONTENTS (cont.)Section Page11.0 Modeling ConsiderationsFirst Thoughts .... 11-4FE Modeling Considerations ... 11-5Special Adams Modeling Considerations ..... 11-12Concluding Thoughts .... 11-1512.0 Validating and DebuggingValidating Your Flexible Body ...... 12-4Workshop 9: Validating and Debugging ........ WS9-113.0 Appendix A Application ExamplesIndustrial Robot ...... A-4Low-Voltage Circuit Breaker .... A-6Flexible Go-Kart ........ A-11Comfort Tire Model ....... A-13Satellite with Flexible Panels and Antennas ..... A-15Flexible Vehicle Suspension .... A-17Shell Panels for Missile Separation ........ A-18Landing Aircraft ...... A-20Flexible Vehicle Frame and Chassis ..... A-22Flexible Car Body in Passing Maneuver .... A-23Pothole Passing with a Truck ...... A-25Rail Vehicle Comfort Calculations ... A-3314.0 Appendix B Making an MNF Using FEM SoftwareABAQUS ...... B-4ANSYS ........ B-5I-DEAS ......... B-6Nastran ........ B-7Marc ...... B-10Other MSC Products ...... B-12MSC ConfidentialCopyright 2009 MSC.Software Corporation7CONTENTS (cont.)Section Page15.0 Appendix C Adams/View Command Language SyntaxFlex Body ..... C-4Establish the Selected Modes .. C-5Modifying/Disabling Modes ... C-6Visualization Attributes ......... C-7Auto-generated Matrix ... C-8Flex Body Markers ..... C-916.0 Appendix D Adams/Vibration Frequency Domain AnalysesAdams to Nastran for NVH D-4Nastran Modal Export for Frequency Domain Stress Recovery . D-5Frequency Response Function Plots for Stress and Strain . D-617.0 Appendix E Answer KeyAnswer Key for Workshop 1 .... E-4Answer Key for Workshop 2 .... E-6Answer Key for Workshop 3 .... E-7Answer Key for Workshop 4 .... E-9Answer Key for Workshop 5 .... E-14Answer Key for Workshop 6 .... E-17Answer Key for Workshop 9 .... E-18MSC ConfidentialCopyright 2009 MSC.Software Corporation8S0-1ADM710, Section 0, July 2008Copyright 2008 MSC.Software CorporationSECTION 0WELCOME TO ADAMS/FLEXTRAININGS0-2ADM710, Section 0, July 2008Copyright 2008 MSC.Software CorporationS0-3ADM710, Section 0, July 2008Copyright 2008 MSC.Software CorporationABOUT MSC.SOFTWARE Find a list of MSC.Software products at: http://www.mscsoftware.com/products/products.cfm Find a list of Adams products at: http://www.mscsoftware.com/products/products_detail.cfm?PI=413 Find additional training at: http://store.mscsoftware.com/training/ Or your local support center Run through verification problems at: http://support.mscsoftware.com/kb/results_kb.cfm?S_ID=1-KB9587S0-4ADM710, Section 0, July 2008Copyright 2008 MSC.Software CorporationCOURSE OVERVIEW Lecture Hands-on workshops TheoryS0-5ADM710, Section 0, July 2008Copyright 2008 MSC.Software CorporationGETTING HELP Online Help To access the Online Help, do either of the following: While working in any Adams/Flex dialog box, press F1 todisplay Online Help specific to that dialog box. From the Help menu, select Adams/View Help. Once the Online Help is displayed, you can browse throughthe table of contents or the index, or search for any terms.S0-6ADM710, Section 0, July 2008Copyright 2008 MSC.Software CorporationGETTING HELP (CONT.)Contents of selected tabTable of Contents for selected tagIndex/search for entire Adams/FlexS0-7ADM710, Section 0, July 2008Copyright 2008 MSC.Software CorporationGETTING HELP (CONT.) Technical support To find your local support center, go to: http://www.mscsoftware.com/support/contacts/index.cfm To read the Standard Enhancement & Technical SupportUsage Guide, do one of the following: If in the United States, go to http://www.mscsoftware.com/support/Tech_Spt_Guide_Americas.cfm If outside the United States, go to: http://www.mscsoftware.com/support/contacts/, and then selectyour regionS0-8ADM710, Section 0, July 2008Copyright 2008 MSC.Software CorporationGETTING HELP (CONT.) Knowledge base Go to http://support.mscsoftware.com/kb Consulting services: Go to http://www.mscsoftware.com/services/esg/ Adams News and Users Forums To join the community of Adams users, go to: http://forums.mscsoftware.com/news/ubbthreads.phpS1-1ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationSECTION 1INTRODUCING ADAMS/FLEXS1-2ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationS1-3ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationINTRODUCING ADAMS/FLEX Whats in this section: Virtual Prototyping Process How You Benefit from Using Adams/Flex Linear Assumption Flexible Body Linear Limit Check Controlling Modal Content Inertia Modeling Visualization AttributesS1-4ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationVIRTUAL PROTOTYPING PROCESS Build a model of your design using: Bodies Forces Contacts Joints Motion generatorsBuild Test Review ImproveDESIGNPROBLEM Cut time andcosts Increasequality Increaseefficiency IMPROVEDPRODUCTS1-5ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationVIRTUAL PROTOTYPING PROCESS (CONT.) Test your design using: Measures Simulations Animations Plots Validate your model by: Importing test data Superimposing test dataBuild Test Review ImproveDESIGNPROBLEM Cut time andcosts Increasequality Increaseefficiency IMPROVEDPRODUCTS1-6ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationVIRTUAL PROTOTYPING PROCESS (CONT.) Review your model by adding: Friction Flexible Parts Forcing functions Control Systems Iterate your design through variations using: Parametrics Design VariablesBuild Test Review ImproveDESIGNPROBLEM Cut time andcosts Increasequality Increaseefficiency IMPROVEDPRODUCTS1-7ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationVIRTUAL PROTOTYPING PROCESS (CONT.) Improve your design using: DOEs Optimization Automate your design process using: Custom menus Macros Custom dialog boxesBuild Test Review ImproveDESIGNPROBLEM Cut time andcosts Increasequality Increaseefficiency IMPROVEDPRODUCTS1-8ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationHOW YOU BENEFIT FROM USINGADAMS/FLEX Better loading prediction for durability analysis Improved system performance Additional benefits Adams/Flex provides valuable insight for the analyst,balancing strength and flexibility design factors with the costand weight of a mechanism.S1-9ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationHOW YOU BENEFIT FROM USINGADAMS/FLEX (CONT.) Better loading prediction for durability analyses The flexible component is the focus of your attention. What is the system doing to my flexible component? Examples: Connecting rod Automotive jack standS1-10ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationHOW YOU BENEFIT FROM USINGADAMS/FLEX (CONT.) Improved system performance The model fidelity is the focus of your attention. Componentflexibility is just another parameter of the system design. What is the flexible component doing to my system? Examples: Handling characteristics of a vehicle with a flexible frame Robot manipulator pathManipulatorS1-11ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationHOW YOU BENEFIT FROM USINGADAMS/FLEX (CONT.) Contrasting MSS and FEA Finite element analysis (FEA) offers excellent modelingcapabilities for individual components in isolation. Estimatingloads is an art.FEA is too inefficient for system level modeling and isincapable of analyzing large motion. Rigid body mechanical system simulation (MSS) efficientlyanalyzes large motions of complex systems and can be usedto generate component loads for FEA. However, failure toaccount for component flexibility can dramatically reducemodeling fidelity. Flexible body MSS gives you the best of both worlds.S1-12ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationLINEAR ASSUMPTION Modal flexible bodies are linear modeling elements. Deformations are assumed to be small and within the linearrange. With large deformations (> 10% of its characteristic length),the assumptions of modal superposition are violated andresults will be inaccurate. Sometimes, a flexible body can be deformed beyond itslinear limit.S1-13ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationFLEXIBLE BODY LINEAR LIMIT CHECK Linear limit check (C++ Solver Only): Settings > Solver > Flex Bodies Limit Check Skin: Solver will check the deformation of all the surface nodes on the skin ofthe flexible body to see whether they violate the linear limit. Selnod: Solver will only check the nodes specified in the SELNOD section ofthe mtx file. Limit Action Halt: Terminates execution of Solver. Return: Stops the simulation and returns to the command level. Message Only (Default): Only issues a warning message.S1-14ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationCONTROLLING MODAL CONTENT Mode enabling and disabling Disabling a mode prevents Adams/Flex from considering thatshape when generating the overall deformed shape of thecomponent. Manual Table (modal ICs) Range By strain energy (auto) If a mode does not contribute to the response of the flexiblecomponent during a simulation, consider disabling it. Your control over modal degrees of freedom (DOFs) cangreatly affect the success of your analysis: Too many DOFs can mean unacceptably long computation time Too few DOFs can prevent Adams from converging to anacceptable solutionS1-15ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationCONTROLLING MODAL CONTENT (CONT.)S1-16ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationCONTROLLING MODAL CONTENT (CONT.) Modal damping Default: 1% damping for all modes with frequency lower than 100 Hz. 10% damping for modes with frequency between 100 and 1000Hz. 100% critical damping for modes with a frequency higher than1000 Hz. Single scalar damping value applied to all the modes Function expressions: Damping ratio can be defined by any generic function expression Two special functions can be used to define the damping ratio: FXMODE: Returns the mode number of the current mode of theflexible body FXFREQ: Returns the modal frequency (Hz) of the current mode ofthe flexible body.S1-17ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationCONTROLLING MODAL CONTENT (CONT.) Example:FLEX_BODY/1CRATIO = IF(FXFREQ-100:0.01,0.1,if(FXFREQ-1000:0.1,1.0,1.0)) This example recreates the default modal damping scheme usingnested IF function expressions. Cycles/user time Control the damping using a DMPSUB user-writtensubroutine:If you want to specify the modal damping using morecomplicated expressions, consider a DMPSUB user-writtensubroutine. For more information, see Knowledge BaseArticle 9000 at:http://support.mscsoftware.com/kb/results_kb.cfm?S_ID=1-KB9000.S1-18ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationCONTROLLING MODAL CONTENT (CONT.)S1-19ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationINERTIA MODELING Inertia modeling There are four preset options and one custom option: Rigid body - approximates rigid body behavior but usesflexible body formulation (INVAR6 disabled). Constant - deformations dont affect the inertial properties. Partial coupling - the default. Full coupling - uses all nine invariants and, therefore, is themost computationally intensive choice. Custom - allows you to set your own or view a preset option,as shown next. Note that check mark indicates on (or true).S1-20ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationINERTIA MODELING (CONT.) Preset optionsS1-21ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationINERTIA MODELING (CONT.) CustomS1-22ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationVISUALIZATION ATTRIBUTES Plot type Deformation scale factor Datum nodeS1-23ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationVISUALIZATION ATTRIBUTES (CONT.) Plot type Enable color contour or vector plots for a flexible body Options include: Contour - Sets Adams/Flex so it displays color contour plots Vector - Sets Adams/Flex so it displays vector plots None - Displays neither the color contours or vector plots Both - Displays both the color contours and vector plotsS1-24ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationVISUALIZATION ATTRIBUTES (CONT.) Deformation scale factor Used to exaggerate deformation for viewing purposes only Can scale up or down The deformation scale does not affect the position of markericons Constraints can appear violated when the scale is >1. This ismerely visual: the analysis will, of course, maintain theconstraints youve defined. When the scale is equal to 0, only the rigid body motion ofthe flexible body will be animated. This produces fasteranimations for flexible bodies.S1-25ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationVISUALIZATION ATTRIBUTES (CONT.)S1-26ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationVISUALIZATION ATTRIBUTES (CONT.) Datum node Deformation is a relative term and should be expressed withrespect to a node: You select which node Adams/Flex considers as theundeformed (datum) node and then color contour plots revealdeformation relative to it. LBRF (local body reference frame, the default) is in the samelocation as the reference frame used in FEA.S1-27ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationVISUALIZATION ATTRIBUTES (CONT.)S1-28ADM710, Section 1, July 2008Copyright 2008 MSC.Software CorporationVISUALIZATION ATTRIBUTES (CONT.) Example of using different datum nodes Here, node 1000 is the datum node. In this case, node 1001 is the datum node. The color red denotes maximum deformation relative to thedatum node.Node 1000 Node 1001Node 1000 Node 1001WS1-1ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1PREPARING A CAN-CRUSHERPRESENTATIONWS1-2ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWS1-3ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 PREPARING A CAN-CRUSHERPRESENTATION Problem statement You have just been promoted to a high-profile project. Yoursupervisor is responsible for the dynamic analysis of a can-crushing mechanism. He wants you to prepare apresentation that includes: Table of eigenvalues from Adams/Linear Screen snapshot (.jpg) of system mode 8 A plot of the y-component of the torque in a revolute jointversus the distance the can has been compressed Animation movie files (.avi) of the flexible body model alongsidethe rigid body model A Web page with the presentation. For example:WS1-4ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.)WS1-5ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.) Mechanism information This model represents a can-crushing mechanism, as shownin Figure 1:CanBaseCouplerPlungerNode 2505Node 2502Node 2498flx_leverWS1-6ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.) The mechanism includes the following parts:WS1-7ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.) An input force is applied to the end of FLX_LEVER with aSTEP function and turns off after 0.55 seconds.ForceWS1-8ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.) Setting up the model To set up the model:1. Start Adams/View from the directoryexercise_dir/mod_01_cancrusher.Where exercise_dir is the directory where the workshopsubdirectories reside.2. From the same directory, import the model command filecancrusher_start.cmd.ADAMS/View displays the model named cancrusher. Inspecting the flexible lever You can quickly inspect the flexible lever to see how each modewould contribute to its deformation.WS1-9ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.) To inspect the flexible lever:1. From the Main Toolbox, select the Isometric tool , and then selectRender.2. Turn off icon (v) and grid visibility (g). You can turn on and off the iconand grid visibility as needed throughout the course.3. If the strip chart is blocking the view, you can move it aside.4. Right-click FLX_LEVER, point to Flexible_Body: FLX_LEVER, andthen select Modify.5. In the Mode Number text box, enter 10, and then press Enter.ADAMS/View displays mode 10 superimposed on the undeformedbody:Mode 10WS1-10ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.)6. In the Flexible Body Modify dialog box, select the Animate tool .Adams/View animates mode 10 for three cycles.7. To see how Adams/View displays the deformation mode and theundeformed body, toggle the Superimpose option a few times.8. Set Plot Type to Contour.The resulting contours show deformation, not stress.9. To exaggerate the results, set Deformation Scale Factor to 2.0, andthen press Enter.WS1-11ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.)10. Animate mode 10 once again and note the difference caused by theincreased deformation scale factor.11. Review modes 7 - 28. The first six modes are rigid body modes andare automatically disabled because Adams/Flex already handles thedynamics for those modal degrees of freedom.12. Set Deformation Scale Factor back to 1.0.WS1-12ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.) Simulating the rigid lever Make the lever temporarily rigid, and then simulate it to observethe can-crushing operation. To simulate the rigid lever:1. Set Inertia modeling to Rigid body.2. Select OK.3. Confirm that the flexible body is not selected. From the Main Toolbox,select the Select tool to clear the Select List. You should do thiswhenever you want to stop seeing the model in a dimmedappearance.4. From the Simulate menu, select Scripted Controls.WS1-13ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.)5. Run scripted simulation using the script .cancrusher.RIGID_SCRIPT.The script uses the following Adams/Solver commands:SIM/STATICSINTEGRATOR/GSTIFF, HMAX=.01SIM/TRANSIENT, END=0.75, STEPS=50The strip chart CAN_COMPRESSION_MEA displays the deformationof the can versus time.WS1-14ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.)6. From the Simulation Control dialog box, select the Save SimulationResults tool .7. Save the results with the name rigid. You will use these results laterin your presentation material.8. Animate the results of the simulation.The lever arm stays blue because its not deforming. It is notdeforming because you set Inertia Modeling to Rigid Body.9. Close the Animation Controls dialog box or reset the model to themodeling view by other means.WS1-15ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.) Simulating the flexible lever Make the lever flexible again, and then simulate it to observe itsmotion. To simulate the flexible lever:1. Right-click FLX_LEVER, point to Flexible_Body: FLX_LEVER, andthen select Modify.2. In the Flexible Body Modify dialog box, set Damping Ratio todefault.Deformations of the flexible body are displayed relative to the datumnode. You'll choose node 2505 because it is at the opposite end of theapplied load, as shown in Figure 1. The colors indicate the magnitudeof the deformation: red indicates the most deformation, blue the least.2. Clear the selection of LBRF.3. In the Datum Node text box, enter 2505.4. Set Inertia modeling to Partial coupling.Partial coupling is the default flexible body representation of the inertiainvariants.5. Select OK.6. Clear the selection of the lever.WS1-16ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.)7. Perform another scripted simulation using.cancrusher.FLEX_SCRIPT.The script uses the following Adams/Solver commands:SIM/STATICSLINEAR/EIGENSOLINTEGRATOR/GSTIFF, SI2, HMAX=0.01SIM/TRANSIENT, END=0.75, STEPS=508. Save the simulation results as flexible.9. Animate the results of the simulation.By animating the results you've seen how the flexible lever deforms asthe load is applied. You may have noticed in the script that anAdams/Linear eigenvalue solution was performed at the static position.In the next section you will learn how to export a table of eigenvaluesand create an image of one of the eigenmodes which will be used inyour presentation.WS1-17ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.) Preparing the eigenvalue data table For your presentation, generate a table of system eigenvaluesfrom Adams/Linear and export it to a text file. To prepare the data table:1. From the Review menu, select Postprocessing or press the F8 key.2. Right-click the viewport, and then select Load Mode ShapeAnimation.3. From the Database Navigator, under flexible, double-click the Eigenresults (for example, EIG_1).Adams/PostProcessor displays the model and updates the dashboardwith mode shape animation controls.4. From the dashboard, select Table of Eigenvalues.The Information window displays the table.5. Select Save to File, and save the file as system_modes.txt.6. Close the Information window.WS1-18ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.) Creating an image of the lever For your presentation, create a color image of system mode8 and name it mode_8.jpg.Figure 2. System Mode 8WS1-19ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.) To create the image:1. To display the triad, from the dashboard, select the View tab, andthen select Display Triad.2. For optimal viewing, fit the model in the viewport by using the viewcontrol keyboard shortcuts, rotate, zoom, and translate so that youhave a view of the model similar to the view in Figure 2.3. From the dashboard, select the Mode Shape Animation tab.4. Set Mode Number to 8, to display mode 8 and its frequency. Note itsfrequency: _____(hz).5. Change the Scale Factor to 0.1.6. To animate mode 8, select the Play tool .WS1-20ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.)7. Observe the mode shape animation, and when youve finishedanimating, press the Pause tool .Why do you think that mode 8 is important?________________________________________________________________________________________________________________________________________________________________________8. Select the Reset tool .9. From the File menu, select Print.10. Set Print to File.11. In the File Name text box, enter mode_8.jpg.12. Set the pull-down menu, directly under File Name, to JPG.13. Select OK.Adams/PostProcessor creates the image file.WS1-21ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.) Comparing animations You use Adams/PostProcessor to compare the animationsof the rigid and the flexible levers. You compare animationsusing the overlay feature.Figure 3 shows how your window looks after youvecompleted the steps in this section.WS1-22ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.)Figure 3. Overlaying Animation ResultsWS1-23ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.) To compare animations:1. Delete the current page to remove the mode shape animation.2. From Adams/PostProcessors Main toolbar, from the Page layouttool stack, select the 2 Views, side by side tool .3. Right-click the viewport on the right, and then select Load Animation.4. Double-click rigid.5. For optimal viewing, fit the model in the viewport.6. As shown in Figure 3, overlay the simulation named flexible: From the dashboard, select the Overlay tab. In the Offset text box, enter -10, 0, 0. In the Colors text box, enter blue. Hold down the Control key and multiple-select .cancrusher.rigid and.cancrusher.flexible. Move the pointer out of the dashboard area, to execute the command(which can take a while).7. Fit the models in the viewport and then animate by selecting the Playtool.8. After you finish viewing the animation, pause it.WS1-24ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.) Observing deformations Deformations of the flexible body are displayed relative to thedatum node you assigned earlier, in Simulating the flexible lever.Increase the deformation scale so that you can better visualize thedeformation in the movie file you will be creating soon. To exaggerate deformations:1. Right-click the flexible body, point to Flexible_Body: FLX_LEVER,and then select Select.2. In the Flex Props tab, set Scale to 20, and then press Enter.3. To clear the selection of the flexible body, select the Select tool .4. Animate again.Notice how increasing the scale factor has exaggerated the flexiblelever deformations.WS1-25ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.)WS1-26ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.) Comparing joint torque plots As the lever crushes the can, you can see the combinedtwisting and bending of the lever. The twisting and bendingproduces force components that act as a torsional load onthe revolute joint (at the coupler). The torque climbs until thecan finally collapses from the crushing operation. At the endof the duty cycle, the load in the lever is relieved and thejoint torque drops back to zero. The measure for the jointtorque is named LVR_CPLR_REV_MEA_TY and you willplot it versus the deformation of the can,CAN_COMPRESSION_MEA.WS1-27ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.) To compare plots:1. Right-click the viewport on the left and select Load Plot. If an alert boxappears, select OK to dismiss it.2. In the dashboard, set Source to Measures.3. Set Independent Axis to Data, and then selectCAN_COMPRESSION_MEA as the independent data measure.4. Select Surf. The Surf feature lets you quickly browse or surf throughmultiple results. Using it can eliminate mouse clicks and otheroperations, such as delete, undo, and so on.5. Select both the rigid and the flexible analyses, and plotLVR_CPLR_REV_MEA_TY.6. If the legend obscures the plot, select it and move it up slightly.7. Clear the selection of the legend.8. Select the viewport on the right, and then animate.WS1-28ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.) Preparing the movie file To prepare the movie file:1. Click on the viewport on the right.2. From the dashboard, select the Animation tab.3. Choose a frame range of 1 to 50, and then press Enter.4. Reset the animation so it displays the first frame.5. For optimal viewing, fit the models in the viewport.6. To prepare for recording the .avi file, select the Record tab.7. Clear the File Name text box.8. In the File Name text box, enter the name movie.9. Verify that Format is set to AVI.10. Select the Record tool.11. Select Play.Note: Do not change windows during the record phase.12. After the animation goes through one pass, or 50 frames, select Pause.Note: Do not return to Adams/View because you will complete the nextsteps in Adams/PostProcessor.WS1-29ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.) Publishing to the Web For publishing to the Web, you export data in the currentsession of Adams/PostProcessor as HTML pages forviewing by others in your organization.Adams/PostProcessor also creates: Plots and animations as .png, .jpg, .bmp, .xpm, or .tiff images. Movies of animations as .avi or .mpg. Information about the parts, constraints, forces, and more inthe selected models. This is the same information that appearswhen you select Info.WS1-30ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.) To publish to the Web:1. From the treeview in Adams/PostProcessor, select page_1.2. From the Edit menu, select Rename, and then rename the page to movie.3. From the main toolbar, select the Create a new page tool .4. Rename this page to system_modes.5. From the Page Layout tool stack , select the 1 View tool .6. Right-click the viewport, and then select Load Report.7. Double-click system_modes.txt.8. From the main toolbar, select the Create a new page tool.9. Rename this page to can_compression.10. Right-click the viewport, and then select Load Plot.11. Set Source to Measures.12. Plot the CAN_COMPRESSION_MEA for both the rigid and flexible bodies.WS1-31ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.)13. From the File menu, point to Export, and then select HTML Report.14. Select OK.Note: Do not change windows because the movie will be re-recorded.Adams/PostProcessor creates a folder, named html_export, in yourworking directory.15. From the Adams/PostProcessor Main toolbar, select to return to themodeling environment.16. Save the database using the default name.17. Exit Adams/View.18. Open the html_export folder.19. In a browser, open index.html.20. To view the results, expand the pages folder.21. Expand the cancrusher folder to browse information on the parts,constraints, and forces in the selected model.WS1-32ADM710, Workshop 1, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 1 CAN-CRUSHER PRESENTATION(CONT.) Module review1. How does the system mode 8 compare with the flexiblebody mode that is near the same frequency?________________________________________________________________________________________________________________________________________________2. Can you suggest a better reference frame in which toexpress the measure LVR_CPLR_REV_MEA_TY?________________________________________________________________________________________________________________________________________________S2-1ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationSECTION 2THEORETICAL BACKGROUNDS2-2ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationS2-3ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationTHEORETICAL BACKGROUND Whats in this section: Modal superposition Craig-Bampton Component Mode Synthesis Mode Shape Orthonormalization Kinematics of Markers on Flexible Bodies Applied Forces Flexible Body Equations of MotionS2-4ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationMODAL SUPERPOSITION Represent deformation as a linear combination ofmode shapes Simple example Craig-Bampton modes distinguishes boundary nodesfrom interior nodesS2-5ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationMODAL SUPERPOSITION (CONT.) Fixed boundary normal modes Obtained by fixing the boundary DOF and computing aneigensolution. There are as many fixed-boundary normalmodes as the user desires. These modes define the modalexpansion of the interior DOF. The quality of this modalexpansion is proportional to the number of modes retainedby the user. Two fixed-boundary normal modes for a beam that hasattachment points at the two ends.S2-6ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationMODAL SUPERPOSITION (CONT.) Constraint modes Static shapes obtained by giving each boundary DOF a unitdisplacement while holding all other boundary DOF fixed. Thebasis of constraint modes completely spans all possiblemotions of the boundary DOFs, with a one-to-onecorrespondence between the modal coordinates of theconstraint modes and the displacement in the correspondingboundary DOF. Two constraint modes for the left end of a beam that hasattachment points at the two ends. The figure on the leftshows the constraint mode corresponding to a unit translation.The figure on the right corresponds to a unit rotation.S2-7ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationCRAIG-BAMPTON COMPONENT MODESYNTHESIS Deformations are represented in Craig-Bamptonmodal basis Transform stiffness and mass matrices to Craig-Bampton basis Generalized stiffness Generalized massS2-8ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationMODE SHAPE ORTHONORMALIZATION Problems using raw Craig-Bampton modes Constraint modes embed rigid body motion. Constraint modes do not advertise the high-frequencydynamics that they add Constraint modes cannot be disabled in Adams Solve a second eigenvalue problem Eigenvalue problem yields coordinate transformation Transformation orthonormalizes modesS2-9ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationMODE SHAPE ORTHONORMALIZATION(CONT.) Physical interpretation of orthonormalized modes Approximate free body modes Boundary eigenvectors Before: After: Problem solved Rigid body modes drop out All modes have natural frequency Disabling high-frequency boundary eigenvectors is benignS2-10ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationKINEMATICS OF MARKERS ON FLEXIBLEBODIES Why are marker kinematics needed? Joints Generalized forces Expressions Position Velocity OrientationS2-11ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationKINEMATICS OF MARKERS ON FLEXIBLEBODIES (CONT.) Position Use slice of modal matrix corresponding to translations of P Generalized coordinatesS2-12ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationKINEMATICS OF MARKERS ON FLEXIBLEBODIES (CONT.) Velocity Differentiate position with respect to time Simplify using the relationship further simplify whereS2-13ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationKINEMATICS OF MARKERS ON FLEXIBLEBODIES (CONT.) Orientation Use slice of modal matrix corresponding to rotations of P Orientation of marker at P is the product of three Eulertransformation matrices Reorientation due to deformation builds on the small rotationassumptionS2-14ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationAPPLIED FORCES Point forces and torques Distributed loads Residual forces and residual vectors PreloadsS2-15ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationAPPLIED FORCES (CONT.) Point forces and torques Generalized forces Generalized force on the translations Generalized torque on the Euler angles Generalized modal loadS2-16ADM710, Section 2, July 2008Copyright 2008 MSC.Software Corporation Distributed loads New Adams element, the MFORCE FEM equation of motion Transform to modal coordinates Modal load Assume that time varying load may be represented as a timevarying linear combination of static load cases Pre-project the static load cases on the modes In Adams, scale factors can be a function of time and stateAPPLIED FORCES (CONT.)S2-17ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationAPPLIED FORCES (CONT.) Residual forces and residual vectors When load is projected on the modes, not all the load maymake it The residual forcegives us an additional mode (the residual vector) whichenhances the Craig-Bampton basis.S2-18ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationAPPLIED FORCES (CONT.) Preloads An Adams flexible body can contain a preload. This allowsAdams to support flexible bodies linearized in a non-linearlydeformed state.S2-19ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationFLEXIBLE BODY EQUATIONS OF MOTION Lagrange's equationS2-20ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationFLEXIBLE BODY EQUATIONS OF MOTION(CONT.) Mass matrix Velocity represented as a product of a matrix and the timederivative of the state vector Kinetic energy The flexible body mass matrix. We study it in block formS2-21ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationFLEXIBLE BODY EQUATIONS OF MOTION(CONT.) The blocks are conveniently represented as products ofinertia invariantsS2-22ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationFLEXIBLE BODY EQUATIONS OF MOTION(CONT.)where the invariants are computed in a preprocessorS2-23ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationFLEXIBLE BODY EQUATIONS OF MOTION(CONT.) Gravity and stiffness Potential energy includes stiffness effects and gravity The stiffness matrix is very simple because it has no rigidbody contribution Generalized forces due to gravityS2-24ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationFLEXIBLE BODY EQUATIONS OF MOTION(CONT.) Damping Damping is assumed to be derivable from a quadratic form The equation of a simple harmonic oscillatorleads to a characteristic equationS2-25ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationFLEXIBLE BODY EQUATIONS OF MOTION(CONT.)which yields the eigenvalues Critical damping occurs when the harmonic term vanishes Modal damping in Adams is represented as a fraction ofcritical dampingS2-26ADM710, Section 2, July 2008Copyright 2008 MSC.Software CorporationFLEXIBLE BODY EQUATIONS OF MOTION(CONT.) Equations of motionfinal form The final form of the equation of motionS3-1ADM710, Section 3, July 2008Copyright 2008 MSC.Software CorporationSECTION 3REPLACING RIGID BODIES (PART I)S3-2ADM710, Section 3, July 2008Copyright 2008 MSC.Software CorporationS3-3ADM710, Section 3, July 2008Copyright 2008 MSC.Software CorporationREPLACING RIGID BODIES (PART I) Whats in this section: Renaming Flexible Bodies Modeling Attributes List Info Nodes PlottingS3-4ADM710, Section 3, July 2008Copyright 2008 MSC.Software CorporationRENAMING FLEXIBLE BODIES Uses the same method as rigid bodies When you rename a flexible body: Adams/View writes a new matrix (.mtx) file when you issuethe next simulation command or export an .adm file The original matrix file is now redundant and since you dontneed it, you may delete it Adams/View creates a redundant matrix file when you exportthe dataset (.adm). The .adm uses this new matrix file. Keep in mind that matrix names do not update until the nexttime you solve or export a datasetS3-5ADM710, Section 3, July 2008Copyright 2008 MSC.Software CorporationMODELING ATTRIBUTES Color Use the same method as you would for rigid bodies Doesnt affect deformation colors Active/inactive Use the same method as you would for rigid bodiesS3-6ADM710, Section 3, July 2008Copyright 2008 MSC.Software CorporationLIST INFO Use it to view flexible body parameters We suggest using the Verbose option because itincludes the mode enabled/disabled statusS3-7ADM710, Section 3, July 2008Copyright 2008 MSC.Software CorporationNODES The following options are available for locating markers on flexiblebodies:1. Coincident to a node Default option Compatible with Adams/Solver (FORTRAN)2. Offset from a node Must first create the marker at a node, then modify it to the desired offsetdistance Adams/Flex will apply forces to the node Compatible with Adams/Solver (C++) Adams/Solver (FORTRAN) automatically adds an interface part3. Attached to multiple nodes Must first create the marker attached to one node, then modify the marker toattach it to multiple nodes Allows the user to distribute loads to multiple nodes to avoid unrealistic stressconcentrations. Compatible with Adams/Solver (C++) ONLY Adams/Solver (FORTRAN) does not support this optionNote: Option 1 is the only option available before MSC.ADAMS 2003.S3-8ADM710, Section 3, July 2008Copyright 2008 MSC.Software CorporationNODES (CONT.) Nodes are shown on mesh You can pick nodes based on FEM ID in the modelingenvironmentS3-9ADM710, Section 3, July 2008Copyright 2008 MSC.Software CorporationNODES (CONT.) Joints and forces may be applied at any location on a flexiblebody. The applied forces or reaction forces, however, will onlybe applied at node locations. For markers that are attached to one node with no offset, the forcewill be applied directly to that node. For markers that are attached to one node with an offset, the forcewill be transferred to the node and applied to the flexible body atthis nodes location. This behavior is similar to creating a massless-rigid link between the marker (where the force is located) and thenode (where the force is being applied to the flexible body). For markers that are attached to multiple nodes, the weighted forceis transferred to each node and then applied to the flexible body atthe node locations.For more information, in the online help for Adams/Solver (C++),follow the link: Statements Marker. Measures may reference any marker on a flexible body. You can designate any single node as a datum node fordeformation color contours.S3-10ADM710, Section 3, July 2008Copyright 2008 MSC.Software CorporationPLOTTING Result set components Standard measures User-written measures Output requestsS3-11ADM710, Section 3, July 2008Copyright 2008 MSC.Software CorporationPLOTTING (CONT.) Result set components You can plot the modal displacements and their derivatives(Q, DQ, DDQ)S3-12ADM710, Section 3, July 2008Copyright 2008 MSC.Software CorporationPLOTTING (CONT.) Standard measures Available object characteristics: Center of mass (CM) position CM velocity (translational and angular) CM acceleration (translational and angular) Potential energy delta Kinetic energy (total, angular, and translational) Strain energy (due to deformation) Momentum (translational and angular) CM position relative to LBRF Available results data: Modal coordinates, velocities, and accelerations Part displacements, velocities, and accelerations (just likerigid bodies)S3-13ADM710, Section 3, July 2008Copyright 2008 MSC.Software CorporationPLOTTING (CONT.)S3-14ADM710, Section 3, July 2008Copyright 2008 MSC.Software CorporationPLOTTING (CONT.) User-written measures Point-to-point measures Object measures Markers on flexible bodies also support all standard markermeasures and additional deformation measures (relative toLBRF).S3-15ADM710, Section 3, July 2008Copyright 2008 MSC.Software CorporationPLOTTING (CONT.)Point-to-point measures Object measuresAdams/PostProcessor dashboardS3-16ADM710, Section 3, July 2008Copyright 2008 MSC.Software CorporationPLOTTING (CONT.) Output requests Define using type and markers Displacement, velocity, acceleration, and force Define using subroutine (REQSUB) Define using function expressionYou can create output requests by using markers on theflexible body.Limitation: Because there is no center of mass (cm) marker fora flexible body, you cannot make a request from a cmmarker.WS2-1ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2PERFORMING A SIMPLE SWAPWS2-2ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWS2-3ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP Problem statement The design team is concerned about how componentflexibility may influence the system performance of a robot.You need to modify the rigid-body model so it contains aflexible part, and then investigate the effects of that change. Mechanism information The model represents a robotic welding mechanism, asshown below:HandWrist ForearmArm LevelShoulderBaseFigure 4. Robotic Welding MechanismWS2-4ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP(CONT.) The following table lists the robotic welding mechanism parts, theirassociated geometry, and characteristics. Note that the dummy parts listed in the table only exist for graphicalreasons. They could be easily deleted from the model withoutaffecting the functionality. Deleting these parts would decrease thenumber of equations in Adams/Solver, therefore, solving moreefficiently.WS2-5ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP(CONT.) The following table lists the robotic welding mechanismjoints, their type, and associated input motions. The motionsare applied to the joints and control the angulardisplacements for the operational sequence.WS2-6ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP(CONT.)WS2-7ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP(CONT.) Setting up the model To set up the model:1. Run ADAMS/View from the directory exercise_dir/mod_03_robot.2. From the same directory, import the model command filerobot_rigid_start.cmd.3. Adams/View displays the model named robot.4. Set the render mode to shaded (type an uppercase S).5. Turn off icon and grid visibility.WS2-8ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP(CONT.) Simulating the model Before you simulate the model, set the specifications for the analysisfiles that Adams/View outputs. You may want to use these files laterto compare the rigid analysis with the flexible one. To simulate the model:1. From the Settings menu, point to Solver, and then select Output.2. Set Save Files to Yes.3. In the File Prefix text box, enter robot_rigid.4. Close the Solver Settings dialog box.5. Run a scripted simulation using .robot.RIGID_SCRIPT.The script uses the following Adams/Solver commands:SIM/STATICSKINEMATIC/ERROR = 1e - 4SIMULATE/KINEMATIC, DURATION=1.7, DTOUT=1.0E-02WS2-9ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP(CONT.)6. Animate the results.7. Save the simulation results as rigid.8. To return to the model view, from the View menu, select Model. Swapping in the flexible forearm You now import a flexible forearm. You use the rigid-to-flex utility toreplace the rigid forearm with a flexible one. To import the flexible forearm:1. From the Build menu, point to Flexible Bodies, and then select Rigidto Flex.2. Right-click the Current Part text box, point to Part, point to Browse,and then select the part FOREARM.WS2-10ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP(CONT.)3. Right-click the MNF File text box, point to Browse, and then selectrobot_arm_easy.mnf.4. Set Flex Body Positioning to Align Flex Body CM with CM ofCurrent Part.Note: Do not select Apply or OK yet.The dialog box should look as follows:Flexible BodyRigid BodyWS2-11ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP(CONT.)The model now includes the flexible forearm, as shown next:WS2-12ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP(CONT.) Establishing flex body connections To establish connections:1. Select the Connections tab.2. Hold down the Ctrl key and select the rows for MK13 and MK14.3. Select Preserve location.The dialog box should look as follows:4. Select Apply or OK.WS2-13ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP(CONT.) Switching to Adams/Solver (C++) To switch to Adams/Solver (C++):1. From the Settings menu, point to Solver, and then selectExecutable.2. Set Choice to C++.3. Close the Solver Settings dialog box.4. From the Tools menu, select Model Verify, and then check thatyouve established the correct connections and the model is ready torun.5. Close the Information window.6. Before continuing, save the model in binary format.WS2-14ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP(CONT.) Preparing the flexible forearm To prepare the flexible forearm for analysis, you set parameters forinertia, disable modes that we dont want to include in this analysis,and set deformation display parameters. To prepare the flexible forearm:1. In the Flexible Body Modify dialog box, verify that Inertia modelingis set to Partial coupling.2. In the Mode Number text box, enter 12.3. Select Disable .4. In the Mode Number text box, enter 16.5. Select Disable.6. Clear the selection of LBRF and make node 3000 the datum node.7. Ensure that Plot Type is set to Contour.8. Select Apply or OK.9. Clear the selection of the forearm.WS2-15ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP(CONT.) Building a measure You build a measure of the lateral deflection of the flexible forearm.Later, you will use the measure to see how much the forearmdeforms as the robot moves through its prescribed path. To build a measure:1. From the Build menu, point to Measure, point to Point-to-Point,select New, and then use the following specifications: Create Strip Chart: clear its selection (uncheck) Measure Name: FOREARM_LATERAL_DEFL To Point: ARM_PIN.MK21 From Point: WRIST_PIN.MK23 Characteristic: Translational displacement Component: Z Represent coords in: ARM_PIN.MK212. Select OK.WS2-16ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP(CONT.) Simulating the flexible forearm To simulate the flexible forearm:1. From the Simulate menu, point to Simulation Script, and then selectNew.2. In the Script text box, enter .robot.FLEX_SCRIPT.3. Set Script Type to Adams/Solver Commands.4. In the Adams/Solver Commands text area, enter:SIM/STATICSINTEGRATOR/SI2, GSTIFF, HMAX=1E-3SIMULATE/TRANSIENT, DURATION=1.7, DTOUT=1.0E-025. Select OK.6. Set simulation settings to Save Files, and assign it the file prefixrobot_module3.Tip: See Step 1 - Step 4 under Simulating the model.WS2-17ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP(CONT.)7. Perform a simulation using FLEX_SCRIPT.As the simulation runs, the screen updates with the robot motion. Thedeformation contours represent the relative deformations for the givenanimation frame.8. To see how much the flexible forearm has deflected laterally (or end toend), display the strip chart for the measure you created earlier inBuilding a measure: from the Build menu, point to Measure, selectDisplay, and then double-click FOREARM_LATERAL_DEFL.9. Save the last simulation results as flex (in the Simulation Controldialog box, select ) .10. From the Main Toolbox, animate the model with the Loop and theContour Plots options selected.WS2-18ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP(CONT.) Inspecting the results To inspect the results:1. Launch Adams/PostProcessor.2. Display a horizontal, 2-page layout ( ).3. In the upper viewport, for the flexible run, plot the measureFOREARM_LATERAL_DEFL versus time.4. In the lower viewport, load the animation of the analysis.5. Choose HAND.TIP as the trace marker.Tip: To see this marker in your model, turn on the visibility of icons.Hand TipWS2-19ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP(CONT.)6. Animate the model.7. Rotate the model so you can see the trace from different perspectives.8. To see the hand tip vibrate as it momentarily comes to rest, zoom inon the part of the trace where the plot shows the vibration at the firstdwell point.Note: If you're having trouble seeing the trace because its obscuredby the HAND.CYLINDER geometry, you can set its transparency to 25or remove its endcap. To remove the endcap: from the Edit menu,point to Preferences, and then clear the selection of GraphicsEndcaps, which is located under the Geometry tab.9. Return to Adams/View.10. Save the model as robot.bin.Now you've learned how to run flexible body simulations with theintegrated solver in Adams/View.WS2-20ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP(CONT.) Exporting the model An easy way to export all model files in a single operation is to use a scriptmode known as Write Files Only. This is a good way to archive your .admand .acf files for future reference. Exporting the model in this way givesyou the minimal file set required to re-run the simulation with stand-aloneAdams/Solver. To export the model:1. From the Settings menu, point to Solver, and then select Executable.2. Set Executable to Write Files Only.3. Close the dialog box.4. Run another scripted simulation using FLEX_SCRIPT. This will finish veryquickly because it doesnt really run a simulation: it only wrote the files.5. Check that ADAMS/View wrote the following files to your disk: robot_module3.acf robot_module3.adm robot_module3_FOREARM_flex.mtx7. You will use these files again in Workshop 5 Using External Adams/Solver. Exit Adams/View.WS2-21ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP(CONT.) Optional tasks1. Use xdiff (or equivalent) to compare your dataset with the one inthe directory completed/robot_module3.adm. Do the differencesmake sense?_______Yes _______No.Consider discussing the differences that you cannot explain.2. To see the effect of the MNF path by inspecting the file robot.bin: Rename the working directory of this module: change it frommod_03_robot to mod_03_robot_renamed. Start Adams/View in mod_03_robot_renamed and open thedatabase, robot.bin. Is the flexible body in the model? _______Yes _______No. Whatprevents it from being displayed?______________________________________________________ To fix the display problem: Tools Command Navigator part modify flexible_body name_and_position. Browse for the flexible body and then fix the path for Modal Neutral FileName.WS2-22ADM710, Workshop 2, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 2 PERFORMING A SIMPLE SWAP(CONT.) Module review The motions in this module used STEP5 functions. This plotshows a comparison of the rigid forearm acceleration usingSTEP and STEP5 functionslist some reasons why STEP5is preferable in this application.________________________________________________________________________________________________________________________________________________________________________________________________S4-1ADM710, Section 4, July 2008Copyright 2008 MSC.Software CorporationSECTION 4REPLACING RIGID BODIES (PART II)S4-2ADM710, Section 4, July 2008Copyright 2008 MSC.Software CorporationS4-3ADM710, Section 4, July 2008Copyright 2008 MSC.Software CorporationREPLACING RIGID BODIES (PART II) Whats in this section: About Joints and Motions Joint Connection Limitations About Dummy Parts About ForcesS4-4ADM710, Section 4, July 2008Copyright 2008 MSC.Software CorporationABOUT JOINTS AND MOTIONS Using joints After you bring a flexible body into Adams/View, you canconnect it to your rigid model using the Adams/View libraryof constraints. Joint locations Joints attached to a flexible body must originally be locatedat an existing node or marker on the flexible body.Note: The marker defining the joint can then be offset fromthis location or attached to multiple nodes by modifying it. It is not required that the joint be located on an attachmentpoint in FEM. It is good modeling practice, however, toconnect joints at attachment points. You can avoid nodal mismatch by: Using consistent numbering Paying attention to alignment issuesS4-5ADM710, Section 4, July 2008Copyright 2008 MSC.Software CorporationJOINT CONNECTION LIMITATIONSS4-6ADM710, Section 4, July 2008Copyright 2008 MSC.Software CorporationJOINT CONNECTION LIMITATIONS (CONT.) Workaround: Attach the joint to an intermediate dummy partthat is fixed to the flexible body at a node.Note: The C++ options were introduced in Adams/Flex 2003.Only the FORTRAN options were available before the 2003release.* Starting with the 2005 release, Adams/Solver (FORTRAN)will automatically introduce a dummy part between the jointand the flexible body.S4-7ADM710, Section 4, July 2008Copyright 2008 MSC.Software CorporationABOUT DUMMY PARTS Dummy parts Starting with the 2005 release, dummy parts are automaticallycreated for Adams/Solver (FORTRAN) Only necessary if you are using Adams/Solver (FORTRAN)2003 or a previous version of ADAMS/Flex. Rigid parts with zero (or an insignificant amount of) mass andinertia, and are also referred to as massless links or phantomparts. Not physical parts of your model. Must be constrained in all six DOF (commonly accomplishedwith a fixed joint). Although they do not increase the DOF count of your model,they do increase the number of system equations you aresolving. The dynamic behavior is not negatively affected bydummy parts. The use of some modeling elements is only possible throughthe use of dummy parts.S4-8ADM710, Section 4, July 2008Copyright 2008 MSC.Software CorporationABOUT DUMMY PARTS (CONT.)Flex body connects todummy part through fixed jointMotion is applied to theWRIST_PIN dummy partS4-9ADM710, Section 4, July 2008Copyright 2008 MSC.Software CorporationABOUT FORCESS4-10ADM710, Section 4, July 2008Copyright 2008 MSC.Software CorporationABOUT FORCES (CONT.)* The floating marker cannot be on a flexible body. Thereaction force cannot act on a flexible body.** The joint's J marker cannot be on a flexible body.***Starting with the 2005 release, Adams/Solver (FORTRAN)will automatically introduce a dummy part between the forceand the flexible body.Workaround: Attach the joint to an intermediate dummy partthat is fixed to the flexible body at a node. Modal force (MFORCE) Allows you to apply forces in the modal domain (covered inModal Applied Force and Preloaded Flexible Bodies).WS3-1ADM710, Workshop 3, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 3PERFORMING AN ADVANCED SWAPWS3-2ADM710, Workshop 3, July 2008Copyright 2008 MSC.Software CorporationWS3-3ADM710, Workshop 3, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 3 PERFORMING AN ADVANCEDSWAP Problem statement The product engineering department is investigating ways ofreducing the cost of the robot. One designer suggested hollowingout a portion of the forearm (a lightening hole). The FEA expertmeshed the proposed design change, and now you have toincorporate it into your robot model. You must redefine theproperties of the current flexible body by referencing a differentMNF, and then simulate the new design. Mechanism information This model is the flexible robot model you completed in Workshop2Performing a Simple Swap. The FOREARM is modeled as flexible (robot_arm_easy.mnf) andyou must replace it with a different flexible body(robot_arm_hard.mnf). Input motions haven't changed.WS3-4ADM710, Workshop 3, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 3 PERFORMING AN ADVANCEDSWAP (CONT.)Existing flexible bodyNew flexible body Lightening holeWS3-5ADM710, Workshop 3, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 3 PERFORMING AN ADVANCEDSWAP (CONT.) Setting up the model To set up the model:1. Run Adams/View from the directory, exercise_dir/mod_04_robot.2. From the same directory, import the model command file,robot_mod4_start.cmd.This is the model you completed in Workshop 2 Performing a Simple Swap. Swapping flexible bodies To swap flexible bodies:1. From the Build menu, point to Flexible Bodies, and then select Flex to Flex.2. Right-click the Flexible Body text box, point to Flexible_Body, point toBrowse, and then select FLEX_FOREARM.3. Right-click the MNF File text box, point to Browse, and then selectrobot_arm_hard.mnf.WS3-6ADM710, Workshop 3, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 3 PERFORMING AN ADVANCEDSWAP (CONT.)4. Select 3 Point Method.5. To make it easier to see the nodes, set the render mode to shaded.6. Follow the instructions in the Status bar to select the following nodes inthe order listed:Note: To select the right nodes, zoom and rotate the model as needed.Right-click near the nodes to ensure that you are selecting the correctnode.N325N52N34 N30N10N3WS3-7ADM710, Workshop 3, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 3 PERFORMING AN ADVANCEDSWAP (CONT.)4. Select OK.WS3-8ADM710, Workshop 3, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 3 PERFORMING AN ADVANCEDSWAP (CONT.) Running a flexible body simulation Before you run a simulation, prepare the flexible body by reviewingmodes and setting various simulation settings, such as: Turning off execution graphics to prevent Adams/View from trying toanimate when it is done solving. Keep in mind that when you runAdams/View interactively, you can turn off the execution display tospeed up your simulation. Make sure that you are using Adams/Solver (C++). To prepare the flexible body:1. Briefly review the mode shapes to see the modal content that will beused in the analysis.(Modes 1 through 6 have been automatically disabled because theyare rigid body modes.)2. Verify that Inertia modeling is set to the default, Partial coupling.WS3-9ADM710, Workshop 3, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 3 PERFORMING AN ADVANCEDSWAP (CONT.) To prepare for simulation:1. From the Simulate menu, select Scripted Controls.2. From the bottom of the dialog box, select Simulation Settings.3. Verify that Category is set to Executable. Set Executable to External.4. Set Category to Output. Set Save Files to Yes. In the File Prefix text box, enter robot_mod4.These settings run the simulation externally.5. To prevent Adams/View from animating while it is solving, setCategory to Display. Set Update Graphics to Never. To display the textual output to the Information window, set ShowMessages to Yes.6. Select Close.WS3-10ADM710, Workshop 3, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 3 PERFORMING AN ADVANCEDSWAP (CONT.) To set the variable to use Adams/Solver (C++): To run Adams/Solver externally using Adams/Solver (C++), you must set anenvironment variable on your computer. On UNIX, do one of the following: In the Adams Toolbar, set Solver Select to C++. Set the following environment variable using the appropriate shell commandsfor your version of UNIX: set MDI_SOLVER_SELECT to CXX. On Windows:1. From the Start menu, point to Settings, and then select Control Panel.2. Double-click System.3. Select the Advanced tab.4. Select Environment Variables.5. Check to see if an environment variable named MDI_SOLVER_SELECT=CXXalready exists on your computer. If it already exists, then skip Step 6.6. In the Environment Variables dialog box, create a new user variable as follows:Variable Name = MDI_SOLVER_SELECTVariable Value = CXX (for Adams/Solver (C++))WS3-11ADM710, Workshop 3, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 3 PERFORMING AN ADVANCEDSWAP (CONT.) To run the simulation:1. Run a scripted simulation using FLEX_SCRIPT.This script uses the following Adams/Solver commands:SIM/STATICSINTEGRATOR/SI2,GSTIFF, HMAX=1E-3SIMULATE/TRANSIENT, DURATION=1.7, DTOUT=1.0E-02The analysis will take a while.2. When the analysis has finished, write down the CPU time displayed atthe bottom of the Information window: Elapsed time = ____________seconds.After the analysis has finished, Adams/View updates the strip chart,FOREARM_LATERAL_DEFL.WS3-12ADM710, Workshop 3, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 3 PERFORMING AN ADVANCEDSWAP (CONT.) Inspecting the analysis results You now inspect the analysis results and compare them with theresults from Workshop 2Performing a Simple Swap. To inspect the analysis results:1. Launch Adams/PostProcessor.2. Load the animation in the viewport and animate the simulation of therobot.3. Select the Contour Plots tab, and verify that Contour Plot Type is setto Deformation.4. Right-click FLEX_FOREARM, and then select Select.5. In the Property Editor, select the Flex Props tab and set the DatumNode to 4001.6. Create a new page and plot the measure FOREARM_LATERAL_DEFLversus time.7. Import the .res file, robot_module3.res, created in Workshop 2 Performing a Simple Swap: From the File menu, point to Import, and then select Results File. In the File Name text box, browse for mod_03_robot/robot_module3.res. In the Model Name text box, enter .robot.8. Select OK.WS3-13ADM710, Workshop 3, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 3 PERFORMING AN ADVANCEDSWAP (CONT.)9. Create another new page (page_3) to plot the measure again. Thisallows you to compare results from several runs.10. Verify that Surf is selected.11. Plot these results onto page_3 so the curves are overlaid. Simulation: robot_module3, Last_Run Source: Result Sets Result Set: FOREARM_LATERAL_DEFL Component: Q12. After the curves are displayed, clear the selection of Surf so the plotwon't be overwritten later.WS3-14ADM710, Workshop 3, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 3 PERFORMING AN ADVANCEDSWAP (CONT.) Investigating analysis with disabled modes Run the model again with modes disabled based on strain energycontribution. To disable modes:1. Return to Adams/View.2. From the Flexible Body Modify dialog box, select auto.3. In the Analysis Name text box, enter .robot.Last_Run.4. In the Energy Tolerance text box, enter 1e-3.5. Select OK.6. Select Modal ICs to see which modes have been disabled.7. Review some of the modes that have been disabled. We suggest youreview modes 16 through 21.8. Close the Flexible Body Modify dialog box.WS3-15ADM710, Workshop 3, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 3 PERFORMING AN ADVANCEDSWAP (CONT.) To prepare and run the model:1. In the Solver Settings dialog box, name the output file prefix,robot_mod4_se_disabled.2. Perform a simulation using FLEX_SCRIPT.Again, the analysis will take a while. When it has finished, write down the run time:CPU time used = ____________ seconds.3. Save the model to a binary file.4. Launch Adams/PostProcessor.5. Automatically update the plots on page_2 and page_3: From the File menu, select Replace Simulations. Select Add Simulation. Set Update Pages to All.6. Look at the plot on page_2 and answer the questions: How has disabling the modes changed the results? _________________________________________________________________________________________________ Based on the CPU times you recorded, was this analysis faster or slower than when themodel had all modes enabled? _________________________________________________________________________________________________________________ Consider the repercussions of overzealously disabling modes based on a singlesimulation.7. Exit Adams/View.WS3-16ADM710, Workshop 3, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 3 PERFORMING AN ADVANCEDSWAP (CONT.) Optional tasks1. Disable some modes that are obviously important and then runanother simulation. What effect does it have on the simulation results?________________________________________________________________________________________________________________________________________________________________________2. In your directory, use xdiff (or equivalent) to difference the .adm files:xdiff robot_module4.adm /robot_module3.adm.What is different? Do the differences make sense?________________________________________________________________________________________________________________________________________________________________________________________________________________________________WS3-17ADM710, Workshop 3, July 2008Copyright 2008 MSC.Software CorporationWORKSHOP 3 PERFORMING AN ADVANCEDSWAP (CONT.)3. Difference the matrix files. Do the differences make sense?____________________________________________________________________________________________________________________________________________________________________________________________________________________4. See if you can reduce the CPU time by finding the rightcombination of enabled and disabled modes. Did the resultsdegrade significantly?__________________________________________________________________________________________________________S5-1ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationSECTION 5OPTIMIZING MNFS AND EXPORTINGLOADSS5-2ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationS5-3ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationOPTIMIZING MNFS AND EXPORTING LOADS Whats in this section: Modal Neutral Files Introducing Adams/Flex Toolkit MNF Browser Application Adams/Flex Toolkit Optimization Options Command Line Flex Toolkit Exporting FEA Loads FEMDATAS5-4ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationMODAL NEUTRAL FILES Are: Binary files Platform independent Contain the following information: Generalized mass and stiffness matrices Nodal masses/inertias Nodal coordinates Inertia invariants Eigenvalues Mode shapes File comments and version information Modal loads/preloads Attachment points Element topology Units Stress/strain modesS5-5ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationINTRODUCING ADAMS/FLEX TOOLKIT Adams/Flex Toolkit is a tool that allows you to viewthe contents of your MNF and translate your MNFinto different formats. You can access it through: Adams Toolbar (UNIX) Start menu (Windows) Adams command line It contains the following applications: MNF Browser MNF MTX Translator MSC MNF Translator MNF MNF Optimizer MNFLOADS5-6ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationMNF BROWSER APPLICATION Allows you to browse the contents of an MNF or MD DB (MDonly) and generate reports Useful for debugging Note: The Index textbox will become active if an MD DB has morethan one flexible body. Right-click in the box to select a flexiblebody.S5-7ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationMNF MTX TRANSLATOR Translates an MNF or MD DB (MD only) into anASCII matrix file, which Adams/Solver uses Allows you to manually generate a matrix file withouthaving to run Adams/View Note: We will be talking about and using matrix files directlyin the next section.S5-8ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationMNF MNF OPTIMIZER Allows you to decrease the size of your MNF or MDDB (MD only) by decreasing the amount/type ofinformation stored in it Adams/Solver will not solve the model faster;however, animations in Adams/View will run faster Generates a new MNF or MD DB (MD only) using theoptions that you choose Several options are available, as shown on theAdams/Flex Toolkit Optimization Options pageS5-9ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationMNF MNF OPTIMIZER (CONT.)S5-10ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationADAMS/FLEX TOOLKIT OPTIMIZATIONOPTIONS The following are the options in the MNF MNFOptimizer: Invariants Units Formatting Precision Stress and Strain Modes Rigid-Only MNF Automatic ManualS5-11ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationINVARIANTS Sets which inertia invariants should be computed andstored in the MNF Fast Set - Corresponds to partial coupling (5 and 9 are notcomputed) Full Set - Calculates and stores all invariants None - None of the invariants are stored in the MNF.Adams/Solver recalculates the invariants needed each timeyou write out your matrix files. Notes: The None option is not valid when you are using theautomatic or manual optimizing methods. If you select Fast Set, the newly generated MNF will neverbe able to recover a full set of invariants.S5-12ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationUNITS Adams/View and Adams/Solver use SI units as theirinternal units. Original - Preserves your current units in your MNF. If youroriginal units differ from SI, Adams/Flex will have to performunit scaling as it performs different operations. This candegrade performance noticeably. SI - Converts your MNF into SI units. Improves performanceif original units differ from SI.S5-13ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationFORMATTING Platform specific Turns off the extra coding needed to make the MNF platformindependent. Can be done if the MNF will not be transferredto other platforms. Standard portable Keeps the extra code needed to make the MNF platformindependent.S5-14ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationPRECISION Double This is the default option in Adams/Flex. The numericalvalues stored in the MNF are in double precision. Single Optionally, an MNF can be generated using single-precision.This reduces the MNF size by 50%, and speeds up anyprocess that requires obtaining information from the MNF.For example, animation of flexible bodies and creating MTXfiles.S5-15ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationSTRESS AND STRAIN MODES If stress (strain) recovery was requested from the finite elementprogram when generating the MNF, the MNF contains grid pointstresses (strains) for every mode. The collection of grid pointstresses (strains) for a given mode is referred to as a stress(strain) mode. Typically, stress (strain) values are requestedfrom the finite element program for a subset of nodes in theMNF. You can specify how the MNF stores stress (strain)modes, particularly for nodes where stress (strain) was notrequested from the finite element program: Sparse - The optimized MNF only stores stresses (strains)for nodes that were retained in the optimized MNF and forwhich stress (strain) values existed in the original MNF. If anode had zero values for stresses (strains) in the originalMNF, and that node was retained in the optimized MNF, thezeroes are written to the optimized MNF.S5-16ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationSTRESS AND STRAIN MODES (CONT.) Full - The optimized MNF stores nodal stresses and strainsfor all nodes that were retained in the optimized MNF. Fornodes that did not have stress (strain) values, the optimizedMNF stores zeroes. Remove zero entries - The MNF only stores non-zerostresses (strains) for nodes that exist in the optimized MNF.If you have an MNF that has several zero entries in thestress (strain) modes, this option can significantly reduce thesize of the MNF.S5-17ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationRIGID-ONLY MNF Depending on the component and application, thesize of the MNF can be very large, can exceedseveral gigabytes, and be difficult to manage. If youare in the process of building your Adams/Flex bodymodel, you may consider treating the body as rigiduntil you are confident in your model assemblyprocess. If temporarily using a rigid body formulationfor an Adams/Flex body makes sense, you candrastically reduce the size of the MNF by selectingRigid-Only MNF.S5-18ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationRIGID-ONLY MNF (CONT.) Rigid-Only MNF creates a reduced MNF that onlycontains enough information to build a rigidizedflexible body. With this MNF, you cannot build anAdams/Flex body with Constant, Partial, or Fullmodal formulations, but it may be convenient to workwith while you are assembling and verifying yourmodel. When you are confident in your model, youcan easily replace the reduced MNF with the fullMNF.S5-19ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationAUTOMATIC Removes excessive nodal detail from the MNF Note: The invariants must be stored in the MNF to use thisoption. Removing Internal Solid Element Geometry -Removes all internal node and element graphics formodels made with solid elements Graphical performance of Adams/View is greatly enhanced Mesh Coarsening Algorithm: Mesh Resolution - Combines mesh elements that aresmaller than a fraction of the total component size:S5-20ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationAUTOMATIC (CONT.) Diagonal dimension of original mesh = 1000*sqrt(2) = 1414.21 mm Mesh coarsening resolution is set to 15% = 1414.21 * .15 = 212.13 mm Therefore, any element whose diagonal is smaller than 212.13 mm iscombined with its neighboring element to produce a larger element.Multiple elements are combined to satisfy this parameter. The result is acoarser mesh. For our example, 4 (100 mm * 100 mm) elements were combined toproduce a larger element with a diagonal of 282.84.Original mesh Mesh coarsened 15%S5-21ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationAUTOMATIC (CONT.) Mesh Coarsening Algorithm...: Face Smoothing - Controls the angle between adjacentfaces, below which Adams/Flex should merge faces: Range: 0 to 45 degrees For example: During the coarsening algorithm, adjacent elements weremerged together if the resulting angle, phi, was less than 45degreesOriginal face Face smoothed 45 degreesS5-22ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationAUTOMATIC (CONT.) Remove Collinear Points - Controls the removal ofintermediate nodes on the straight edge of a face. Retained Node List - Specify a list of nodes thatAdams/Flex should not remove during coarsening. Note: Only visible nodes can be used to place markers,joints, and so on, onto the flexible body. Therefore, makesure to include relevant nodes.Original mesh Mesh with colinear points Mesh without colinear pointsS5-23ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationMANUAL Removes excessive nodal detail from the MNF througha user-defined sketch of the mesh Sketch File - Contains a list of surfaces, two-dimensional lines,and specific nodes to define the graphics of the .mnf. Color resolution of the flexible body animation is reduced. OpenGL applies color information to each of the nodes present forthe flexible body. Then, it interpolates the colors between thenodes. If your flexible body is only represented by a couple ofnodes, then the color resolution will be reduced. The invariants must be stored in the MNF to use this option. Useful option when animation speed or file size is moreimportant than the visual representation of the flexible body. Note: Only visible nodes can be used to place markers, joints,and so on, onto the flexible body. Therefore, make sure toinclude relevant nodes.S5-24ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationSKETCH FILE 2Number of total faces 4 1 11 121 111 4 total nodes defining the face. The faceconnects nodes 1, 11, 121, and 111. 1 61 1 node defining this face. The face just contains node 61.11112111111112111161 61S5-25ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationCOMMAND LINE FLEX TOOLKIT adamsmdr3 -c flextk on UNIX systems or adamsmdr3 flextkon Windows systems. MNFLOAD Apply a distributed load to an MNF. MNFXFORM Translating, rotating, or mirroring an MNF or MD DB. MNFRES Recovering nodal displacement, velocity, or accelerationof a flexible body.S5-26ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationMNFLOAD APPLICATION Load can be applied to the flexible body using the MFORCEstatement. (We will talk about the MFORCE statement inContacts and Modal Forces.) The MNFLOAD tool can only be accessed through thecommand-line version of Adams/Flex Toolkit Note: A distributed load can be added to an MNF when the FEApackage creates the original MNF. All FEA programs that supportAdams/Flex do not support this capability. Therefore, theMNFLOAD tool was created as a workaround. Whenever possible,you should create the distributed load within the FEA packagebecause it will include the residual vector. The MNFLOAD toolcannot calculate the residual vector; therefore, a portion of the loadwill not be applied to the flexible body. For more information on theresidual vector see the Applied Forces section. mnfload existing.mnf new.mnf loadfileS5-27ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationMNFXFORM MNFs and MD DBs have data defined with respect to the FE origin. MNFXFORM translates, rotates, or mirrors the MNF or MD DB with respect tothe FE origin. mnfxform [-offset d] [-id nid n1 n2 n3 ...] : -t for translation, -r for rotation, or -m for mirror. : MNF or MD DB : Output MNF or MD DB : -p px py pz Specify a point P-r rx ry rz Specify a point R-s sx sy sz Specify a point S-v vx vy vz Specify a Vector V-d dist Specify Distance dist-a angle Specify Angle (Anti-clockwise in degrees) [offset inc]: Optional argument to offset the interface node IDs by inc. New interfacenode id will be old id plus inc. [-id nid n1 n2 ...]: Optional argument to specify new interface node IDs. nid is thenumber of new IDs will be specified, n1 n2 ... are the new IDs. Example: mnfxform.exe -m input.mnf output.mnf -v 1 0 0 -p 0 0 0 -offset 1This example mirrors input.mnf about yz plane and increase the ids of the interfacenodes by 1. Then the transformed flexible body is saved as output.mnf.S5-28ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationMNFRES mnfres [options] [options] -t output results only until specified time. -n specify flexible body when multiple exist. -g include rigid body motion -r also report nodal rotations. Only effective when -g is not specified -s report only on nodes listed in -L specify length unit used in the Adams model. Abbreviation is accepted.Default value is METER. -T specify time unit used in the Adams model. Default value is SECOND.Abbreviation is accepted. -i report specific results. values are: d: Nodal displacements v: Nodal velocities a: Nodal accelerations : Adams result file. : MNF or MD DB Example: mnfres -i d -n FLEX_BODY_1 example.res foo.mnfOutput all the nodal deformation of flexible body FLEX_BODY_1, whose mnffile is foo.mnf and the result file is example.res.S5-29ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationEXPORTING FEA LOADS Allows you to export Adams/View dynamic load informationabout any rigid or flexible body in your model to a (FEA)program The FEA program uses the load information for a variety ofpurposes, such as stress and strain analyses You can export load information into the following formats: ANSYS Nastran ABAQUS DAC or RPC III (requires Adams/Durability) The load files contain the following forces per node selected: Joint reaction forces External (applied forces) Gravitational forces Inertial forcesS5-30ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationEXPORTING FEA LOADS (CONT.) The load file contains a series of load cases (one peroutput step) where the body is at an instantaneousdynamic equilibrium Gravitational + external forces + joint reactions = inertialS5-31ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationEXPORTING FEA LOADS (CONT.) Steps:1. Run a simulation - You must run a simulation so that Adams/View candetermine the loads acting on the bodies in the model.2. Identify the body - Specify which part whose load information you would like toexport: Rigid bodies - Load information is calculated relative to the marker that youselect.Note: This marker's location must correspond to the origin of the body inthe FEA package. Flexible bodies - Load information is calculated relative to the LBRF.3. Identify the load points - Adams/View will automatically select all points on thebody that have external loads applied to them.4. Assign node ID's to load points - For a rigid body, you can assign node ID'sto the load points that correspond to the node ID's on the part in the FEAprogram (optional step).5. Specify the output times - Determine the time interval from the specifiedsimulation that you would like included in the load file (optional step). To generate a complete loads history, leave the text box Output at timesblank. For DAC and RPC III, you can enter start and end output times.S5-32ADM710, Section 5, July 2008Copyright 2008 MSC.Software CorporationFEMDATA You can also set up Adams/View to produce data files ofcomponent loads, deformations, stresses, or strains for inputto subsequent finite-element or fatigue-life analysis for usein third-party products. Select Settings > Solver > Output > More > Durability tospecify the type of file to produce.WS4-1ADM710, Workshop 4, July 2008Copyright 2008 MSC.Softwa