SixSix--link Mechanismlink Mechanism

Weidong Guo, Mileta M Tomovic

School of TechnologyMechanical Engineering Technology

Estimated time required: ~60 min

• Creating Parts

• Creating Joints

• Assembling the Model

• Simulating model

• Measuring model

Topics CoveredTopics Covered

Download the file:

http://www.purdue.edu/discoverypark/PLM/SME/six_link_mechanism.zip

Problem DescriptionProblem Description

In the six-link mechanism shown, driving link

OA has a counterclockwise angular velocity ωωωω1 =

36 deg/s. the lengths of the links are lOA=100mm,

lAB=lBC=lCD=lDE=lEF=lBE=400mm.

This problem asks for creating the model of

this mechanism and simulating the model to

obtain the motion characteristics of links 4 and 5.

Starting Adams and Making SettingsStarting Adams and Making Settings

a. Start Adams.

b. Create a new model. The model name is six_link_mechanism.

c. Select OK.

b

c

a

Starting AdamsStarting Adams

Starting Adams and Making SettingsStarting Adams and Making Settings

a. Use default units setting.

b. Set Working Grid as along X to 750mm and Y to 700mm, grid

spacing for X and Y to 50mm.

c. Keep the default Icon Settings. b

Making SettingsMaking Settings

Creating ModelCreating Model

Creating Link_1Creating Link_1

b

a

a. Select link tool in Main Toolbox.

b. Check Length, in Length text field enter 10cm. Check Width, and enter 3cm. Check Depth, and enter 1cm.

c. Create a link from (0,0,0) to (100,0,0).

d. Rename the link (PART_2) to Link_1.

(0,0,0) (100,0,0)c

d

Creating ModelCreating Model

Creating Link_2Creating Link_2

a

a

a. Select Link tool.

b. In Length text field enter 40cm.

c. Create a link from (100,0,0) to some point left up.

d. Rename the link (PART_3) to Link_2.

b

(100,0,0)

c

Creating ModelCreating Model

Creating Link_4Creating Link_4

Create Link_4.

(600,0,0)(200,0,0)

Creating ModelCreating Model

Creating Link_4Creating Link_4

Create Link_5.

(0,600,0)

Creating ModelCreating Model

Creating Link_3Creating Link_3

a. Select Plate tool.

b. In Thickness text field enter 1cm.

c. In Radius text field enter 1cm.

d. Click (150,150,0) position.

e. Click (550,150,0) position.

f. Click (350,500,0) position.

g. Right-click.

h. Rename the plate (PART_6) to

Link_3.

(150,150,0) (550,150,0)

(350,500,0)a

b

c

d

e

f

Creating ModelCreating Model

Modifying Link_3Modifying Link_3

a. Right-click on MARKER_11.

b. Select Marker: MARKER_11/Modify from drop down menu.

c. Rewrite 350.0,500.0,0.0 to 350.0,496.41,0.0 in Location text field.

d. Select OK.

a

b

c

d

Creating ModelCreating Model

Creating JointsCreating Joints

Create JOINT_O, JOINT_A, JOINT_D, JOINT_F with 2 Bod-1 Loc construction.

Creating ModelCreating Model

a. Select Revolute joint tool.

b. Select 2 Bod-2 Loc.

c. Click Link_2.

d. Click Link_3.

e. Click MARKER_4 belong to Link_2.

f. Click MARKER_9 belong to Link_3.

g. Rename this revolute joint to

JOINT_B.

Note! If you first click Link_2 and then Link_3,

you must click MARKER_4 first.

Note! Between the MARKER_4 and

MARKER_9, there should be a white line.

Because the background is white, you can

not see this white line in the working area.

In order to express this characteristic

clearly, here the line is re-drawn with blue

color. If the background is black, you can

see this white line clearly (see next slide).

Creating JointsCreating Joints

a

b

c

d

e

f

Creating ModelCreating Model

Creating JointsCreating Joints

Creating ModelCreating Model

Creating JointsCreating Joints

With the same steps mentioned above,

JOINT_E and JOINT_C are created

shown in the figure.

Creating ModelCreating Model

a. Right-click JOINT_O, and select Joint: JOINT_O/Modify.

b. Select Fixed from Type selection.

c. Select OK.

Note! Doing this is to fix the Link_1 during assembling the Links.

a b

c

Assembling the Assembling the ModelModel

Creating ModelCreating Model

Assembling the Assembling the ModelModel

a. Click Interactive Simulation Controls tool. b. Click Detailed Simulation Panel.

c. Click Perform initial conditions solution tool.

The mechanism is assembled. An information window (“Initial Conditions operation is complete”) appears and the

Message Window gives out some information.

d. Click Close.

a

b

c

d

Creating ModelCreating Model

Saving the ModelSaving the Model

a. Click Save the model tool.

b. Enter six_link_mechanism_new in New Model text field.

c. Select OK.

The model six_link_mechanism_new is created shown as Fig.a.

a

b

cFig.a

Creating ModelCreating Model

Adding the MotionAdding the Motion

a. Change the JOINT_O from Fixed to Revolute.

b. Add Rot Joint Motion to JOINT_O.

b3

a

b1

b2

Simulating ModelSimulating Model

b

a

c

d

Measuring ModelMeasuring Model

The motion characteristics

of links 4 and 5 are measured

shown in figure. They are

Angle, Angular Velocity

and Angular Acceleration.

The position of the center

mass of Link_3 is also

measured and shown in

figure.

The EndThe End