| Dedication |
|
6 | (1) |
| Introduction |
|
7 | (1) |
| The Significance of Large Motion |
|
7 | (1) |
| The Intent and Scope of This Book |
|
7 | (1) |
| Acknowledgements |
|
7 | (1) |
|
|
|
8 | (1) |
|
|
|
9 | (1) |
|
|
|
9 | (1) |
|
|
|
9 | (1) |
|
|
|
10 | (1) |
|
Elementary Overview of Solution Approaches |
|
|
10 | (4) |
|
FEA Transient Response Analysis -- Explicit Integration |
|
|
10 | (1) |
|
MBD Transient Response Analysis -- Implicit Integration |
|
|
11 | (2) |
|
|
|
13 | (1) |
|
|
|
14 | (5) |
|
Constitutive Considerations -- Deformable vs. Non-Deformable |
|
|
14 | (1) |
|
|
|
14 | (1) |
|
|
|
15 | (1) |
|
|
|
15 | (1) |
|
Special Case -- Non-Linear, Body-to-Body Contact |
|
|
15 | (1) |
|
|
|
15 | (1) |
|
System Motion (Global vs. Convecting Reference Frames) |
|
|
16 | (3) |
|
Large (Nonlinear but Still Hookean) Geometric Effects |
|
|
17 | (2) |
|
|
|
19 | (16) |
|
Formulating the System Equations |
|
|
20 | (5) |
|
Energy Terms and the Lagrangian |
|
|
20 | (5) |
|
|
|
25 | (5) |
|
The Gruebler Expression for a 2D Model |
|
|
30 | (1) |
|
|
|
31 | (1) |
|
Addition of a Constraint (or reduction to ZERO DOFs) |
|
|
32 | (3) |
|
|
|
35 | (84) |
|
|
|
35 | (3) |
|
|
|
38 | (2) |
|
|
|
40 | (3) |
|
Comments Concerning the Adams 3D Pendulum Models |
|
|
43 | (1) |
|
Concerning the Euler Angles |
|
|
44 | (1) |
|
|
|
45 | (2) |
|
Example 1 Fourbar Linkage |
|
|
46 | (1) |
|
Version 1 Redundant but Consistent Constraints |
|
|
47 | (3) |
|
The Gruebler Expression for a 3D Model |
|
|
49 | (1) |
|
Version 2 Motion into a Non-Solvable State |
|
|
50 | (3) |
|
|
|
52 | (1) |
|
Version 3 Motion-Dependent Changes in DOF Count |
|
|
53 | (8) |
|
Version 4 Redundant and Inconsistent Constraints |
|
|
55 | (5) |
|
|
|
60 | (1) |
|
Example 2 Backhoe Excavator |
|
|
61 | (1) |
|
Comments on System Locations |
|
|
61 | (18) |
|
|
|
62 | (17) |
|
Total Model Aggregate Mass Computation |
|
|
79 | (1) |
|
Model Connectivity (Gruebler Count) |
|
|
79 | (3) |
|
|
|
82 | (5) |
|
|
|
83 | (1) |
|
Bucket Load Mass Accretion |
|
|
84 | (1) |
|
|
|
85 | (1) |
|
Post-Dump DIRT-to-Ground force |
|
|
86 | (1) |
|
Model Variation During Execution Using the Adams (ACF) Command File |
|
|
86 | (1) |
|
Boom Reaction Force Reporting |
|
|
87 | (1) |
|
Conversion to Flexible Boom |
|
|
87 | (5) |
|
Boom Structure Flex Content |
|
|
89 | (3) |
|
Flexible/Rigid Results Comparison |
|
|
92 | (5) |
|
Excavator Results -- Comments |
|
|
96 | (1) |
|
Possible Further Excavator Model Enhancements |
|
|
96 | (1) |
|
Example 3 -- Automotive Differential (Adams/Machinery Model) |
|
|
97 | (2) |
|
|
|
98 | (1) |
|
Determination of Wheel Loads |
|
|
98 | (1) |
|
The Differential Model Elements |
|
|
99 | (1) |
|
|
|
99 | (12) |
|
|
|
108 | (3) |
|
Mechanism Constraints -- Intrinsic |
|
|
111 | (1) |
|
Mechanism Constraints -- Applied Loading |
|
|
112 | (2) |
|
Mechanism Restraints -- Applied Loading |
|
|
114 | (1) |
|
Differential Model Gruebler Count |
|
|
114 | (1) |
|
Differential Model Results |
|
|
115 | (3) |
|
Differential Model Results -- Comments |
|
|
118 | (1) |
|
Some Further Notes on Adams Solvers |
|
|
119 | (5) |
|
|
|
119 | (2) |
|
|
|
120 | (1) |
|
|
|
120 | (1) |
|
|
|
120 | (1) |
|
|
|
120 | (1) |
|
|
|
120 | (1) |
|
|
|
121 | (1) |
|
|
|
121 | (1) |
|
|
|
121 | (1) |
|
|
|
121 | (1) |
|
|
|
121 | (1) |
|
|
|
121 | (1) |
|
|
|
121 | (1) |
|
|
|
121 | (1) |
|
|
|
122 | (1) |
|
|
|
122 | (1) |
|
|
|
122 | (1) |
|
|
|
122 | (1) |
|
|
|
122 | (1) |
|
|
|
122 | (1) |
|
|
|
122 | (1) |
|
|
|
122 | (1) |
|
|
|
123 | (1) |
|
The Adams 3D Pendulum ... Revisited |
|
|
123 | (1) |
|
Some Historical Successes |
|
|
124 | (4) |
|
|
|
128 | (1) |
|
Appendix I Principal Adams Modeling Elements |
|
|
129 | (1) |
|
|
|
129 | (19) |
|
|
|
129 | (1) |
|
|
|
130 | (1) |
|
|
|
130 | (1) |
|
|
|
130 | (1) |
|
Restraints (Force-Based Modeling Entities) |
|
|
131 | (1) |
|
|
|
131 | (1) |
|
|
|
132 | (1) |
|
|
|
132 | (1) |
|
|
|
132 | (5) |
|
ACTION/REACTION SFORCE -- TRANSLATION |
|
|
133 | (1) |
|
ACTION/REACTION SFORCE -- ROTATION |
|
|
133 | (1) |
|
ACTION-ONLY SFORCE -- TRANSLATION |
|
|
134 | (1) |
|
ACTION-ONLY SFORCE -- ROTATION |
|
|
135 | (2) |
|
|
|
137 | (1) |
|
|
|
138 | (1) |
|
|
|
138 | (2) |
|
|
|
140 | (1) |
|
|
|
140 | (1) |
|
|
|
140 | (1) |
|
|
|
140 | (1) |
|
|
|
141 | (4) |
|
|
|
141 | (2) |
|
|
|
143 | (2) |
|
|
|
145 | (1) |
|
|
|
145 | (1) |
|
|
|
145 | (1) |
|
|
|
145 | (1) |
|
|
|
146 | (1) |
|
|
|
146 | (1) |
|
|
|
146 | (2) |
|
|
|
148 | (1) |
|
|
|
148 | (1) |
|
LSE (Linear State Equation) |
|
|
148 | (1) |
|
GSE (Generalized State Equation) |
|
|
148 | (1) |
| References |
|
148 | |
