机械原理上机指导书.docVIP

PAGE PAGE 2 机械原理 上机指导书 （Tutorial of Using ADAMS） 郭卫东 北京航空航天大学机器人研究所 2009年2月 1. Crank rocker mechanism 1.1 Problem Description In the crank-rocker linkage shown, driving link AB has a counterclockwise angular velocity ?1 = 1 rad/s. the lengths of four links are l1=120mm, l2=250mm, l3=260mm, l4=300mm. This problem asks for the motion analysis of rocker CD, to determine its angular translation, angular velocity. 1.2 Starting MSC.ADAMS from Window The welcome dialog box appears. 1.3 Creating a New Model Name eq \o\ac(○,a). Replace the contents of the Model name text box with crank_rocker_mechanism. eq \o\ac(○,b). Select OK. Note! MSC.ADAMS default start working direction to C:\Documents and Settings\Owner\desktop. You can select or create a new direction by click button. ADAMS Working Interface is shown as follow. 1.4 Setting Up Work Environment 1.4.1 Setting Up Units eq \o\ac(○,a). Select Settings/Units from the drop down menu. eq \o\ac(○,b). Select Units for Length, Mass, Force, Time, Angle and Frequency in Units Settings dialog box. eq \o\ac(○,c). Select OK. Note! Here we use default units. 1.4.2 Setting Up Working Grid eq \o\ac(○,a). Select Settings/Working Grid from the drop down menu. eq \o\ac(○,b). Set the grid size along X to 350 and Y to 250. Note! You do not need to enter units because ADAMS/View uses the default units if you do not specify them. eq \o\ac(○,c). Set the grid spacing for X and Y to 10. eq \o\ac(○,d). Select OK. Note! OK button and Apply button have the same functions. The difference is that by selecting OK button, the dialog box will be closed and Apply button not. 1.4.3 Setting Up eq \o\ac(○,a). Select Settings/Icons from the drop down menu. eq \o\ac(○,b). In New Size text field enter 20. eq \o\ac(○,c). Select OK. 1.5 Creating Model 1.5.1 Creating Crank 1.5.1.1 Creating a Link eq \o\ac(○,a). Click working area. eq \o\ac(○,b). Press F4 key. The Coordinates window appears. eq \o\ac(○,c). Select Link tool in Main Toolbo