ADAMS第一次实验记录 08/09/2020

在画点的时候一定要注意单位设置的问题，不然单位设置过小影响制图效果，会导致我们设置的三个点在几乎相同的位置。

   Plot:

   • The translational displacement of the end-effector (the point belonging to PART 2, at 0.3m from the second joint axis)现在的作图是有问题的，我们需要点击Object里面的PART2加号位置选择相应的marker

• The translational velocity and acceleration of the same point

• The input torques for both motors

• The power consumption of both actuators

• The reaction forces and torques into the 2 joints

   You can use the button

   to add   new pages to ADAMS and store the

   results. Analyse the results and verify their relevance. To do this, answer the

   following questions :

   • At which position starts the x and y positions of the end-effector and why?
We have set 3 points at the beginning along x axis,0.0,0.5,0.8. The translational displacement of the end-effector the point belonging to PART 2, at 0.3m from the second joint axis which is point 2(0.5,0.0).So the position of the end effector should be (0.8,0.0).Here MY question is in the PostProcessor,we see part2_cm_position x is around 0.65 at beginning.

   这是因为我们在plot图片的时候没有准确的把末端执行器的位置打印出来。我们在bodies里面把marker的名字改变一下。这样就可以打出所有的目标点了。

• What is the initial velocity of the end-effector along x and y and why?
along x 0.0;along y 0.125-0.15m/s
Our initial position is belong
When our joints rotate,we have a velocity along y axis at the point of the end-effector.

• What is the sign of the velocity along x? Why?
negative;our end effector moves towards the opposite direction of x axis

   • The acceleration along y should be null at initial time. Explain why this is true here?
F=maF=maF=ma
At the initial time,we do not give the force,as the equation shows,no force,the acceleration should be 0.
Change the motion to a constant acceleration of 1m/s. Give the new initial acceleration and conclude about it. (come back to initial control after that)

• Check that the sign of the torques correspond to what is expected. Change

   the speed of both motors to the opposite direction. Does it change the

   sign of the torques? Does it change the value? How much and why?

• Check that the sign of the power consumption能量功耗 corresponds to what is

   expected. Change the speed of both motors to the opposite direction.

   Does it change the sign of the power consumption? Why? Why does the

   power consumption of the second motors changes of sign first?

• Plot the reaction forces along x and y on the same graph. Why is their

   a significant difference between the two components  ? Then, display the

   reaction forces along a unique direction. Comment on the results, and
explain   the obtained value.

This ends the first part of the present tutorial. Adams offers much more

   possibilities for the analysis of the behavior of a mechanism that you can find

   out yourself.

How to interface your Adams mockup with Simulink with Matlab Simulink?

如何实现Adams与Sinmulink交互的问题？我们打开一个现有的 模型 ，然后开始建立系统输入变量与输出变量。


   在我们的日常默认界面中找到Elements/System Elements,开始创建变量。

   adams中DX（marker_1，marker_2，marker_2)表示的意思要理解。这里曾经遇到函数设置报错的问题。

ERROR:   ---------------------------------------------------------------------
ERROR:   Invalid input. Enter return or a parameter.
ERROR:   The command was not executed.
ERROR:   >> group modify group=SELECT_LIST obj= expand_groups=no



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