A thesis presented to
The faculty of
In partial fulfillment
Master of Science
Xiao Xue
May 2013
Investigation into the Utility of the MSC ADAMS Dynamic Software for Simulating
by
XIAO XUE
Robert L. Williams II
Dennis Irwin
ABSTRACT
Investigation into the Utility of the MSC ADAMS Dynamic Software for Simulating
bar mechanism. In forward dynamics simulation, the forces are applied in prismatic joints
motions. The motion of the platform is measured and compared with the results in
inverse dynamics simulation, the Slider-Crank mechanism and four-bar mechanism both
run with constant input angular velocity and the actuating forces are measured and
compared with the results in MATLAB. The 2R planar serial robots motions are defined
with splines with driving torques measured and compared with Williamss results in
MATLAB.
4
ACKNOWLEDGEMENTS
be thankful to him my whole life. He has been guiding and supporting me in my program.
I also want to thank my friend Yatin. He uses MSC ADAMS and I often discuss
my problems with him. He is a very nice person and helps me a lot in the details of my
robots.
I want to give thanks to Dr. Cotton, too. I work in his lab and he keeps the lab
I would like to give sincere thanks to my girlfriend, Xiaowei, Zhu. She keeps me
At last, I want to thank my mum. Though she is in China, but I will always talk to
her when I came to a problem. She always tries her best to help me both spiritually and
TABLE OF CONTENTS
Page
Abstract.. ............................................................................................................................. 3
Acknowledges ..................................................................................................................... 4
5.1 Inverse Dynamics Simulation and Results for Slider-Crank Mechanism .................. 68
5.2 Inverse Dynamics Simulation and Results for Four-Bar Mechanism ........................ 72
5.3 Inverse Dynamics Simulation and Results for 2R Planar Serial Robot ...................... 78
5.4 Forward and Inverse Dynamics Simulation and Results for Stewart-Gough Parallel
Manipulator ....................................................................................................................... 86
LIST OF FIGURES
Page
Figure 1-3 Experimental Results of the Application of the Kinematics Control Algorithm
Figure 1-6 Schematic Detail of Experimental Apparatus Used to Measure the Accuracy
Figure 4-9 Driving Torques Measured in MSC ADAMS (with Gravity) ........................ 64
Figure 5-3 AG3Y (G), AG3X(R) (m/s2) vs. time(s) in MSC ADAMS ........................... 69
Figure 5-4 Singularity Occur at t=0.2650s, Link2 and Link3 Fold .................................. 70
Figure 5-6 Fsx(r), Fsy(g)(N) vs. time(s) Plotted in MSC ADAMS .................................. 71
Figure 5-13 Measured FSX and FSY(N)vs.2 (deg) plotted in MATLAB up, Williamss
Figure 5-15 x, y(m) phi(rad) vs. time(s) Measured in MSC ADAMS ............................. 79
10
Figure 5-21 Angular Acceleration (rad/s2) vs time(s) Measured in MSC ADAMS ........ 82
Figure 5-23 Driving Torques (Nm) vs time(s) Measured in MSC ADAMS (Ignoring
Gravity) 84
Figure 5-24 Driving Torques (Nm) vs time(s)Measured in MATLAB (with Gravity) .... 85
Figure 5-25 Driving Torques (Nm) vs time(s) Measured in MSC ADAMS (with
Gravity).85
Figure 5-41 Inverse Dynamics on Stewart-Gough Parallel manipulator, t=0s ............... 102
Figure 5-42 Inverse Dynamics on Stewart-Gough Parallel manipulator t=0.4s ............. 102
LIST OF TABLES
Page
CHAPTER 1: INTRODUCTION
robots and mechanisms. Dynamic parameters will be used from literature and comparison
of the dynamic results will be made. Parallel Robot models will be built using MSC
ADAMS/View. Both forward and inverse pose dynamic simulations will be performed.
Validation will be performed after the simulation. Joints variables will be obtained from
dynamic analysis.
mechanism and Parallel Robot with designed motions and make dynamic analysis.
1.2 Background
The earliest robot on record dates back to 350 BC, and it was invented by the Greek
steam, since then interest in robots have not stopped. The first industrial robot driven by
motor was built in 1961 by Unimation company. The robot acted more precisely and
quickly with the help of the motor. In 1961, the first computer-controlled mechanical
(MIT). Later in 1969, the robot arm was defined by Stanford Arm and created by a
student named Victor Scheinman. In 1996, Honda released P3-the first humanoid robot
(http://robotics.megagiant.com/history.html).
14
A parallel robot has several parallel linkages connecting the base and the
working end. Unlike the serial robot, a parallel robot has several connections to the end
platform.
velocity, and acceleration of different mechanisms and solves the related problems in real
life. Dynamics analysis involves the translational and rotational position, velocity and
acceleration of the studied mechanism, as well as the center of mass acceleration of the
rigid body. Kinematics is the study of motion without the regard of force, but dynamics
considers the effect of force and moment, Williams (2012). Kinematics equations are
has six closed loop chains. The chains provide enough stiffness and accuracy due to the
designed computer control system. The motor DM1015B is placed inside the top base. It
controlling a chain. The HEXA thus has faster movement and higher precision.
15
Source: http://www.space.mech.tohoku.ac.jp/research/hexa/hexa-e.html
In order to realize the user interface in 3D and make the parallel robot carry out
some task instead of human force, the control system for HEXA is newly developed.
( http://www.space.mech.tohoku.ac.jp/research/hexa/hexa-e.html )
Source: http://www.space.mech.tohoku.ac.jp/research/hexa/hexa-e.html
16
widely used in industrial since its debut in 1962, such as tire test machines, aircraft
simulators, micro hands and large spherical radio telescopes, M. Almonacid (2003).
Figure 1-3 shows a climbing parallel robot doing maintenance on a palm tree.
Before maintenance, the robot will be assembled around the tree on the ground. Each leg
is consisted of a prismatic joint, a spherical and a universal joint. It has a total of 6-DOF.
The end effector on top serves as the platform for loads and the transmission between the
the palm trees. Maintenance work becomes more efficient and safe.
Parallel robot is also proposed to be used to carry out the Percutaneous Cochlear
Labadie. Before surgery the pre-positioning frame will be attached to patient and CT scan
will be obtained. After the optimized surgery route is planned, the robot will be
controlled to head to the targeted location on the patient. The robot will be fixed on the
location after arriving and drill to the tissue, Kratchman (2011). Compared to the
traditional cochlear implantation surgery, the parallel robot device is expected to achieve
higher accuracy and efficiency during surgery. The parallel robot also achieved lower
The Delta parallel robot was first proposed by Reymond Clavel in early 80s.
Unlike other parallel robots, the Delta parallel robot has three translational and one
rotational degree of freedom. The delta parallel robot has many advantages such as high
speed, rigidity and accuracy. It is widely used in package and medical industry.
The three links around the end-effector are made in the shape of parallelogram
and can provide translational movement. The rotational movement is realized by the link
between the center of the base and the center of the end-effector.
20
Humboldt-University at Berlin
Source: http://www.parallemic.org/Reviews/Review002.html
Source: http://www.parallemic.org/Reviews/Review002.html
21
useful in both education and industrial designs. Faster CPUs and more powerful GPUs
can create many complicated simulations that used to be impossible. Aided by MSC
ADAMS, engineers can simulate their designs and get the test results. This revolution
makes designing and research much more efficient, thus saves a lot of money and energy
FU (2003).
Serial robots connect links one by one with revolute or prismatic joints. These
rigid links transmit the control from actuator to the end effector. In the image above a
spatial serial robot arm is shown. The end effector is a mechanical hand and the actuator
Serial manipulators have some characters due to their structures. The advantages
are they have fewer singularities and take up less room compared with parallel
manipulators. But their disadvantages are also obvious. First, they have lower rigidity.
They have only one link between the actuator and end effector. Parallel robots have
higher rigidity because they have multiple links. Second, serial manipulators have low
accuracy due to less actuator. Parallel robots usually have multiple actuators for each
links and thus have better control accuracy over the working platform. The number of
actuators also makes serial robots act slowly. Third, serial robots have less load capacity
because of less links on end effector. In contrast, parallel manipulators have multiple
important role in our lives. Virtual Prototyping is widely used in robotics research,
industrial design, such as rail way design, car design and vibration. The software used in
evaluating form, design fit, performance, and manufacturability or used for studying and
human-product interaction model and perspective test related models Wang (2012)
23
1.3.4 MATLAB
Around the world there are millions of scientists, engineers and students using
In the late 1970, Cleve Moler, who was a professor at University of New Mexico,
created the earliest MATLAB for the purpose of more convenient use of LINPACK and
EISPACK for students. Jack Little was the first person to commercialize MATLAB. He
recreated MATLAB from a Fortran based MATLAB to a matrix based MATLAB, Moler
(2006). Later in 1984, Cleve Moler, Jack Little and Steve Bangert founded the
MATLAB got well developed and is released as many new editions. The latest edition
ADAMS/ View software package is quite powerful and can build almost any multi-body
mechanism model. One important application is the car suspension design. Car
suspension system is important because it sustains the weight of car body and transmits
the forces between the car and the ground. The car suspension system designed by MSC
much more time and money were wasted on the modifications after the initial design. In
Visual Prototyping and computer simulations, general information can be obtained prior
to the construction of the system, which makes the designing process more convenient.
24
Additionally, in visual designing environment the potential safety concerns in the system
This suspension system has twenty movable parts and twenty DOF. The seat and
the chassis are connected by bushing forces, so are the tires and the ground. Li (2007).
Source: Li (2007)
Source: Li (2007)
25
The test results of the suspension system are shown in Figure.1-10. Plotting of
acceleration, displacement and velocity versus frequency were created. These curves
were obtained in the MSC ADAMS/Vibration. Though this result is not exactly the same
with the real data, this research shows good combination of flexibility and vibration
Source: Li (2007)
the target mechanisms and robots and thesis objectives. Chapter 3 is the kinematic
introduction, includes the modeling process of the mechanisms and robots in MSC
ADAMS. Specific modeling steps and initial position are shown. Chapter 4 introduces
26
the dynamic simulation method; forward and inverse dynamic simulation methods are
analyzed. Chapter 5 presents the comparison of the simulation results in this thesis and
the results from literature; errors of results are calculated. At last, Chapter 6 concludes the
robot and a Stewart-Gough parallel manipulator are built and simulated in MSC
ADAMS. These models are built according to their prototypes in MATLAB. Slider-
Crank mechanism, four-bar mechanism and 2R serial robot MATLAB prototypes are
from Tsais book. In this chapter the object robots and mechanisms models in MATLAB
and their dimensions, structural properties, the initial conditions and designated motions
are introduced.
through a prismatic joint horizontally and link1 rotates the original in counterclockwise
In the image above, at initial position, is , -the angle between the ground
and link 2 is .
follows:
Inertia(kgm2)
Link1 0.1020.0190.013
Link2 0.2030.0190.013
prismatic joint with the initial x-coordinate x=0.29m. In the simulation, the slider is
joints are prismatic joints and rotational joints. R1 and R2, R1 and the ground, R2 and
Slider are connected by revolute joints; Slider and the ground are connected by prismatic
joint. A constant 1N force is applied horizontally at the middle of the Slider. Friction is
( )
29
ADAMS/View.
Four-bar mechanism is a planar mechanism consisted of four links. The four links
Figure 2-2:
is the angle between and the ground. is the angle between the ground
and . is the angle between the ground and . is the angle between the ground
and . Link2 and Link4 are connected to the ground by Joint5 and Joint6. The
Link2 0
Link3
Link4 0
angles, angular velocities, angular accelerations, driving torques and shaking forces
between the mechanism and the ground will be measured. The results will be compared
2R serial robot is the planar robot consisted of two links. A 2R planar serial robot
is modeled and simulated in MSC ADAMS in this thesis. The model to be built is shown
as follows:
is the absolute angle between the and the ground; is the relative angle
between and . L1 and ground, L1 and L2 are connected by revolute joints. Both links
have their center of gravity at their geometry center. According to equation 2.1, it has
totally 2 DOF. The parameters of the 2R planar serial robot in Fig 2-3 are shown in the
table as follows:
32
Link1 1 10 0 7806
vertically upward with a constant speed of 0.5m/s; using this known general motion at the
end of L2, the rotational motions at joint 1 and joint 2 will be obtained. Cartesian Pose,
joint angles, joint rates, joint accelerations and driving torques will be measured in MSC
Parallel robots most noticeable advantages are that they have higher swiftness
follows:
33
The parallel robot in Figure 2-4 is a Stewart-Gough manipulator. Upper limbs and
lower limbs are connected by prismatic joints; limbs and base, limbs and platform are
The dimensions of the Stewart-Gough parallel manipulator in Fig 2-4 are shown
as follows:
34
Platform 32 [ ] 0.5
All the parts have their center of gravity in their geometry center. Connecting
joints in Stewart-Gough parallel manipulator are spherical joints S and prismatic joints P,
shown as follows:
Prismatic joints are applied between the upper limbs and lower limbs and can
provide translational movement as the slider slides along the axis. It has one-DOF.
Source: http://www.mathworks.com/help/toolbox/physmod/mech/ref/prismatic.html
35
Spherical joints are widely used in robots. They can provide roll, pitch and yaw
Source: http://www.mathworks.com/help/toolbox/physmod/mech/ref/spherical.html
Stewart-Gough Parallel robot are modeled in MSC ADAMS. Inverse dynamic simulation
is performed on them; actuating forces are measured and validated by results from
manipulator; the motion of the platform is measured and compared with Tsais results in
his book. The results used for validation are from MATLAB.
36
Another objective will be exploring the MSC ADAMS software. The MSC
ADAMS software is the most widely used dynamics analysis software; it will be very
helpful to the research in robotics, dynamics and manufacturing. It plays a key role in
ADAMS.
3. Validation on the Robots and mechanisms model with dynamics results measured
in MSC ADAMS.
CHAPTER 3 KINEMATICS
studied include displacement, velocity and acceleration. In this chapter we will discuss
and Stewart-Gough parallel Manipulator. Both translational and rotational motions are
analyzed. The modeling process of the mechanisms above in MSC ADAMS will be
presented.
follows:
{ ( )} { }
{ ( )} { ( ) ( ) ( ) ( )}
{ } { }
({ } { }) ({ }) ({ }) i=1, 2,, n
[ ] [ ( )] [ ]
We take the first two terms of the expansion, the expansion becomes:
({ } { }) i=1, 2, , n
Let ({ }
({ } { }) ({ }) ({ } [ ]{ }) { } i=1, 2, , n
{ } [ ] { ({ })}
time, thus motion is directly relevant to time. D.Negrut(2004) did the general kinematic
[( ) ] ( )
( ) ( ) ( )( )
39
( )
At each iteration, the correction is found as follows D.Negrut(2004):
( ) ( )
( ) ( )
( ) ( ) ( )
The final position is obtained with the small enough correction found.
inertias are applied to all three links as given, a rotational motion is applied on link1.
During the simulation, link1 will rotate around origin. The accelerations in x and y
as follows:
First open MSC ADAMS/View, click new model, in the Create New Model
dialogue, select gravity, Units and Working Directory, then press OK.
In the whole modeling process, the rigid bars are first built. Link 2 and link 3 are
built horizontally according to the dimensions. Joint1 connects the ground and link2.
Links are built using Bodies tab, solids library. Then link3 is rotated around joint2 to
the position as follows; link4 is built according to the known dimensions in other places
and then is translated to joint3. At joint3 both revolute joint and prismatic joint are
applied. All the joints can be found under the connectors tab. One marker is applied on
the ground for angle measure purpose; the marker function can be found from Bodies
follows:
Where
, the position of JointA (XA) and the position of slider(XB) in simulation are
shown as follows:
Link 4 and ground are connected with prismatic joint. The Slider-Crank
mechanism is driven by the rotational motion at Joint 1; Separate rotational motions are
measured at Joint 2 and Joint 3; the slider is moving from right to left and then back
according to the rotation. The rotational motions at joint 2 and joint 3 will be found in
simulation with , and the two motions will be exported as numerical data
and be saved as test files in computer. These text data are then imported into MSC
ADAMS and stored as splines. In the final simulation, the two motions will be defined by
4 ,, 3, 4, 3 and 4.
In the four-bar mechanism, r2 and r3, r3 and r4 as well as r2, r4 with the ground are
given initial conditions will be introduced. The four-bar mechanism during simulation in
Two ends of Link1 are locked to the ground by fixed joints shown as follows:
Link2 is built horizontally from origin to positive x axis. Link3 is first modeled as bar
shape from end of link2 to positive x axis horizontally. Link3 is then rotated around
44
Joint2 for 66. Link1 is created from origin to positive x axis then rotated around origin
for 10.3 counterclockwise; two ends of Link1 are also locked to the ground by fixed
joints. Link4 is created between Link1 and Link3. Two markers are applied to ground in
reference to the origin and Joint6 for angle measurement. All rigid links are connected by
Motions tab, Rotational Joint Motion is used for this motion. After the motion is
applied to Joint1, the motion can be modified by double clicking. In the Type dialogue
The simulation can be run by clicking the simulation tab, simulate control button.
The Link3 is then changed into rectangle link for simulation. The total simulation time is
0.314s.
follows:
[ ] [ ][ ]
The position of pointA and pointB are plotted in MSC ADAMS as follows:
45
In this simulation, I perform inverse dynamics simulation for the open branch of
the 4-bar mechanism above. Given the rotation of the link2 2=20 rad/s, kinematic
Williamss results, shaking force of Joint 5 and Joint 6 will be measured, the results will
be presented in Chapter5.
The inverse kinematics problem of the 2R planar serial robot is stated as follows:
. Find the Cartesian Pose x, y, , joint angles , , joint rates and joint
accelerations.
on end of link2. The translational motion motivates the whole 2R serial robot and
produce rotational motion of link1 and link2 during simulation; the rotational motions at
joint1 and joint2 are stored as numerical point data and created into splines. After the
translational motion being removed, two rotational motions are applied on joint1 and
joint2, defined by the previous stored numerical rotational data. During this simulation,
Cartesian Pose x, y, , joint angles , , joint rates and joint accelerations are
measured.
The 2R planar serial robot is first built from Link1. Link1 is created from origin to
positive x axis.Link2 is then created from the end of Link1 to positive x axis. Link2 is
rotated around Joint2 for counterclockwise. Link1 is then rotated around origin for
counterclockwise. The end of Link2s location is (0.9, 0.67) globally. Link1 and
Link2, Link1 and the ground are connected by revolute joints. The known general motion
is the translational motion of the end of Link2. The translational motion can be applied by
clicking Motions tab, Translational Joint Motion button. In the dynamic part, the
rotational motions of Joint1 and Joint2 will be measured and recorded; the measured
results of the rotational motions will be created into splines; the rotational motions will be
defined by these splines. Markers are created on ground for angles measuring purpose. A
( ) ( )m
During the simulation, the coordinate of the end effector can be expressed as:
( ) ( )m
Where
is calculated by:
The model is built based on the dimensions mentioned above and the motion is
applied. After the comparison of the kinematic parameters, the shaking forces and driving
torque will be measured and compared with Williams results in MATLAB in Chapter5.
stated as follows:
initial position , angles of limbs, accelerations of the center of the platform , find
The Stewart-Gough parallel robot has six legs, base and the working platform. Six
prismatic motors were installed on the limbs. The working platform and the base are
connected with the limbs by ball joints. It has totally 6-DOFs. When at rest, the working
joint is measured and stored as numerical point data. In the data both time and
displacement are recorded as point data. After the translational motion being removed,
six new translational motions are applied on prismatic joints and are defined by the stored
Time Displacement
8.000000E-003 1.262108E-004
1.600000E-002 5.048889E-004
2.400000E-002 1.136171E-003
3.200000E-002 2.020287E-003
4.000000E-002 3.157552E-003
4.800000E-002 4.548377E-003
5.600000E-002 6.193256E-003
6.400000E-002 8.092771E-003
7.200000E-002 1.024759E-002
8.000000E-002 1.265847E-002
8.800000E-002 1.532623E-002
9.600000E-002 1.825178E-002
1.040000E-001 2.143612E-002
1.120000E-001 2.488029E-002
1.200000E-001 2.858543E-002
1.280000E-001 3.255274E-002
1.360000E-001 3.678346E-002
1.440000E-001 4.127892E-002
1.520000E-001 4.604050E-002
1.600000E-001 5.106961E-002
1.680000E-001 5.636774E-002
1.760000E-001 6.193640E-002
1.840000E-001 6.777716E-002
1.920000E-001 7.389162E-002
2.000000E-001 8.028140E-002
2.080000E-001 8.694816E-002
2.160000E-001 9.389360E-002
2.240000E-001 1.011194E-001
2.320000E-001 1.086273E-001
2.400000E-001 1.164191E-001
2.480000E-001 1.244964E-001
2.560000E-001 1.328610E-001
2.640000E-001 1.415148E-001
2.720000E-001 1.504593E-001
2.800000E-001 1.596964E-001
2.880000E-001 1.692278E-001
2.960000E-001 1.790552E-001
3.040000E-001 1.891804E-001
3.120000E-001 1.996050E-001
3.200000E-001 2.103306E-001
3.280000E-001 2.213590E-001
3.360000E-001 2.326917E-001
3.440000E-001 2.443304E-001
3.520000E-001 2.562765E-001
3.600000E-001 2.685317E-001
3.680000E-001 2.810973E-001
3.760000E-001 2.939749E-001
3.840000E-001 3.071659E-001
3.920000E-001 3.206716E-001
4.000000E-001 3.344935E-001
The numerical data above is used to create the spline, which is used to define the
follows:
follows:
52
ADAMS/View
In MSC ADAMS, the model base of the manipulator is first built on x-y plane.
The base is also locked to the ground by three fix joints. On the base, the six limbs are
built. According to Tsais image of the manipulator, the six lower limbs are connected to
the base at 0, 110, 120, 230, 240 and 350 (Fig 3-14). The above points on the base
are marked. Meanwhile the working platform is also created on the base. The upper limbs
are connected to the platform at 50, 60, 170, 180, 290 and 300(Fig 3-16). These
points are also marked by the virtual links from the center of the base to the edge of the
platform. After the platform is translated from the base to 1 meter above along y axis, six
long limbs are created between the marked points correspondingly. The marking links are
removed after the limbs are created. These six long limbs can provide the accurate angles
53
of the upper limbs and lower limbs. The upper links are created 0.85m from the points on
the platform downwards along the long limbs; the lower limbs are also created 0.3m
along the long limb from the other end on the base upwards. Prismatic joints are applied
between the upper limbs and lower limbs. The limbs are connected to the base and
The solid parts in MSC ADAMS can be modified by double clicking. The
Modify Body dialogue box will appear. In the Define Mass By category, pull down
and select Geometry and Density. In the Density box, density can be input. In this
model, the solid body properties are defined by mass of inertia matrix. In the Modify
Body dialogue box, Define Mass By box pull down and select User Input, then
platform. The properties of the limbs and base are modified in the same way.
According to Tsai (1999), the velocity of each limb can be calculated as follows:
directions.
55
follows:
For the four designated motions, both forward and inverse dynamics simulation
will be performed. In the forward dynamics simulation with the known motions of the
working platform, the translational motion of the six prismatic joints will be measured,
imported and saved as splines; with these splines, the translational motions of the
prismatic joints are defined. With the translational motions defined, the actuating forces
translates along z axis with the acceleration of 5 m/s2. Initial velocity is zero. Actuating
forces are applied as known at the prismatic joint; the motion of the working platform
CHAPTER 4 DYNAMICS
Dynamics is the study of motion with actuating forces and torques. Dynamics
relates how actuating forces and torques affect the motion. In this chapter, the inverse
robot and Stewart-Gough parallel manipulator will be introduced. The forward dynamics
simulation, the translational or rotational motions are known, shaking forces are to be
found; in forward dynamics simulation, the actuating forces are known, the translational
In the Slider-Crank Inverse Dynamics simulation link 2 will rotate around joint 1
a full simulation, the total time will be 0.419s. The Slider-Crank mechanism in simulation
is shown as follows:
57
In reality the singularities will also happen with 3=90 , 270 , when link 2 moves
to the vertical position. In these positions, the determinant of coefficient matrix becomes
follows:
,
58
( )
The velocity and acceleration are the first and second derivatives of position. is
Fsx=Fsx1+Fsx2
Fsy=Fsy1+Fsy2
follows:
M3A3x=Fsx-f+1
M3A3y= Fsy
Link 1 is connected to the ground at Point1 and Point2. With the constant angular
simulation runs with gravity, with g=9.806m/s2. The rotational motion is applied on
joint5(1).
Position:
Velocity:
Acceleration: ( )
( ) ( )
( )
The total shaking force will be the sum of shaking force at joint 5(1) and joint
6(2):
Fsx=Fsx1+Fsx2
Fsy=Fsy1+Fsy2
Shaking forces of the four-bar mechanism at Joint5(1) and Joint6(2) are shown as
follows:
61
The shaking forces shown in Fig 4-5 and Fig 4-6 are added together to get the
The inverse dynamics problem of the 2R planar serial robot is stated as follows:
The 2R planar serial robot simulation will last for 1 second. During the simulation
the end of L2 will translate vertically along positive Y axis for 0.5 m. In MSC ADAMS
the simulation has 100 steps, with 0.01s per step. The model at the end of the simulation
The end effector has a constant velocity in Y direction, acceleration is zero. There is
follows:
( )
The simulation will be performed both with gravity and without gravity. With the
rotational motions at joint 1 and joint 2 defined, the driving torques is measured, shown
as follows(with gravity):
64
Chapter5.
stated as follows:
acceleration .
parallel manipulator forward dynamics simulation, actuating forces are known and
. They are the rotational angles about x, y and z axis. The Euler angles of a
[ ]
The six limbs of the Stewart-Gough parallel manipulator have identical structure;
they consist of upper limb and lower limb. The upper limb and the lower limb are
The limbs are connected with the working platform and the base by ball joints without
The distance between the centers of the upper limb and the lower limb is not
specified. Since the upper limb and the lower limb are connected by prismatic joint and
are always align, also the mass moment of inertia of the limb is very small compared to
the mass moment of inertia of the platform, the length between the limbs will not affect
With gravity applied on the parallel manipulator, the total actuating forces applied
( )
mechanism, 2R planar serial robot and Stewart-Gough parallel manipulator will be shown
and discussed. The Slider-Crank mechanism, four-bar mechanism and 2R planar serial
robot are simulated in inverse dynamics method; the measured shaking forces and torque
in ADAMS are compared with the results from MATLAB. The Stewart-Gough parallel
manipulator is simulated in forward dynamics method; the actuating forces are defined
and the platform motion will be measured. Inverse dynamics simulation of example 2 is
also demonstrated.
experiment. The Theta2 vs. Time plotting is created according to the formula:
. Simulation time is 0.419s. The measured Theta2 vs. time in MSC ADAMS is shown as
follows:
plotted with independent axis being time. The results remain the same. The accelerations
of link 3 in MSC ADAMS are shown in Figure 5-3, Figure 5-4, compared with
Williamss results in MATLAB shown in Figure 5-2. The AG3X is in red, AG3Y is in
green.
25
20
15
10
0
AG3 (m/s )
2
-5
AG3X
-10
A
G3Y
-15
-20
-25
-30
0 50 100 150 200 250 300 350
2 (deg)
Figure 5-3 AG3Y (G), AG3X(R) (m/s2) vs. time(s) in MSC ADAMS
70
together. At this time, extra shaking forces are produced between the slider and the
ground.
The shaking forces Fsx and Fsy measured in MSC ADAMS are shown in Figure
5-8, compared with the Williamss results from MATLAB, shown in Figure 5-7(Fsx in
FSX
0.5
F
SY
-0.5
FS (N)
-1
-1.5
-2
-2.5
-3
0 50 100 150 200 250 300 350
2 (deg)
During the Slider-Crank mechanism simulation, shaking forces and torques are
measured and compared. The measured shaking forces have singularities around ,
when link2 is vertical down. This is caused by the physical singularity position.
After the 0.314s simulation in ADAMS, 3, 4, 3, 4, 3, 4, Fsx, Fsy vs. time are
measured. They are shown in Figure 5-11, Figure 5-13, Figure 5-15, Figure 5-23 and
Figure 5-25.
The measured 3 (red), 4 (green) and (blue) vs. 2 of the four-bar in MATLAB
follows:
All the kinematic parameters are matched with the authors data.
Force X is in red and Force Y is in green. The maximum of force X1 appears at around
0.155s (Appendix A), when the link two and link three fold together, meanwhile the
minimum of force X2 appears (Appendix A). The shaking forces in Appendix A are
measured in Joint 5 and Joint 6. The total shaking force is the sum of the two shaking
forces. I added the two shaking forces in x direction and got the total shaking force in x
direction. The result is created as spline in MSC ADAMS and is shown in Appendix
A.The SForce X is matching with Williamss results in MATLAB (Figure 5-13, red).The
shaking forces in Joint 5 and Joint 6 in Y direction are measured separately, as shown in
Appendix A.
In the same method, the two splines are added together into the total shaking
Appendix A.The total shaking force in Y direction SForceY is matching with Williamss
results in MATLAB(Figure 5-13, green). The shaking force x and shaking force y
Figure 5-13 Measured FSX and FSY(N)vs.2 (deg) plotted in MATLAB up,
The shaking force X (SForce X) is the sum of the shaking forces at joint
5(SForceX2) and joint 6(SForceX1). The shaking force Y (SForce Y) is the sum of the
shaking forces Y at joint 5(SForceY2) and joint 6(SForceY1). I first plotted the shaking
78
forces in Joint 5 and 6 separately; they are SForceX1, SForceX2, SForceY1 and
SForceY2. Then MSC ADAMS will plot the sum of them automatically in plot editor, as
shown in Figure 5-16. The two shaking forces match with Williamss results.
5.3 Inverse Dynamics Simulation and Results for 2R Planar Serial Robot
MSC ADAMS. According to Williamss (2012) literature, the motion at the end of link2
is known; the driving torques with the consideration of gravity and without the
consideration of gravity are to be found. The Cartesian Pose of the link2 tip, including x,
y and phi vs. Time are plotted in MSC ADAMS, compared with the results from
The joint angles of Theta1 and Theta2 vs. time are measured and plotted MSC
In the simulation joint rates (angular velocity) of Joint1 and Joint2 are measured
MSC ADAMS, compared with the results from MATLAB shown as follows:
Angular accelerations of Joint1 and Joint2 are also measured in MSC ADAMS,
According to the comparisons above, most of the motions in MSC ADAMS agree
with the designated motion. The motions remain the same with or without gravity. The
separate motions in Joint1 and Joint2 are defined based on the measure from the inverse
In the inverse dynamics simulation with the separate motions defined, the driving
torques are measured without gravity in MSC ADAMS, compared with Williamss
Gravity)
Figure 5-23 Driving Torques (Nm) vs time(s) Measured in MSC ADAMS (Ignoring
Gravity)
85
The measured torques with gravity in MSC ADAMS are measured and plotted,
Figure 5-25 Driving Torques (Nm) vs time(s) Measured in MSC ADAMS (with
Gravity)
86
The torques at Joint1 and Joint2 are measured with gravity and without gravity in
MSC ADAMS. The results agree with Williamss results in MATLAB. During the
process of defining Motion1 and define of Motion 1, I measured the rotational motions
separately and exported the measure results as text files; In MSC ADAMS imported the
text files and created the corresponding splines for the motions. This method improves
the accuracy greatly. With gravity, the measured Torque1 and Torque2 are same to
because the driving torque failed to make the designated motions. The defining of the
driving torques can be done by creating splines and save the splines as text format; then
import the text file. This method can ensure the accuracy of the data. The driving torques
5.4 Forward and Inverse Dynamics Simulation and Results for Stewart-Gough
Parallel Manipulator
the Stewart-Gough platform will run the parallel manipulator from at rest for 0.4s.
ADAMS/View
88
shown as follows:
ADAMS/View
The difficulty is to define the actuating forces in prismatic joints. The authors
measured forces of the actuators are plotted in Figure 5-30, Figure 5-33, Figure 5-36,
Figure 5-39. The forces splines are input into ADAMS and the actuating forces are
defined by these splines. The input forces are also shown in the above figures for
comparison.
In Lung-Wen Tsais first simulation the working platform moves in the positive x
direction. According to Lung-Wen Tsai, the platform starts from rest and has a constant
. The actuating forces of the six prismatic joints are shown in Figure 5-28
as below:
MATLAB (down)
The input forces are transferred into splines in MSC ADAMS according to their
plotting in MATLAB, the six actuating force splines in MSC ADAMS are shown above.
90
In the first example, force splines are defined by eight points. This is enough for
smooth curves. With the input actuating forces, the Stewart-Gough parallel manipulator
The gap between the upper limbs and the lower limbs are due to the extension of
the prismatic joints. After the simulation, the acceleration at the center of the working
In Lung-Wen Tsais second simulation, the working platform will translate along
I use the same method to transfer the forces spline above into splines in ADAMS
and define the forces with the splines. The force splines in MSC ADAMS are defined by
is shown as follows:
The acceleration measured at the center of the platform along z axis is shown as
follows:
94
In Tsais 3rd simulation, the working platform will rotate around y axis with a
follows:
95
MATLAB down
96
The forces above are transferred into splines in MSC ADAMS and the actuating
forces are defined by spline 1 to 6 accordingly. The input force splines in MSC ADAMS
During the simulation, the platform rotates around the Y axis with
After the simulation, the measured angular acceleration around y axis is taken
The measured angular acceleration is very close to 2 rad/s2. The spline is almost
In Tsais 4th simulation, the working platform will rotate around z axis with a
Tsai (1999) up, Force Input of Actuator vs. time plotted in MATLAB
99
The splines of the force in MSC ADAMS are defined by eight points. The force
splines from MATLAB are transferred into MSC ADAMS splines as in Figure 5-37
(down)
follows:
The measured angular acceleration of the center of the platform for example 4 in
In this experiment the measured angular acceleration is very close to 2 rad/s2; the
In all the four forward dynamics simulations, the actuating forces are defined
from the splines in Tsais (1999) literature. The translational accelerations and angular
accelerations of the center of the platform are measured. After comparison, the results are
within expectation. The differences are caused by the transfer of data between MSC
manipulator is shown and discussed. The results will be compared with Example 2. The
example 2 has the same forces splines of all six actuators, and has the simplest
movements due to the same displacement of the six prismatic joints. The difficulty in
inverse dynamics simulation is to specify the translational motions of the prismatic joints.
101
In the simulations that the general motions of the platform are applied, the actuating
forces are separated into the 12 ball joints and the 6 prismatic joints. The specific
translational motions on prismatic joints are necessary. The translational motions are
platform.
Based on the input translational motion splines above, the translational motions at
prismatic joints are defined. The Stewart-Gough parallel manipulator at t=0.4s in inverse
In this simulation, the translational acceleration at the center of the platform along
Source: Tsai(1999)
The measured actuating force in the prismatic joints in MSC ADAMS is shown as
follows:
actuating forces are measured and compared with Tsais results. The results are within
6.1 Conclusions
mechanism, a 2R planar serial robot and a four-bar mechanism are built. Theses robots
and mechanisms are found from literature with good dimensions and input, output
information. These robots and mechanisms are built and simulated in MSC ADAMS.
Both forward and inverse dynamics simulation are performed on Stewart-Gough parallel
The Stewart-Gough parallel platform was found in Tsais book Robot Analysis:
The Mechanics of Serial and Parallel Manipulators, in the book it was simulated in
MATLAB in inverse dynamics, I built the same manipulator in ADAMS and succeed
mechanism is built and simulated in MSC ADAMS, with 2=15 rad/s. The shaking
forces are measured and compared with Williamss simulation results. The results match
with singularities found. Singularities occur when the link2 and link 3 align and fold, at
t=0.0158s and t=0.2650s separately. The singularities are shown as spikes in the results of
shaking forces.
The inverse dynamics simulation of the 2R planar serial robot has the similar
procedure with Stewart-Gough parallel manipulator. With the general motion at the end
107
of link three is known, the rotational motions at joint 1 and joint 2 are measured and used
as the known motions in the inverse dynamics simulation. Driving forces are measured
mechanism is built and simulated in MSC ADAMS, with the angular velocity 2=20
rad/s. The shaking forces are measured and compared with Williamss simulation results
in MATLAB. The results match. Singularities occur when the link 2 and link 3 align and
fold, but due to the large mass of link 3, the singularities are not obvious during the
Crank mechanism are to be done in the future. The inverse dynamics of Stewart-Gough
parallel robot is accomplished only on the example 2. It has all six prismatic joints
applied with the same forces. The difficulty in forward dynamics simulation is to find the
specific motion in each prismatic joint in MSC ADAMS. After each motion is
determined, the motion of the working platform should match with the literature
mentioned. Then each joint force can be measured and compared. To put the general
motion on the center of the platform will not give out the correct force because the
actuating force is separated into the prismatic joints and the ball joints as well. The force
in the prismatic joints can be measured using the marker at the end of the upper limb.
108
REFERENCES
Cleve Moler, The Growth of MATLAB and The MathWorks over Two Decades, The
National Taiwan University, Taipei, Taiwan 10660, Republic of China, May 28, 2003.
Libin Li, Qiang Li, Vibration Analysis Based on Full Multi-Body Model for the
January. 6, 2013.
M. Uchiyama, http://www.space.mech.tohoku.ac.jp/research/hexa/hexa-e.html,
February.25, 2013.
Tsai, Lung-Wen, Robot Analysis: The Mechanics of Serial and Parallel Manipulators,
Tsai, Meng-Shiun, Wei-Hsiang Yuan, Inverse dynamics analysis for a 3-PRS parallel
Design, Poznan University of Technology (Poland). 2008, Winnipeg, MB, R3T 5V6
Canada.
3011 Kinematics & Dynamics of Machines, PP..84, 86, 2012, Bob Productions.
112
4.000000E-001 2.013458E-001
4.100000E-001 2.065960E-001
4.200000E-001 2.118635E-001
4.300000E-001 2.171489E-001
4.400000E-001 2.224529E-001
4.500000E-001 2.277761E-001
4.600000E-001 2.331193E-001
4.700000E-001 2.384832E-001
4.800000E-001 2.438686E-001
4.900000E-001 2.492762E-001
5.000000E-001 2.547069E-001
5.100000E-001 2.601616E-001
5.200000E-001 2.656411E-001
5.300000E-001 2.711463E-001
5.400000E-001 2.766782E-001
5.500000E-001 2.822379E-001
5.600000E-001 2.878264E-001
5.700000E-001 2.934447E-001
5.800000E-001 2.990942E-001
5.900000E-001 3.047758E-001
6.000000E-001 3.104910E-001
6.100000E-001 3.162410E-001
6.200000E-001 3.220273E-001
6.300000E-001 3.278513E-001
6.400000E-001 3.337146E-001
6.500000E-001 3.396188E-001
6.600000E-001 3.455657E-001
6.700000E-001 3.515571E-001
6.800000E-001 3.575950E-001
6.900000E-001 3.636813E-001
7.000000E-001 3.698184E-001
7.100000E-001 3.760086E-001
7.200000E-001 3.822543E-001
7.300000E-001 3.885583E-001
7.400000E-001 3.949234E-001
7.500000E-001 4.013527E-001
7.600000E-001 4.078496E-001
7.700000E-001 4.144175E-001
7.800000E-001 4.210605E-001
7.900000E-001 4.277826E-001
8.000000E-001 4.345885E-001
8.100000E-001 4.414832E-001
8.200000E-001 4.484721E-001
8.300000E-001 4.555613E-001
114
8.400000E-001 4.627574E-001
8.500000E-001 4.700677E-001
8.600000E-001 4.775004E-001
8.700000E-001 4.850648E-001
8.800000E-001 4.927710E-001
8.900000E-001 5.006308E-001
9.000000E-001 5.086574E-001
9.100000E-001 5.168661E-001
9.200000E-001 5.252744E-001
9.300000E-001 5.339030E-001
9.400000E-001 5.427761E-001
9.500000E-001 5.519228E-001
9.600000E-001 5.613779E-001
9.700000E-001 5.711849E-001
9.800000E-001 5.813976E-001
9.900000E-001 5.920857E-001
1.000000E+000 6.033406E-001
2.600000E-001 1.912370E-001
2.700000E-001 1.993774E-001
2.800000E-001 2.075822E-001
2.900000E-001 2.158524E-001
3.000000E-001 2.241889E-001
3.100000E-001 2.325927E-001
3.200000E-001 2.410647E-001
3.300000E-001 2.496060E-001
3.400000E-001 2.582176E-001
3.500000E-001 2.669008E-001
3.600000E-001 2.756565E-001
3.700000E-001 2.844861E-001
3.800000E-001 2.933908E-001
3.900000E-001 3.023719E-001
4.000000E-001 3.114307E-001
4.100000E-001 3.205687E-001
4.200000E-001 3.297874E-001
4.300000E-001 3.390882E-001
4.400000E-001 3.484729E-001
4.500000E-001 3.579431E-001
4.600000E-001 3.675005E-001
4.700000E-001 3.771470E-001
4.800000E-001 3.868845E-001
4.900000E-001 3.967149E-001
5.000000E-001 4.066405E-001
5.100000E-001 4.166634E-001
5.200000E-001 4.267858E-001
5.300000E-001 4.370103E-001
5.400000E-001 4.473392E-001
5.500000E-001 4.577754E-001
5.600000E-001 4.683215E-001
5.700000E-001 4.789805E-001
5.800000E-001 4.897556E-001
5.900000E-001 5.006498E-001
6.000000E-001 5.116668E-001
6.100000E-001 5.228100E-001
6.200000E-001 5.340834E-001
6.300000E-001 5.454909E-001
6.400000E-001 5.570368E-001
6.500000E-001 5.687258E-001
6.600000E-001 5.805625E-001
6.700000E-001 5.925521E-001
6.800000E-001 6.047001E-001
6.900000E-001 6.170123E-001
116
7.000000E-001 6.294948E-001
7.100000E-001 6.421542E-001
7.200000E-001 6.549978E-001
7.300000E-001 6.680330E-001
7.400000E-001 6.812681E-001
7.500000E-001 6.947118E-001
7.600000E-001 7.083737E-001
7.700000E-001 7.222640E-001
7.800000E-001 7.363940E-001
7.900000E-001 7.507757E-001
8.000000E-001 7.654224E-001
8.100000E-001 7.803485E-001
8.200000E-001 7.955700E-001
8.300000E-001 8.111044E-001
8.400000E-001 8.269709E-001
8.500000E-001 8.431911E-001
8.600000E-001 8.597888E-001
8.700000E-001 8.767910E-001
8.800000E-001 8.942278E-001
8.900000E-001 9.121334E-001
9.000000E-001 9.305470E-001
9.100000E-001 9.495134E-001
9.200000E-001 9.690846E-001
9.300000E-001 9.893213E-001
9.400000E-001 1.010295E+000
9.500000E-001 1.032093E+000
9.600000E-001 1.054817E+000
9.700000E-001 1.078597E+000
9.800000E-001 1.103592E+000
9.900000E-001 1.130010E+000
1.000000E+000 1.158123E+000
117
Shaking forces of the four-bar mechanism at Joint5 and Joint6 are shown as
follows:
DYNAMICS SPLINES
Example 1
Example 3
The input actuating forces splines for example 3 in MSC ADAMS are shown as
follows:
Example 4
The input actuating forces splines for example 4 are shown as follows:
The name is model_1, pull down the Units category, select MKS-m, kg, N,
In the modeling process, the base and the platform are first created.
Then check the Length and Radius box, enter5cm, 100cm separately,
shown as follows:
Then pick the origin as one end of the base, drag cursor to locate the base at
In the same way, draw the platform with r=50cm on the same center on the base
shown as follows:
129
During the modeling, hold z and drag cursor will zoom the object; hold t and
drag the cursor will translate the object; hold r and drag the cursor will rotate the
object.
In the Bodies tab, select Link, and enter the Length 100cm, as follows:
130
In the same method, build five more links with same length at the same place.
Enter 110 for the rotation. Select one of the link as object, the vertical vector
Rotate the rest of the links for 120, 230, 240 and 350 separately. Shown as follows:
Create six links of length=50cm from origin to the edge of the platform along
negative x direction, then in the same method rotate them along the same axis for 50,
The links on the platform and the base is used for marking the positions of the
revolute joints.
Next translate the platform and the marking links along positive y axis for 1m.
In the tool bar select the translate object and set the distance into 100cm as
follows:
134
When using the translate command, first select the object; then select the origin as
the point to move from; at last select the point 1m above the origin as the point that move
Next, connect the corresponding ends of the links between the platform and the
base with links and remove the marking links(make sure all the links connect with the
To install upper limbs into the links, set the link length to 85cm and put the link
from the upper ends on the platform along the long links, shown as follows:
137
Next connect the corresponding ends on the base with the end of the upper limbs.
After all the limbs are installed, remove the six long links leaving only upper limbs and
lower limbs. Connect the platform and upper limbs, lower limbs and base with ball joints
; also connect upper limbs and lower limbs with prismatic joints . Both joints
can be found under the connectors tab. At last, the base is locked to the ground by fixed
connectors under the connectors tab. The IOS view of the complete Stewart-
For example, I have the following measure to be transferred into splines in MSC
ADAMS:
139
In the dialogue box, select Numeric Data in File Type, in the Result Set Comp.
In the following Database Navigator select the time and Q names for the
Copy and paste the two columns data into text document as follows:
Save the text document and close it. In MSC ADAMS click Import as follows:
142
In the dialogue box, select Test Data , check Create Splines , and select the
The MSC ADAMS/View also includes a specific online tutorial with basic
!
!
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