Indian Institute of Space Science and Technology

AE483/AE832: Introduction to Robotics Aerospace Engineering
Practice Session 01: Goalie Mechanism Simulation         28­07­2017

MSC-ADAMS can be used to simulate motions of multirigid body systems. On 28-07-2017, Sam
Noble Sir will introduce you to MSC-ADAMS software in CAD Lab on the top floor in D4. The
session starts at 1.45 pm. Those already familiar with MSC-ADAMS need not attend the
introduction.

The Problem: Design (cross sections of links are not important at this stage) and model using
ADAMS, a mechanism to move a goal keeper in the form of a solid cylinder (of length 1.5 cm and
diameter 1 cm) to prevent a ball of 1 cm diameter from entering a goal post, with the two posts
being vertical cylinders of diameter 1 cm and height 1.5 cm and kept 15 cm apart (center to center –
see fig below). The ball is kept 20 cm in front of the goal post and shot at the goal within 5 s of a
signal (whistle), with a maximum velocity of 20 cm/s. No part of the mechanism, other than the
goalie, should encroach into the space between the ground and a horizontal plane 1.5 cm above the
ground. The ball will be shot only along the ground. The goal keeper cannot advance beyond 5 cm
of the goal post.

The mechanism can be as simple as a single link having a revolute joint with the fixed frame, with
the goalie cylinder attached at the other end. Else, it can be any other mechanism of your choice
(no marks for complexity). You need to complete the mechanism model and demonstrate motion of
the goalie across the full goal mouth by using (a) force/torque, and (b) motion, as input. The
demonstration has to be done on or before 04-08-2017.

Report: The report should contain a brief description of your mechanism along with its labelled
sketches with the goalie and the goal posts. It should also contain a listing of the ADAMS model
(exported/saved as a text file). Soft copy (pdf) of the report should be sent to kurien@iist.ac.in,
with subject “Session01 RollNo”. Please do not miss using these words in the email’s subject field,
as I may miss a submission otherwise.