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Robot Arm

Robot Arm

Robot Arm

(OP)
Im using ADAMS view, Im trying to do a simulation of a Robot arm, I need that the end effector follows a path defined by several points, how can I do this in ADAMS?.

Thank you in advance.

RE: Robot Arm

Use a learning driver model. Sorry, I don't know the specifics in normal ADAMS, I only use Car and Chassis. Either way you should be able to enter a defined path and make the thing follow it, with errors. Using a learning driver model will improve its accuracy on each attempt. We don't use this feature, but it is in there.

Sounds interesting.

Cheers

Greg Locock

RE: Robot Arm

I have not tried this in adams but i have developed a 'C' program to develop the coordinates and animate the same in 2D if you wish to see i can send you the exe.

RE: Robot Arm

Create a adams spline based on your points, and then use a point-curve constraint between the effector and the spline.  

Here is an example .adm deck


ADAMS/View model name: model_1
!
!-------------------------------- SYSTEM UNITS ---------------------------------
!
UNITS/FORCE = NEWTON, MASS = KILOGRAM, LENGTH = MILLIMETER, TIME = SECOND
!
!----------------------------------- PARTS -------------------------------------
!
!----------------------------------- Ground ------------------------------------
!
!                            adams_view_name='ground'
PART/1, GROUND
!
!                           adams_view_name='MARKER_4'
MARKER/4, PART = 1
!
!------------------------------------ Part -------------------------------------
!
!                            adams_view_name='PART_2'
PART/2
!
!                           adams_view_name='MARKER_1'
MARKER/1, PART = 2, QP = -450, 200, 0
!
!                           adams_view_name='MARKER_3'
MARKER/3, PART = 2
!
!                          adams_view_name='FMARKER_7'
MARKER/7, PART = 2, FLOATING
!
!                           adams_view_name='GCURVE_1'
GRAPHICS/1, CURVE, CID = 1, CRM = 1, SEG = 30
!
!------------------------------------ Part -------------------------------------
!
!                            adams_view_name='PART_3'
PART/3, MASS = 4.084594048, CM = 8, IP = 4084.594048, 4084.594048, 4084.594048
!
!                           adams_view_name='MARKER_2'
MARKER/2, PART = 3, QP = -450, 200, 0
!
!                           adams_view_name='MARKER_5'
MARKER/5, PART = 3, QP = -450, 200, 0
!
!                           adams_view_name='MARKER_6'
MARKER/6, PART = 3, QP = -450, 200, 0
!
!                              adams_view_name='cm'
MARKER/8, PART = 3, QP = -450, 200, 0
!
!                         adams_view_name='ELLIPSOID_2'
GRAPHICS/2, ELLIPSOID, CM = 2, XSCALE = 100, YSCALE = 100, ZSCALE = 100
!
!-------------------------------- CONSTRAINTS ----------------------------------
!
!                           adams_view_name='JOINT_1'
JOINT/1, FIXED, I = 3, J = 4
!
!------------------------------ DATA STRUCTURES --------------------------------
!
!                           adams_view_name='MATRIX_1'
!                           adams_view_units='length'
MATRIX/1, FULL = RORDER, ROWS = 6, COLUMNS = 3
, VALUES = 0, 0, 0
, 150, -150, 0
, 500, 0, 0
, 950, -100, 0
, 1050, 100, 0
, 1100, 150, 0
!
!                           adams_view_name='CURVE_1'
CURVE/1, OPEN, MATRIX = 1, CURVE_POINTS
!
!---------------------------- HIGHER PAIR CONTACTS -----------------------------
!
!                            adams_view_name='PTCV_1'
PTCV/1, I = 6, JFLOAT = 7, RM = 1, CURVE = 1
!
!------------------------- GRAVITATIONAL ACCELERATION --------------------------
!
ACCGRAV/JGRAV = -9806.65
!
!----------------------------- ANALYSIS SETTINGS -------------------------------
!
OUTPUT/REQSAVE, GRSAVE
!
RESULTS/
!
END





Hope this helps,

Shaun Kroeger
MSC.Software

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