1. Joint Definition - Friction Joint Friction is determined based on the parts connected by the joint. By default materials from SW are used and a default of dry steel for friction and contact properties. The user can override this at any time by selecting other materials from the database or by using custom values for friction and Joint dimensions. Joint dimensions relate to the dimensions of the surfaces in contact for the joint to determine frictional components from every load direction.

2. Joint Definition - FEA Select the features on each part that the joint loads will be distributed over when results are exported to FEA Multiple faces can be selects for each part. Loads are evenly distributed over features For joints generated from assembly constraints, the loads can be automatically mapped to the features used to define the constraints. This option appears when you export loads to FEA. Only features on the current part will be recognized when selecting faces Features can be removed by clicking on them in the dialog window and then pressing the delete key

3. Contact - Point-Curve Constrains a point on one part to follow a profile on another part. The point is still free to rotate in any direction Curve can be open or closed Picking on a surface when defining a curve selects all the outer edges of the face automatically Points per Edge Curve controls accuracy of spline fit to profile defined. The number refers to the number of points the spline must pass through on each edge portion. Total number of points permitted per curve is 800 If not in an assembled position, solver will move the point to the nearest position where it lies on the curve

4. Contact - Curve-Curve (Continuous ) Curves can be open or closed Curves can be 3-D, but must only touch at one point Solver will terminate if the contact point reaches the end of an open curve Picking on a surface when defining a curve selects all the outer edges of the face automatically Points per Edge Curve controls accuracy of spline fit to profile defined. The number refers to the number of points the spline must pass through on each edge portion. Total number of points permitted per curve is unlimited If not in an assembled position, solver will move the parts to make the curves contact at the nearest position

5. Contact - Curve-Curve (Intermittent) Curves can be open or closed Curves do not necessarily stay in contact A contact parameters tab allows for material specifications for contact definition Curves must be 2-D and parallel at all times No limit on the number of points Curve Flip used so that arrow MUST point into the solid from the edge of the curve (ie it defines the side of the curve that the solid is on)

6. Contact - Curve-Curve (Intermittent ) Can uncheck or check intermittent contact here also Output frame option enforces a result frame when contact/collision occurs independent of the number of frames specified in the simulation parameters (but only for that curve-curve definition ) Contact properties are modified clicking on this button

7. Contact - Curve-Curve (Intermittent) Default materials for parts appears, but can be overridden. Collision parameters can be customized for specific contact definition. Coefficient of Restitution offers a simple interface to contact parameters. Friction takes into account the static and kinematic friction transition.

8. Couplers Allows the proportional movement of one joint with respect to another. Can link: Rotational - Rotational Rotational - Translational Translational - Translational Available for combinations of Revolute, Cylindrical, and Translational joints One joint can be linked to multiple joints provided they do not conflict with motion generators or other couplers Couplers are primarily used for representing gears without taking into account losses

9. Linear Springs Same format as Action/Reaction Force Only supports Linear Springs Length defaults to be initial distance between attachment points Design toggle option allows the user to specify any length at which the specified force exists in the spring If Force is set to zero, length indicated is the free length

10. Linear Dampers

11. Torsional Springs Angle is equivalent to length for linear spring Torque value indicates amount of pre-load in the spring at the specified angle If Torque is zero, Angle specified is the free angle

12. Torsional Dampers

13. Joint Definition - Motion with Arbitrary Function Use a ‘+’ or ‘-’ to combine multiple functions Start on a new line by using the ‘Ctrl-Enter’ command Use any array of mathematical functions to define expression (refer to following slides) Refer to help for full function definitions Expression units are in radians for rotational motion and assembly length units for translation (also depends on time units) Predefined functions can be used by clicking on the “Fx” button. If text is highlighted in the expression window, it will be replaced by the function selected using the “Fx” button This icon gives information on the points located on the separate parts attached by the joints. This is an interim step to providing an advanced graphical function builder (see next slide)

14. Joint Definition - Motion with Arbitrary Function Use this button to validate expression. If errors are detected a dialog will appear indicated location of error. Correct the error and click on the Tick button to re- check expression

15. Joint Definition - Supported Functions Function NameSummary Definition ABSAbsolute value of (a) ACOSArc cosine of (a) AINTNearest integer whose magnitude is not larger than (a) ANINTNearest whole number to (a) ASINArc sine of (a) ATANArc tangent of (a) ATAN2Arc tangent of (a1, a2) COSCosine of (a) COSHHyperbolic cosine of (a) DIMPositive difference of a1 and a2 EXPe raised to the power of (a) LOGNatural logarithm of (a) LOG10Log to base 10 of (a) MAXMaximum of a1 and a2 MINMinimum of a1 and a2 MODRemainder when a1 is divided by a2 SIGNTransfer sign of a2 to magnitude of a1 SINSine of (a) SINHHyperbolic sine of (a) SQRTSquare root of a1 TANTangent of (a) TANHHyperbolic tangent of (a) IFDefines a function expression

16. Joint Definition - Supported Functions Function NameSummary Definition CHEBYEvaluates a Chebyshev polynomial FORCOSEvaluates a Fourier Cosine series FORSINEvaluates a Fourier Sine series POLYEvaluates a standard polynomial at a user specified value x SHFEvaluates a simple harmonic function STEPApproximates the Heaviside step function with a cubic polynomial STEP5Approximates the Heaviside step function with a quintic polynomial OPERATORS SymbolOperation **Exponentiation /Division *Multiplication EXPRESSIONS AND FUNCTIONS Function NameSummary Definition DTORDegrees to radians conversion factor PIRatio of circumference to diameter of a circle RTODRadians to degrees conversion factor TIMECurrent simulation time

17. Joint Definition - Result Dependant Functions

18. Motion Generators, Forces, and Moments allow the use of result dependant functions as part of their function specification. These can be entered for Joint motions, Forces, or Moments. Marker IDs Many of the ADAMS functions use Marker IDs as parameters to the function. To determine the Entity ID or the ID of markers attached to an entity, the marker icon listed on the function dialog will bring up a list of each motion entity and then the marker id’s underneath those entities. All Dynamic Designer Motion entities display some information under the title ADAMS Solver Data. This includes the Entity and the ID of the markers attached to the entity. In the image to the left, the Distance2 Constraint has two markers with IDs of 27 and 28 on parts 1 and 4 respectively. If I were measuring angular velocity of Part 1 with respect to Part4, I would use the WZ(I,J) functions where I would specify WZ(27,28) to measure the relative rotational velocity of Marker 27 with respect to Marker 28.

19. Joint Definition - Supported Result Dependant Functions