Forklift Estimated time required 20 min GUI familiarity

Forklift Estimated time required: 20 min GUI familiarity level required: Higher MSC. ADAMS 2005 r 2 1

Topics Covered In this tutorial, you will learn how to: 1. Create a STEP function 2. Create contact You will need to download the file “FORKLIFT_model_start. zip“ to begin this tutorial If you have any difficulties, import the “FORKLIFT_shortcut. cmd” file and proceed from pg 10 If you have any difficulties, import the “FORKLIFT_complete. cmd” file and proceed from pg 13 2

Forklift Problem Add contact forces and STEP function to delay movements of a forklift. 3

What You Should Accomplish If you are successful, you should end up with a ADAMS model that illustrates contact forces and STEP function of a forklift. 4

Import Model a. Download file FORKLIFT_model_start. zip b. Unzip the files to C: c. Start ADAMS d. Click Import a file radio button e. Select C: as Start in text field f. Click OK d e f File Import window will open g. Right-click File To Read text field, select Browse h. Locate saved file FORKLIFT_start. cmd i. Click Open j. Click OK h g i j 5

Add Translation Joint a. Select Translation Joint from Joint tool stack b. Click ground PAR 2. MAR 1 move cursor to the right, click MAR 1. Z c. Select Translation Joint d. Click PAR 2 PAR 3 PAR 2. lift 2_22. V 229 move cursor up, click lift 2_22. V 6 a b d 6

Add Translation Joint Motion a. Select Translational joint motion from Motion Driver tool stack b. Click JOINT_1 c. Select Translational joint motion d. Click JOINT_2 a d b 7

Create STEP funtion a. Right Click on JOINT_1, select Motion: MOTION_1 Modify b. Click c. Enter STEP(time, 2. 0, 0. 0, 6. 0, 150) in Define a runtime function text field d. Click OK e. Click OK button c b a e d Note: the step function is a delayed movement function. It works like: STEP(time, distance, time 2, distance 2) 8

Create STEP function a. Right Click on JOINT_2, select Motion_1 Modify b. Click c. Enter STEP(time, 0. 5, 0. 0, 4. 0, +36) + STEP 5(time, 6. 0, 0. 0, 8. 5, -36) d. Click OK e. Click OK button 9

Create Contact a. Select Contact from Forces tool stack b. Right-click in I Solid text field, select Contact_Solid Browse c. Highlight BOX_42, BOX_43, BOX_44 Click OK d. Repeat for J Solid except use PAR 3 EXTRUSION_45, EXTRUSION_46 e. Choose Blue from Force Display pull down menu f. Enter Stiffnees = (Stiff_Box_Fork) , Force Exponent = (Exp_box_fork) , Damping = (B_box_fork) , Penetration Depth = (Dmax_box_fork) g. Choose Coulomb from Friction Force pull down menu h. Enter Static Coefficient = 0. 3, Dynamic Coefficient = 0. 2, Striction Transition = 10. 0, Friction Transition = 100. 0 i. Click OK b c d e a f g h i 10

Create Contact a. I Solid = PAR 3 BOX_42, BOX_43, BOX_44 b. J Solid = ground BOX_21 c. Choose Blue from Force Display pull down menu d. Enter: e. a Stiffness =(Stiff_Box_Ground) b Force Exponent =(Exp_box_ground) Damping =(B_box_ground) c Penetration Depth = (Dmax_box_ground) e. Choose Coulomb from Friction Force pull down menu f. Enter: g. d Static Coefficient = 0. 62 Dynamic Coefficient = 0. 6 Striction Transition = 10. 0 e Friction Transition = 100. 0 g. Click OK f g 11

Model This is what your screen should look like when your model is complete 12

Verify the model Run a Simulation: Duration = 10, Step Size = 0. 1 13

Topics Covered In this tutorial you learned how to: 1. Create a STEP function 2. Create contact 14

Best Practices • Check orientation and location of the translation joint • Check direction of translation joint motion • Check STEP function • Check Contact forces are between the right bodies • Check Contact values 15