09-01-05

1(14)

Institutionen fr Maskinkonstruktion System och komponentdesign Kjell Andersson

Laboration 1: Introduction to ADAMS modeling a piston pump

The main purpose of this exercise in ADAMS is to improve the ability and understanding for how ADAMS works and to illustrate the importance in analyzing and interpreting the results. This is very important to emphasize that even if you are using very powerful programs you need to have full control of the modeling as well as the analysis. In this exercise we will study the behavior of a piston pump consisting of a piston, a flywheel and a crankhandle, see figure 1. This pump will be used to pump liquids. The piston is gliding in a cylinder (not shown in figure 1) and is sucking liquid from a house when the piston is moving out from the cylinder. When the piston is moving into the cylinder it is pumping this liquid into another house. The model you are building up in this exercise is shown in Figure 1 below

Figure 1. Piston Pump Isometric view PUMP DATA Wheel radius = 0.03 m Wheel thickness = 0.01 m Wheel density = 7800 kg/m3 Handle length = 0.1 m Handle width = 0.015 m Handle depth=0.01 m Handle mass = 0.3 kg Handle mass inertia:Ixx= 0.00001 kgm2-,Iyy=Izz=0.0001 kgm2 Piston length=0.06 m Piston diameter = 0.04 m Piston massa=0.2 kg Piston mass inertia:Ixx 0.0001 kgm Iyy=Izz=0.0002 kgm Table 1. Pump data

KTH Institutionen fr Maskinkonstruktion System och komponentdesign Kjell Andersson

The following tasks should be completed

1. The wheel radius should be parameterized Note that all markers on the crank and the piston should be parameterized. 2. The flywheel is driven counter clockwise with a speed of 100 rpm. 3. Plot the piston position as a function of time (0-2 sec). Also plot the velocity as a function of time. 4. Plot the resulting normal force on the piston (t= 0- 2 sec) 5. Plot the pump driving torque. Why is it varying? 6. Add a push or pull force on the piston, which is varying between + 1000N and -1000 N depending on in which direction the piston is moving. 7. Make a DESIGN_STUDY where the wheel radius can vary between 0.02 and 0.04m. What is the relation between radius and the driving torque?

Report
This exercise can be either be approved directly by the assistant at the scheduled event or sent as a short report. If it is sent as a report it should contain plots from the tasks 4, 5 and 7 and answer the questions in these tasks. The report should be sent in electronic form to mknx@md.kth.se, idex@md.kth.se or fipu@md.kth.se. This means that you continuously should select and save plot curves as picture files during this exercise.

To start this exercise you need to do the following setup:

Starting Up ADAMS/View From the ADAMS Product Menu, select ADAMS/View OK

Creating a Database from the Welcome dialog box Create a new model Model Name: pistonpump (or: kolvpump ) OK

Setting up your work environment

Units

Setting Units Set the units: M, KG, N, SEC, DEG, H

Working Grid

F4 ( or: View Coordinate Window) , to let Coordinate Window ON Settings Working Grid Size: X=0.2, Y=0.1; Spacing = 0.005 (without units) Show Working Grid = on; Set Location Global Origin OK

KTH Institutionen fr Maskinkonstruktion System och komponentdesign Kjell Andersson Icons

Settings Icons New Size = 0.01; Visibility = On OK

Gravity

Check: Settings Gravity = ON, Y=-9.80665 OK

Building Piston Pump Model

Hints :
Start with creating points using the Main Toolbox, added to ground (Dont attach) in the locations shown in Table 1.

Table 1. Points Coordinate Location X POINT_1 POINT_2 POINT_3 POINT_4 POINT_5 0.0 0.03 0.10 0.13 0.18 Y 0.0 0.0 0.0 0.0 0.0 Z 0.0 0.0 0.0 0.0 0.0

The Wheel Create the Wheel part and its geometry (cylinder) using the design points Note that you have to modify the orientation of the working grid and that then you have to rename the part to wheel. The reorientation is done by utilizing the Working grid. : Settings Working gridSet Orientation Global YZ An additional hint could be to use the ISOMETRIC view for better visual control. Once the Wheel part is created the working grid should be restored to its original setting i.e. Global XY. Place the cursor over wheel geometry Part: Wheel Modify Set up: Mass Properties defined by =Geometry and Density, Density = 7800 Apply Show calculated inertia OK

The Handle Create the handle in a similar way as you did for the wheel, but use the link geometry.

KTH Institutionen fr Maskinkonstruktion System och komponentdesign Kjell Andersson

Modify the mass and inertia properties by using the modify option :Mass Properties defined by =User Input Change to: Mass = 0.3, Ixx = 0.00001, Iyy = 0.0001 Izz = 0.0001 OK

The Piston Create the piston as a cylinder with a start position at POINT_3 and dimensions as shown in Table 1. Modify the mass and inertia properties in the same way as for the handle.

Defining the Joints We need to define three revolute joints and one translational joint. Place these joints at the locations defined by the design points. We will use the following construction options: 1 Location, Normal To Grid (revolute joint between wheel and ground) use POINT_1 2 Bod-1 Loc, Normal To Grid (revolute joint between wheel and handle and revolute joint between handle and piston) use POINT_2 and POINT_4 2 Bod-1 Loc, Pick Feature (translational joint between piston and cylinder (ground)) use POINT_4.. Now it is time to save your model File Save Database As File Name = pistonpump1.bin OK

Your model should now look like this in the FRONT view:

Figure 2. Piston pump front view

KTH Institutionen fr Maskinkonstruktion System och komponentdesign Kjell Andersson

Testing Your First Prototype

Adding motion on the Wheel Main Tool box Motion Rotational Joint Motion Set up: Speed=600 Pick on joint icon in the center of the Wheel Simulating and Animating the Motion of the First Prototype Main Tool box Simulation Set up: Kinematic, End Time=2.0, Steps=100 Pick on Simulation Start tool Main Tool box Animation Pick on Forward tool Plot the Displacement of the Piston Main Tool box Plotting, ADAMS Post Processor (PPT) will start! Source: Objects Filter = body Object = +piston Characteristics =CM Position Component = X Add Curves On the SIDE TREEVIEW, Expand PAGE 1, select Plot 1. In the Title text box, type: Piston Displacement A title will appear in the SIDE TREEVIEW Select A title Change the Font Size to 16 Select Vertical Axis Axis: vaxis Labels= Length (meter), Font Size=14 Select: Numbers Font Size=12 Select Horizontal Axis Axis: haxis Select Labels Label= Time (sec) , Font Size=14 Select Numbers Font Size=12 Your plot should look like figure 3 Piston Displacement

KTH Institutionen fr Maskinkonstruktion System och komponentdesign Kjell Andersson

Figure 3. Piston Displacement

Plot the Velocity of the Piston On Main tool bar, Pick Create a new page Your plot should look like figure 4 Piston Velocity:

Figure 4. Piston Velocity

KTH Institutionen fr Maskinkonstruktion System och komponentdesign Kjell Andersson

Plot the Normal Force of the Piston Source: Objects Filter = constraint Object = +JOINT_3* Characteristics =Element_Force Component = Y Add Curves * Joint between Handle and Piston

Figure 5. Normal Force of Piston Plot the Pump Driving Torque Source: Objects Filter = constraint Object = +MOTION_1 Characteristics =Element_Torque Component = Z Add Curves

Figure 6. Pump Driving Torque File Close Plot Window

KTH Institutionen fr Maskinkonstruktion System och komponentdesign Kjell Andersson

Adding a Push and pull force on the Piston Create a design point to connect the force to at the top of the piston (0.16,0.0,0.0) (POINT_6) Create a single component force, 2 bodies: Piston and ground (use POINT_5) Create the force function. This function should give +- 1000 N depending on the moving direction of the piston. Hint: Use the SIGN and VX (or VR) function in the FUNCTION BUILDER. SIGN(a1,a2) returns a1 dependent on the sign of a2. VX(To,From;Along,Ref.Frame) returns the velocity in X-direction between two markers in a given reference frame. Simulating and Animating the Motion of the Prototype Simulate the motion of the pump for 2.0 sec 100 steps.

Plot the Pull and Push Force of Piston Your plot should look like the one below:

Figure 7. Pull and Push Force of Piston

KTH Institutionen fr Maskinkonstruktion System och komponentdesign Kjell Andersson

Plot the Pump Driving Torque Your plot should look like the one below:

Figure 8. Pump Driving Torque Refining Your Design Creating Design Variables Place the cursor over POINT_2 Point: POINT_2 Modify The Table Editor will appear. Select The Loc_X for POINT_2 Click in the input box at the top of the Table Editor Parameterize Create Design Variable Real The Design Variable is given the default name .pistonpump.DV_1 : Change the name to .pistonpump.Radius by using the menu Edit Rename Select The Loc_X for POINT_3 Click in the input box at the top of the Table Editor Parameterize Reference Design Variable Radius OK At the top of the Table Editor, change to (.pistonpump.Radius+0.07) Select The Loc_X for POINT_4

KTH Institutionen fr Maskinkonstruktion System och komponentdesign Kjell Andersson

10

Click in the input box at the top of the Table Editor Parameterize Reference Design Variable Radius OK At the top of the Table Editor, change to (.pistonpump.Radius+0.1) Select The Loc_X for POINT_5 Click in the input box at the top of the Table Editor Parameterize Reference Design Variable Radius OK At the top of the Table Editor, change to (.pistonpump.Radius+0.15) OK Select The Loc_X for POINT_6 Click in the input box at the top of the Table Editor Parameterize Reference Design Variable Radius OK At the top of the Table Editor, change to (.pistonpump.Radius+0.13) OK Build Design Variable Modify Radius OK Set up: Standard Value = 0.03, Units= length , Value Range by =Absolute Min and Max Values, Min. Value= 0.02, Max. Value= 0.04 OK Reviewing Design Variables Tools Table Editor Select the Variables at the bottom of the table Editor Filters Select: Delta Type=ON, Units=ON OK Parameterizing other Geometries of your model
1. Parameterizing the Wheel

Place the cursor over Wheel Cylinder: CYLINDER_1 Modify Place the cursor in the Radius text box Parameterize Reference Design Variable Radius OK OK
2. Parameterizing the handle.cm Marker

Place the cursor over handle.cm Marker Marker: cm Modify Change to Location = (.pistonpump.Radius+0.05), 0.0, 0.0 OK

KTH Institutionen fr Maskinkonstruktion System och komponentdesign Kjell Andersson 3. Parameterizing the Piston

11

Place the cursor over piston.cm Marker Marker: cm Modify Change to Location = (LOC_RELATIVE_TO({0.0,0.0,0.0},.pistonpump.ground.POINT_4)) OK OK Reviewing the Parameterized model Tools Table Editor Select The Real_Value for Radius At the top of the Table Editor, change back to 3.0E02 OK You can see that the model has been changed back. Creating a Driving Torque Measure Build Measure Selected Object New +pistonpump MOTION_1 OK Select: Characteristic = Torque, Component = Z OK Place the cursor over Torque Curve Curve:Current Save Curve To modify a design variable Build Design Variable Modify Radius OK Set up: Standard Value = 2.0E-02 OK Run a 2.0 second, 100-step simulation The new plot shows a comparison of the driving torque measure for the two cases Reset to input configuration Creating Measures of Piston displacement and Velocity Build Measure Selected Object New +pistonpump piston cm OK Set up: Characteristic = Translational Displacement, Component = X Apply A new plot of piston displacement appears Set up again: Characteristic = Translational Velocity, Component = X OK A new plot of piston displacement appears

KTH Institutionen fr Maskinkonstruktion System och komponentdesign Kjell Andersson

12

Running a Design Study Simulate Design Evaluation Set up: Design Study=ON, Measure=ON, Maximum of = .pistonpump.MOTION_MEA_1, Design Variable .pistonpump.Radius, Default levels = 5 Settings: Display Chart Objective=ON, Chart design variables = ON, Save stripchart curves=ON, Show tabular report = ON OK Adjust the windows to see more Start ADAMS displays Piston displacement plot (cm_MEA_1), Piston Velocity plot (cm_MEA_2), Driving Torque plot (MOTION_MEA_1), Radius vs. Trial plot, MOTION_MEA_1 vs. Radius plot, and a design study report. Close the information window and the Design Evaluation box Transfer the strip charts to full plot Place the cursor over cm_MEA_1 chart Plot: scht1 Transfer to full plot

Your transferred plot should look like the one below:

Figure 9. Piston Displacements vs. Time

You can edit the plot, if you like.

KTH Institutionen fr Maskinkonstruktion System och komponentdesign Kjell Andersson

13

File Close Plot Window In the same way, you can transfer the other charts, as shown next:

Figure 10. Piston Velocities vs. Time

Figure 11. Pump Driving Torque vs. Time

KTH Institutionen fr Maskinkonstruktion System och komponentdesign Kjell Andersson

14

Figure 12. Pump Driving Torque vs. Radius of the Wheel Note: The title and the labels of the axis have been edited

Figure 13. Radius of the Wheel vs. Trial Note: The title and the labels of the axis have been edited All Done! To Save Your Work: Use a COMMAND FILE (.cmd). Note that your plots will NOT be saved only the model. Note that you first have to save the plots needed for the report. Show your simulation plots to the lab assistant to get approved on the Lab before you exit ADAMS. File Export ADAMS/View command file, Exit ADAMS