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International Journal of Engineering & Technology IJET-IJENS Vol:12 No:04

108

Simulation of Slider Crank Mechanism Using


ADAMS Software
Assad Anis
Abstract: This paper presents the kinematic and dynamic analysis
of slider crank mechanism. The slider crank mechanism is
simulated in ADAMS software to observe the response of the
slider block and the reaction forces at joint R2(joint between
crank shaft and connecting rod). The dynamic analysis has been
performed by applying moment of 4.2 Nm at joint R1 (the
revolute joint between connecting shaft and connecting plate).
The applied moment is removed by imposing rotational motion
at joint R1 with angular velocity of 6 rad/sec to perform dynamic
analysis. These simulations were performed with different time
steps and durations. The friction was assumed to be negligible
during these simulations. As a result of this work, the
longitudinal response of the slider block is observed with applied
moment as well as slider block response along with reaction
forces at joint R2 is investigated in case of imposed rotational
motion.

presents a multibody dynamics approach that uses a


simulation of crank-slider mechanism in ADAMS software
[5].
II.
SYSTEM UNDER INVESTIGATION
The 3-D view of the mechanism to be investigated is shown in
figure 1. As the figure indicate that the system has two links
and one block connected to each other by joints.

Keywords: ADAMS, joint R1, joint R2, Reaction forces, Slider crank
mechanism.
I.

INTRODUCTION

The slider-crank mechanism is considered as one of the most


used systems in the mechanical field [1]. It is found in pumps,
compressors, steam engines, feeders, crushers, punches and
injectors. Furthermore, the slider-crank mechanism is central
to diesel and gasoline internal combustion engines, which play
an indispensable role in modern living. It mainly consists of
crank shaft, slider block and connecting rod. It works on the
principle of converting the rotational motion of crank shaft to
the translational motion of slider block.
The simulation of slider crank mechanism has been frequently
studied for several years. Erkaya performed the kinematic and
dynamic analysis of a modified slidercrank mechanism
characterized by an additional eccentric link between
connecting rod and crank pin [2]. Fung presented the
kinematic and dynamic analyses of the intermittent slider
crank mechanism. The connecting rod is connected with a
pneumatic cylinder and a spring model [3]. Mohammad
Ranjbarkohan used ADAMS software and Newtons law for
analyzing slider crank mechanism to investigate the effect of
engine RPM on crankshaft and connecting rod [4]. However,
no work is performed to find out the response of the slider
block and the reaction forces at joint between crank shaft and
connecting rod. In order to address this problem, this paper
Assad Anis is serving in
Department of Automotive and Marine Engineering, NED University of
Engineering and Technology- Karachi- Pakistan,
soi_assad@hotmail.com

Fig. 1. 3-D view of the slider crank mechanism

The description of components is expressed in table I, II and


III.
TABLE I
DESCRIPTION OF LINKS
Body

Length,
m

Width,
m

Depth,
m

Crankshaft
Connecting
Rod

0.31
-----

0.04
0.04

0.02
0.02

Moment of
inertia,
Kg-m2
0.4
0.75

TABLE II
DESCRIPTION OF PLATE
Thickness, m

Body

Connecting Plate

Body

Length ,
m

Slider
Block
Base
Block

0.2
0.98

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0.1

2
6

Radius, m

0.01

TABLE III
DESCRIPTION OF BLOCK
Height, m
Depth, m
Moment of
inertia
Kg-m2
0.07
0.1
0.75
0.05

Mass
Kg

0.1

----

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Mass,
Kg
8
-----

International Journal of Engineering & Technology IJET-IJENS Vol:12 No:04

The distance between the slider block and the end of the
connecting plate is 0.6 m.
III.
SIMULATION MODEL
The generalized diagram of the mechanism is shown in figure
2.

109

A. DESCRIPTION OF FORCES
There are two forces used in the mechanism for analysis.
Initially dynamic analysis of the system has been performed
using moment of 2.4 Nm at joint R1 and later on this moment
has been replaced by imposed motion with angular velocity of
6 rad/sec. The rotational motion is imposed on joint R1 to
perform kinematic analysis. The gravity is present in the
system as a third force.
TABLE V
DESCRIPTION OF FORCES
2.4 Nm
6 rad/s
9.8 m/s2

Moment
Rotational Motion
Gravity

IV.
STATIC EQUILIBRIUM
After modeling and defining constraints, static equilibrium has
been determined successfully by running simulation with end
time 0.25 seconds and step size 0.01(figure 3). In static
equilibrium, all the reaction forces in the body are zer

Fig. 22. -D view of slider crank mechanism

A. RIGID BODIES
The mechanism has the following bodies.

Connecting Rod (link)


Crankshaft (link)
Sliding Block (Solid Block)
Base Block (Solid Block)
Connecting Plate (Plate)

The crankshaft is connected to the connecting rod with


primitive joint. The connecting rod is connected to the slider
block with revolute joint and slider block is connected with
translational joint allowing to and fro motion of the block in
one direction i.e. x-axis. The crankshaft is connected with
revolute joint to the plate allowing rotational motion of the
crankshaft. Initially moment is applied at Joint R1 to find the
response of the sliding block in x-direction i.e. longitudinal
response and also the reaction forces at joint R2. This moment
is removed and rotational motion is imposed at joint R1 again
to find the longitudinal response of the block and reaction
forces at joint R2.
B. DESCRIPTION OF JOINTS
The details of joints used in simulation of slider crank
mechanism is listed in table IV.

Fig. 3. Static Equilibrium of the system

V.
MOMENT LOADING
A moment of 2.4 Nm has been applied at joint R1 and running
the simulation for 5 seconds with time step of 0.001. The
model has been verified successfully with 1 DOF. The system
does not have any redundant constraint. Since the difference
between number of generalized coordinates and number of
constraint equations is 1 therefore the system has 1 degree of
freedom and is dynamically driven.
TABLE VI

Joints

Revolute
Joint

No. of
Joints

TABLE IV
DESCRIPTION OF JOINTS
Translational
Primitive
Joint
Joint

NUMBER OF PARTS, JOINTS , FORCES AND DOF IN


MOMENT LOADING
Fixed
Joint

Moving
Parts

Revolute
joint

Translational
joint

Primitive
Joint

Moment

DOF

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110

model has been verified successfully with no redundant


constraint.

Moving
Parts
3

TABLE VII
NUMBER OF PARTS, JOINTS , FORCES AND DOF IN
IMPOSED MOTION
Revolute
Translational
Primitive
Motion
DOF
joint
joint
Joint
2

Fig. 4. Slider Crank Mechanism with loaded moment

These simulations have been performed for 5 seconds with


time step of 0.001. From the post processor of ADAMS, the
longitudinal response of the sliding block and reaction forces
at joint R2 has been obtained which are shown in figure 5 and
6 respectively.

The system has 0 DOF which means that the imposed motion
acts as constraint and the number of generalized coordinates
(n) becomes equal to the number of constraint equations (nc)
i.e. n = nc and therefore system is kinematically driven.

Fig. 7. Slider Crank Mechanism with imposed motion

Fig. 5. Longitudinal response of the sliding block

Fig. 8. Longitudnal response of the sliding block

Fig. 6. Reaction forces at joint R2

In case of moment loading the maximum force of joint R 2 in


x-direction is 55N and the minimum force is -60N. The
maximum force in y-direction is 135N and the minimum 10N.
VI.

IMPOSING ROTATIONAL MOTION

Removing the moment and imposing rotational motion to the


revolute joint R1 with 6rad / s for finding the response
of the slider block and reaction forces by running the
simulation for 5 second duration and time step of 0.001. The
'

Fig. 9. Reaction forces at joint R2

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International Journal of Engineering & Technology IJET-IJENS Vol:12 No:04


In case of rotational motion the maximum force of joint R 2 in
x-direction is 165 N and the minimum force is -250 N.
Similarly the maximum force in y-direction is 325 N &
minimum force is -460 N.
VII.

Qe F T r / q ------------------------------------------- (3)
Cd i
qi ------------------------------------------------ (4)
I

COMPARISON

The numerical values obtained from the plots for both cases
i.e. moment and rotational motions are shown in table VIII.

111

Cd i = Cq d Cqi --------------------------------------------- (5)

TABLE VIII
COMPARISON BETWEEN MOMENT LOADING AND
ROTATIONAL MOTION CASE

Therefore, virtual work may also be expressed as,

+ve Force in
xdirection(N)

-ve Force in
xdirection(N)

+ve Force in
ydirection(N)

-ve Force in
ydirection(N)

W F T r / q

Moment

55

-60

135

10

Rotational
Motion

165

-250

325

-460

Case

It is clear from above table that the reaction forces at joint R2


in case of imposed rotational motion are greater as compared
to the values obtained with applied moment. However, the
joint forces in case of applied moment may be increased with
increase in numerical values of moment.
VIII.

DISCUSSIONS

The mechanism consists of three moving bodies i.e.


crankshaft, connecting Rod and slider Block, therefore,
The generalized coordinates needed to express the system are
6 (3) = 18 --------------------------------------------------------- (1)
The Jacobin matrix needed to express the system will be of
18x17 order as there are seventeen constraint equations
needed to express the system (i.e. the system has 1 DOF and
dynamically driven). But, In case of rotational motion the
system has 0 DOF because the motion acts as constrain and
therefore system is kinematically driven.
Static Equilibrium has been achieved with end time 0.25
seconds and step size 0.01 in ADAMS software. From the
theoretical point of view the static equilibrium is also
determined by taking the virtual displacement to be
kinematically admissible and the virtual work done by the
forces equals to zero. Mathematically virtual work may be
expressed as [6],

W Qeq = 0------------------------------------------------- (2)


Where

Cdi
qi 0 ------------------------ (6)
I

Qe = Generalized external forces

q = Virtual Displacement
I = Unit Matrix

Cq = Jacobin Matrix

F T = Generalized force vector


From static equilibrium model, it is clear that when the angle
becomes 90 degrees then static equilibrium is achieved.
Hence, we may say that equilibrium is achieved when

COS = 0 ---------------------------------------------------- (7)


ADAMS using augmented technique to solve the equations of
motion which may be written as [6],

Mq QV Qe C T q 0 ------------------------------ (8)

C = 0 ------------------------------------------------------------ (9)
Where,

QV = Quadratic velocity vector


M = Mass matrix
The results obtained from the ADAMS post processor are
presented in table VIII. The reaction forces obtained in case of
imposed motion are much higher as compared to the forces
achieved with applied moment.
IX.

CONCLUSIONS

Slider Crank Mechanism has been analyzed using ADAMS


software. Response of the longitudinal movement of slider
block and reaction forces at joint R2 has been plotted by

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112

applying moment of 2.4 Nm at joint R1. The moment is


replaced by applying rotational motion of 6 rad/sec and then
the response of the longitudinal movement of the slider block
and reaction forces of joint R2 have been analyzed using a
simulation of 5 Seconds and 0.001 time step. All the models
have been verified successfully with 1 DOF in case of moment
loading and 0 DOF in case of rotational motion. It has been
observed that the reaction forces of joint R2 in case of moment
loading are less than the reaction forces in case of rotational
motion. Further simulations are recommended with addition
of friction in analysis of slider-crank mechanism.
X.

ACKNOWLEDGEMENTS

The author would like to thanks Prof. Aki Mikkola,


Department Head, Lappeenranta University of TechnologyFinland for his guidance during the project.
XI.
[1]

[2]

[3]

[4]
[5]

[6]

REFERENCES

T. W. Ng. A slider-crank experiment to determine the action of


staticforces. International Journal of Mechanical Engineering Educat
ionVolume 31 Number 4 October 2003.
Seluk Erkaya, Skr Su, and Ibrahim Uzmay. Dynamic analysis of
aslidercrank mechanism with eccentric connector and planetary gears
Mechanism and Machine Theory 42 (2007) 393408.
Rong-Fong Fung, Chin-Lung Chiang and Shin-Jen Chen. Dynamic
modelling of an intermittent slider-crank mechanism. Applied
matehmatcical modelling 33 (2009) 2411-2420
ADAMS Software, Msc Softwares,
http://www.mscsoftware.com/Products/CAE-Tools/Adams.aspx
Mohammad Rajbarkohan, Mansour Rasekh, Abdol Hamid Hosani,
Mohammad Reza Asadi, Kinamtics and kinetic analysis of slider crank
mechanism in otto linear four cylinder Z24 engine. Journal of
mechanical engineerin reasearch vol 3(3) page 85-95, March 2011.
Ahmah A. Shabana, Dynamics of Multibody Systems, published by
press syndicate of university of cambridge, Cambridge University Press

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