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142 Adams/Solver Use Corresponding Command COUPLER/id, JOINTS=id1, id2[,id3] Calling Sequence SUBROUTINE COUSUB (id, time, par, npar, disp, ndisp, iflag, phi)SUBROUTINE COUXX (id, time, par, npar, disp, ndisp, iflag, dfda)SUBROUTINE COUXX2 (id, time, par, npar, disp, ndisp, iflag, dfda2)
Input Arguments Welcome to Adams/Solver Subroutines id An integer variable that specifies the identifier of the COUPLER statement whose constraint function is being specified. time A double-precision variable that contains the current simulation time. par A double-precision array that contains the constants taken, in order, from the list of values provided with the USER argument in the COUPLER statement. npar An integer variable containing the number of entries in the PAR array. disp A double-precision array containing the instantaneous joint displacements. Translational displacements are in units of length and rotational displacements are in radians. ndisp An integer variable that defines the size of the DISP array. This is equal to the number of joints being coupled in the COUPLER statement. iflag A logical variable that is set to TRUE when COUSUB, COUXX and COUXX2 are being called for an initialization pass. IFLAG is set to TRUE once for each COUPLER statement in a simulation. Output Arguments phi A double-precision scalar that contains the value of the coupler constraint equation. Extended Definition The constraint equation must be specified in implicit form. For example, the equation must be in the form: f (disp) = 0. dfda A double-precision array of length ndisp that contains the partial derivatives of phi with respect to disp. Therefore, fda(i) = phi / isp(i). dfda2 A double-precision array of dimensions ndisp that contains the second partials derivatives of phi with respect to disp. Therefore, dfda2(i) = 2 / disp (i) disp (i) The COUPLER statement is used to relate the motion of two or more joints. If the relationship between the motion in a set consisting of two or three joints is linear, the scale factors relating the motion can be directly specified in the dataset. However, when the relationship between the joints is nonlinear in nature, the equation specifying this relationship must be specified in the user-written subroutines COUSUB, COUXX, and COUXX2. 143
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Welcome to Adams/Solver Subroutines
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Compilers and Linkers Welcome to Ad
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Utility Subroutines About Utility S
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Subroutine: Does the following: Uns
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Input Arguments Welcome to Adams/So
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RETURN END AKISPL Welcome to Adams/
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Use Called By Any user-written subr
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T1( x - x0) = x - x0 CUBSPL , Welco
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Output Arguments Extended Definitio
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Extended Definition Welcome to Adam
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Input Arguments Output Arguments We
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Input Arguments Output Arguments Ex
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Use Welcome to Adams/Solver Subrout
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GETCPU retrieves CPU time used so f
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GETMOD returns the current analysis
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Use Called by Any user-written subr
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Prerequisite Welcome to Adams/Solve
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C C Inputs: C INTEGER ID C C Output
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Output Arguments Welcome to Adams/S
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C = [-A-1B] Welcome to Adams/Solver
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Output Arguments Welcome to Adams/S
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Prerequisite STRING statement in da
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Prerequisites None Calling Sequence
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function. Welcome to Adams/Solver S
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Calling Sequence CALL IMPACT (x, x'
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Output Arguments Extended Definitio
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Input Argument Welcome to Adams/Sol
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Input Argument Welcome to Adams/Sol
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Use Called By Any user-written subr
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Use Called By SPLINE_READ Calling S
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`S232' Space-two: 2-3-2 `S313' Spac
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Callng Sequence CALL SHF (x, x0, a,
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Calling Sequence CALL STEP5 (x, x0,
Page 91 and 92: Welcome to Adams/Solver Subroutines
Page 103 and 104: C INTEGER IPAR(2), N_UVX, N_UVY, N_
Page 105 and 106: CALL NMODES(FBDYID,NQ,ERRFLG) STRIN
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Page 111 and 112: F(M 1 (q), M 2 (q), ..., M N (q)) W
Page 113 and 114: Examples Welcome to Adams/Solver Su
Page 115 and 116: SUBROUTINE SFOSUB (ID, TIME, PAR, N
Page 117 and 118: DO 100 J = 1 , 6 DFDDIS(I,J)=0.D0 D
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Page 127 and 128: User-Written Subroutines Welcome to
Page 139 and 140: C - Evaluate Normal Force component
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Page 153 and 154: Output Arguments Welcome to Adams/S
Page 167 and 168: C X rotational field torque C ... F
Page 169 and 170: }; int NPAR; const double* PAR; int
Page 171 and 172: Using the DFLAG Variable Welcome to
Page 173 and 174: C RESULT(2) = ... RESULT(3) = ... R
Page 175 and 176: GSE_UPDATE Calling Sequence Welcome
Page 179 and 180: Use Corresponding Statement Welcome
Page 181 and 182: Output Arguments scale A double-pre
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C ENDIF C C - Create request inform
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* * SENSOR struct sAdamsSensorEval
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FORTRAN - Prototype Welcome to Adam
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C C C C C C C C C C C C C C VALUES(
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C - Derivatives of prior first deri
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C C - Subroutine initialization ---
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*/ struct sAdamsVforce { int ID; in
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FORTRAN - Prototype Welcome to Adam
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Examples For an example of this sub
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