Mech-RBD 13.0 L03

Customer Training Material
Lecture 3 Connections
Introduction to ANSYS Rigid Body Dynamics

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.
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Release 13.0 December 2010
Content
A. Overview B. Joints C. Joint Features
Reference co-ordinate system STOPS and LOCKS Nonlinear material definition DOF Checker Redundancy analysis Configuration Tool Assemble Tool Remote points/ Connection line
D. E. F. G.
Springs Generalized Contact Command Snippet Constraint Equations

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A. Overview: Connections
In dynamic analyses connectivity for rigid parts is handled via joints, springs and contacts to model relative motion between parts. Parts can be connected with Spring which store mechanical energy and provide motion during unloading. Generalized contact help to model impact and sliding between the parts Joint features like Reference co-ordinate system, STOPS and LOCKS and helps to model joint motion accurately. DOF checker and Redundancy analysis helps to avoid motion locking or erroneous motion of the assembly Configuration and Assemble tool help to position the parts accurately and to animate motion ( kinematics) without solving.
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A. Overview: Misuse of contact
No Separation contact
Contact :Elapse time : 180 sec Joint : Elapse time : 112 sec !! Around 35% time saving
Revolute joint
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B. Joints: Types
Revolute Cylindrical Spherical Translational Slot Planar Universal General Bushing (Next slide)
Spherical Revolute Cylindrical Planar
Universal
Translational Slot
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B. Joints: Bushing
Bushing joint can model free motion in some directions, constrained in others Elastic and damping forces in constrained directions can be defined Benefits
Add flexibility at joints w/o large CPU cost Add realism to rigid simulations
Applications
Suspensions, pivots with compliance Vibration isolation
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B. Joints: Creation
Joints can be created manually or automatically. Joints:

Are defined by translational and rotational degrees of freedom (DOF). DOF are with respect to local reference and mobile coordinate systems associated with the joint. Can be body to body (BTB) or body to ground (BTG).
Joint Kinematics:
Translation:
The mobile coordinate system translates in the reference coordinate system.
Rotation:
Once translations have occurred the center of rotation is the location of the mobile coordinate system.
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B. Joints: Manual Creation

Scoping:
Joints can be scoped to single or multiple faces of the geometry for both BTB and BTG joints. For BTB joints any side can be reference and a mobile side, Exceptions: General Joint Slot Joint
(Joint kinematics are such that translations occur before rotations. For this reason the kinematics will differ with the choice of reference and mobile bodies for the above joint types.)
Joint Coordinate Systems:

As seen earlier the DOF of a particular joint is with respect to the joints reference coordinate system. Locating and orienting the reference and mobile CS is therefore critical to joint performance. A reference and mobile CS can be associative or non-associative. It is recommended that all reference CS be defined as associative (covered on subsequent pages).
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Example (BTG):
A reference coordinate system is shown at the centroid of the joints reference location. The available motion (DOF) associated with each joint is with respect to this reference CS is displayed in the legend. The legend indicates which directions are free (colors) and which are fixed (gray). Joint details show a reference and mobile section. In body to ground joints the reference is the ground.
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Example (BTB):
BTB joints involve 2 bodies, one defined as the reference body and the other as the mobile.
Red = Reference Blue = Mobile
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B. Joints: Body Views

Body Views toggle button: Displays reference and mobile parts in separate auxiliary windows for a joint. (Auxiliary windows operate independent of the main graphics window ) Sync Views toggle button: When the Body Views button is engaged, any manipulation of the model in the Geometry window will also be reflected in both auxiliary windows. (Auxiliary windows operate synchronously of the main graphics window )
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B. Joints: Body Views

Within the reference or mobile window, only the reference or mobile body selected from the main graphics window is active. Easy to click on the desired surface, edge, etc. without inadvertently selecting other parts of the assembly. The Sync Views feature maintains alignment with the main graphics window in each body view.
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B. Joint: Automatic Creation

Automatic joint creation is much like the automatic contact creation To create joints automatically right click on the Connections branch and choose Create Automatic Joints.
Can be used to define revolute or fixed joints automatically. Is configured via the Connections details window Options dialog can be used to set default behavior.
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B. Joints: Initial Conditions
For rigid dynamic analyses the joint DOF define the relative motion between parts. Unless defined otherwise by joint conditions, the initial velocity is assumed to be zero. For rigid analyses relative velocities are at rest. Zero translational values = coincident reference and mobile CS. Zero rotational values = coincident axes for the reference and mobile CS.
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B. Joints: Motion
Two nodes with 6 DOFs at each node =>12 DOFs The relative motion between the two nodes is characterized by 6 relative degrees of freedom
3 Translational relative dofs 3 Rotational relative dofs
Example: Translational relative degree of freedom
e2
Constraints on these relative degrees of freedom generates different kinds of Joint behavior. Constraints implemented using the Lagrange Multiplier method
1
e3
X1
e1
2
X2
O
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B. Joints: Motion
Example: x-Axis Revolute joint Displacement Constraints:
u I uJ
will make X, Y, Z DOF = 0 Rotational Constraints: - RY DOF = 0 - RZ DOF = 0 Rotation around the X axis:
Relative rotations are characterized by Cardan Angles
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C. Joint Features: Reference Coordinate Systems

Associative Reference Coordinate Systems:
The reference CS is automatically placed in a sub branch of the joint. Existing geometry or coordinate systems may be used to locate reference CS. To insure a CS is associative the location and orientation must be explicitly specified. In the example at the right notice the Y axis orientation is defined by Default. This results in a non associative CS. It is recommended that all reference CS be defined as associative when geometry update and/or joint configuration is to be used.
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To modify reference coordinate system orientation, first click in the coordinate system field in the joint details to activate the apply/cancel buttons. The reference coordinate system will become active for modification (see next page).
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When the reference CS is active click on the desired axis to change its direction. Any of the 6 coordinate direction can then be chosen for the new direction.
Existing geometry can be selected for alignment as well.
Local X axis selected New CS orientation
Local -Z chosen as new direction
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C. Joint Features: STOPS Can be defined in Workbench and/or using APDL command STOPS or Limits can be imposed on the available components of relative motion between the two nodes of a joint element.
To specify minimum and maximum values, issue the SECSTOP command.
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C. Joint Features: LOCKS LOCKS or Locking limits, can be imposed on the available components of relative motion between the two nodes of a joint element.
When the LOCKS are activated on a particular component of relative motion, that component remains locked for the rest of the analysis.
Issue the SECLOCK command to define lock limits in MAPDL
The same option to define values, as of STOPS, will be available for LOCK also
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C. Joints Over-constraint
An over-constrained model may solve successfully initially, then lock-up or not converge. A well-defined mechanism usually has one rigid body dof as below.
Revolute to Ground Revolute to Ground Revolute to Ground Slot to Ground
Revolute Rigid Body to Body Cylindrical
Slot to Ground
Pendulum
3-Bar Mechanism
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Double Slot
C. Joints Over-constraint
Is the planar mechanism below over-constrained? Answer: Yes it is. The out of plane UZ dof is redundantly constrained. The body to body joint can be a cylindrical joint, which does not constrain relative UZ.
ROTZ Revolute
Y
Rigid Link
Rigid Link
ROTZ Revolute to Ground
UX Slot to Ground
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C. Joint Features: DOF Checker
The Worksheet view for the Connections branch displays a Joint DOF Checker. If the total free DOF is less than one this could indicate an over constraint condition. Example:
2 links Each link = 6 DOF
Two joints are added to the linkage:

BTG Revolute BTB Revolute
Continued . . .
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Recall the revolute joint is defined as:
Free DOF = ROTZ (5 DOF constrained) Worksheet view for Connections calculates free DOF based on the joint definitions.
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In cases where an over constraint condition is detected a message will appear in the Worksheet view:
Following a solve a list of any redundancies that existed is given in the Solution information branch.
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C. Joint Features: Redundancy Analysis
Detects Redundant Joint Definitions that prevent proper Joint Force calculation Improves Preparation of models for the flexible solvers
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C. Joint Features: Configuration Tool

With the desired joint highlighted the Configure button allows manual manipulation of joints (see next page). The colored bar(s) on the configuration triad can be moved using the cursor. After manually moving the joint the Set button allows the joint to be initialized in its new location.
Note, multiple sets can be stacked as they are applied to multiple joints.
The Revert button sets the configuration back to its original orientation.
The context menu (RMB) for each joint allows the reference/mobile parts to be flipped.
ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved. Release 13.0 December 2010
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Example: The simple pendulum model shown here is modeled in its at rest position. To change its initial position first activate the Configure icon.
Notice the configure handle appears for the selected joint.
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Using the left mouse button the joint can be configured to the desired initial position.
With the initial position specified the new location can be locked in using the Set icon. To cancel a set orientation use the Revert icon.
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For more precise control during joint configuration depress the CTRL key on the keyboard. This places configuration into snap mode. The desired increment can be set using Tools > Options > Common Settings > Graphics Interaction
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C. Joint Features: Joint Configuration

Joint configuration can be used to modify the initial position of parts for proper assembly alignment using the mobile coordinate system. At right, one of the links must be moved into its initial position. Changing the initial position details for the joints mobile component to Override will expose the Mobile Coordinate System.
Revolute: Body to Ground
Revolute: Body to Body
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By scoping the mobile CS to the appropriate location the Configure option can be used to align the parts. If the alignment is acceptable the Set option will lock the parts in place.
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The joint can be further configured as described earlier and the Set icon used to finalize placement.
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C. Joint Features: Assemble Tool
The Assemble feature allows you to bring in CAD geometry that may initially be in a state of disassembly. After importing the CAD geometry, you can actively assemble the different parts and Set them in the assembled configuration for the start of the analysis.
CAD parts Define Connections Assemble
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Workshop : 1
The main objectives of this workshop are threefold:

Demonstrate the new Assemble feature for joints Demonstrate the new Stops feature for joints Compare the results between two models using different coefficients of Restitution
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D. Springs: Overview
A spring is an elastic element that regains its original shape after being compressed or elongated. Springs are defined as loaded or unloaded , that is, tension or compression loading conditions are included in the definition of a spring. Springs can include damping (function of velocity) and stiffness. Although spring definitions appear in the Connections branch and can be BTB or BTG they do not represent a path to ground. Springs are defined like joints using reference and mobile sides.
The location of the reference/mobile sides determines the line of action of the spring. A zero length spring is invalid (no line of action).
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D. Springs : overview
Spring Details:
Type : Longitudinal or Torsional Behavior :
Both Tension only Compression only
Stiffness and damping. Preload :

Load Free length
Scope Reference and mobile locations as well as offsets.
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D. Springs : Scoping
In the example shown a BTG spring is scoped to one face of the part. Notice the springs initial configuration is referenced to the global CS.
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D. Springs : Scoping
The springs reference and/or mobile location can be modified in the spring details. Locations can be with respect to global or local coordinate systems.
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D. Springs: scoping
Alternatively the reference location can be scoped to existing geometry.
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D. Springs : Stiffness/Damping
Longitudinal spring stiffness and damping are input in the working unit system.
Note: for pure damping a stiffness of zero can be used.
Scoping can be accomplished using Named Selections rather than geometry.
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D. Spring behavior
Behavior:
1. Tension and compression longitudinal Spring ( Both) as a linear spring. 2. Compression only Spring to enable the representation of stops/barriers or absorber systems 3. Tension only Springs to represent the effects of cables.
Compression only Tension only
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D. Spring: Preload
Springs can be Preloaded by defining the specific Load value or with Free Length Preload: Load
A positive value creates tension and a negative value creates compression.
Preload : Free Length

The actual length is calculated using spring end points from the Reference and Mobile scoping. The spring will be under tension or compression depending upon whether the Free Length is smaller or greater than the spring length, respectively.
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Workshop 2
This workshop consists of setting up and solving the assembly shown here. A moment load is applied to the drive wheel.
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E. Generalized Contact
Robust collision detection
New algorithm based on non-linear points trajectories Can handle high velocity / small gap / large time step
Frictionless contact Other contact types are beta release
Event Based Time Integration

No time step reduction needed before collision occurs
Newton Shock Theory

Coefficient of Restitution on each pair Instantaneous velocity redistribution
Energy Conservation
But losses can be specified
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E. Generalized Contact: Restitution factor effect

Newton Law for shock is easy to use Based on one single value (coefficient of restitution) V+-V- = -(1+r)V But no forces available during shock Energy Jump is a way to measure the shock
Restitution factor = 1.0
Restitution factor = 0.8
Total energy conservation
A fraction of total energy is lost at each shock
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Very Robust for collisions
Algorithm based on trajectories intersection Allows large time steps
This image cannot currently be display ed.
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Cam / Roller type of problems Recommended for Simple Geometries in Release 13.0
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F. Command Snippets: Advanced Joint Definition
Extends the use of the Rigid Dynamics solver via command snippets Based on IronPython language Example: Definition of screw joint from a cylindrical joint
jc=CS_Joint.Find(_jid) Pitch=2. jc.ReplaceByScrew(Pitch)
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F. Command Snippets: Advanced Joint Definition
Further use of advanced features in Rigid Dynamics solver via command snippets to define complex joints When Parts are rigid, sometimes Contact is not required
Constraint Equations can be enough Through Command Snippets for Rigid Dynamics
Based on IronPython language
Gears via Constraint equations (from 2 Revolute Joints)
Non-linear spring/damper (from Spring, then define non-constant stiffness)
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Customer Training Material

Introduction to ANSYS Rigid Body Dynamics

Release 13.0 December 2010

Introduction to ANSYS Rigid Body Dynamics

Customer Training Material

Springs Generalized Contact Command Snippet Constraint Equations

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.

Introduction to ANSYS Rigid Body Dynamics

Customer Training Material

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.

Release 13.0 December 2010

Introduction to ANSYS Rigid Body Dynamics

A. Overview: Misuse of contact

Customer Training Material

Release 13.0 December 2010

Introduction to ANSYS Rigid Body Dynamics

Customer Training Material

Spherical Revolute Cylindrical Planar

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.

Release 13.0 December 2010

Introduction to ANSYS Rigid Body Dynamics

Customer Training Material

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.

Release 13.0 December 2010

Introduction to ANSYS Rigid Body Dynamics

Customer Training Material

Joints can be created manually or automatically. Joints:

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.

Release 13.0 December 2010

Introduction to ANSYS Rigid Body Dynamics

B. Joints: Manual Creation

Customer Training Material

Joint Coordinate Systems:

Release 13.0 December 2010

Introduction to ANSYS Rigid Body Dynamics

B. Joints: Manual Creation

Customer Training Material

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.

Release 13.0 December 2010

Introduction to ANSYS Rigid Body Dynamics

B. Joints: Manual Creation

Customer Training Material

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.

Release 13.0 December 2010

Introduction to ANSYS Rigid Body Dynamics

B. Joints: Body Views

Customer Training Material

Release 13.0 December 2010

Introduction to ANSYS Rigid Body Dynamics

B. Joints: Body Views

Customer Training Material

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.

Release 13.0 December 2010

Introduction to ANSYS Rigid Body Dynamics

B. Joint: Automatic Creation

Customer Training Material

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.

Release 13.0 December 2010

Introduction to ANSYS Rigid Body Dynamics

B. Joints: Initial Conditions

Customer Training Material

ANSYS, Inc. Proprietary 2010 ANSYS, Inc. All rights reserved.

Release 13.0 December 2010