RBEs and MPCs in MSC.

Nastran

A Rip-Roarin Review of
Rigid Elements
 RBEs and MPCs

Not necessarily rigid elements

Working Definition:

The motion of a DOF is dependent on

the motion of at least one other DOF

Slide 2
 Motion at one GRID drives another

Simple Translation

X motion of Green Grid drives X motion

of Red Grid

Slide 3
 Motion at one GRID drives another

Simple Rotation

Rotation of Green Grid drives X translation

and Z rotation of Red Grid

Slide 4
 RBEs and MPCs

The motion of a DOF is dependent on

the motion of at least one other DOF
Displacement, not elastic relationship
Not dictated by stiffness, mass, or force
Linear relationship
Small displacement theory
Dependent v. Independent DOFs
Stiffness/mass/loads at dependent DOF
transferred to independent DOF(s)
Slide 5
Small Displacement Theory & Rotations

Small displacement theory:

sin() = tan() = Y
TxB
cos() = 1
For Rz @ A B

RzB = RzA= -
TxB = (-)*LAB
TyB = 0 A X

Slide 6
Typical Rigid Elements in MSC.Nastran

Geometry-based
RBAR
RBE2 } Really-rigid rigid elements
Geometry- & User-input based
RBE3
User-input based
MPC

Slide 7
Common Geometry-Based Rigid Elements

RBAR
Rigid Bar with six DOF at
each end

RBE2
Rigid body with
independent DOF at one
GRID, and dependent DOF
at an arbitrary number of
GRIDs.
Slide 8
 The RBAR

The RBAR is a rigid link between two

GRID points

Slide 9
 The RBAR
B
Most common to have all the
dependent DOFs at one GRID,
and all the independent DOFs at
the other A
Can mix/match dependent DOF between the
GRIDs, but this is rare
The independent DOFs must be capable of
describing the rigid body motion of the element
RBAR EID GA GB CNA CNB CMA CMB
RBAR 535 1 2 123456 123456

Slide 10
 RBAR Example: Fastener

Use of RBAR to weld two parts of a

model together:
RBAR EID GA GB CNA CNB CMA CMB
RBAR 535 1 2 123456 123456

Slide 11
 RBAR Example: Pin-Joint

Use of RBAR to form pin-jointed

attachment
RBAR EID GA GB CNA CNB CMA CMB
RBAR 535 1 2 123456 123

Slide 12
 The RBE2

One independent GRID (all 6 DOF)

Multiple dependent GRID/DOFs

Slide 13
 RBE2 Example

Rigidly weld multiple GRIDs to one

other GRID:
RBE2 EID GN CM GM1 GM2 GM3 GM4 GM5
RBE2 99 101 123456 1 2 3 4

3 1

4 2

101

Slide 14
 RBE2 Example
RBE2 EID GN CM GM1 GM2 GM3 GM4 GM5
RBE2 99 101 123456 1 2 3 4

Note: No relative motion between

GRIDs 1-4 ! 3 1
No deformation of element(s)
4 2
between these GRIDs

101

Slide 15
 Common RBE2/RBAR Uses

RBE2 or RBAR between 2 GRIDs

Weld 2 different parts together
6DOF connection
Bolt 2 different parts together
3DOF connection
RBE2
Spider or wagon wheel connections
Large mass/base-drive connection

Slide 16
 RBE3 Elements

Motion at a dependent
GRID is the weighted
average of the motion(s) at
a set of master
(independent) GRIDs
NOT a rigid element
IS an interpolation element
Does not add stiffness to the structure
(if used correctly)

Slide 17
RBE3 Description

Slide 18
 RBE3 Description

By default, the reference grid DOF will

be the dependent DOF
Number of dependent DOF is equal to
the number of DOF on the REFC field
Dependent DOF cannot be SPCd,
OMITted, SUPORTed or be dependent
on other RBE/MPC elements

Slide 19
 RBE3 Description

UM fields can be used to move the

dependent DOF away from the
reference grid
For Example (in 1-D):
U99 = (U1 + U2 + U3) / 3
3 * U99 = U1 + U2 + U3

-U1 = + U2 + U3 - 3 * U99

Slide 20
 RBE3 Is Not Rigid!

RBE3 vs. RBE2

RBE3 allows warping
and 3D effects
In this example, RBE2 enforces beam
theory (plane sections remain planar)
RBE3 RBE2

Slide 21
 RBE3: How it Works?

Forces/moments applied at reference

grid are distributed to the master grids
in same manner as classical bolt pattern
analysis
Step 1: Applied loads are transferred to the
CG of the weighted grid group using an
equivalent Force/Moment
Step 2: Applied loads at CG transferred to
master grids according to each grids
weighting factor

Slide 22
 RBE3: How it Works?

Step 1: Transform force/moment at

reference grid to equivalent force/moment
at weighted CG of master grids.
Reference Grid FCG
FA

CG MA CG
MCG

e
FCG=FA
MCG=MA+FA*e

Slide 23
 RBE3: How it Works?

Step 2: Move loads at CG to master

grids according to their weighting
values.
Force at CG divided amongst master grids
according to weighting factors W i
Moment at CG mapped as equivalent force
couples on master grids according to
weighting factors W i

Slide 24
 RBE3: How it Works?

Step 2: Continued F1m

FCG

CG
MCG F3m
F2m

Total force at each master node is sum of...

Forces derived from force at CG: Fif = FCG{Wi/Wi}
Plus Forces derived from moment at CG:
Fim = {McgWiri/(W1r12+W2r22+W3r32)}

Slide 25
 RBE3: How it Works?

Masses on reference grid are smeared

to the master grids similar to how forces
are distributed
Mass is distributed to the master grids according
to their weighting factors
Motion of reference mass results in inertial force
that gets transferred to master grids
Reference node inertial force is distributed in
same manner as when static force is applied to
the reference grid.

Slide 26
 Example 1

RBE3 distribution of loads when force at

reference grid at CG passes through
CG of master grids
Slide 27
 Example 1: Force Through CG

Simply supported beam

10 elements, 11 nodes numbered 1
through 11
100 LB. Force in negative Y on
reference grid 99

Slide 28
 Example 1: Force Through CG

Load through CG with uniform weighting

factors results in uniform load distribution
Slide 29
 Example 1: Force Through CG

Comments
Since master grids are co-linear, the x
rotation DOF is added so that master grids
can determine all 6 rigid body motions,
otherwise RBE3 would be singular

Slide 30
 Example 2

How does the RBE3 distribute loads

when force on reference grid does not
pass through CG of master grids?
Slide 31
 Example 2: Load not through CG

The resulting force distribution is not intuitively

obvious
Note forces in the opposite direction on the left side
of the beam.

Upward loads on left

side of beam result
from moment caused
by movement of
applied load to the CG
of master grids.

Slide 32
 Example 3

Use of weighting factors to generate

realistic load distribution: 100 LB.
transverse load on 3D beam.

Slide 33
Example 3: Transverse Load on Beam

If uniform
weighting
factors are
used, the load
is equally
distributed to all
grids.

Slide 34
Example 3: Transverse Load on Beam

The uniform load distribution results in

too much transverse load in flanges
causing them to droop.

Displacement Contour

Slide 35
Example 3: Transverse Load on Beam

Assume quadratic
distribution of load in web
Assume thin flanges carry
zero transverse load
Master DOF 1235. DOF 5
added to make RY rigid
body motion determinate

Slide 36
Example 3: Transverse Load on Beam

Displacements with quadratic weighting

factors virtually equivalent to those from
RBE2 (Beam Theory), but do not
impose plane sections remain planar
as does RBE2.

Slide 37
 Example 3: Transverse Load on Beam

RBE3 Displacement Contour

Max Y disp=.00685
Slide 38
Example 3: Transverse Load on Beam

RBE2 Displacement contour

Max Y disp=.00685
Slide 39
 Example 4

Use RBE3 to get

unconstrained
motion
Cylinder under
pressure
Which Grid(s) do you
pick to constrain out
Rigid body motion, but
still allow for free
expansion due to
pressure?
Slide 40
 Example 4: Use RBE3 for
Unconstrained Motion

Solution:
Use RBE3
Move dependent DOF from reference grid to selected master
grids with UM option on RBE3 (otherwise, reference grid
cannot be SPCd)
Apply SPC to reference grid

Slide 41
 Example 4: Use RBE3 for
Unconstrained Motion

Since reference grid has 6 DOF, we

must assign 6 UM DOF to a set of
master grids
Pick 3 points, forming a nice triangle for
best numerical conditioning
Select a total of 6 DOF over the three UM
grids to determine the 6 rigid body motions
of the RBE3
Note: M is the NASTRAN DOF set name
for dependent DOF

Slide 42
Example 4: Use RBE3 for
Unconstrained Motion

UM Grids

Slide 43
 Example 4: Use RBE3 for
Unconstrained Motion

For circular geometry, its convenient to

use a cylindrical coordinate system for
the master grids.
Put THETA and Z DOF in UM set for each of the
three UM grids to determine RBE3 rigid body
motion

Slide 44
 Example 4: Use RBE3 for
Unconstrained Motion

Result is free expansion due to internal

pressure. (note: poisson effect causes shortening)

Slide 45
 Example 4: Use RBE3 for
Unconstrained Motion

Resulting
MPC Forces
are numeric
zeroes
verifying that
no stiffness
has been
added.

Slide 46
 Example 5

Connect 3D model to stick model

3D model with 7 psi internal pressure
Use RBE3 instead of RBE2 so that 3D
model can expand naturally at interface.
RBE3 will also allow warping and other 3D
effects at the interface.

Slide 47
Example 5: 3D to Stick Model
Connection
120 diameter
cylinder
7 psi internal
pressure
10000 Lb.
transverse load on
stick model
RBE3: Reference
grid at center with
6 DOF, Master
Grids with 3
translations

Slide 48
Example 5: 3D to Stick Model
Connection

Slide 49
 Example 5: 3D to Stick Model
Connection

Undeformed/Deformed plot shows

continuity in motion of 3D and Beam
model

Slide 50
Example 5: 3D to Stick Model
Connection

MPC forces at
interface show
effect of both the
tip shear and
interface
moment.

Slide 51
 Example 5: 3D to Stick Model
Connection

Shell outer fiber

stresses at interface
slightly higher than
beam bending
stresses
3D effects
Shell model under
internal pressure and
not bound by beam
theory assumptions

Slide 52
 Example 6

Use RBE3 to see beam type modes

from a complex model
Sometimes its difficult to identify and
describe modes of complex structures
Solution:
Connect complex structure down to
centerline grids with RBE3.
Connect centerline grids with PLOTELs

Slide 53
 Example 6: Using RBE3 to Visualize
Beam Modes

Generic engine courtesy of Pratt &

Whitney

Slide 54
 Example 6: Using RBE3 to Visualize
Beam Modes

RBE3s used to
connect various
components to
centerline.
Each components
centerline grids
connected by its
own set of PLOTELs

Slide 55
 Example 6: Using RBE3 to Visualize
Beam Modes

Complex
Mode
Animation

Slide 56
 Example 6: Using RBE3 to Visualize
Beam Modes

Animation of the
PLOTEL
segments
shows that this
is a whirl mode
Relative motion
of various
components
more clearly
seen

Slide 57
 Example 7

Use RBE3 to connect incompatible

elements
Beam to plate
Beam to solid
Plate to solid
Alternative to RSSCON

Slide 58
Example 7: RBE3 Connection of
Incompatible Elements

Slide 59
 Example 7: RBE3 Connection of
Incompatible Elements

Use RBE3 to connect beams to plates

at two corners
Use RBE3 to connect beams to solids
at two corners
Use RBE3 to connect plates to solid
Plate thickness is same as solid thickness
in this example

Slide 60
 Example 7: RBE3 Connection of
Incompatible Elements

RBE3 connection of beams to plates

Map 6 DOF of beam into plate translation DOF
For best results, beam footprint should be similar to
RBE3 footprint, otherwise joint will be too stiff

Slide 61
 Example 7: RBE3 Connection of
Incompatible Elements

RBE3 connection of
beams to solids
Map 6 DOF of beam into
solid translation DOF
For best results, beam
footprint should be
similar to RBE3 footprint,
otherwise joint will be too
stiff

Slide 62
 Example 7: RBE3 Connection of
Incompatible Elements

RBE3 connection
of plates to solids
Coupling of plate
drilling rotation to solid
not recommended
Plate and solid grids
can be equivalent,
coincident, or disjoint
(as shown)

Slide 63
 Example 7: RBE3 Connection of
Incompatible Elements

Deformation contours show continuity at

RBE3 interfaces

Slide 64
 Example 7: RBE3 Connection of
Incompatible Elements

Bending stress contours consistent

across RBE3 interface

Slide 65
 RBE3 Usage Guidelines

Do not specify rotational DOF for

master grids except when necessary to
avoid singularity caused by a linear set
of master grids
Using rotational DOF on master grids
can result in implausible results (see
next two slides)

Slide 66
 RBE3 Usage Guidelines

Example: What can happen if master

rotations included?
Modified RBE3 from Example 5
Displacements clearly incorrect when all 6
DOF listed for master grids (next page)

Slide 67
 RBE3 Usage Guidelines

Deformation with
all 6 DOF
specified for
master grids at
interface
Deformation with
3 translation DOF
specified for
master grids
(same loads/BCs)

Slide 68
 RBE3 Usage Guidelines

Make check run with PARAM,CHECKOUT,YES

Section 9.4.1 of MSC.Nastran Reference Manual (V68)
EMH printout should be numeric zeroes (no grounding)
No MAXRATIO error messages from decomposition of R gmm
and Rmmm matrices (numerically stable)

Perform grounding check of at least KGG

and KNN matrix
V2001: Case control command
GROUNDCHECK (SET=(G,N))=YES
V70.7 and earlier:
Use CHECKA alters from SSSALTER library

Slide 69
 RBE3: Additional Reading

Much RBE3 information has been posted on

MSCs Knowledge Base
http://www.mechsolutions.com/support/knowbase/index.html

Slide 70
 RBE3: Additional Reading

Recommended TANs
TAN#: 2402 RBE3 - The Interpolation Element.
TAN#: 3280 RBE3 ELEMENT CHANGES IN VERSION
70.5, improved diagnostics
TAN#: 4155 RBE3 ELEMENT CHANGES IN VERSION
70.7
TAN#: 4494 Mathematical Specification of the Modern
RBE3 Element
TAN#: 4497 AN ECONOMICAL METHOD TO EVALUATE
RBE3 ELEMENTS IN LARGE-SIZE MODELS

Slide 71
 User-Input based Rigid Elements

MPCs
Most general-purpose way to define
motion-based relationships
Could be used in place of ALL other RBEi
Lack of geometry makes this impractical
Can be changed between SUBCASEs

Slide 72
 MPC Definition

Rigid elements
Definition: The motion of a DOF dependent
on the motion of (at least one) other DOF
Linear Relationship
One (1) dependent DOF
n independent DOF (n >= 1)

ajXi = a1X1 + a2X2 + a3X3++ anXn

Slide 73
 General Approach For Use of MPCs

Write out desired displacement equality

relationship on a per DOF level
Dependent motion = (your equation goes here)
2

1
Ux2 = Ux1

Re-arrange so left-hand side is zero

List dependent term first
0 = - Ux2 + Ux1

Slide 74
 MPC Format

For example: 2
Set X motion of GRID 2 1
= X motion of GRID 1

UX2 = UX1 0 = - UX2 + UX1

= (-1.)UX2 + (+1.)UX1

MPC SID G1 C1 A1 G2 C2 A2
MPC 535 2 1 -1.0 1 1 +1.0

Slide 75
 General Approach to MPCs

Write down relationship you want to

impose on a per DOF level:

ajXi = a1X1 + a2X2 ++ anXn

Move dependent term to 1st term on

right hand side:

0 = -aiXi + a1X1 + a2X2++ anXn

Slide 76
 Why would I want to use an MPC?

Tie GRIDs together (RBEi)

Determine relative motion between
GRIDs
Maintain separation between GRIDs
Determine average motion between
GRIDs
Model bell-crank or control system
Units conversion

Slide 77
 Use of MPC to tie GRIDs together

Write down relationship you want to

impose on a per DOF level:
UX2 = UX1
UY2 = UY2 2
1
UZ3 = UZ3

qX2 = qX1
qY2 = qY1
qZ2 = qZ1
Slide 78
 Use of MPC to tie GRIDs together

Move dependent term to 1st term on

right hand side:
0 = -UX2 + UX1 MPC, 535, 2, 1, -1.0, 1, 1, +1.0
0 = -UY2 + UY2 MPC, 535, 2, 2, -1.0, 1, 2, +1.0
0 = -UZ3 + UZ3 MPC, 535, 2, 3, -1.0, 1, 3, +1.0
0 = -qX2 + qX1 MPC, 535, 2, 4, -1.0, 1, 4, +1.0

0 = -qY2 + qY1 MPC, 535, 2, 5, -1.0, 1, 5, +1.0

0 = -qZ2 + qZ1 MPC, 535, 2, 6, -1.0, 1, 6, +1.0

Slide 79
 Use of MPC to tie GRIDs together

Use CAUTION when tying non-coincident

GRIDs together!

Watch for how those

rotations and
2 translations couple!
1
UX2 = UX1
qZ2 = qZ1

Slide 80
 MPCs for Relative Motion

Whats the relative motion between

GRIDs 1 and 2?

1 2
?

Slide 81
 MPCs for Relative Motion

Introduce placeholder variable

Good use for SPOINTs
Write out desired 1 ?2
relationship as before
U1000 = UX2 UX1

Move dependent term to RHS

0 = - U1000 + UX2 UX1

Slide 82
 MPCs for Relative Motion

Write out MPCs

1 ?2
0 = -U1000 + UX2 UX1

SPOINT 1000
MPC 535 1000 1 -1.0 2 1 +1.0
+ 1 1 -1.0

Slide 83
 MPCs for Relative GAP

What is the gap between GRIDs 1 and 2?

1 2

Initial
gap

Slide 84
 MPCs for Relative GAP

Write equation:
Introduce new placeholder
variable for initial gap 1 2

UGAP = UINIT + UX2 UX1

0 = -UGAP + UINIT + UX2 UX1

Slide 85
 MPCs for Relative GAP

Set initial gap value via SPC! 1 2

0 = -U1000 + U1001 + UX2 UX1

SPOINT, 1000 $ Gap value

SPOINT, 1001 $ Initial Gap
MPC, 535, 1000, 1, -1., 1001, 1, +1.
+, , 2, 1, +1., 1, 1, -1.
SPC, 2002, 1001,1,0.5 $ Set initial gap

Slide 86
 MPC used to Maintain Separation

Enforce a separation between GRIDs

Similar to using a gap
Changes which DOF are
dependent/independent

Example: 1

Initially 1 apart
0.25
Keep separation = 0.25
2

Slide 87
 MPC used to Maintain Separation
1

1.00
0.25
2

U1 = U2 + (desired initial)
0 = -U1 + U2 + U1000
SPOINT,1000
MPC, 535, 1, 2, -1.0, 2, 2, +1.0
+, , 1000, 1, +1.0
SPC, 2002, 1000, 1, -.75

Slide 88
 Use of MPCs for AVERAGE Motion

Determine average motion of DOFs

4 U1000 = (U1+ U2 + U3 + U4 +U5 +U6)/6

5 0 = -6*U1000 + U1+ U2 + U3 + U4
3
+U5 +U6
6
2

Slide 89
MPCs as Bell-crank or Control System

Output of 1 DOF scales another

1
U2 = U1/1.65
2
0 = -1.65*U2 + U1
1.65

MPC SID G1 C1 A1 G2 C2 A2
MPC 535 2 1 -1.65 1 1 +1.0

Slide 90
 Units Conversion

Somewhat frivolous application, but why

not?

Convert radians
q2 = q1 * 57.29578
to degrees
Convert inches 39.37 * X2 = X1
to meters

Slide 91
 Rigid Element Output

Since Rigid elements are a specialized

input of MPC equations, the output is
requested by MPCFORCE case control
command.
COMMON ERROR
The MPCFORCEs are associated with GRID
IDs, not Element IDs. So when selecting a
SET for output, be sure the set is for GRID IDs,
not Element IDs.

Slide 92
 Guidelines for Rigid Elements

Linear ONLY
Relationships calculated based on initial
geometry
Can cause internal constraints for
thermal conditions
Be careful that independent GRID has 6
DOF

Slide 93
 MPCs and RBEs

Off the shelf

RBAR
Add them to
RBE2 your
Customizable modeling
RBE3
Handmade
arsenal
MPC today!

Slide 94