Chapter 13 Nonlinear Simulations 1

Chapter 13
Nonlinear Simulations
13.1 Basics of Nonlinear Simulations
13.2 Step-by-Step: Translational Joint
13.3 Step-by-Step: Microgripper
13.4 More Exercise: Snap Lock
13.5 Review
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 2

Section 13.1
Basics of Nonlinear Simulations

Key Concepts
• Contact Types
• Contact versus Target
• Nonlinearities
• Contact Formulations
• Causes of Structural Nonlinearities
• Additional Contact Settings
• Steps, Substeps, and Iterations
• Pinball Region
• Newton-Raphson Method
• Interface Treatment
• Force/Displacement Convergence
• Time Step Controls
• Solution Information
• Update Stiffness
• Line Search
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 3

Nonlinearities

Force {F}
In a nonlinear simulation, the [1] In a linear
simulation, [K]
relation between nodal force {F} and (slope of the line)
nodal displacement {D} is nonlinear. is constant.

• we may write
Displacement {D}
{ } {}
K(D) D = F

• Challenges of nonlinear simulations

come from the difficulties of solving
the above equation.

Force {F}
[2] In a nonlinear
simulation, [K] (slope
of the curve) is
changing with {D}.

Displacement {D}
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 4

Causes of Structural Nonlinearities

• Geometry Nonlinearity
• Due to Large Deflection
• Topology Nonlinearity
• Contact Nonlinearity
• Etc.
• Material Nonlinearity
• Due to Nonlinear Stress-Strain
Relations
To include geometry
nonlinearity, simply
turn on <Large
Deflection>.
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 5

Steps, Substeps, and Iterations [1] Number of

steps can be
specified here.

• Steps (Load Steps)

• Each step can have its own analysis settings.
• Substeps (Time Steps)
• In dynamic simulations, time step is used
for integration over time domain.
• In static simulation, dividing into substeps is
to achieve or enhance convergence.
• Iterations (Equilibrium Iterations)
• Each iteration involves solving a linearized [2] To switch
between steps,
equilibrium equation. [3] Each step type a step number
has its own here.
analysis
settings.
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 6

Newton-Raphson Method
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 7

Force/Displacement
Convergence
[1] You can turn
on <Force
Convergence> and
set the criterion.
[3] When shell
elements or beam
elements are used,
<Moment [2] You can turn
Convergence> can be on <Displacement
activated. Convergence> and
set the criterion.

[4] When shell

elements or beam
elements are used,
<Rotation
Convergence> can be
activated.
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 8

Solution Information
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 9

Line Search

[2] Line search can be

turned on to scale
down the incremental
displacement. By
default, it is <Program
Controlled>.
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 10
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 11

Contact Types

• Bonded
• No Separation
• Frictionless
• Rough
• Frictional
• Linear versus Nonlinear Contacts
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 12

Contact versus Target [1] To specify a contact

region, you have to select a set
of <Contact> faces (or edges),
and select a set of <Target>
faces (or edges).
• During the solution, <Workbench> will
check the contact status for each point
(typically a node or an integration
point) on the <Contact> faces against
the <Target> faces.
• If <Behavior> is set to <Symmetric>,
the roles of <Contact> and <Target>
will be symmetric.
• If <Behavior> is set to <Asymmetric>,
the checking is only one-sided. [2] If <Behavior> is set to
<Symmetric>, the roles of
<Contact> and <Target> will
be symmetric.
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 13

Contact Formulations

• MPC (multi-point constraint) [1] Workbench

offers several
• Pure Penalty formulations to
enforce contact
• Normal Lagrange compatibility.

• Augmented Lagrange

[2] <Normal Stiffness> is input here.

The input value (default to 1.0) is
regarded as a scaling factor to multiply a
stiffness value calculated by the program.
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 14

Additional Contact
Settings

• Pinball Region
• Interface Treatment
• Time Step Controls
• Update Stiffness
Chapter 13 Nonlinear Simulations Section 12.2 Translational Joint 15

Section 13.2
Translational Joint 20
60
20
Problem Description

[1] The
translational joint
is used to connect 40
two machine
components, so
that the relative
motion of the
components is
restricted in this [3] All connectors
[2] All leaf springs
direction. have a cross section have a cross section
of 10x10 mm.
of 1x10 mm.
Chapter 13 Nonlinear Simulations Section 12.2 Translational Joint 16

Results

[1] Nonlinear [2] Linear Solution.

Solution.

120 101.73

90 74.67
Force (N)

60

30

0
0 10 20 30 40
Displacement (mm)
Chapter 13 Nonlinear Simulations Section 13.3 Microgripper 17

Section 13.3
Microgripper

Problem Description

The microgripper is made of PDMS and actuated by a SMA (shape memory alloy)
actuator; it is tested by gripping a glass bead in a lab. In this section, we want to
assess the gripping forces on the glass bead under an actuation force of 40 µN
exerted by the SMA device.
Chapter 13 Nonlinear Simulations Section 13.3 Microgripper 18

Results

[1] contact
status.

[2] contact
pressure.
Chapter 13 Nonlinear Simulations Section 13.4 Snap Lock 19

Section 13.4 20

Snap Lock 5
10
7

Problem Description
10

20
The purpose of this
30
simulation is to find out
the force required to push 17

the insert into the 7

position and the force 5

required to pull it out. 8
Chapter 13 Nonlinear Simulations Section 13.4 Snap Lock 20

Results (Without Friction)

[2] It requires
236 N to pull
out.

[3] The curve is

essentially symmetric.
[1] It requires 189 N Remember that we
to snap in. didn't take the
friction into account.
Chapter 13 Nonlinear Simulations Section 13.4 Snap Lock 21

Results (With Friction)

[2] It requires 305 N to
pull out.

[3] Because of
[1] It requires 328 N friction, the curve is
to snap in. not symmetric.