RBEs and MPCs in MSC.

Nastran

A Rip-Roarin’ Review of
Rigid Elements

Jack Castro 2/18/03 Rick Barclay

 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
 Motion at one GRID drives another

• Simple Translation

X motion of Green Grid drives X motion

of Red Grid
 Motion at one GRID drives another

• Simple Rotation

Z X

Z rotation of Green Grid drives X translation

and Z rotation of Red Grid
 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
• Dependent v. Independent DOFs
• Stiffness/mass/loads at dependent DOF
transferred to independent DOF(s)
Typical “Rigid” Elements in MSC.Nastran

• Geometry-based
– RBAR
– RBE2 } Really-rigid “rigid” elements
• Geometry- & User-input based
– RBE3
• User-input based
– MPC
Common Geometry-Based Rigid Elements

• RBAR
– Rigid Bar with six DOF at each
end
– 6 Independent DOF can be
assigned to either end

• RBE2
– Rigid body with 6 independent
DOF at one GRID, and
dependent DOF at an arbitrary
number of GRIDs.
 The RBAR

• The RBAR is a rigid link between two

GRID points
 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
 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

A
 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

A
 The RBE2

• One independent GRID (all 6 DOF)

• Multiple dependent GRID/DOFs
 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
 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
 RBE2 Example: Fastener

• Use of RBE2 to “weld” two parts of a

model together:
RBE2 EID GN CM GM1 GM2 GM3 GM4
RBE2 535 1 123456 2

1
 RBE2 Example: Pin-Joint

• Use of RBE2 to form pin-jointed

attachment
RBE2 EID GN CM GM1 GM2 GM3 GM4
RBE2 535 1 123 2

1
 Common RBE2/RBAR Uses

• RBE2 or RBAR between 2 GRIDs

– “Weld” 2 different parts together
• 6DOF connection
– Rigidly Pin 2 different parts together
• 3DOF Translation connection
– Rigid Slider: Leave off translation DOF in sliding
direction
• RBE2
– “Spider” or “wagon wheel” connections
– Large mass/base-drive connection
 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)
RBE3 Description
 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 SPC’d,
OMITted, SUPORTed or be dependent
on other RBE/MPC elements
 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
 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
 RBE3: How it Works?

• Forces/moments applied at reference

grid are distributed to the master grids
similar to 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 grid’s
weighting factor
 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
 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 Wi
– Moment at CG mapped as equivalent force
couples on master grids according to
weighting factors Wi
 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/ΣWi}
Plus Forces derived from moment at CG:
Fim = {McgWiri/(W1r12+W2r22+W3r32)}
 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.
 Example 1

• RBE3 distribution of loads when force at

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

• Load through CG with uniform weighting

factors results in uniform load distribution
 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
 Example 2

• How does the RBE3 distribute loads

when force on reference grid does not
pass through CG of master grids?
 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.
 Example 3

• Use of weighting factors to generate

realistic load distribution: 100 LB.
transverse load on 3D beam.
Example 3: Transverse Load on Beam

• If uniform
weighting
factors are
used, the load
is equally
distributed to all
grids.
Example 3: Transverse Load on Beam

• The uniform load distribution results in

too much transverse load in flanges
causing them to droop.

Displacement Contour
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
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.
 Example 3: Transverse Load on Beam

• RBE3 Displacement Contour

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

• RBE2 Displacement contour

– Max Y disp=.00685
 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?
 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 SPC’d)
– Apply SPC to reference grid
 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
Example 4: Use RBE3 for
Unconstrained Motion

“UM” Grids
 Example 4: Use RBE3 for
Unconstrained Motion

• For circular geometry, it’s 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
 Example 4: Use RBE3 for
Unconstrained Motion

• Result is free expansion due to internal

pressure. (note: poisson effect causes shortening)
 Example 4: Use RBE3 for
Unconstrained Motion

• Resulting
MPC Forces
are numeric
zeroes
verifying that
no stiffness
has been
added.
 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.
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
Example 5: 3D to Stick Model
Connection
 Example 5: 3D to Stick Model
Connection

• Undeformed/Deformed plot shows

continuity in motion of 3D and Beam
model
Example 5: 3D to Stick Model
Connection

• MPC forces at
interface show
effect of both the
tip shear and
interface
moment.
 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
 Example 6

• Use RBE3 to see “beam” type modes

from a complex model
• Sometimes it’s difficult to identify and
describe modes of complex structures
• Solution:
– Connect complex structure down to
centerline grids with RBE3.
– Connect centerline grids with PLOTELs
 Example 6: Using RBE3 to Visualize
“Beam” Modes

• Generic engine courtesy of Pratt &

Whitney
 Example 6: Using RBE3 to Visualize
“Beam” Modes

• RBE3’s used to
connect various
components to
centerline.
• Each component’s
centerline grids
connected by it’s
own set of PLOTELs
 Example 6: Using RBE3 to Visualize
“Beam” Modes

• Complex
Mode
Animation
 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
 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)
 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)
 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/BC’s)
 RBE3 Usage Guidelines

• Make check run with PARAM,CHECKOUT,YES

– Section 7.4.1 of MSC.Nastran Reference Manual on the
V2001 Documentation CD (Section 9.4.1 of V68 Printed
Reference Manual)
– EMH printout should be numeric zeroes (no grounding)
– No MAXRATIO error messages from decomposition of Rgmm
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
 RBE3: Additional Reading

• Much RBE3 information has been posted on

MSC’s Knowledge Base
– http://www.mscsoftware.com/support/knowbase/index.cfm
 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
 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
 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

 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
 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
 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

 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
 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

θX2 = θX1
θY2 = θY1
θZ2 = θZ1
 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 = -θX2 + θX1 MPC, 535, 2, 4, -1.0, 1, 4, +1.0
0 = -θY2 + θY1 MPC, 535, 2, 5, -1.0, 1, 5, +1.0
0 = -θZ2 + θZ1 MPC, 535, 2, 6, -1.0, 1, 6, +1.0
 Use of MPC to tie GRIDs together

• Use CAUTION when tying non-coincident

GRIDs together!

• Watch for how those

rotations and
2 translations couple!
R
1
UX2 = UX1
θZ2 = θZ1
 Use of MPC to tie GRIDs together

• Use CAUTION when UX2 = UX1 + R * θZ1

tying non-coincident θZ2 = θZ1
GRIDs together!
• You must include the
translational
displacement 2
R
resulting from the
1
rotation to get correct
rigid body motion.
 MPCs for Relative Motion

• What’s the relative motion between

GRIDs 1 and 2?

1
? 2
 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
 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
 MPCs for Relative GAP

• What is the gap between GRIDs 1 and 2?

1 2

Initial
gap
 MPCs for Relative GAP

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

UGAP = UINIT + UX2 – UX1

0 = -UGAP + UINIT + UX2 – UX1
 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
 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
 MPC used to Maintain Separation
1

1.00
0.25
2

U1 = U2 + (desired – initial)
Æ 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
 Use of MPCs for AVERAGE Motion

• Determine average motion of DOFs

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

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

1
MPCs as Bell-crank or Control System

• Output of 1 DOF scales another

1
U2 = U1/1.65
2
Æ0 = -1.65*U2 + U1
1. 1.65
00

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

• Somewhat frivolous application, but why

not?

– Convert radians
θ2 = θ1 * 57.29578
to degrees
– Convert inches 39.37 * X2 = X1
to meters
 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.
 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
 MPCs and RBEs

• Off the shelf

– RBAR
Add them to
– RBE2 your
• Customizable modeling
– RBE3
• Handmade arsenal
– MPC today!
Thank You!
 RBEs and MPCs in MSC.Nastran

A Rip-Roarin’ Review of
Rigid Elements

Jack Castro 2/20/03 Rick Barclay