6522ENG

Computational
Statics & Dynamics

Lecture 6:
Complex Boundary
Conditions and the Power
of Constraints
Prof Stefanie FEIH
Lecture Revision (last week)
• List degrees-of-freedom for shell elements
• Explain the three decoupled sub-matrices in the stiffness matrix.
• Explain the midsurface definition for shell elements.
• Explain section points for elements. At which section points do we generally calculate
maximum stresses and strains and why?
• What is the role of shell element normals?
• What is the role of shell offsets?

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This week we will cover…
• Boundary conditions
• Rigid (spider) constraints
• Flexible (spider) constraints
• Assembly of parts
• Tie constraints
• Contact Modelling
• Shell-to-beam coupling
• Shell-to-solid coupling (revisit)

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Boundary Condition Overview
Loads / Moments / Pressures Displacements / Rotations

Check
your
units!

We can define multiple steps with different boundary conditions!!

Note: Boundary conditions generally remain active in subsequent steps.
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The Boundary Condition Conundrum (1)

• A universal test machine

measures the force in the Crosshea
Loadcell
load cell and the elongation d
of the sample at the moves up
crosshead. Sample is fixed
• With initial sample length and in grips
cross-section as input, the
Data
software calculates the recording Sample is fixed
stress-strain response. in grips
• Is the test load or
displacement-controlled?

…can be either…this depends on your https://www.tensiletester.com/tensile-testing

test set-up. https://www.youtube.com/watch?v=lqR5cp2v1eQ

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The Boundary Condition Conundrum (2)
• Many problems can be solved adequately in force control. Remember that in a linear analysis
results will scale!

• The force may be used to describe the load input. An applied load will result in displacement.
• Alternatively, displacement control may be used. An applied displacement will result in the
equivalent reaction force.
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The Boundary Condition Conundrum (3)
• So, should we use applied forces or applied displacements? Does it matter?

Both approaches will result in the same stress solution with a corresponding result of
force (reaction force) and displacement, but…

…depending on the problem one approach may be better suited than the other.
Also note: nonlinear problems (lecture 8) are better solved with applied displacements.
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Multiple Point Constraints
• We can link nodal movements to each other. This feature is available in every FE code.
• Multiple point constraints represent underlying constraining equations linking DoF movement.
Welds Hinges Rigid Offsets
• No special treatment required • Two separate nodes in the • Two separate nodes in
as elements are connected. same location are required. separate locations are needed.
• Common DoFs (displacement, • DoFs of nodes 2 and 3 need to • DoFs of nodes 2 and 3 need to
slopes) exist at nodes. be related to each other. be related to each other.

𝑢2 − 𝑢3 = 0 𝑢2 − 𝑢3 = 0 𝑢3 − 𝑢2 + 𝑑𝜙2 = 0
𝑣2 − 𝑣3 = 0 𝑣2 − 𝑣3 = 0 𝑣3 − 𝑣2 = 0
𝜙2 − 𝜙3 = 0 𝜙2 ≠ 𝜙3 𝜙3 − 𝜙2 = 0

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Master and Slave Concepts – Kinematic Coupling
• Multiple-point constraints (spider elements – see Tony Abbey’s recording) are very useful for
distributing loads or displacement constraints from one point onto a line or surface.
• The implementation assumes links between the single master (independent) node and the
follower nodes on the surface (slaves)
• Master nodes can have 6 dofs of movement (displacement, rotations).
• Relevant boundary conditions on the master node need to be defined / constrained!

I can have
more than
eight feet!!

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Use Constraints for Boundary Conditions (1)
Reference points are extremely useful for distributing loads or displacement constraints from
one point onto a line or surface for easier post-processing of results.
Define Reference
Point (RP) by
selection in viewport
or by coordinates

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Use Constraints for Boundary Conditions (2)
We link a point in space to the surface for load / displacement application.
Master

Master Slave
Slave

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Rigid Spider Element Applications (1)
• We are using the spider element approach to apply a uniform displacement to the solid model.
• Output access can now be easily automated via scripting.
On geometry On coupled reference point History output

RP-1

change to

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Rigid Spider Element Examples (1)
• Find the correct kinematic constraint for this example:

Torsion
Fixed
in all
dofs

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Rigid Spider Element Examples (2)
• Find the correct kinematic constraint for this example to allow for rotation around the x-axis at
the end of the beam:

q=500N/mm
Free rotation
around x-axis at
linked RP, cross-
sections remain
straight!

Clamped boundary condition Free rotation boundary condition

umax=2.184 mm umax=7.179 mm

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Master and Slave Concepts – Continuum Distribution
• We can use flexible constraints to avoid over-stiffening the structure as seen for the example
with the example of a central bolt introducing a normal load:
Bolt constraint Kinematic coupling

Continuum distributing

In general, continuum distributing constraints will work better for applied forces as
these are distributed in an averaged manner across nodes without the use of explicit
constraint equations.

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Assembly of Parts – Fastener Coupling
• Generally, more than one part can be imported for the assembly stage.
• 2 plates (shell elements)
• 1 wire (beam elements)
• 2 coupling constraints
between beam element
nodes and surrounding
plate nodes.

Do you understand which node is the Master node?

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Assembly of Parts – Beam to Shell
• Find the best approach for this example of a hollow tubular connector:

• Kinematic constraints – St Venant’s principle stipulates that stresses are captured well in
the joint region (joint needs to be at least 1 diameter away from the constraint region).

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Assembly of Parts – Shell-to-Solid Coupling - Repeat
• Solid and shell elements have different degrees-of-freedom. How do we couple these two
different element types in a simulation?

In Interaction module:
shell-to-solid coupling

Takes shell thickness into account

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Assembly of Parts – TIE (1)
• Generally, more than one part can be imported for the assembly stage.
• Parts can to be ‘linked together’ by various means.
• For TIE constraints, parts of similar elements types (solid-solid, etc) can be linked.
• Mesh densities can (and probably should) be different.

Aluminium adherend 1
Fixed Epoxy adhesive

Fixed in y-direction
Aluminium Adherend 2 Displacement in x

The softer material should always have the finer mesh.

Do you understand why?

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Assembly of Parts – TIE (2)
• Master-slave concept applies always for tie constraints.
• So which surfaces should you select as Master surfaces and slaves?

Master

Slave

Master

Master

Slave

Master

20 The finer meshed surface (the softer material) should always be the slave surface!
Assembly of Parts – TIE (3)
• TIE constraints on geometry will remain valid / active even if the mesh is later refined.
• Stresses are discontinuous across the part geometries (different materials)!

Stresses in joint region

Stresses in adhesive layer

Watch out for stress singularities!

The adhesive layer needs fillets.

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Assembly of Parts – Perturbation Contact
• Parts may be coupled by contact rather than tie-like constraints.
• Contact definitions allow us to visualise contact stresses, with separate normal and tangential
behaviour at the contacting surface. This results in more realistic stresses for a lot of problems.

Note: The contact state between two surfaces does

not change during a perturbation step: points that
were closed in the base state remain closed, and
points that were open remain open. Problems with
varying contact areas require general nonlinear
22 analysis (lecture 8).
Solution Method for Constraints - IMPORTANT

MPCs

MPCs Excludes constrained nodes

𝑇 𝑇 𝐾 𝑇 𝑢ො = 𝑇 𝑇 𝑓
with

Apply boundary conditions now

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Simple 1D Problem (1)
u3 F
• Stiffness matrix for full system (example tutorial 1): k1
k2
3
1 2 u 2, f2
4 5
𝑘1 −𝑘1 0 0 0 𝑢1 𝑓1 k3 k4
u4, f4
−𝑘1 𝑘1 + 𝑘2 + 𝑘3 −𝑘2 −𝑘3 0 𝑢2 0
0 −𝑘2 𝑘2 0 0 𝑢3 = 𝐹
Constraint: 𝑢4 = 𝑢3
0 −𝑘3 0 𝑘3 + 𝑘4 −𝑘4 𝑢4 0
0 0 0 −𝑘4 𝑘4 𝑢5 𝑓5

• Include constraint: 𝑢4 = 𝑢3
• Choose node 4 as slave, node 3 as master (because node 3 has an external force):

1 0 0 0 𝑢1
𝑢1 eliminate
0 1 0 0 𝑢2
𝑢2
𝑢 slave u4 𝑇 𝑇
𝑓 = 𝑓መ
0 0 1 0 𝑢3 = 3 𝑇 𝐾 𝑇 𝑢ො = 𝑇
0 0 1 0 𝑢4
𝑢5
ถ
0 0 0 1 ถ𝑢5
ෝ
𝑢
𝑇 𝑢
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Simple 1D Problem (2)
u3 F
• Apply transformation matrix: k1
k2
3
1 2 u 2, f2
4 5

𝑘1 −𝑘1 0 0 𝑢1 k3
u4, f4
k4

𝑇 −𝑘1 𝑘1 + 𝑘2 + 𝑘3 −𝑘2 − 𝑘3 0 𝑢2
𝑇 𝐾 𝑇 𝑢ො =
0 −𝑘2 − 𝑘3 𝑘2 + 𝑘 3 + 𝑘 4 −𝑘4 𝑢3
0 0 −𝑘4 𝑘4 𝑢5
𝑓1
1 0 0 0 0 𝑓1
0
𝑇 0 1 0 0 0 0
𝑇 𝑓 = 𝐹 =
0 0 1 1 0 𝐹
0
0 0 0 0 1 𝑓5
𝑇
𝑓5
𝑇

• Apply boundary conditions u1=u5=0 2 equations, 2 unknowns! Remember:

due to computer elimination procedure,
𝑢2 0 displacement boundary
𝑢3 =
𝐹 conditions cannot be applied to slave nodes!
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Conflict of Boundary Conditions and Constraints (1)
General warning message when applying MPCs:
→ boundary conditions cannot be applied to slave nodes

Conflicting boundary conditions on slave nodes: Abaqus will ignore the boundary
condition on the slave node:

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Conflict of Boundary Conditions and Constraints (2)
Abaqus will place these nodes into a node set:

Node sets can be visualised through

the display group manager:

Tools → Display group → Manager

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Summary
• Every FE analyst uses their favourite approaches / tools.
• You can now set up complex models with multiple parts, constraints and boundary
conditions. We are all set for our assignment!
• Most of my models contain rigid / flexible constraints for various reasons and often for ease
of post-processing.
• But as in the case of all tools you are
using for the first time:
– Read up on limitations
– Practice on simple models
– Question the results
– But most of all: have fun exploring!

A good day is a day when you learn something new!

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Revision Questions
• Give an example for a kinematic constraint (rigid spider element).
• Give an example for a continuum distributing constraint (flexible spider element)
• Give an example of a problem requiring assembly.
• Give an example of a problem requiring TIE constraints.
• Give an example of a problem requiring contact definition.
• Give an example of a problem requiring beam-shell coupling.
• Give an example of a problem requiring solid-shell coupling.

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Week 8 Tutorial and Computer Workshop Content

Tutorial
• Solving 1D problems with constraints
• Practical modelling problems with constraints

Computer workshop
• Applying constraints
• Assembly of parts

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Additional Reading
Talking Shop with Tony Abbey

• Episode 10 – What are ‘spider’ elements in FEA?

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THANK YOU