SCHOOL&OF&MECHANICAL&

AND&MANUFACTURING&ENGINEERING&

FINITE ELEMENT METHOD

Assignment 1 - FE Fundamentals
Lunar Lander Leg Analysis
by

Minh Nguyen Vo Nhat

Student ID:

z5026422

Faculty of Engineering
March 2015

1"

EXECUTIVE SUMMARY

This report provides an calculation of allowance force for a lunar lander leg order to
be self-sufficient on the lunar surface. The leg is a truss used 25x1.6 CHS 6060T5
aluminium tube. Methods of analysis include Hand calculation with Method of Joints
aided by MATLAB, FEM approach by MATLAB and full FEM analysis by CAE program
named ANSYS APDL by ANSYS Inc. All calculations and steps can be found in the
methodolody section. The result from 3 method is identical,so it is validated and
precise. After that, the maximum force applied at the tip is

amax = 5834.78 N

and

!amax/ safety = 4667.82 N "$

with safety factor is #

Although goal were satisfied, there is still plenty of different aspects that affect
the lander leg such as bending moment, self-weight. However, these multiple areas
are recommended for additional calculations and improvements of realistic of the
model.

TABLE OF CONTENTS
1. INTRODUCTION ....................................................................................................... 3
1.1.

Problems ................................................................................................... 3

2. METHODOLOGY ....................................................................................................... 4
2.1.

Hand calculation ........................................................................................ 4

2.1.1.

Results ...................................................................................................... 7

2.2.

Full FE approach by MATLAB ...................................................................... 8

2.2.1.

FEM for 3D bar........................................................................................... 8

2.2.2.

MATLAB coding ......................................................................................... 9

2.2.3.

Results .................................................................................................... 11

2.3.

Full FE approach by ANSYS ....................................................................... 11

2.3.1.

ANSYS coding .......................................................................................... 11

2.3.2.

ANSYS result ............................................................................................ 12

2.4.

Final result .............................................................................................. 13

3. CONCLUSIONS ....................................................................................................... 14
4. REFERENCE ............................................................................................................ 14
"

&

!
2"

!INTRODUCTION
1.1.! Problems

We have the lander as in Figure 1. The intermediate transverse support struts form
equilateral triangles which are evenly spaced along the truss. All tubing can be
assumed to be 25x1.6 CHS 6060T5 aluminium. The properties of this material is in
Table 1

Figure 1. Theoretical model of the MTAS

Density

2700 Kg/m2

Ultimate Tensile Stress

186 MPa

Yield Tensile Stress

145 MPa

Poissons ratio

0.33

Youngs Modulus of Elasticity

68.9 GPa

Table 1. Physical properties of CHS 6060T5 aluminium

The purpose of this report is analysing one of the lander legs to determine the
allowable force, which can withstand when it impacts the ground

3"

!METHODOLOGY
This section was separated into three subsections: hand calculation, FE approach
by MATLab and FE approach by advanced FEA solver, which is ANSYS. Then the result
would be compared to validation. There are some assumptions:
1.! The joints are pinned joints, which means there are no bending moments.
2.! Not consider with the mass of truss.
2.1.! Hand

calculation

Figure 2 is geometric of the lunar leg for naming convention. Node 8, 9 and 10
were fixed or all DOF is zero or all displacement is zero at these nodes

Figure 2. Theoretical model of the MTAS

Method of joints was used. Lets consider first joints 1.
At joint 1:

F = F

12

+ F13 + F14

F12"

(2.1)
F

By symmetry we have

F13 = F14

13

(2.2) F14

1
F=a

4"

=0

251.48
333.33
F12 2
F13 = 0
429.44
432.05
0.58560 F12 1.54302 F13 = 0

F12 = 2.63494 F13

=0

348.10
266.67
F12 + 2
F13 + a = 0
429.44
432.05
0.81059 F12 + 1.23444 FAC = 0
$ F13 = 1.10937 a
%
& F12 = 2.92313a

(2.3)

By the same procedure, we consider other joints

At joint 2

F13 = F14

(2.4)

!% Fx = 0 Fx12 + 2 Fx 23 + Fx 25 = 0
&
%' Fy = 0 Fy12 + 2 Fy 23 + Fy 25 = 0

(2.5)

At joint 3

At joint 5

! Fx = 0 Fx13 Fx 23 + Fx 34 + Fx 35 + Fx 36 = 0
$$
% Fy = 0 Fy13 Fy 23 + Fy 34 + Fy 35 + Fy 36 = 0
$
$& Fz = 0 Fz13 Fz 23 + Fz 34 + Fz 35 + Fz 36 = 0

(2.5)

F35 = F45 ; F56 = F57 ; F59 = F510

(2.6)

!% Fx = 0 Fx 25 2 Fx 34 + 2 Fx 56 + Fx 58 + 2 Fx 59 = 0
&
%' Fy = 0 Fy 25 2 Fy 34 + 2 Fy 56 + Fy 58 + 2 Fy 59 = 0
At joint 6

F13 = F14

5"

(2.7)

(2.8)

! Fx = 0 Fx 36 Fx 56 + Fx 67 + Fx 69 = 0
$$
% Fy = 0 Fy 36 Fy 56 + Fy 67 + Fy 69 = 0
$
$& Fz = 0 Fz 36 Fz 56 + Fz 67 + Fz 69 = 0

(2.9)

To solve these 12 linear equations, a MATLAB code was written to made it

more easy and more accuracy.
1.!clc;
2.!clear;
3.!syms a;
4.!%Define coordinator of points
5.!Co=[1000 0 0;748.52 348.10 0;666.67 266.67 -66.67;666.67 266.67
66.67;497.05 696.22 0;333.33 533.33 -133.33;333.33 533.33
133.33;245.57 1044.32 0;0 800 -200;0 800 200]
6.!i=1;
7.!j=1;
8.!k=1;
9.!%Calculate the length of element
10.!while i<=10;
11.!
j=1;
12.!
while j<=10;
13.!
k=1;
14.!
while k<=3;
15.!
F(i,j,k)=Co(j,k)-Co(i,k);
16.!
k=k+1;
17.!
end
18.!
j=j+1;
19.!
end
20.!
i=i+1;
21.!end
22.!i=1;
23.!%Calculate sin(alpha) ; sin (beta);sin(gamma)
24.!while i<=10;
25.!
j=1;
26.!
while j<=10;
27.!
k=1;
28.!
Fx(i,j)=F(i,j,1)/((F(i,j,1))^2+(F(i,j,2))^2+(F(i,j,3))^2)^(1
/2);
29.!
Fy(i,j)=F(i,j,2)/((F(i,j,1))^2+(F(i,j,2))^2+(F(i,j,3))^2)^(1
/2);
30.!
Fz(i,j)=F(i,j,3)/((F(i,j,1))^2+(F(i,j,2))^2+(F(i,j,3))^2)^(1
/2);
31.!
j=j+1;
32.!
end
33.!
i=i+1;
34.!end
35.!% Define the coefficiency matrix
36.!Fmat=[1 2 0 0 0 0 0 0 0 0 0 0
37.!
1 2 0 0 0 0 0 0 0 0 0 0
38.!
-1 0 2 1 0 0 0 0 0 0 0 0
39.!
-1 0 2 1 0 0 0 0 0 0 0 0
40.!
0 -1 -1 0 1 1 1 0 0 0 0 0

6"

41.!
0 -1 -1 0 1 1 1 0 0 0 0 0
42.!
0 -1 -1 0 1 1 1 0 0 0 0 0
43.!
0 0 0 -1 0 -2 0 2 1 2 0 0
44.!
0 0 0 -1 0 -2 0 2 1 2 0 0
45.!
0 0 0 0 0 0 -1 -1 0 0 1 1
46.!
0 0 0 0 0 0 -1 -1 0 0 1 1
47.!
0 0 0 0 0 0 -1 -1 0 0 1 1];
48.!
49.!Fxfilter=[Fx(1,2),Fx(1,3),Fx(2,3),Fx(2,5),Fx(3,4),Fx(3,5),Fx(3,6)
,Fx(5,6),Fx(5,8),Fx(5,9),Fx(6,7),Fx(6,9)];
50.!Fyfilter=[Fy(1,2),Fy(1,3),Fy(2,3),Fy(2,5),Fy(3,4),Fy(3,5),Fy(3,6)
,Fy(5,6),Fy(5,8),Fy(5,9),Fy(6,7),Fy(6,9)];
51.!Fzfilter=[Fz(1,2),Fz(1,3),Fz(2,3),Fz(2,5),Fz(3,4),Fz(3,5),Fz(3,6)
,Fz(5,6),Fz(5,8),Fz(5,9),Fz(6,7),Fz(6,9)];
52.!Fcomp=[Fxfilter;Fyfilter;Fxfilter;Fyfilter;Fxfilter;Fyfilter;Fzfi
lter;Fxfilter;Fyfilter;Fxfilter;Fyfilter;Fzfilter];
53.!i=1;
54.!while i<=12;
55.!
j=1;
56.!
while j<=12;
57.!
A(i,j)=Fmat(i,j)*Fcomp(i,j);
58.!
j=j+1;
59.!
end
60.!
i=i+1;
61.!end
62.!% Define the force vector
63.!B=[0 a 0 0 0 0 0 0 0 0 0 0 ];
64.!B=transpose(B)
65.!x=inv(A)*B;
66.!vpa(x,5)

2.1.1.! Results
After running the code, with the concentrated force as a constant a, in these
element, we have elemental forces depends on a in linear
F12"

F13=F14"

F23=F24"

F25"

F34"

F35=F45"

F36=F47"

+2.923*a"

1.109*a"

"+0.788E+4*a"

+2.923*a"

"+0.466E+4*a"

0.211E+3*a"

1.109*a"

F56=F57"

F58"

F59=F510"

F67"

F69=F710"

F89=F810=F910"

0.824E+4*a"

0.466E+4*a"

1.109*a"

0"

+0.419E+4*a" +2.922*a"

Table 2. Result by Direct Method of Joints

7"

2.2.! Full

FE approach by MATLAB

2.2.1.! FEM for 3D bar

Based on the lecture given in class of Dr. Pearce (2015), there are 3
displacements of 3 dimensions xyz of each two node i,j for each element, which first
3 is belong to first node and the rest is belong to last node of the element which is
(

(2.10)

The elemental stiffness matrix for global stiffness matrix assemble was given by

(2.11)

Where Lij and l,m,n was given by:

And for the forces there are 3 component forces of 3 dimensions xyz of each
two node i,j for each element, which first 3 is belong to first node and the rest is
belong to last node of the element which is:
(2.12)
After that, solving this linear equations in matrix form
(2.13)
When the solution is accquired, lets find elemental force for each member.

(2.14)

8"

2.2.2.! MATLAB coding

Based on beyond formulas, a MATLAB program was written to calculation the

internal forces by FE approach.
1.!clc;
2.!clear;
3.!syms a b;
4.!% Add n nodes by a nx3 matrix of coordinator
5.!node=[1000 0 0;748.52 348.10 0;666.67 266.67 -66.67;666.67 266.67
66.67;497.05 696.22 0;333.33 533.33 -133.33;333.33 533.33
133.33;245.57 1044.32 0;0 800 -200;0 800 200];
6.!numnode=size(node,1);
7.!% Add m elements by mx2 matrix content two nodes of the element
8.!ele=[1 2;1 3;1 4;2 3;2 4;2 5;3 4;3 5;3 6;4 5; 4 7;5 6;5 7;5 8;5
9;5 10;6 7;6 9;7 10;8 9;8 10;9 10];
9.!numele=size(ele,1) ;
10.!% Set material properties
11.!E=68.9E6;
12.!% Set cross section
13.!r1=25;
14.!r2=25-1.6;
15.!A=pi*(r1^2-r2^2);
16.!% Find the length of element of each two nodes
17.!for i = 1:numnode
18.!
for j = 1:numnode
19.!
L(i,j) = sqrt((node(i,1) - node(j,1))^2 + (node(i,2)
- node(j,2))^2 + (node(i,3) - node(j,3))^2);
20.!
end
21.!end
22.!%Calculate the stiffness matrix
23.!Stiff = zeros(3*numnode,3*numnode);
24.!for i = 1:numele
25.!
for j = 1:numnode
26.!
if ele(i,1) == j
27.!
j;
28.!
ele(i,2);
29.!
L(ele(i,2),ele(i,1));
30.!
l = (node(ele(i,2),1) node(ele(i,1),1))/L(ele(i,2),ele(i,1));
31.!
m = (node(ele(i,2),2) node(ele(i,1),2))/L(ele(i,2),ele(i,1));
32.!
n = (node(ele(i,2),3) node(ele(i,1),3))/L(ele(i,2),ele(i,1));
33.!
matN=[l^2 l*m l*n -l^2 -l*m -l*n; l*m m^2 m*n -l*m m^2 -m*n; l*n n*m n*n -l*n -n*m -n*n; -l^2 -l*m -l*n l^2 l*m
l*n;-l*m -m^2 -m*n l*m m^2 m*n ;-l*n -n*m -n*n l*n n*m n*n
];
34.!
K= E*(A/L(ele(i,1),ele(i,2)))*matN;
35.!
Ki(:,:,i)=K;
36.!
% Assemble elemental matrix to global matrix by
adding up
37.!
for k=1:3
38.!
for h=1:3
39.!
Stiff(3*(ele(i,1)-1)+k,3*(ele(i,1)1)+h)=Stiff(3*(ele(i,1)-1)+k,3*(ele(i,1)-1)+h)+K(k,h);
40.!
Stiff(3*(ele(i,2)-1)+k,3*(ele(i,2)1)+h)=Stiff(3*(ele(i,2)-1)+k,3*(ele(i,2)-

9"

41.!
42.!

1)+h)+K(3+k,3+h);
Stiff(3*(ele(i,1)-1)+k,3*(ele(i,2)1)+h)=Stiff(3*(ele(i,1)-1)+k,3*(ele(i,2)-1)+h)+K(k,3+h);
Stiff(3*(ele(i,2)-1)+k,3*(ele(i,1)1)+h)=Stiff(3*(ele(i,2)-1)+k,3*(ele(i,1)-1)+h)+K(3+k,h);
end
end
end

43.!
44.!
45.!
46.!
end
47.!end
48.!% Applying boundary condition, we trim the matrix out of zero
rows and columns
49.!i=9;
50.!while i>=7
51.!
j=3;
52.!
while j>=1
53.!
Stiff(3*i+j, :) = [];
54.!
Stiff(:, 3*i+j) = [];
55.!
j=j-1;
56.!
end
57.!
i=i-1;
58.!end
59.!%Apply forces, which have the force Fy=a at node 1
60.!fzz=transpose([0 a 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ]);
61.!%Solve the linear equations
62.!size(fzz);
63.!x=linsolve(Stiff,fzz);
64.!
65.!%Add BC zero displacement back to global solution
66.!for i = 22:30
67.!
68.!
x(i)=0;
69.!
x(i)=0;
70.!
x(i)=0;
71.!
72.!end
73.!%Calculate elemental axial force:
74.!for i = 1:numele
75.!
for j = 1:numnode
76.!
if ele(i,1) == j
77.!
u(i,1)=x(3*ele(i,2)-2)-x(3*ele(i,1)-2);
78.!
u(i,2)=x(3*ele(i,2)-1)-x(3*ele(i,1)-1);
79.!
u(i,3)=x(3*ele(i,2))-x(3*ele(i,1));
80.!
l = (node(ele(i,2),1) node(ele(i,1),1))/L(ele(i,2),ele(i,1));
81.!
m = (node(ele(i,2),2) node(ele(i,1),2))/L(ele(i,2),ele(i,1));
82.!
n = (node(ele(i,2),3) node(ele(i,1),3))/L(ele(i,2),ele(i,1));
83.!
F(i)=[E*(A/L(ele(i,1),ele(i,2)))]*[l m
n]*[u(i,1);u(i,2);u(i,3)];
84.!
[l m n]*[u(i,1);u(i,2);u(i,3)];
85.!
end
86.!
end
87.!end
88.!vpa(F,6)

10"

2.2.3.! Results
After running the code, with the concentrated force as a constant a at node 1 by
direction , we have the same result as Method of joints
F12"

F13=F14"

F23=F24"

F25"

F34"

F35=F45"

F36=F47"

+2.923*a"

1.109*a"

"+0.788E+4*a"

+2.923*a"

"+0.466E+4*a"

0.211E+3*a"

1.109*a"

F56=F57"

F58"

F59=F510"

F67"

F69=F710"

F89=F810=F910"

0.824E+4*a"

0.466E+4*a"

1.109*a"

0"

+0.419E+4*a" +2.922*a"

Table 1. Result by FEM approach by MATLAB

2.3.! Full

FE approach by ANSYS

2.3.1.! ANSYS coding

To analyze the problem, the author use a CEA program named ANSYS APDL by
ANSYS Inc to simulate the model, this program solves by FEM. Below is the code to
simulate and solve the problem with Tutorials of University of Alberta (2001) . We
solve three times with different value of force applied at the tip F=3000; F=5000;
F=10000N to check linearity of this system.
/clear

L,4,10

/title, Truss
/UNITS,SI

L,5,6
L,5,7

/PREP7

L,6,8

K,1,245.57, 1044.32 ,0
K,2,497.05,696.22,0

L,7,8
L,7,9

K,3,748.52, 348.10 ,0
K,4,1000,0,0

L,8,10
L,9,10

K,5,0,800,200

ET,1,link180

K,6,0,800,-200
K,7,333.33,533.33,133.33

R,1,117e-6
MP,EX,1,68e9

K,8,333.33,533.33,-133.33

LESIZE,ALL, , ,1,1,1

K,9,666.67,266.67,66.67
K,10,666.67,266.67,-66.67

LMESH,all
FINISH

L,1,2 ! element 1 and 2

L,1,5

/SOLU
DK,1,ALL,0

L,1,6

DK,5,ALL,0

L,2,3
L,2,5

DK,6,ALL,0
FK,4,FY,10000 ! define a force load to a keypoint

L,2,6
L,2,

SOLVE
FINISH

L,2,8

SAVE

L,2,9
L,2,10

/POST1
PLDISP,2

L,3,4

ETABLE,FORCE,SMISC, 1

L,3,9
L,3,10

ETABLE,STRESS,LS, 1
PRETAB,FORCE ! List Element Table

L,4,9

PRETAB,STRESS ! Plot Axial Stress

11"

2.3.2.! ANSYS result

Figure 3 is the geometry model with load and contrained and Figure 4 is the
elemental stress solution which in case of the load of 5000N

Figure 3: Geometry model in ANSYS with load and contrained

Figure 4: Elemental stress solution in case of the load of 5000N

To compare easier , we use PRETAB,FORCE to list a table of elemental axial
forces. Because ANSYS used auto numbering after meshing, the order of forces was
reformatted to have same numbering with Figure 2. We got as follow:

12"

F12"

F13=F14"

F23=F24"

F25"

F34"

F35=F45"

F36=F47"

+14615."

5546.9"

+0.39429"

+14616."

+0.23312"

1.0568"

5545.9"

F56=F57"

F58"

F59=F510"

F67"

F69=F710"

F89=F810=F910"

+0.20967"

+14614."

0.41197"""""

0.23312"

5545.9"

0"

Table 4: Elemental force solution in case of the load of 5000N

After solve 3 times with different value of a, we have the force of element 12:

F12 a =3000 N = -8769.3N

F12 a =5000 N = -14615.N
F12 a =10000 N = -29231.N
ratio r12 =

F12 a =3000 N

3000
=> F12 = 2.9232 a

(2.16)

F12 a =5000 N
5000

F12 a =10000 N
10000

= 2.9231

This result is the same again, exactly like the result (2.3).
2.4.! Final

result

As 3 set of result is identical, so it is validated and correct. We have the axial

force of each element in Table 5.
F12"

F13=F14"

F23=F24"

F25"

F34"

F35=F45"

F36=F47"

+2.923*a"

1.109*a"

"+0.788E+4*a"

+2.923*a"

"+0.466E+4*a"

0.211E+3*a"

1.109*a"

F56=F57"

F58"

F59=F510"

F67"

F69=F710"

F89=F810=F910"

0.824E+4*a"

0.466E+4*a"

1.109*a"

0"

+0.419E+4*a" +2.922*a"

Table 5: Final solution of elemental forces depends on F=a

From Hookes law:

i =

Fi
Ai

As we consider the allowance force, so we have

Fmax
< yield
A
Fmax = F25 < yield A

max =

2.923 a < 145 106 117.62 106

a < 5834.78 N ;

[amax = 5834.78 N ]

13"

(2.17)

According to Burr and Cheatham (1995) safety factor r=1.25 for main gear
structure, so

5834.78
!
"
a
=
=
4667.82
N
max
#%
$&
1.25
!CONCLUSIONS

From the introduction of this report, there were one goal set forth to be
accomplished. It was to calculate the force which is allowance for the lunar leg
system. This goal was achieved through the use of the hand caculation MATLAB
model and ANSYS approach in Methodology section of the report. The internal force
were defined by equations in hand calculation, and the high magnitude forces is
along three lines from the tip to the fixed end. As 3 set of result is identical, so it is
validated and correct. After that, the maximum force applied at the tip is

amax = 5834.78 N

and with safety factor is ! amax/ safety

= 4667.82 N "$

Although goal were satisfied, there is still plenty of different aspects that affect
the lander leg such as bending moment, self-weight. However, these multiple areas
are recommended for additional calculations and improvements of realistic of the
model.

!REFERENCE
Pearce,

2015

Introduction

to

FEM,

accessed

10/3/2015,

<http://moodle.telt.unsw.edu.au/pluginfile.php/1053817/mod_resource/content/
2/Introduction%20to%20FEM.pdf>
Pearce,

2015

3D

Trusses,

accessed

10/3/2015,

<http://moodle.telt.unsw.edu.au/pluginfile.php/1106577/mod_resource/content/
2/3D%20truss%20analysis.pdf>
Chandrupatla, T 2001, Introduction to Finite Elements in Engineering, 3rd
edition, Prentice-Hall
Burr, A and Cheatham, J 1995, Mechanical Design and Analysis, 2nd edition, section
5.2. Prentice-Hall
ANSYS Inc, Introduction to ANSYS Mechanical APDL,

accessed 10/3/2015,

http://www.ansys.com/Support/Training+Center/Courses/Introduction+to+ANSYS
+Mechanical+APDL

14"

University

of

Alberta

2001,

ANSYS

Tutorials,

<http://www.mece.ualberta.ca/tutorials/ansys/>

15"

accessed

10/3/2015,