Chapter 13 Nonlinear Simulations

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

Section 13.1
Basics of Nonlinear Simulations
Key Concepts

Nonlinearities
Causes of Structural Nonlinearities
Steps, Substeps, and Iterations
Newton-Raphson Method
Force/Displacement Convergence
Solution Information
Line Search

Contact Types
Contact versus Target
Contact Formulations
Additional Contact Settings

Pinball Region
Interface Treatment
Time Step Controls
Update Stiffness

Chapter 13 Nonlinear Simulations

Section 13.1 Basics of Nonlinear Simulations

In a nonlinear simulation, the

relation between nodal force {F} and

Force {F}

Nonlinearities
[1] In a linear
simulation, [K]
(slope of the line)
is constant.

nodal displacement {D} is nonlinear.

we may write
K(D)

Displacement {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

Causes of Structural Nonlinearities

Geometry Nonlinearity

Topology Nonlinearity

Due to Large Deflection

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

Steps, Substeps, and Iterations

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.

[1] Number of
steps can be
specified here.

Iterations (Equilibrium Iterations)

Each iteration involves solving a linearized

equilibrium equation.

[3] Each step

can have its
own analysis
settings.

[2] To switch
between steps,
type a step number
here.

Chapter 13 Nonlinear Simulations

Section 13.1 Basics of Nonlinear Simulations

Newton-Raphson Method
[4] External
force at next
time step
(known).

P3

P2

F1

P4

P3

P4

[1] Actual response

curve, governed by
K(D) D = F

P1

{ } {}

P0

{}

F0

Force F

[3] External
force at
current time
step (known).

P2

P1

F0 + F
F3
F2

D0

[2] Displacements at
current time step
(known).

D1

D2

D3

D4

{}

Displacement D

[5] Displacements at next

time step (unknown).

Chapter 13 Nonlinear Simulations

Section 13.1 Basics of Nonlinear Simulations

Suppose we are now at P0 and the time is increased one substep further so that
the external force is increased to F0 + F , and we want to find the displacement
at next time step D4 .


Starting from point P0 , <Workbench> calculates a tangent stiffness [K], the
linearized stiffness, and solves the following equation
K D = F
The displacement D0 is increased by D to become D1 . Now, in the D-F space,
we are at (D1, F0 + F ) , the point P1 , far from our goal P4 . To proceed, we need to
"drive" the point P1 back to the actual response curve.


Substituting the displacement D1
into the governing equation, we can
calculate the internal force F1 ,
K(D1 ) D1 = F1
Now we can locate the point (D1, F1 ) , which is on the actual response curve. The
difference between the external force (here, F0 + F ) and the internal force (here,
F1 ) is called the residual force of that equilibrium iteration,
F1R = (F0 + F ) F1
If the residual force is smaller than a criterion, then the substep is said to be
converged, otherwise, another equilibrium iteration is initiated. The iterations
repeat until the convergence criterion satisfies.

{ } { }

{ } {}

Chapter 13 Nonlinear Simulations

Section 13.1 Basics of Nonlinear Simulations

Force/Displacement
Convergence

[3] When shell

elements or beam
elements are used,
<Moment
Convergence> can be
activated.

[4] When shell

elements or beam
elements are used,
<Rotation
Convergence> can be
activated.

[1] You can turn

on <Force
Convergence> and
set the criterion.

[2] You can turn

on <Displacement
Convergence> and
set the criterion.

Chapter 13 Nonlinear Simulations

Solution Information

Section 13.1 Basics of Nonlinear Simulations

Line Search

Section 13.1 Basics of Nonlinear Simulations

Force

Chapter 13 Nonlinear Simulations

F0 + F

F0
Displacement

D0

D1
Goal

[2] Line search can be

turned on to scale
down the incremental
displacement. By
default, it is <Program
Controlled>.

Calculated D
[1] In some cases, when the FD curve is highly nonlinear or
concave up, the calculated D
in a single iteration may
overshoot the goal.

10

Chapter 13 Nonlinear Simulations

Section 13.1 Basics of Nonlinear Simulations

11

Chapter 13 Nonlinear Simulations

Contact Types

Bonded
No Separation
Frictionless
Rough
Frictional
Linear versus Nonlinear Contacts

Section 13.1 Basics of Nonlinear Simulations

12

Chapter 13 Nonlinear Simulations

Contact versus Target

During the solution, <Workbench> will

Section 13.1 Basics of Nonlinear Simulations

[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).

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.

13

[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

14

Contact Formulations

MPC (multi-point constraint)

Pure Penalty
Normal Lagrange
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.

[1] Workbench
offers several
formulations to
enforce contact
compatibility.

Chapter 13 Nonlinear Simulations

Additional Contact
Settings

Pinball Region
Interface Treatment
Time Step Controls
Update Stiffness

Section 13.1 Basics of Nonlinear Simulations

15

Chapter 13 Nonlinear Simulations

Section 12.2 Translational Joint

Section 13.2
Translational Joint

20
60

Problem Description
[1] The
translational joint
is used to connect
two machine
components, so
that the relative
motion of the
components is
restricted in this
direction.

20

40

[3] All connectors

have a cross section
of 10x10 mm.

[2] All leaf springs

have a cross section
of 1x10 mm.

16

Chapter 13 Nonlinear Simulations

Section 12.2 Translational Joint

Results

[1] Nonlinear
Solution.

[2] Linear Solution.

120
101.73

Force (N)

90
74.67

60
30
0

10

20

30

Displacement (mm)

40

17

Chapter 13 Nonlinear Simulations

Section 13.3 Microgripper

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 N
exerted by the SMA device. More specifically, we will plot a gripping force-versusactuation-force chart.

18

Chapter 13 Nonlinear Simulations

Section 13.3 Microgripper

Results

[1] contact
status.

[2] contact
pressure.

19

Chapter 13 Nonlinear Simulations

Section 13.4 Snap Lock

Section 13.4

20

20

Snap Lock

10
5

Problem Description
10

The purpose of this

20
30

simulation is to find out

17

the force required to push

the insert into the

position and the force

required to pull it out.

5
8

Chapter 13 Nonlinear Simulations

Section 13.4 Snap Lock

Results (Without Friction)

[2] It requires
236 N to pull
out.

[1] It requires 189 N

to snap in.

[3] The curve is

essentially symmetric.
Remember that we
didn't take the
friction into account.

21

Chapter 13 Nonlinear Simulations

Section 13.4 Snap Lock

Results (With Friction)

[2] It requires 305 N to
pull out.

[1] It requires 328 N

to snap in.

[3] Because of
friction, the curve is
not symmetric.

22