Advanced Analysis in Robot Structural

Analysis 2015
Rafal Gaweda
Autodesk Inc., Technical Support Senior Specialist

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Class summary
This class is a presentation of the advanced analysis
capabilities available in Robot Structural Analysis 2015
software and Robot Structural Analysis software cloud
computations. We will discuss nonlinear calculations, various
dynamic analyses, seismic analysis, transient analysis (time
history), and the Direct Analysis Method. We will also
explore the wind simulation engine. We will cover basic
examples of correct workflows, calculation data setting, and
results retrieval, and we will discuss tips and tricks.

Linear Analysis

Nonlinear Analysis

Nonlinear Analysis

Nonlinear Analysis Calculation Algorithms

BFGS Algorithm
Newton-Raphson Algorithm

Nonlinear analysis VS P-delta analysis

http://forums.autodesk.com/t5/robot-structural-analysis/non-linear-analysis-pdelta-analysis/m-p/3643010

Buckling Analysis

Buckling Analysis

As concerns calculating the buckling length using buckling analysis to use it later in steel design module it is
possible but in most cases the calculated buckling lengths are not the values user expects.
Buckling analysis calculates global buckling of the structure. Of course some modes (especially higher ones)
correspond to local buckling of some parts of the structure (for instance columns).
For each load case the basic results of this analysis are critical coefficients (eigenvalues) and eigenvectors for
appropriate buckling modes. Each critical coefficient corresponds to the factor by which the loads of
appropriate load case should be multiplied to obtain appropriate loss of stability (buckling mode).
Basing on these coefficients and results of static analysis for appropriate load case (normal forces in different
bars) critical forces for each load case, mode and bar can be calculated. Note that such critical forces are
calculated for all bars (except of these which are under tension) disregarding the shape of buckling - these
forces may concern bars for which buckling does not occur - in such case they have rather mathematical than
physical meaning. Basing on critical forces and Euler's formula the buckling lengths for appropriate load case,
buckling mode and bars are calculated.
In steel design module user needs buckling length of bar which is a property of bar itself and does not
depend on load case and mode. In such case buckling length from buckling analysis can be taken only for
very simple models or when load is applied directly to considered member and the buckling mode has local
character related to this considered member.

Buckling Analysis Modes

http://forums.autodesk.com/t5/robot-structural-analysis/buckling-analysis-visual-resultslook-not-correct/m-p/4404473#M16676

Modal Analysis

Load to Mass Conversion

Modal Analysis for nonlinear model

In any case of non-linear properties (tension-only members, uplift supports, cables,
elasto-plastic members, non-linear releases, non-linear hinges, etc.) such objects are
resulting in non-linear behavior of the structure.
In such case in general vibrations are non-linear they are not harmonic. It is so
because stiffness of the structure can be changing during vibrations.
Dynamic modal analysis is a linear analysis assuming constant stiffness of the
structure.
In case of non-linear models the dynamic modal analysis is run for the linearized
model, i.e. assuming constant stiffness resulting from static load case preceding
given modal load case.
It means that results of modal analysis can be different depending after which static
load case the modal analysis load case is defined.

Modal Analysis Eigenvectors

As concerns the values of eigenvectors itself they are unitless but of course the
relation between translation and rotation components is kept to give the correct
shape of the vibration modes.
The rotation components are given as derivatives of translation components (like
RY=dZ/dX) so they are also dimensionless. These derivatives correspond to tangents
of appropriate angles.

http://forums.autodesk.com/t5/robot-structural-analysis/modal-analysis-outputs/m-p/4877418#M21562
http://forums.autodesk.com/t5/robot-structural-analysis/mode-shape-vectors/td-p/3431943

Modal Analysis comparison with SAP2000

http://forums.autodesk.com/t5/robot-structural-analysis/help-for-using-arsafor-structural-dynamic-purposes/m-p/5344813#M27356

Harmonic Analysis

Harmonic Analysis with added masses

Additional masses should be added to preceding Modal case then then newly
calculated natural frequency should be used in Harmonic case

https://screencast.autodesk.com/Main/Details/8dd9905f-359b-4686-b631-bc233c8addae

Harmonic Analysis
speed and acceleration of nodes
Is it possible to get the speed of the nodes in a harmonic load calculation?.

It is not directly output in results of harmonic analysis but amplitudes of speed in

harmonic analysis can be obtained from amplitudes of displacements (displayed in for
instance Displacements table) . It is resulting from the first derivative of sinusoidal
function. It is enough to multiply displacements by 2*Pi*f where f is the frequency of
excitation.
Analogously amplitudes of acceleration can be obtained multiplying displacements by
(2*Pi*f)^2

Equivalent Lateral Force Method Linear Seismic

Seismic Analysis

Nonlinear Seismic Analysis why not

1. Stiffness matrix for modal analysis is taken from the last calculated case
before modal case so some tension members "are not working" in this case and
this state will be fixed for next modal case(s)
2. Modes should (may) activate \ deactivate some different tension bars depending
on direction they are acting but this effect can not be considered due to point 1
3. Even if we calculate model after combining results for most tension bars it may
appear that results are "not existing" because combining "not existing" results
and some value results gives "not existing" finally
4. Spectral/seismic analysis is based on assumption of harmonic vibrations which
is not true for nonlinear model. In such case you should use time history instead.
One have to convert time - acceleration data into time - displacement data and
finally apply them to the supports of your structure (to model movement of the
ground).

Quadratic combination in nonlinear model

To define quadratic combination in non-linear model is to:
1/ run analysis of non-linear model without any combinations,
2/ after completing analysis defining combination(s) without "Quadratic" attribute - in combinations dialogue or on Edit tab of the table
of combinations,
3/ opening the table of combinations on Edit tab (if it was not done in step 2/),
4/ clicking right mouse button to open context menu, selecting "Table Columns...", activating "Quadratic combination" in the dialogue
and accepting by selecting OK - additional column SQRT will be displayed in the table
5/ selecting YES in SQRT column for appropriate combination(s)
Results for combinations with SQRT attribute set to YES will be calculated as SRSS quadratic combinations of appropriate results of
combination components - see the attached screen capture made for simple example.
Opening the Analysis Type window in above case will result in change of the status of results from "available" to "out of date" and
results for combinations will become not available (N/A in table of results).
Running analysis again in above case will result in loosing quadratic combination status in combinations it was defined in step 5/.
Additional note: it is important to remember that in case of models containing cables assembling load case (case 1) is automatically
considered in other load cases. In case of using the workaround described in steps 1/ to 5/ the assembling load case (usually by default
self-weight) may be considered in combination several times from different combination components.

Seismic in nonlinear load combinations

If one defines or modifies combinations using the table of combinations the status of results changes to "out of
date" and results for new created or modified combinations can be not available (N/A). In such case it is necessary
to re-run analysis.
It can be avoided not using the table of combinations to define or modify them defining or modifying
combinations using Manual Combinations or (for instance change to quadratic combinations) using Analysis Type
window.
Such behavior results from non-standard operations on results made by Robot in such case. Because model is
non-linear the superposition principle is not valid for it so theoretically all combinations should be iterated in nonlinear way.
But modal and seismic analysis (using response spectra method) is performed for linearized model and results of
seismic analysis are combined with results of static non-linear load cases without non-linear iterations. Of course
performing seismic analysis for linearized model and then combining these results with non linearized (non-linear)
results for static analysis is some approximation. The precise approach for non-linear model would be running
seismic analysis using non-linear time history.

Eccentricity in seismic analysis

The eccentricity doesn't result to the shifting of the seismic force. The mass
matrix is shifted and not the point of application of the seismic force. The
only case that there is no shifting of the mass matrix is when in the analysis
type "modal with automatic definition of seismic cases" the option of
"simplified approach" is chosen, where the pseudostatic horizontal forces
are implemented in parallel with seismic moments.

Damping for seismic and spectral cases

Damping defined in advanced parameters of Modal case

1. damping correction of elastic spectra in these seismic codes where it is possible - for instance
in EN-1998-1-1 (Eurocode 8)
2.in calculation of complete quadratic combinations (CQC) and double sum method (2SM)
combinations

Damping for seismic and spectral cases

Damping
defined
spectral analysis
is
It is used in
spectrainaveraging
not only
not
used directly
in spectral
in spectra
defintion
but also analysis
when
calculationsit
can
be
treated
using averaged spectra directlyasinsome
identifier
of various
spectral load
case spectra here.
It is used when preparing spectra in
case of spectra interpolation.

Seismic Analysis comparison with

RISA and SAP
http://forums.autodesk.com/t5/robot-structural-analysis/robot-seismic-combinations-compare-torisa-and-sap2000/m-p/3426765

http://forums.autodesk.com/t5/robot-structural-analysis/response-spectrum-analysis-gettingwrong-results/td-p/3425595

http://forums.autodesk.com/t5/robot-structural-analysis/robot-seismic-combinations-compare-torisa-and-sap2000/td-p/3406133

Spectral Analysis
Spectral analysis available in Robot concerns movement of soil and is related to seismic effects.

Seismic vs Spectral Analysis

SEISMIC analysis:
Based on the chosen code, seismic analysis works out the response spectrum etc
automatically based on the input parameters (region etc).
The user can set an expected base shear that Robot will limit seismic base shear to.
Eccentricity option is available within the seismic options (can leave eccentricity zero in the
preceeding modal case)
SPECTRAL method:
Correct response spectrum must be defined
Eccentricity should be defined in the preceding modal analysis;
Nneed to do an initial run, then go back and do a second iteration to apply scaling factors to
limit my base shear to the expected value.
http://forums.autodesk.com/t5/robot-structural-analysis/responce-spectrum/m-p/3723824

Time History Analysis

Time History Analysis examples

http://forums.autodesk.com/t5/robot-structural-analysis/time-history-analysisfor-a-rotating-motor/m-p/3239198
http://forums.autodesk.com/t5/robot-structural-analysis/tutorial-or-exaple-formachine-foundation/td-p/3534506
http://forums.autodesk.com/t5/robot-structural-analysis/time-history-unitsand-methods/td-p/4821103

Time History Analysis as Seismic

Time History Analysis as Seismic

How can I create THA function corresponding to my spectrum/ earthquake?
The method of creating response spectrum compatible artificial ( synthetic )
accelerograms is described for instance in the "Response Spectrum Compatible
Accelerograms" chapter of the "Dynamics of Structures" by Ray Clough, Joseph
Penzien.
Some topics related to proper selection of accelerograms are discussed in this paper:
http://hal.archives-ouvertes.fr/docs/00/70/02/45/PDF/laurendeauetal2012.pdf
The software generating artificial earthquake accelerograms:
http://www.seismosoft.com/en/SeismoArtif.aspx
http://roboting.wordpress.com/2011/03/06/generation-of-simulated-earthquakescompatible-with-prescribed-response-spectra-in-robot/

Blast or Impact as Time History Analysis

Impact as THA example

http://forums.autodesk.com/t5/robot-structural-analysis/mass-velocity-loadsamp-dynamic-response/m-p/3630846#M7725

Blast as THA example

http://forums.autodesk.com/t5/robot-structural-analysis/definition-of-blastaccidental-loads-in-robot/m-p/3755536#M10038

Moving load as Time History Analysis

Moving load as THA example

http://forums.autodesk.com/t5/robot-structural-analysis/time-history-dynamicanalysis-for-a-moving-load/m-p/4816405#M20729

Footfall Analysis

Footfall Analysis - Verification Example

http://forums.autodesk.com/t5/robot-structural-analysis/footfall-analysis/mp/3072674#M245

Footfall Analysis Base acceleration

Base acceleration is set only according to available codes, i.e. Concrete Centre (2006), SCI
P354 Design of Floors for Vibration and AISC DG11: Floor Vibrations due to Human
Activity.
But in case of SCI P354 and AISC DG11 base acceleration is a constant value and
response factor is proportional to 1/base acceleration so it is very easy to convert it to
different base acceleration value.
In case of Concrete Centre (2006) Design Guide it is more sophisticated because in case
of resonant response the base acceleration is a function composed of 3 different
branches for 4 Hz < fh < 8 Hz and moreover the overall response factor is calculated as
SRSS of response factors for harmonics. But in this case it is possible to use detailed
results for harmonics from Diagrams of Footfall analysis in RSA. This data can be output
to for instance MS Excel to be processed using arbitrary base accelerations.

Direct Analysis Method

Direct Analysis Method Whitepaper

http://bimandbeam.typepad.com/files/direct-analysis-method-whitepaper.pdf

Wind Simulation Engine

Wind Simulation Engine

Wind Simulation Engine

Autodesk Robot Structural Analysis Professional Wind Simulator Validation Brief
Whitepaper
http://bimandbeam.typepad.com/bim_beam/2014/06/autodesk-robot-structuralanalysis-professional-wind-simulator-validation-brief-whitepaper.html
How to make a compatible analysis of wind loads with RSA and code requirements?
http://forums.autodesk.com/t5/robot-structural-analysis/terrain-type-windsimulation/td-p/5238985

Advanced examples
Tuned mass damper
http://forums.autodesk.com/t5/robot-structural-analysis/tuned-mass-damper-tmd-creation-withrsa/td-p/3933423
How to simulate a closing gap between two shell elements
http://forums.autodesk.com/t5/robot-structural-analysis/how-to-simulate-a-closing-gap-betweentwo-shell-elments/td-p/3253276
Nonlinear release
http://forums.autodesk.com/t5/robot-structural-analysis/non-linear-release/td-p/3636110
Pushover example
http://forums.autodesk.com/t5/robot-structural-analysis/push-over-analysis/td-p/3617552

Autodesk is a registered trademark of Autodesk, Inc., and/or its subsidiaries and/or affiliates in the USA and/or other countries. All other brand names, product names, or trademarks belong to their respective holders. Autodesk reserves the right to alter product and services offerings, and specifications and pricing at any time without notice, and is not responsible for typographical or graphical errors that may appear in this document. 2013
Autodesk, Inc. All rights reserved.

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Autodesk, Inc. All rights reserved.

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