Chapter 13 Nonlinear Simulations 1

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 2

Section 13.1
Basics of Nonlinear
Simulations
Key Concepts
Contact Types
Contact versus Target
Nonlinearities
Contact Formulations
Causes of Structural
Additional Contact Settings
Nonlinearities
Pinball Region
Steps, Substeps, and Iterations
Interface Treatment
Newton-Raphson Method
Time Step Controls
Force/Displacement
Update Stiffness
Convergence
Solution Information
Line Search
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 3

Nonlinearities

[1] In a linear
In a nonlinear simulation, the simulation, [K]
(slope of the
relation between nodal force line) is
constant.
{F} and nodal displacement
{D} is nonlinear.
we may write

Challenges of nonlinear
simulations come from the [2] In a
nonlinear
difficulties of solving the above simulation, [K]
(slope of the
equation. curve) is
changing with
{D}.
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 4

Causes of Structural
Nonlinearities

Geometry Nonlinearity
Due to Large Deflection
Topology Nonlinearity
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 5

Steps, Substeps, and [1] Number

of steps can
Iterations be specified
here.

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
[2] To switch
substeps is to achieve or enhance between steps,
convergence. [3] Each type a step
step has its number here.
Iterations (Equilibrium Iterations) own analysis
settings.
Each iteration involves solving a
linearized equilibrium equation.
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 6

Newton-Raphson
Method
[4]
External P1′ P2′ P3′ P4′
F0 + ΔF
force at F3 P4
P3
next time F2 P2
step
(known). [1] Actual response
F1 P1
curve, governed by

[3] External
force at F0 P0
current
time step
Force {F}

(known).

D0 D1 D2 D3 D4 Displacement {D}

[2] Displacements [5] Displacements at

at current time step next time step
(known). (unknown).
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 7

Suppose we are now at and the time is increased one substep

further so that the external force is increased to , and we want to
find the displacement at next time step .
Starting from point , <Workbench> calculates a tangent
stiffness [K], the linearized stiffness, and solves the following
equation

The displacement is increased by to become . Now, in the D-F

space, we are at , the point , far from our goal . To proceed, we
need to "drive" the point back to the actual response curve.
Substituting the displacement into the governing equation,
we can calculate the internal force ,

Now we can locate the point , which is on the actual response

curve. The difference between the external force (here, ) and the
internal force (here, ) is called the residual force of that equilibrium
iteration,

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 8

Force/Displaceme
nt Convergence
[1] You can turn
on <Force
Convergence>
and set the
[3] When shell criterion.
elements or beam
elements are
used, <Moment [2] You can turn
Convergence> on
can be activated. <Displacement
Convergence>
and set the
criterion.
[4] When shell
elements or beam
elements are
used, <Rotation
Convergence>
can be activated.
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 9

Solution Information
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 10

Line Search

Force
F0 + ΔF

F0

Displacement D0 D1

Goal

[2] Line search Calculated ΔD

can be turned on
to scale down the
incremental [1] In some cases, when
displacement. By the F-D curve is highly
default, it is nonlinear or concave up,
<Program the calculated in a single
Controlled>. iteration may overshoot
the goal.
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 11
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 12

Contact Types

Bonded
No Separation
Frictionless
Rough
Frictional
Linear versus Nonlinear
Contacts
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 13

Contact versus [1] To specify a contact

region, you have to
Target select a set of
<Contact> faces (or
During the solution, edges), and select a set
of <Target> faces (or
<Workbench> will check the edges).

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
[2] If <Behavior> is set
symmetric. to <Symmetric>, the
roles of <Contact> and
If <Behavior> is set to <Target> will be
symmetric.
<Asymmetric>, the checking is
only one-sided.
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 14

Contact
Formulations

[1]
MPC (multi-point constraint) Workbench
offers several
Pure Penalty formulations
Normal Lagrange to enforce
contact
Augmented Lagrange compatibility.

[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.
Chapter 13 Nonlinear Simulations Section 13.1 Basics of Nonlinear Simulations 15

Additional Contact
Settings

Pinball Region
Interface Treatment
Time Step Controls
Update Stiffness
Chapter 13 Nonlinear Simulations Section 12.2 Translational Joint 16

Section 13.2
Translational Joint 20
60
20

Problem Description

[1] The
translational
joint is used to
connect two 40
machine
components,
so that the
relative [3] All
motion of the connectors have [2] All leaf
components is a cross section springs have a
restricted in of 10x10 mm. cross section of
this direction. 1x10 mm.
Chapter 13 Nonlinear Simulations Section 12.2 Translational Joint 17

Results

[1] Nonlinear [2] Linear

Solution. Solution.

101.73

74.67
Chapter 13 Nonlinear Simulations Section 13.3 Microgripper 18

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 exerted by the SMA device.
More specifically, we will plot a gripping force-versus-actuation-
force chart.
Chapter 13 Nonlinear Simulations Section 13.3 Microgripper 19

Results

[1] contact
status.

[2] contact
pressure.
Chapter 13 Nonlinear Simulations Section 13.4 Snap Lock 20

Section 13.4 20

Snap Lock
10
5 7

Problem Description
10

20

The purpose of this 30

simulation is to find
17
out the force
7
required to push the
insert into the 5
8
position and the
force required to pull
it out.
Chapter 13 Nonlinear Simulations Section 13.4 Snap Lock 21

Results (Without
[2] It requires
Friction) 236 N to pull
out.

[3] The curve is

essentially
[1] It requires 189 symmetric.
N to snap in. Remember that
we didn't take
the friction into
account.
Chapter 13 Nonlinear Simulations Section 13.4 Snap Lock 22

Results (With Friction) [2] It requires 305

N to pull out.

[3] Because of
[1] It requires 328 friction, the curve
N to snap in. is not symmetric.