Linear Modelling Assignment 2

Assignment 2
AE4ASM003 Linear Modelling (incl. F.E.M)

Lennarth Cohen (5002591)
Delft University of Technology
1
Method and Discussion of Results
This report discusses the most important assumption made while solving this problem,
with an explanation for the importance of this assumption. Secondly, a comparison
between the Python code and Abaqus results will be given for the case described be-
low. Lastly, a question about the replacement of a truss member by a rope will be
answered[1].
1.1. Most important assumption of the method

The most important assumption made while solving this problem is that the elements
only experience axial deformation. Deformation from rotation is not considered while
dealing with truss elements. If rotation were to be introduced at the nodes, the assump-
tion would not be valid any more, since bending would be part of the problem. The
assumption of no bending increases the displacement of the nodes with respect to the
same case where bending would be included. This effect can be described by the ele-
ment being able to “arc” when bending would be taken into account, this arching leads
to nodes staying closer to each other than in the case of only axial deformation.
1.2. Verification of Code Results

The Python code of this assignment is verified by simulating the structure supporting
the wheels of the perseverance robot, as given in Figure 1.1a. This structure can be
represented by the truss structure given in Figure 1.1b. Some additional information
about this diagram is that the Young’s Modulus E is given by 70 GPa, the cross-sectional
area of elements 1 and 4 are 50 mm2 and the cross-sectional area of elements 2 and
3 are 30 mm2 .
(a) Perseverance robot wheel structure (b) Wheel structure diagram
Figure 1.1: Verification case
Simulating this case with the Python code that was produced, the results in Table 1.1
and Table 1.2 can be found.
1
1.2. Verification of Code Results 2
Table 1.1: Node displacement and reaction forces Python code
Node x-displacement y-displacement RF x-direction RF y-direction

Number [mm] [mm] [N] [N]
1 0 0 -857.143 1714.286
2 0.909137 0 0 -1500
3 0 0 -142.857 285.7143
4 -0.59848 0 0 -500
5 -0.11113 -0.15064 0 0
Table 1.2: Element strain and stress Python code
Element Strain Stress

Number [-] [MPa]
1 0.000606 42.43926
2 -0.00015 -10.6448
3 0.000337 23.58447
4 0.000194 13.55327
The same simulation in Abaqus resulted in the results given in Table 1.3 and Table 1.4.
Additionally, the geometry that is simulated and colorplots of displacement, strain, and
stress results are shown in Appendix A. Moreover, the query function results are shown
there.
Table 1.3: Node displacement and reaction forces Abaqus
Node x-displacement y-displacement RF x-direction RF y-direction

Number [mm] [mm] [N] [N]
1 0 0 -857.143 1714.29
2 0.909137 0 0 -1500
3 0 0 -142.857 285.714
4 -0.598482 0 0 -500
5 -0.111129 -0.150635 0 0
Table 1.4: Element strain and stress displacement Abaqus
Element Strain Stress

Number [-] [MPa]
1 0.000606092 42.4264
2 -0.000152113 -10.6479
3 0.000336718 23.5702
4 0.000193609 13.5526
Comparing the results of the Python code with the results obtained by Abaqus, it can
be seen that the results are very similar. This shows that the code gives results that
coincide with commercial software. To ensure that the code not only works for the
given (test) case, two additional cases were checked. From these additional cases, it
1.3. Truss member replacement with rope 3
can be concluded that the code is not only valid for the given test case, but for any
case for which the node positions, connectivity matrix, force vector, element areas and
Boundary Conditions are specified well enough for the system to be solvable. This was
concluded, since the Python code results closely matched the results that were found
in the lecture and pre-lecture videos.
1.3. Truss member replacement with rope

Replacing member 2 with a rope with the same Young’s modulus and the same cross-
sectional area means that a member which is able to carry tension and compression is
replaced with a member which is only able to carry tension loads.
What this does to the code is that the type of loading in each element (compression or
tension) needs to be identified. This is done as the code is now (saying each member
is a truss member, not a rope). Then this loading type information (compression or
tension), and the information on which member is replaced by a rope, is used to change
the global matrix accordingly. From the results given in Section 1.2 it can be concluded
that element/member 2 is in compression, which means it experiences no structural
stiffness from this member (due to the rope being able to only carry tension). This
means that the contribution of element/member 2 is reduced to all zeros in the global
stiffness matrix. This global stiffness matrix is then used to compute the results of the
system for the case where element/member 2 is a rope.
Bibliography
[1] Peeters, D., AE4AMS003 Linear Modelling Assignment 2: truss element, 2024.
4
A
A.1. Colorplots of perseverance case
Figure A.1: Diagram of perseverance robot
Figure A.2: Abaqus x-direction displacement result simulation case
Figure A.3: Abaqus y-direction displacement result simulation case
5
A.1. Colorplots of perseverance case 6
Figure A.4: Abaqus strain result simulation case
Figure A.5: Abaqus stress result simulation case
The results of the Abaqus simulations were found using the query tool in the program.
The tables with results (Table 1.3 and Table 1.4) were obtained from this query function
and adjusted to the correct node and element numbering, as indicated in Figure 1.1b.
The query results of each variable can be found below, note that the node and element
numbering is different in Abaqus. The correct node and element numbering is counting
from the top row down, so for element results from element 1 to 4 and for node results
from node 1 to node 5.
Figure A.6: Nodal x-displacements (in mm) query results
Figure A.7: Nodal y-displacements (in mm) query results

A.1. Colorplots of perseverance case 7
Figure A.8: Nodal reaction forces (in Newton) in x-direction query results
Figure A.9: Nodal reaction forces (in Newton) in y-direction query results
Figure A.10: Element strains (dimensionless) query results
Figure A.11: Element stresses (in MPa) query results

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Assignment 2

AE4ASM003 Linear Modelling (incl. F.E.M)

1.1. Most important assumption of the method

1.2. Verification of Code Results

(a) Perseverance robot wheel structure (b) Wheel structure diagram

Figure 1.1: Verification case

Table 1.1: Node displacement and reaction forces Python code

Node x-displacement y-displacement RF x-direction RF y-direction

Table 1.2: Element strain and stress Python code

Element Strain Stress

Node x-displacement y-displacement RF x-direction RF y-direction

Table 1.4: Element strain and stress displacement Abaqus

Element Strain Stress

1.3. Truss member replacement with rope

A.1. Colorplots of perseverance case

Figure A.1: Diagram of perseverance robot

Figure A.2: Abaqus x-direction displacement result simulation case

Figure A.3: Abaqus y-direction displacement result simulation case

Figure A.4: Abaqus strain result simulation case

Figure A.5: Abaqus stress result simulation case

Figure A.6: Nodal x-displacements (in mm) query results

Figure A.7: Nodal y-displacements (in mm) query results

Figure A.10: Element strains (dimensionless) query results

Figure A.11: Element stresses (in MPa) query results

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