Introduction To ANSYS Rigid and Flexible Dynamic Analysis

April 9, 2007
2007 ANSYS, Inc. All rights reserved.

ANSYS, Inc. Proprietary Inventory #002402
1-1
Introduction to ANSYS
Rigid and Flexible
Dynamic Analysis

Chapter 1
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A. Introduction
What is Multi-body Analysis?
Parts are
connected
at Joints
which
allow some
relative
motion
Parts are
modeled as
rigid or
flexible
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What is multi-body analysis?
Typically the model will be connected in such a way that it forms a
mechanism that can be driven by a force or displacement.
The response will be based on the kinematics of the mechanism and in
the case of a force loading, the inertia of the parts.

Product and Licensing Requirements:
A separate license is needed for the Rigid Dynamics module which is
used with the ANSYS Structural, Mechanical or Multiphysics licenses.
Flexible dynamic analyses require no special add on or licensing. Can
be performed using ANSYS Structural, Mechanical or Multiphysics
products.
Introduction
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Two Multi-body Dynamic Analysis types available in Simulation:
Rigid and Flexible.
These are described in detail in Modules 2 and 3.
A Rigid analysis considers the large motion of the bodies in the
model. The displacements and rotations are due only to the joints.
A Flexible analysis may also have rigid bodies, but can also
consider flexible bodies. The displacements and rotations are due
to joints, but also flexible part deformation.

Introduction
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Introduction
Advantages of Rigid Analysis:
Very fast. Rigid bodies are connected with joints resulting in a
minimum number of degrees of freedom.
Very robust, no convergence issues. Rigid bodies dont generate high
frequency response.
Graphics provide complete visualization of the part motion.
Can be used interactively to test kinematics (configuration tool).
Powers the Connections Worksheet tab Joint Kinematics Evaluation.
Can include springs/dampers.

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Introduction
Sample Rigid Analysis (animation):
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Introduction
Advantages of Flexible Analysis:
Bodies can be flexible!
All nonlinearities supported.
All boundary conditions supported.
Surface to surface contact between bodies can be included.
Rigid or flexible can be used on a part by part base.
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Introduction
Sample Flexible Analysis with a combination of three rigid and
one flexible part.
Slot Joint Load
drives the base of
the plate up and
down
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B. Rigid Solver
Completely independent of ANSYS elements and solvers.
Uses an explicit solution (No stiffness matrix).
Solves for relative joint DOF velocities.
Can include spring/dampers.
Output file in Solution Information contains diagnostics.
Used by the configure tool to perform kinematic analysis.
Configure tool being
used to check
kinematics of
mechanism
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Rigid Solver
Explicit Time Integration efficient for rigid analyses:
Fourth order Runge Kutta is robust.
Energy-based automatic time stepping.
Automatic time stepping is effective in preventing spurious high
frequencies needlessly shortening the time step.
Rigid Solver Relative DOF advantages:
A minimum number of DOF used, just two or three per joint.
Few constraint violations possible.
Clean numerical results, no spurious high frequency
response.

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C. Relative DOF Minimum Number of
DOF
1 relative dof /
revolute joint
6 absolute dof
/ rigid body
5 constraint
equations per
revolute joint
Absolute: 12 dofs + 10 constraints
(22 dofs including Lagrange Multiplier) Relative: 2 dofs
Use of relative DOF velocity results in smaller model size
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Relative DOF Few Constraint
Violations Possible
1 relative dof /
revolute joint
6 absolute dof
/ rigid body
5 constraint
equations per
revolute joint
Absolute: 12 dofs + 10 constraints
(22 dofs including Lagrange Multiplier) Relative: 2 dofs
Use of relative DOF velocity avoids the need for the constraint
equations to enforce the joint kinematics with absolute DOF at left.

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Shock and non-smooth loading in a flexible dynamics analysis
excite all frequencies of the flexible bodies.
Artificial high frequency response can slow down convergence,
severely shorten the automatic time stepping and produce
unrealistically high forces.
Sources of shock loading are start-up and sudden contact.
The relative DOF are not a function of the stiffness of the rigid
parts, so no high frequency response is produced.
Relative DOF Clean Numerical Results
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Relative DOF Mass Matrix is Coupled
Mass Matrix and Force vector are
formed traversing the open loop
model.
Constraint Equations are added to
close the loops.
Constraint Redundancies handled
at each time step.
Lagrange
multiplier
y is Joint
velocity
)
`
G
F
y
B
B M
t
.
0
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Relative DOF Boundary Conditions
Imposition of an initial velocity of a body or model must be
accomplished by a short time step.
Loads are limited to Acceleration, Gravity and Joint Conditions.
A General joint between a body and ground with all dof free can be
used to specify initial conditions on a body as a joint condition of
the General joint.
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D. Rigid Interface in Simulation
User sees a 3d image of the rigid bodies and their original
and displaced positions, not the abstraction.
Body Views
used to help
visualize parts
when creating
joints
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E. Flexible Solver
The full transient ANSYS solver with HHT time integration
(HHT allows a large numerical damping without loss of accuracy).
Implicit solution requires K, C and M reformulation each time step.
(Slow, but allows support for nonlinear contact, material and joint properties
in addition to flexible bodies)
Uses displacement Degrees Of Freedom.
Matrix form of Equation of Motion solved by Flexible Solver:
| |{ } | |{ } | |{ } ( ) { } t F u K u C u M = + +

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F. Body Representation
Bodies will be rigid in a
Rigid analysis, rigid or
flexible in a Flexible
analysis
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G. Bodies in a Rigid Analysis
Uses only rigid bodies and spring/dampers.
Bodies are implicitly rigid, but should be so specified.
Bodies only interact at joints, so their surface
interference is ignored.
At least one body must be connected to ground.
Configure tool will not be available until a body is connected to
ground.
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H. Bodies in a Flexible Analysis
Use ANSYS elements.
Can be rigid or flexible.
Bodies are connected by joints but may also interact at their
surfaces.
Flexible bodies may contain material nonlinearities.

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Bodies in a Flexible Analysis
A rigid body is modeled by a MASS21 element at the center of
gravity. MPC based contact elements connect the MASS21 to pilot
nodes at the joint locations.
Mass Element
Pilot Node
Pilot nodes connect at
revolute joint element
(MPC184)
Pilot Node
MPC contact
Contact elements can be applied
to the surface
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Bodies in a Flexible Analysis
A flexible body is normally represented by the isoparametric 3D
elements with which it is meshed.
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I. Joints - Definition
A joint serves as a junction where bodies are joined
together or to ground at a single point.
Joint types are characterized by their rotational and
translational degrees of freedom as being fixed or
free.
A joint consists of:
2 nodes, or 1 node when connected to ground.
A reference and mobile coordinate system.
A restricted set of relative displacements.
The kinematic constraints in the joint elements are
imposed using the Lagrange multiplier method.
Universal Joint as
depicted in the
ANSYS Multibody
Analysis Guide
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Joint Abstraction
Joints are point to point connections between two bodies, however
the user interface shows the actual geometry.
Apparent geometry interference or overlap between parts may be
seen during an animation.
These faces are used to define the
joint coordinate systems, but they
interact only at the node to node
joint at their centers.
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Joints Over-constraint
An over-constrained model may solve successfully initially, then
lock-up or not converge.
A well-defined mechanism usually has one rigid body dof as below.
Revolute to
Ground
Pendulum
Cylindrical
Revolute
Revolute to
Ground
Revolute to
Ground
3-Bar Mechanism
Rigid Body
to Body
Slot to
Ground
Slot to
Ground
Double Slot
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Is the planar mechanism below over-constrained?
ROTZ Revolute to
Ground
ROTZ Revolute
UX Slot to
Ground
Rigid Link
Rigid Link
X
Y
X
Y
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Answer: Yes it is. The out of plane UZ dof is redundantly
constrained. The body to body joint can be a cylindrical joint,
which does not constrain relative UZ.
ROTZ Revolute to
Ground
ROTZ Cylindrical
UX Slot to
Ground
Rigid Link
Rigid Link
X
Y
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User evaluation of complicated mechanisms is generally difficult or not
possible.
Use the Worksheet tab for Connections to get kinematic diagnostics.
This revolute
joint removed
a dof
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The Worksheet tab for Connections shows a summary of the joints
and that the mechanism has 0 free dof (should have 1 free dof.)
Highlight
Connections
branch then
pick the
Worksheet
tab
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Joints Under-constraint
A mechanism is under-constrained if it has an unintended rigid
body degree of freedom. A modal analysis can show the source of
the under-constraint in flexible bodies.
Cylindrical Joints
are not preventing
relative UZ motion
of Rod 1
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J. Initial Conditions
In a Rigid analysis, the initial relative velocity of the connected
bodies is zero unless otherwise specified.
A non-zero initial velocity is specified with a joint condition which
can then be deactivated after a short time.
In a Flexible analysis the initial velocity of the bodies is assumed to
be zero, but a constant non-zero initial velocity can be specified.
The initial velocity is uniform over the entire model or selected
body(s).
Can apply to the
whole model or a
set of bodies
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Example: Flexible analysis specification of a non-zero initial
velocity applied to the lower body of a double pendulum.
Initial Conditions
Displacement
after 0.25 sec.
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K. Joint Conditions
Joint Conditions or loads are applied to the unconstrained relative DOF of
the joint.
For example, a revolute joint can be configured using relative rotation,
rotational velocity, rotational acceleration or moment versus time (see
below).
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L. Solution Results
Typical Rigid analysis results:
Animation of model motion.
Max and min displacement, velocity and acceleration.
Force, moment, and relative motion at joints.

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Typical Flexible Analysis
Animation of model motion.
Max and min displacement, velocity and acceleration.
Force, moment, and relative motion at joints.
Result contour displays on flexible bodies.
Solution Results
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M. Summary
Use Rigid analysis for rapid kinematic evaluation of mechanisms.
Use Flexible analysis to include flexible bodies, contact between
surfaces, nonlinearities and more boundary conditions.
Use Simulation to automate all aspects of the analysis and provide
a 3D visualization of the model and motion.

Introduction To ANSYS Rigid and Flexible Dynamic Analysis

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