RBEs and MPCs in MSC.

Nastran

A Rip-Roarin Review of Rigid Elements

RBEs and MPCs Not necessarily rigid elements

Working Definition:

The motion of a DOF is dependent on the motion of at least one other DOF

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Motion at one GRID drives another Simple Translation

X motion of Green Grid drives X motion of Red Grid

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Motion at one GRID drives another Simple Rotation

Rotation of Green Grid drives X translation and Z rotation of Red Grid

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RBEs and MPCs

The motion of a DOF is dependent on the motion of at least one other DOF
Displacement, not elastic relationship Not dictated by stiffness, mass, or force Linear relationship Small displacement theory Dependent v. Independent DOFs Stiffness/mass/loads at dependent DOF transferred to independent DOF(s)
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Small Displacement Theory & Rotations Small displacement theory: Y sin() = tan() = TxB cos() = 1 B For Rz @ A - RzB = RzA= TxB = (-)*LAB TyB = 0
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Typical Rigid Elements in MSC.Nastran Geometry-based

RBAR RBE2 RBE3

Really-rigid rigid elements

Geometry- & User-input based User-input based

MPC

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Common Geometry-Based Rigid Elements RBAR

Rigid Bar with six DOF at each end

RBE2
Rigid body with independent DOF at one GRID, and dependent DOF at an arbitrary number of GRIDs.
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The RBAR The RBAR is a rigid link between two GRID points

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The RBAR
B Most common to have all the dependent DOFs at one GRID, and all the independent DOFs at A the other Can mix/match dependent DOF between the GRIDs, but this is rare The independent DOFs must be capable of describing the rigid body motion of the element
RBAR RBAR EID 535 GA 1 GB 2 CNA CNB 123456 CMA CMB 123456

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RBAR Example: Fastener Use of RBAR to weld two parts of a model together:
RBAR RBAR EID 535 B GA 1 GB 2 CNA CNB 123456 CMA CMB 123456

A
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RBAR Example: Pin-Joint Use of RBAR to form pin-jointed attachment

RBAR RBAR EID 535 B GA 1 GB 2 CNA CNB 123456 CMA CMB 123

A
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The RBE2 One independent GRID (all 6 DOF) Multiple dependent GRID/DOFs

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RBE2 Example Rigidly weld multiple GRIDs to one other GRID:

RBE2 RBE2 EID 99 GN CM GM1 GM2 GM3 GM4 GM5 101 123456 1 2 3 4
3 4 1 2

101
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RBE2 Example
RBE2 EID RBE2 99 GN CM GM1 GM2 GM3 GM4 GM5 101 123456 1 2 3 4

Note: No relative motion between GRIDs 1-4 ! 3

No deformation of element(s) between these GRIDs
101 4

1 2

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Common RBE2/RBAR Uses RBE2 or RBAR between 2 GRIDs

Weld 2 different parts together
6DOF connection

Bolt 2 different parts together

3DOF connection

RBE2
Spider or wagon wheel connections Large mass/base-drive connection

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RBE3 Elements Motion at a dependent GRID is the weighted average of the motion(s) at a set of master (independent) GRIDs
NOT a rigid element IS an interpolation element Does not add stiffness to the structure (if used correctly)
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RBE3 Description

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RBE3 Description By default, the reference grid DOF will be the dependent DOF Number of dependent DOF is equal to the number of DOF on the REFC field Dependent DOF cannot be SPCd, OMITted, SUPORTed or be dependent on other RBE/MPC elements

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RBE3 Description UM fields can be used to move the dependent DOF away from the reference grid For Example (in 1-D):
U99 = (U1 + U2 + U3) / 3 3 * U99 = U1 + U2 + U3

-U1 = + U2 + U3 - 3 * U99
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RBE3 Is Not Rigid! RBE3 vs. RBE2

RBE3 allows warping and 3D effects In this example, RBE2 enforces beam theory (plane sections remain planar)

RBE3

RBE2

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RBE3: How it Works? Forces/moments applied at reference grid are distributed to the master grids in same manner as classical bolt pattern analysis
Step 1: Applied loads are transferred to the CG of the weighted grid group using an equivalent Force/Moment Step 2: Applied loads at CG transferred to master grids according to each grids weighting factor

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RBE3: How it Works? Step 1: Transform force/moment at reference grid to equivalent force/moment at weighted CG of master grids.
FA
CG

Reference Grid

FCG

MA

CG

MCG

FCG=FA MCG=MA+FA*e

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RBE3: How it Works? Step 2: Move loads at CG to master grids according to their weighting values.
Force at CG divided amongst master grids according to weighting factors Wi Moment at CG mapped as equivalent force couples on master grids according to weighting factors Wi

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RBE3: How it Works? Step 2: Continued

FCG
F1m

CG

MCG

F2m

F3m

Total force at each master node is sum of... Forces derived from force at CG: Fif = FCG{Wi/Wi} Plus Forces derived from moment at CG: Fim = {McgWiri/(W1r12+W2r22+W3r32)}
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RBE3: How it Works? Masses on reference grid are smeared to the master grids similar to how forces are distributed
Mass is distributed to the master grids according to their weighting factors Motion of reference mass results in inertial force that gets transferred to master grids Reference node inertial force is distributed in same manner as when static force is applied to the reference grid.

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Example 1

RBE3 distribution of loads when force at reference grid at CG passes through CG of master grids
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Example 1: Force Through CG Simply supported beam

10 elements, 11 nodes numbered 1 through 11

100 LB. Force in negative Y on reference grid 99

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Example 1: Force Through CG

Load through CG with uniform weighting factors results in uniform load distribution
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Example 1: Force Through CG Comments

Since master grids are co-linear, the x rotation DOF is added so that master grids can determine all 6 rigid body motions, otherwise RBE3 would be singular

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Example 2

How does the RBE3 distribute loads when force on reference grid does not pass through CG of master grids?
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Example 2: Load not through CG

The resulting force distribution is not intuitively obvious
Note forces in the opposite direction on the left side of the beam.
Upward loads on left side of beam result from moment caused by movement of applied load to the CG of master grids.

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Example 3 Use of weighting factors to generate realistic load distribution: 100 LB. transverse load on 3D beam.

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Example 3: Transverse Load on Beam If uniform weighting factors are used, the load is equally distributed to all grids.

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Example 3: Transverse Load on Beam The uniform load distribution results in too much transverse load in flanges causing them to droop.

Displacement Contour

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Example 3: Transverse Load on Beam Assume quadratic distribution of load in web Assume thin flanges carry zero transverse load Master DOF 1235. DOF 5 added to make RY rigid body motion determinate

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Example 3: Transverse Load on Beam Displacements with quadratic weighting factors virtually equivalent to those from RBE2 (Beam Theory), but do not impose plane sections remain planar as does RBE2.

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Example 3: Transverse Load on Beam

RBE3 Displacement Contour

Max Y disp=.00685
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Example 3: Transverse Load on Beam

RBE2 Displacement contour

Max Y disp=.00685
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Example 4
Use RBE3 to get unconstrained motion Cylinder under pressure Which Grid(s) do you pick to constrain out Rigid body motion, but still allow for free expansion due to pressure?
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Example 4: Use RBE3 for Unconstrained Motion Solution:

Use RBE3 Move dependent DOF from reference grid to selected master grids with UM option on RBE3 (otherwise, reference grid cannot be SPCd) Apply SPC to reference grid

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Example 4: Use RBE3 for Unconstrained Motion Since reference grid has 6 DOF, we must assign 6 UM DOF to a set of master grids
Pick 3 points, forming a nice triangle for best numerical conditioning Select a total of 6 DOF over the three UM grids to determine the 6 rigid body motions of the RBE3 Note: M is the NASTRAN DOF set name for dependent DOF

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Example 4: Use RBE3 for Unconstrained Motion

UM Grids

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Example 4: Use RBE3 for Unconstrained Motion For circular geometry, its convenient to use a cylindrical coordinate system for the master grids.
Put THETA and Z DOF in UM set for each of the three UM grids to determine RBE3 rigid body motion

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Example 4: Use RBE3 for Unconstrained Motion Result is free expansion due to internal pressure. (note: poisson effect causes shortening)

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Example 4: Use RBE3 for Unconstrained Motion Resulting MPC Forces are numeric zeroes verifying that no stiffness has been added.

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Example 5 Connect 3D model to stick model 3D model with 7 psi internal pressure Use RBE3 instead of RBE2 so that 3D model can expand naturally at interface.
RBE3 will also allow warping and other 3D effects at the interface.

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Example 5: 3D to Stick Model Connection

120 diameter cylinder 7 psi internal pressure 10000 Lb. transverse load on stick model RBE3: Reference grid at center with 6 DOF, Master Grids with 3 translations

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Example 5: 3D to Stick Model Connection

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Example 5: 3D to Stick Model Connection Undeformed/Deformed plot shows continuity in motion of 3D and Beam model

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Example 5: 3D to Stick Model Connection

MPC forces at interface show effect of both the tip shear and interface moment.

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Example 5: 3D to Stick Model Connection

Shell outer fiber stresses at interface slightly higher than beam bending stresses
3D effects Shell model under internal pressure and not bound by beam theory assumptions

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Example 6 Use RBE3 to see beam type modes from a complex model Sometimes its difficult to identify and describe modes of complex structures Solution:
Connect complex structure down to centerline grids with RBE3. Connect centerline grids with PLOTELs

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Example 6: Using RBE3 to Visualize Beam Modes Generic engine courtesy of Pratt & Whitney

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Example 6: Using RBE3 to Visualize Beam Modes

RBE3s used to connect various components to centerline. Each components centerline grids connected by its own set of PLOTELs

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Example 6: Using RBE3 to Visualize Beam Modes Complex Mode Animation

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Example 6: Using RBE3 to Visualize Beam Modes

Animation of the PLOTEL segments shows that this is a whirl mode Relative motion of various components more clearly seen

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Example 7 Use RBE3 to connect incompatible elements

Beam to plate Beam to solid Plate to solid
Alternative to RSSCON

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Example 7: RBE3 Connection of Incompatible Elements

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Example 7: RBE3 Connection of Incompatible Elements Use RBE3 to connect beams to plates at two corners Use RBE3 to connect beams to solids at two corners Use RBE3 to connect plates to solid
Plate thickness is same as solid thickness in this example

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Example 7: RBE3 Connection of Incompatible Elements

RBE3 connection of beams to plates
Map 6 DOF of beam into plate translation DOF For best results, beam footprint should be similar to RBE3 footprint, otherwise joint will be too stiff

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Example 7: RBE3 Connection of Incompatible Elements

RBE3 connection of beams to solids
Map 6 DOF of beam into solid translation DOF For best results, beam footprint should be similar to RBE3 footprint, otherwise joint will be too stiff

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Example 7: RBE3 Connection of Incompatible Elements

RBE3 connection of plates to solids
Coupling of plate drilling rotation to solid not recommended Plate and solid grids can be equivalent, coincident, or disjoint (as shown)

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Example 7: RBE3 Connection of Incompatible Elements Deformation contours show continuity at RBE3 interfaces

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Example 7: RBE3 Connection of Incompatible Elements Bending stress contours consistent across RBE3 interface

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RBE3 Usage Guidelines Do not specify rotational DOF for master grids except when necessary to avoid singularity caused by a linear set of master grids Using rotational DOF on master grids can result in implausible results (see next two slides)

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RBE3 Usage Guidelines Example: What can happen if master rotations included?
Modified RBE3 from Example 5 Displacements clearly incorrect when all 6 DOF listed for master grids (next page)

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RBE3 Usage Guidelines

Deformation with all 6 DOF specified for master grids at interface Deformation with 3 translation DOF specified for master grids (same loads/BCs)
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RBE3 Usage Guidelines Make check run with PARAM,CHECKOUT,YES

Section 9.4.1 of MSC.Nastran Reference Manual (V68) EMH printout should be numeric zeroes (no grounding) No MAXRATIO error messages from decomposition of Rgmm and Rmmm matrices (numerically stable)

Perform grounding check of at least KGG and KNN matrix

V2001: Case control command
GROUNDCHECK (SET=(G,N))=YES

V70.7 and earlier:

Use CHECKA alters from SSSALTER library
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RBE3: Additional Reading

Much RBE3 information has been posted on MSCs Knowledge Base
http://www.mechsolutions.com/support/knowbase/index.html

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RBE3: Additional Reading Recommended TANs

TAN#: 2402 RBE3 - The Interpolation Element. TAN#: 3280 RBE3 ELEMENT CHANGES IN VERSION 70.5, improved diagnostics TAN#: 4155 RBE3 ELEMENT CHANGES IN VERSION 70.7 TAN#: 4494 Mathematical Specification of the Modern RBE3 Element TAN#: 4497 AN ECONOMICAL METHOD TO EVALUATE RBE3 ELEMENTS IN LARGE-SIZE MODELS

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User-Input based Rigid Elements MPCs

Most general-purpose way to define motion-based relationships Could be used in place of ALL other RBEi
Lack of geometry makes this impractical

Can be changed between SUBCASEs

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MPC Definition Rigid elements

Definition: The motion of a DOF dependent on the motion of (at least one) other DOF
Linear Relationship One (1) dependent DOF n independent DOF (n >= 1)

ajXi = a1X1 + a2X2 + a3X3++ anXn

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General Approach For Use of MPCs Write out desired displacement equality relationship on a per DOF level
Dependent motion = (your equation goes here)
2 1

Ux2 = Ux1

Re-arrange so left-hand side is zero List dependent term first

0 = - Ux2 + Ux1
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MPC Format For example:

Set X motion of GRID 2
2 1

= X motion of GRID 1 UX2 = UX1

MPC MPC SID 535 G1 2

0 = - UX2 + UX1 = (-1.)UX2 + (+1.)UX1

C1 1 A1 -1.0 G2 1 C2 1 A2 +1.0

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General Approach to MPCs Write down relationship you want to impose on a per DOF level:

ajXi = a1X1 + a2X2 ++ anXn

Move dependent term to 1st term on right hand side:

0 = -aiXi + a1X1 + a2X2++ anXn

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Why would I want to use an MPC? Tie GRIDs together (RBEi) Determine relative motion between GRIDs Maintain separation between GRIDs Determine average motion between GRIDs Model bell-crank or control system Units conversion
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Use of MPC to tie GRIDs together Write down relationship you want to impose on a per DOF level:
UX2 = UX1 UY2 = UY2 UZ3 = UZ3
2 1

X2 = X1 Y2 = Y1 Z2 = Z1
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Use of MPC to tie GRIDs together Move dependent term to 1st term on right hand side:
0 = -UX2 + UX1 0 = -UY2 + UY2 0 = -UZ3 + UZ3 0 = - X2 + X1 0 = - Y2 + Y1 0 = - Z2 + Z1 MPC, 535, 2, 1, -1.0, 1, 1, +1.0 MPC, 535, 2, 2, -1.0, 1, 2, +1.0 MPC, 535, 2, 3, -1.0, 1, 3, +1.0 MPC, 535, 2, 4, -1.0, 1, 4, +1.0 MPC, 535, 2, 5, -1.0, 1, 5, +1.0 MPC, 535, 2, 6, -1.0, 1, 6, +1.0

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Use of MPC to tie GRIDs together Use CAUTION when tying non-coincident GRIDs together! Watch for how those rotations and translations couple!
UX2 = UX1

2 1

Z2 = Z1

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MPCs for Relative Motion Whats the relative motion between GRIDs 1 and 2?

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MPCs for Relative Motion Introduce placeholder variable

Good use for SPOINTs

Write out desired relationship as before

U1000 = UX2 UX1

Move dependent term to RHS

0 = - U1000 + UX2 UX1

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MPCs for Relative Motion Write out MPCs

0 = -U1000 + UX2 UX1
1

?2

SPOINT 1000 MPC + 535 1000 1 1 1 -1.0 -1.0 2 1 +1.0

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MPCs for Relative GAP What is the gap between GRIDs 1 and 2?

Initial gap
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MPCs for Relative GAP Write equation:

Introduce new placeholder variable for initial gap
1 2

UGAP = UINIT + UX2 UX1 0 = -UGAP + UINIT + UX2 UX1

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MPCs for Relative GAP Set initial gap value via SPC!
0 = -U1000 + U1001 + UX2 UX1
SPOINT, 1000 SPOINT, 1001 MPC, +, SPC, , $ Gap value $ Initial Gap 2, 1, +1., 1, 1, -1.

535, 1000, 1, -1., 1001, 1, +1. 2002, 1001,1,0.5 $ Set initial gap

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MPC used to Maintain Separation Enforce a separation between GRIDs

Similar to using a gap Changes which DOF are dependent/independent

Example:
Initially 1 apart Keep separation = 0.25

1 0.25 2

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MPC used to Maintain Separation

1

1.00
0.25 2

U1 = U2 + (desired initial) 0 = -U1 + U2 + U1000

2, 2, +1.0

SPOINT,1000 MPC, 535, 1, 2, -1.0, +, , 1000, 1, +1.0 SPC, 2002, 1000, 1, -.75
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Use of MPCs for AVERAGE Motion Determine average motion of DOFs

4 5

U1000 = (U1+ U2 + U3 + U4 +U5 +U6)/6

Z
3 2

0 = -6*U1000 + U1+ U2 + U3 + U4 +U5 +U6

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MPCs as Bell-crank or Control System Output of 1 DOF scales another

1 2

U2 = U1/1.65 0 = -1.65*U2 + U1

MPC MPC

1. 1.65 00

SID 535

G1 2

C1 1
Slide 90

A1 -1.65

G2 1

C2 1

A2 +1.0

Units Conversion Somewhat frivolous application, but why not? Convert radians to degrees Convert inches to meters
2 = 1 * 57.29578 39.37 * X2 = X1

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Rigid Element Output Since Rigid elements are a specialized input of MPC equations, the output is requested by MPCFORCE case control command.
COMMON ERROR
The MPCFORCEs are associated with GRID IDs, not Element IDs. So when selecting a SET for output, be sure the set is for GRID IDs, not Element IDs.

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Guidelines for Rigid Elements Linear ONLY

Relationships calculated based on initial geometry

Can cause internal constraints for thermal conditions Be careful that independent GRID has 6 DOF

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MPCs and RBEs Off the shelf

RBAR RBE2

Customizable
RBE3

Handmade
MPC

Add them to your modeling arsenal today!

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