Abstract
In this paper, the consistent rotation-based formulation (CRBF) is used to develop new three-dimensional beam elements starting with the absolute nodal coordinate formulation (ANCF) kinematic description. While the proposed elements employ orientation parameters as nodal coordinates, independent rotation interpolation is avoided, leading to unique displacement and rotation fields. Furthermore, the proposed spatial ANCF/CRBF-based beam elements adhere to the noncommutative nature of the rotation parameters, allow for arbitrarily large three-dimensional rotation, and eliminate the need for using co-rotational or incremental solution procedures. Because the proposed elements have a general geometric description consistent with computational geometry methods, accurate definitions of the shear and bending deformations can be developed and evaluated, and curved structures and complex geometries can be systematically modeled. Three new spatial ANCF/CRBF beam elements, which use absolute positions and rotation parameters as nodal coordinates, are proposed. The time derivatives of the ANCF transverse position vector gradients at the nodes are expressed in terms of the time derivatives of rotation parameters using a nonlinear velocity transformation matrix. The velocity transformation leads to lower-dimensional elements that ensure the continuity of stresses and rotations at the element nodal points. The numerical results obtained from the proposed ANCF/CRBF elements are compared with the more general ANCF beam elements and with elements implemented in a commercial FE software.
Similar content being viewed by others
References
Bathe, K.J.: Finite Element Procedures. Prentice Hall Inc, Englewood Cliffs (1996)
Belytschko, T., Hsieh, B.J.: Non-linear transient finite element analysis with convected co-ordinates. Int. J. Numer. Methods Eng. 7(3), 255–271 (1973)
Belytschko, T., Liu, W.K., Moran, B.: Nonlinear Finite Elements for Continua and Structures. Wiley, New York (2000)
Bonet, J., Wood, R.D.: Nonlinear Continuum Mechanics for Finite Element Analysis. Cambridge University Press, Cambridge (1997)
Campanelli, M., Berzeri, M., Shabana, A.A.: Performance of the incremental and non-incremental finite element formulations in flexible multibody problems. Trans. Am. Soc. Mech. Eng. J. Mech. Des. 122(4), 498–507 (2000)
Cook, R.D., Malkus, D.S., Plesha, M.E.: Concepts and Applications of Finite Element Analysis, 3rd edn. Wiley, New York (1989)
Crisfield, M.A.: Nonlinear Finite Element Analysis of Solids and Structures, Vol. 1: Essentials. Wiley, New York (1991)
Ding, J., Wallin, M., Wei, C., Recuero, A.M., Shabana, A.A.: Use of independent rotation field in the large displacement analysis of beams. Nonlinear Dyn. 76, 1829–1843 (2014)
Dmitrochenko, O., Mikkola, A.: Digital nomenclature code for topology and kinematics of finite elements based on the absolute nodal co-ordinate formulation. IMechE J. Multibody Dyn. 225, 34–51 (2011)
Gerstmayr, J., Gruber, P., Humer, A.: Comparison of fully parameterized and gradient deficient elements in the absolute nodal coordinate formulation. In: ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pp. V006T10A025–V006T10A025 (2017)
Gerstmayr, J., Irschik, H.: On the correct representation of bending and axial deformation in the absolute nodal coordinate formulation with an elastic line approach. J. Sound Vib. 318(3), 461–487 (2008)
Gerstmayr, J., Matikainen, M.K., Mikkola, A.M.: A geometrically exact beam element based on the absolute nodal coordinate formulation. Multibody Syst. Dyn. 20(4), 359–384 (2008)
Greenberg, M.D.: Advanced Engineering Mathematics, 2nd edn. Prentice-Hall, Englewood Cliffs (1998)
Gruber, P.G., Nachbagauer, K., Vetyukov, Y., Gerstmayr, J.: A novel director-based Bernoulli–Euler beam finite element in absolute nodal coordinate formulation free of geometric singularities. Mech. Sci. 4(2), 279–289 (2013)
Hu, W., Tian, Q., Hu, H.Y.: Dynamics simulation of the liquid-filled flexible multibody system via the absolute nodal coordinate formulation and SPH method. Nonlinear Dyn. 75, 653–671 (2014)
Kreyszig, E.: Differential Geometry. Dover Publications, New York (1991)
Kulkarni, S., Pappalardo, C.M., Shabana, A.A.: Pantograph/catenary contact formulations. ASME J. Vib. Acoust. 139(1), 1–12 (2017)
Liu, C., Tian, Q., Hu, H.Y.: Dynamics of large scale rigid-flexible multibody system composed of composite laminated plates. Multibody Syst. Dyn. 26, 283–305 (2011)
Matikainen, M.K., von Hertzen, R., Mikkola, A., Gerstmayr, J.: Elimination of high frequencies in the absolute nodal coordinate formulation. Proc. Inst. Mech. Eng. Part K J. Multibody Dyn. 224(1), 103–116 (2010)
Nachbagauer, K.: Development of shear and cross-section deformable beam finite elements applied to large deformation and dynamics problems. Ph.D. dissertation, Johannes Kepler University, Linz, Austria (2013)
Nachbagauer, K., Pechstein, A.S., Irschik, H., Gerstmayr, J.: A new locking-free formulation for planar, shear deformable, linear and quadratic beam finite elements based on the absolute nodal coordinate formulation. Multibody Syst. Dyn. 26(3), 245–263 (2011)
Nachbagauer, K., Gruber, P., Gerstmayr, J.: Structural and continuum mechanics approaches for a 3D shear deformable ANCF beam finite element: application to static and linearized dynamic examples. J. Comput. Nonlinear Dyn. 8(2), 021004-1–021004-7 (2013)
Nachbagauer, K.: State of the art of ANCF elements regarding geometric description, interpolation strategies, definition of elastic forces, validation and the locking phenomenon in comparison with proposed beam finite elements. Arch. Comput. Methods Eng. 21(3), 293–319 (2014)
Nicolsen, B., Wang, L., Shabana, A.A.: Nonlinear finite element analysis of liquid sloshing in complex vehicle motion scenarios. J. Sound Vib. 405, 208–233 (2017)
Orzechowski, G.: Analysis of beam elements of circular cross-section using the absolute nodal coordinate formulation. Arch. Mech. Eng. 59, 283–296 (2012)
Orzechowski, G., Frączek, J.: Integration of the equations of motion of multibody systems using absolute nodal coordinate formulation. Acta Mech. Autom. 6, 75–83 (2012)
Orzechowski, G., Frączek, J.: Nearly incompressible nonlinear material models in the large deformation analysis of beams using ANCF. Nonlinear Dyn. 82, 1–14 (2015)
Pappalardo, C.M.: A natural absolute coordinate formulation for the kinematic and dynamic analysis of rigid multibody systems. J. Nonlinear Dyn. 81, 1841–1869 (2015)
Pappalardo, C.M., Wallin, M., Shabana, A.A.: A new ANCF/CRBF fully parametrized plate finite element. ASME J. Comput. Nonlinear Dyn. 12(3), 1–13 (2017)
Patel, M.D., Orzechowski, G., Tian, Q., Shabana, A.A.: A new multibody system approach for tire modeling using ANCF finite elements. Proc. Inst. Mech. Eng. Part K J. Multibody Dyn. 230, 1–16 (2015)
Patel, M., Shabana, A.A.: Locking alleviation in the large displacement analysis of beam elements: the strain split method. Acta Mech. (2018) (accepted for publication)
Rankin, C.C., Brogan, F.A.: An Element independent corotational procedure for the treatment of large rotations. ASME J. Pressure Vessel Technol. 108, 165–174 (1986)
Roberson, R.E., Schwertassek, R.: Dynamics of Multibody Systems. Springer, Berlin (1988)
Shabana, A.A.: Uniqueness of the geometric representation in large rotation finite element formulations. J. Comput. Nonlinear Dyn. 5(4), 044501-1–44501-5 (2010)
Shabana, A.A.: Dynamics of Multibody Systems, 4th edn. Cambridge University Press, Cambridge (2013)
Shabana, A.A.: ANCF consistent rotation-based finite element formulation. ASME J. Comput. Nonlinear Dyn. 11(1), 014502-1–014502-4 (2016)
Shabana, A.A., Patel, M.: Coupling between shear and bending in the analysis of beam problems: planar case. J. Sound Vib. 419, 510–525 (2018)
Shabana, A.A., Yakoub, R.Y.: Three-dimensional absolute nodal coordinate formulation for beam elements: theory. Trans. Am. Soc. Mech. Eng. J. Mechv Des. 123(4), 606–613 (2001)
Shampine, L., Gordon, M.: Computer Solution of ODE: The Initial Value Problem. Freeman, San Francisco (1975)
Simo, J.C., Vu-Quoc, L.: On the dynamics of flexible beams under large overall motions—the plane case, part I. J. Appl. Mech. 53, 849–863 (1986)
Takahashi, Y., Shimizu, N.: Study on elastic forces of the absolute nodal coordinate formulation for deformable beams. In: Proceedings of ASME International Design Engineering Technical Conferences and Computer and Information in Engineering Conference, Las Vegas, NV (1999)
Tian, Q., Chen, L.P., Zhang, Y.Q., Yang, J.Z.: An efficient hybrid method for multibody dynamics simulation based on absolute nodal coordinate formulation. ASME J. Comput. Nonlinear Dyn. 4, 021009-1–021009-14 (2009)
Tian, Q., Sun, Y.L., Liu, C., Hu, H.Y., Paulo, F.: Elasto-hydro-dynamic lubricated cylindrical joints for rigid-flexible multibody dynamics. Comput. Struct. 114–115, 106–120 (2013)
Timoshenko, S.P., Goodier, J.N.: Theory of Elasticity. McGraw-Hill Book Co. Inc., New York (1970)
Wittenburg, J.: Dynamics of Multibody Systems, 2nd edn. Springer, Berlin (2007)
Yakoub, R.Y., Shabana, A.A.: Three dimensional absolute nodal coordinate formulation for beam elements: implementation and applications. Trans. Am. Soc. Mech. Eng. J. Mech. Des. 123(4), 614–621 (2001)
Zheng, Y., Shabana, A.A.: A two-dimensional shear deformable ANCF consistent rotation-based formulation beam element. Nonlinear Dyn. 87(2), 1031–1043 (2017)
Zheng, Y., Shabana, A.A., Zhang, D.: Curvature expressions for the large displacement analysis of planar beam motions. ASME J. Comput. Nonlinear Dyn. 13, 011013-1–011013-12 (2018)
Zienkiewicz, O.C.: The Finite Element Method, 3rd edn. McGraw Hill, New York (1977)
Zienkiewicz, O.C, Taylor, R.L.: The Finite Element Method, Vol. 2: Solid Mechanics, 5th edn. Butterworth Heinemann, Boston (2000)
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Kulkarni, S., Shabana, A.A. Spatial ANCF/CRBF beam elements. Acta Mech 230, 929–952 (2019). https://doi.org/10.1007/s00707-018-2294-0
Received:
Revised:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00707-018-2294-0