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13
CR Formulation
Overview I
NFEM Ch 13 Slide 1
Nonlinear FEM
Kinematic Description
Corotated C R
Deformed (current,
D
spatial) C
Deformational
motion
NFEM Ch 13 Slide 2
Continuum mechanics
Vehicle guidance (esp. aerospace)
Mechanisms (esp. robotics)
Convected coordinates (flow-like beha
Geometrically nonlinear Finite Elemen
NFEM Ch 13 Slide 3
Nonlinear FEM
CR
PR
Corotated (shadow)
configuration C R
Deformed configuration C D
(Shown separate from C R for
visualization convenience)
P0
Base (a.k.a. inertial) frame
C0
NFEM Ch 13 Slide 4
Nonlinear FEM
Deformed (bar)
Deformed (beam)
Deformed (membrane)
Deformed (shell)
;
;;
;;;;
Base
Base
NFEM Ch 13 Slide 5
Nonlinear FEM
Assembler
Global element
equations
Incorporate
rigid body
motions
Deformational
element
equations
Form element
mass, stiffness
& forces
System equations
of motion
Solver
Total
displacements
Extract
deformational
motions
Deformational
displacements
CR "Filters"
NFEM Ch 13 Slide 6
Evaluate
element
stresses
Finite Element
Library
Nonlinear FEM
CR Mathematics Is Hairy
NFEM Ch 13 Slide 7
Nonlinear FEM
NFEM Ch 13 Slide 8
Nonlinear FEM
R
(depends on P)
P0
C0
C R _C
x2
c
T0T
x~1
element
base frame
deformational
rotation Rd
(a "drilling
rotation" in 2D)
a
x~2
R0
X2,x2
TRT
O global X1,x1
frame
NFEM Ch 13 Slide 9
element
_ CR frame
x1
Nonlinear FEM
(b)
x~ 1
x~
CR
C0
_
x2
(fixed)
(fixed)
_
x1
X1, x1
CR
c
a
X2, x2
CG
C0
(moving)
CG
(c)
CD
C0
CR
CG
NFEM Ch 13 Slide 10
Nonlinear FEM
T0
TT0
R0
element
CR frame
_
x
TR
global
frame
X, x
NFEM Ch 13 Slide 11
TRT
Nonlinear FEM
Corotated CR
Deformed CD
Perturbed C D + C
_
x2
x
D
_
u2j
C + C
_
x2
xDa
_
x1
a
x aD
Perturbed C D + C
_
x3
CR C
perturbed a
C + C
(b)
Instantaneous
rotation axis
_
3
CR
_
x1
C _
x3 (+up)
Corotated CR
iR
_ D
v a (includes
D
displacements u2i i _ Deformed C
_ u1i
and spins)
L
u3i (+up)
NFEM Ch 13 Slide 12
jR
jD _ u1j
u3j(+up)
Nonlinear FEM
And Projectors
_ _
HPT
CR deformational
displac_& rotations
_
ud , d
global total
displac & spins
u,
global-to-CR
frame rotator
Projector
_ _ _
P = Pu + P
CR total
displac
_ &_spins
u,
NFEM Ch 13 Slide 13
Nonlinear FEM
NFEM Ch 13 Slide 14
Nonlinear FEM
Rotational Matrix
Transformations
NFEM Ch 13 Slide 15
Nonlinear FEM
NFEM Ch 13 Slide 16
Nonlinear FEM
H L
2D
3D
NFEM Ch 13 Slide 17
Nonlinear FEM
NFEM Ch 13 Slide 18
Nonlinear FEM
NFEM Ch 13 Slide 19
Nonlinear FEM
NFEM Ch 13 Slide 20
Nonlinear FEM
NFEM Ch 13 Slide 21
Nonlinear FEM
CR Element Formulation
NFEM Ch 13 Slide 22