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© 2015 ANSYS, Inc. 1
MBD for ANSYS Simulation
焦晓娟/高级工程师 13127889362
© 2015 ANSYS, Inc. 2
Why do MBD simulation?
The difference between MBD and FEA for Dynamics simulation
How do MBD simulation？
What is MBD for ANSYS?
What is MBD for ANSYS Co-Licensing?
The technical Highlight of MBD for ANSYS & C/L Toolkits
Case Study
OutLine
© 2015 ANSYS, Inc. 3
Why do MBD simulation?
What is the difference between MBD and FEA for Dynamics simulation?
How do MBD simulation？
What is MBD for ANSYS?
What is MBD for ANSYS Co-Licensing?
What is the technical Highlight of MBD for ANSYS?
Case Study
Content
© 2015 ANSYS, Inc. 4
Failure and Motion/Dynamic
© 2015 ANSYS, Inc. 5
Environment and Dynamics
© 2015 ANSYS, Inc. 6
Why Do MBD Simulation?
MBD simulation is the study of the motion of mechanical systems caused by external forces and motion excitation acting on the systems.
© 2015 ANSYS, Inc. 7
Why Do MBD Simulation?
Multi-Body Dynamics (MBD) capability to simulate the motion of the mechanical system.
Leads to a deep understanding of the system
Calculates the input load needed for finite element analysis
© 2015 ANSYS, Inc. 8
Why Do MBD simulation in ANSYS/Workbench?
FEA/Stress ,Strain, …
Mechanical Load
Strength
Function Trace,
Motion transfer path Velocity, Accelerate
Multi-Body Dynamics
© 2015 ANSYS, Inc. 9
Why do MBD simulation?
What is the difference between MBD and FEA for Dynamics simulation?
How do MBD simulation？
What is MBD for ANSYS?
What is MBD for ANSYS Co-Licensing?
What is the technical Highlight of MBD for ANSYS?
Case Study
Content
© 2015 ANSYS, Inc. 10
Dynamics thanks to Newton and Apple Tree
Newton’s Second Law
− F = m a
Dynamics analysis》
− Modeling
− Solution
• Closed form solutions
• Numerical solutions
Sir Issac Newton(1643-1727)
fkxxcxm =++
© 2015 ANSYS, Inc. 11
Dynamics thanks to Computer
fkxxcxm =++
{ }{ }
{ }xxxnnn
kxxcfmx
1
,
+−= −
⇒{ }xx nn
11, ++
Modeling
Solution
MBD engineer’s View FEA engineer’s View
“Explicit”&“Implicit”method （e.g. Newmark, Park,…)
{ }xn
FE method x: nodal dof m,k,c: material & element formulations
MBD method x: RB dof m: RB mass k,c: force-control connectors
Digital modeling
Numerical solutions
© 2015 ANSYS, Inc. 12
“MBD”modle from FEA View
Main part of Model: Node | Element
Joints：MPC/RBE + Boundry condition
MPC/RBE: the dofs of Slave Nodes are controlled by the dofs of Master node
Force connectors (e.g. springs, dampers): special element
Key objective : Response
Model size: Big
Solution time: Long
© 2015 ANSYS, Inc. 13
“MBD”modle from MBD View • Main part of Model: Rigid Body | Rflex Body | Fflex Body | Joints | Forces | Contact
• Key objective: Load condition I System matching
once load condition is got by MBD, the deformation, stress, strain could be got by FEA.
• Traditional math model: DAE（Differential Algebraic Equations）
– differential equations of motion
– Algebraic constraint equations
• Advanced math model： open-chain，Recursive Formulation
• Flexible Body
– Rflex body
– Fflex body
0 sin mgl + I =θθ
0γQ
λq
0ΦΦM
q
q =
−
T
00sin0cos
543
2
1
=Φ=Φ=Φ=−=Φ=−=Φ
z
z
lylx
θθ
© 2015 ANSYS, Inc. 14
Why do MBD simulation?
What is the difference between MBD and FEA for Dynamics simulation?
How do MBD simulation？
What is MBD for ANSYS?
What is MBD for ANSYS Co-Licensing?
What is the technical Highlight of MBD for ANSYS?
Case Study
Content
© 2015 ANSYS, Inc. 15
How do MBD simulation?
Body-零部件
Joint-零部件之间的约束联接
Force-零部件之间的力联接
Contact-零部件之间的接触
Expression-表达式，表达驱动、载荷、控制等
Pre-Analysis Post-Process
Build
Test
Refine
Iterate
Optimize
Automate
Validate
© 2015 ANSYS, Inc. 16
MBD simulation
Geometry几何模型
MBD模型 多体动力学模型
道路试验数据
Loading载荷历程+质量、惯量、联接关系、
Bushing+驱动模式
典型工况：直线制动，转弯，一轮悬空，路障撞击，角度路障撞击
特殊路面，等级路面
© 2015 ANSYS, Inc. 17
MFBD simulation
Geometry几何模型
MBD模型 多体动力学模型
MFBD模型
刚柔混合模型
Durability模型寿命Life
损伤 Damage安全系数 Safety Factor
道路试验数据
Loading载荷历程
强度Stress/Strain
刚度Deformation
+质量、惯量、联接关系、Bushing+驱动模式
有限元网格/模态
疲劳材料性能
根据分析结果改进设计Modify
强度√刚度√
疲劳耐久√N
Y
?
Report
典型工况：直线制动，转弯，一轮悬空，路障撞击，角度路障撞击
特殊路面，等级路面
© 2015 ANSYS, Inc. 18
MFBD Simulation
18
CAD
RIGID Geometry
Engine
FFLEX Mesh
Engine
RFLEX
Mod
al
Solu
tion
GU
I SO
LVE
R
RFLEX FFLEX
External Mesher
External FE Solver
Dur
abili
ty/F
atig
ue A
naly
sis
Dynamic Solution
Multiple Static Solutions
Analysis
Stre
ss/S
trai
n R
esul
ts
G-Body G-Contact
G-Connector
© 2015 ANSYS, Inc. 19
Why do MBD simulation?
What is the difference between MBD and FEA for Dynamics simulation?
How do MBD simulation？
What is MBD for ANSYS?
What is MBD for ANSYS Co-Licensing?
What is the technical Highlight of MBD for ANSYS?
Case Study
Content
© 2015 ANSYS, Inc. 20
MBD for ANSYS
MBD for ANSYS
Workbench
High performance
Contacts
Intelligent Load
Transfer
Co-Licensing to RecurDyn
Toolkits
Advanced MBD Post Proessing
© 2015 ANSYS, Inc. 21
Why do MBD simulation?
What is the difference between MBD and FEA for Dynamics simulation?
How do MBD simulation？
What is MBD for ANSYS?
What is MBD for ANSYS Co-Licensing?
What is the technical Highlight of MBD for ANSYS?
Case Study
Content
© 2015 ANSYS, Inc. 22
MBD for ANSYS Co-Licensing
MBD simulation
MBD + Control simulation
MBD for ANSYS
MBD for ANSYS Co-Licensing
© 2015 ANSYS, Inc. 23
MBD for ANSYS Co-Licensing
Export
CL
MBD4A(MBD for ANSYS) Co-License (C/L)is a approach to extend
MBD4A software to RecurDyn software.
MBD4A+ C/L = “阶梯式MBD Solution”
© 2015 ANSYS, Inc. 24
MBD for ANSYS C/L使用 各种行业Toolkits
© 2015 ANSYS, Inc. 25
MBD for ANSYS C/L使用 MFBD技术
© 2015 ANSYS, Inc. 26
Why do MBD simulation?
What is the difference between MBD and FEA for Dynamics simulation?
How do MBD simulation？
What is MBD for ANSYS?
What is MBD for ANSYS Co-Licensing?
What is the technical Highlight of MBD for ANSYS?
Case Study
Content
© 2015 ANSYS, Inc. 27
Highlights of MBD for ANSYS and C/L
Recursive Dynamic
Tightly integrated in Workbench Automated, Intelligent Load Transfer Advanced MBD Post-Processing Co-Licensing to RecurDyn
MBD4A
C/L
High Performance Contact Modeling
Gear/Chain/Belt/Bearing Toolkits
Track MTT Machine Tool
PNet / E-Template / Auto Design
MFBD Particles
Engine
SubSystem
Controls Firmware hydraultic
© 2015 ANSYS, Inc. 28
Why do MBD simulation?
What is the difference between MBD and FEA for Dynamics simulation?
How do MBD simulation？
What is MBD for ANSYS?
What is MBD for ANSYS Co-Licensing?
What is the technical Highlight of MBD for ANSYS?
Case Study
Content
© 2015 ANSYS, Inc. 29
MBD for ANSYS Load Transfer Demo
MBD Simulation
Load Transfer to Static
Structural System
Analyze the loads cases
© 2015 ANSYS, Inc. 30
Case Study: Robot MBD Simulation
Contact
3 wheel with ground (solid contact) Joint 5 Revolute joint for each wheel
1 Translational joint for lift
Force
2 Rotational Axial force for wheels
1 Axial force for lift
© 2015 ANSYS, Inc. 31
Case Study
Proposed Method Tested at KyungHee Univ. Objective : Non-expert firmware engineer could develop more robust Embedded S/W quickly. Who : Undergraduate Junior & Senior Students with understanding of basic theory of Dynamic & Control How long : 3 weeks Project Virtual modeling & Simulation (ZIPC, RecurDyn, CoLink, Ch-Script) Initially Firmware development in Virtual environment only Lego mindstorm modeling & embed Firmware code into micro processor Recurrent between Virtual Environment and Real H/W
