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FunctionBay, Inc.

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Contents

What’s New in RecurDynTMV6.0……………………………………4

New Products…………………………………………………………7

RecurDynT M / SOLID……………………………………………13

RecurDynT M / SOLVER…………………………………………15

RecurDynT M / FLEX………………………………………………17

RecurDynT M / CONTROL………………………………………18

RecurDynT M / TRACK_HM……………………………………19

RecurDynT M / GEAR………………………………………………20

RecurDynT M / BELT………………………………………………21

RecurDynT M / MTT2D……………………………………………22

RecurDynT M / MTT3D……………………………………………23

RecurDynT M / TIRE………………………………………………24

RecurDyn T M / HYDRAULIC…………………………………25

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1 What’s New in

RecurDynTMV6.0

New Products

RecurDynTM / NodalFlex

Existing Products

RecurDynTM / Solid New Functions New Frame Layout

Upgrade Functions Active/Inactive setting in Database Ton Unit Multi-cylinder creation option in Cylinder To/In Cylinder Contact Angle measure Batch Simulation

.rplt .rad file creation option End Time Condition file import/export option

Parametric value for analysis parameter Eigenvalue analysis in Scenario file Function Expressions for specific forces in Post processing Force display for Contact torque

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RecurDynTM / Solver New Functions CamLine2D Contact

Upgraded Functions Rotational CMOTION Spring outputs AKISPL with 4 parameters

Fixed Problems

RecurDynTM / FLEX Upgraded Functions MSC.NASTRAN Interface ANSYS Interface Contour legend. Measure of mass property

RecurDynTM / Control Fixed Problems

RecurDynTM / Track HM New Functions Inner pin track link

Upgraded Functions Contact parameters of single wheel and double wheel

RecurDynTM / Gear Fixed Problems

RecurDynTM / Belt Fixed Problems

RecurDynTM / MTT2D Fixed Problems

RecurDynTM / MTT3D

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Upgraded Functions Correction factor Static analysis

Fixed Problems

RecurDynTM / Tire New Functions Soil Tire

RecurDynTM / Hydraulic New Functions Interfacing function with AMESim 4.2.0

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2 New Product

RecurDynTM/NodalFlex Overview In many multibody dynamics models it is important to include one or more flexible bodies in order to obtain accurate results. Since the mid 1980s the most popular approach for

adding flexible bodies uses a modal synthesis method. The advantage of the modal method is that a complex finite element meshed can be reduced to a series of modes that be efficiently used in multibody dynamics software. However, the modal flexible body has several restrictions that make it difficult to obtain a correct solution:

It is difficult to model contact with the modal flexible body accurately because the

contact represents a virtual “attachment point” and the associated static correction modes needed for accuracy are not available

It is difficult to keep the modal flexible body definition current because of the necessity of using external FEA to change the mesh, rerun the modal analysis and redo the import process.

These restrictions have been addressed with a new method for working with flexible

bodies, RecurDyn/NodalFlex. You can define a flexible body by reading in a FE mesh using industry-standard file formats. The nodal flexible body includes the element detail and has the following benefits:

Accurately represents a local deformation due to contact force. Only requires a mesh update as design changes occur Represents accumulated nonlinear deformation in a flexible body while linear

behavior is maintained in each element. This could also be done by defining a series of modal flexible bodies but that would be too tedious to be practical.

Above all, the nodal flexible body is easy to use and comfortable to understand.

RecurDyn/NodalFlex should be used in a model with flexible bodies in contact or where

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it would be helpful to assess nonlinear deformation. The meshes should be of a reasonable complex, probably less than 50,000 nodes. The modal approach should continue to be used with very complex meshes and where flexible body contact and nonlinear deformation is not important.

New Function Imported Finite Elements

Nodal Flex supports most general structural elements as well as specialized elements such as rigid and mass elements.

General elements These are structural elements. They represent a structural characteristic using element properties and nodes. Elements are connected to the nodes in the sequence and orientation shown on the below figure for each element type. This connectivity can be defined automatically by the input file information

Beam2 element Beam2 is a general beam element with tension, compression, torsion, and bending capabilities. The element has six degrees of freedom at each node (translations in the nodal x, y, and z directions and rotations about the nodal x, y, and z axes). The element is defined by two nodes, the cross-sectional area and two area moments of inertia.

Shell3 element Shell3 is a triangular shell element with bending and membrane capabilities. The element has six degrees of freedom at each node (translations in the nodal x, y, and z directions and rotations about the nodal x, y, and z axes). The element is defined by three nodes and a thickness.

Shell4 element Shell4 is a rectangular shell element with bending and membrane capabilities. The element has six degrees of freedom at each node (translations in the nodal x, y, and z directions and rotations about the nodal x, y, and z axes). The element is defined by four nodes and a thickness.

Solid4 element

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Solid4 is used for the 3-D modeling of a solid structure. The element has three degrees of freedom at each node (translations in the nodal x, y and z directions). The element is defined by 4 geometric corner nodes.

Solid6 element Solid6 is used for the 3-D modeling of a solid structure. The element has three degree of freedom at each node (translations in the nodal x, y and z directions). The element is defined by 6 geometric corner nodes.

Solid8 element Solid8 is used for the 3-D modeling of a solid structure. The element has three degree of freedom at each node (translations in the nodal x, y and z directions). The element is defined by 8 geometric corner nodes.

Special elements These elements do not represent a feature of the structure but play a key rule in defining characteristic. For example, the constraints for each node and a specialized lumped mass can be defined.

Rigid element Rigid elements can be used to define a constraint condition such as a fixed joint. Master and slave nodes determine a constraint condition of the element. You can imagine that fixed joints connect the master node and all of the slave nodes. All slave node degrees of freedom are rigidly linked with the master node and there is no restriction on the number of slave nodes.

Mass element The Mass element can be used to represent a lumped mass. With the other elements, Nodal Flex uses a lumped mass concept for each node, so the inertia of nodes is ignored. However, all of the mass moment of inertia effects defined in the element property can be considered if you use a Mass element. Using the element, a very stiff body that can be assumed as a rigid body will be considered efficiently.

Edit Functions of a Nodal Flexible Body A nodal flexible body includes FE information and may be a complicated system on its own. For that reason it may be complicated to create or modify. The Edit Mode of the nodal flexible body makes it easy to create and modify the flexible body.

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Create and modify Material and Property Every element has an associated property. There are 3 property types: beam, shell and solid. Every property has the material which is defined by Young’s modulus, density, damping ratio, shear modulus and Poisson’s ratio.

Modification of Node and Finite Element Nodes and Finite Elements can be modified through their property dialog box. It allows you to change the ID and position of the node and the ID, property, and nodes that belong to the element. Note that the modified element has to satisfy the shape violation rule.

Set and Component commands A set is group of FE entities and it is useful because there are so many FE entities to select from a typical FE mesh. You can create node sets, element sets and patch sets, which are more easily selected than the individual entities. A component is group of the same material or the same property. If two or more elements have same material then the material component is created automatically. This is also true of property components. Sets and components, once created, can be selectively displayed using the Display command.

Identification of Node and Finite Element ID of nodes or elements can be modified individually using each property dialog box.

Boundary Condition The boundary condition, i.e. BC, constrains nodal degrees of freedom with offset.

Nodal Output The displacement, velocity, acceleration, strain, and stress of a specified node can be reported. If you want to use the post processors (scope, trace) of a marker, you should define the node to which the marker belongs as an output node.

Display option You can improve graphical performance in a modeling level with this function.

Contacts of a Nodal Flexible Body One of the best features of Nodal Flex is the ability to solve for local deformation due to a contact force. You can describe various types of contacts as

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any combination of a Flexible Surface or Flexible Curve with another Flexible Surface or Flexible Curve, or with a Rigid Surface or Rigid Sphere, as listed below:

Flexible Surface to Flexible Surface This contact generates a contact force between nodal flexible bodies with compliance characteristics. The contact is defined between patch sets which can be approximated as multi triangular or rectangular patches according to the finite element type.

Flexible Surface to Surface This contact generates a contact force between a rigid body and a nodal flexible body with compliance characteristics. The base surface of the rigid body is approximated as multi triangular patches and the action surface of the flexible body can be approximated as multi triangular or rectangular patches according to the finite element type.

Sphere to Flexible Surface This contact generates a contact force between a rigid body and a nodal flexible body with compliance characteristics. The action sphere of the rigid body is approximated as center position and its radius and the base surface of the flexible body can be approximated as multi triangular or rectangular patches according to the finite element type.

Flexible Curve to Flexible Surface This contact generates a contact force between nodal flexible bodies with compliance characteristics. The action curve of the flexible body which consists of beam elements is approximated as multi cylinder and sphere sets and the base surface of the flexible body can be approximated as multi triangular or rectangular patches according to the finite element type.

Flexible Curve to Flexible Curve contact This contact generates a contact force between nodal flexible bodies with compliance characteristics. The action and base curves of the flexible body which consists of beam elements are approximated as multi cylinder and sphere sets.

Flexible Curve to Surface contact This contact generates a contact force between a rigid body and a nodal flexible body with compliance characteristics. The action curve of the flexible body which consists of beam elements is approximated as multi

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cylinder and sphere sets and the base surface of the rigid body can be approximated as multi triangular patches.

Sphere to Flexible Curve contact This contact generates a contact force between a rigid body and a nodal flexible body with compliance characteristics. The action sphere of the rigid body is approximated as center position and its radius and base curve of the flexible body which consists of beam elements is approximated as multi cylinder and sphere sets.

Specialized Post Processing It is very hard to investigate flexible bodies by plotting node and element data because there are so many entities. Specialized post-processing such as the display of color contours is supported for the nodal flexible body.

Contour Relative displacement, strain and stress of specified nodes can be displayed using color contours on the surface of a nodal flexible body.

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3 RecurDynTM/SOLID

New Function

New Frame Layout We support new frame layout including a lot of advanced features such as detachable tab windows, auto hide windows, docking control bars and toolbars, new docking algorithms, shortcut bars with detachable panes and so on.

Upgraded Functions

Active/Inactive setting in Database You can do Active/Inactive setting using context menu in Database.

Ton Unit You can use Ton Unit for mass.

Multi-cylinder creation option in Cylinder To/In Cylinder Contact You can use Multi-cylinder creation option to make a volume of Cylinder To/In Cylinder Contact.

Angle measure You can measure angle as Tool.

Batch Simulation .rplt, .rad file creation option

You can use .rplt, .rad file creation option on batch simulation. /rplt [on/off] : Flag to create a rplt file. /rad [on/off] : Flag to create a rad file.

End Time Condition file import/export option You can use End Time Condition file import/export option on batch simulation. /iicf [icffilename] : Name of the imported End Time Condition file.

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/sicf [icffilename] : Name of the exported End Time Condition file.

Parametric value for analysis parameter You can use Parametric value for analysis parameter such as End Time, Step, Plot Multiplier Step Factor and so on.

Eigenvalue analysis in Scenario file You can define Eigenvalue analysis in Scenario file.

Function Expressions for specific forces in Post processing You can use Function Expressions for specific forces such as CONTACT(), MOTION(), JFRICTION() in Post processing.

Force display for Contact torque You can see force display for Contact torque.

Fixed Problems [Contact] Fixed that the arrow of contact up/down might be wrong. [Import] We made tight validation check loose when ParaSolid file is imported.

We have plan to support the option dialog.

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4 RecurDynTM/SOLVER

New Functions

CamLine2D Contact This generates a force between a line with two points and curve. The base curve is parameterized from many points and creates a contact curve fitted on a cubic

spline or a fifth order polynomial. And the base curve should be a close curve as like as cam geometry. The contact point is one point where a contact penetration is the deepest.

Upgraded Functions Rotational CMOTION

The rotational CMOTION is the Cartesian driving constraint for a selected rotational degree of freedom of a reference frame. Either of X-Y-Z Euler angles of the orientation of the action marker relative to the origin of the base marker is constrained by the specified function. If the constrained body is rotated in 90 or 270 degree, the solution is singular. So the simulation can be abnormally terminated.

Spring outputs In the translational and rotational spring damper forces, the difference between the original length (or angle) and the distance (or relative angle) of two markers can be plotted.

AKISPL with 4 parameters In AKISPL function expression, the differential order is optionally supported. The value of order can be 0, 1, or 2. You can use AKISPL with the following expression.

AKISPL ( x , z , curve name {, order} )

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Fixed Problems

Fixed the bug that the solver was occasionally terminated when SYSFNC or SYSARY function is called in MATRIX force user subroutine.

Fixed the bug that the solver was abnormally terminated due to TIRE user subroutine.

Fixed the bug that the solver was terminated when the option of “match simulation end time with user input” is off and the scenario analysis is carried out.

Fixed the bug that Jacobian matrix is singular when a floating body with 6 degree

of freedom is rotated to 90 or 270 degree. Note that a solution and solving

speed can be different from the previous versions.

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5 RecurDynTM/FLEX

Upgraded Functions MSC.NASTRAN Interface

Output file, which is a binary file, can be used so that you generate RecurDyn Flexible Input file(*.file) in Flexible Interface. If you include new DMAP command (‘RecurDyn_rfi.alt’) in MSC.NASTRAN input file, you can get output file from Component Mode Synthesis analysis. For this method, you should define Interface nodes and Superelement on flexible body in the input file.

ANSYS Interface The result files from ANSYS 9.0 can be used for generation of RecurDyn Flexible Input file(*.file). However, the text format of result file is not available because ANSYS cannot extract that file.

Contour legend Contour legend is fitted to the size of window.

Measure of mass property In measure tool, the position of mass center and inertia moments were the origin of the reference frame of a flexible body and inertia moments on its position, respectively. The position of the mass center is changed to the true position of

cr as following.

total

iic M

m∑=r

r

where, ir , im , and totalM are the position of node, nodal mass, and total mass

of the flexible body, respectively. And the inertia moment is computed on the center of mass in global reference frame.

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6 RecurDynTM/Control

Fixed Problems

Fixed the bug that the interfacing time was mismatched between RecurDyn and Simulink in small control step size.

Fixed the bug that the interfacing process between RecurDyn and Simulink deleted RecurDyn model file and saved the back up file of RecurDyn model file.

Fixed the bug that the static analysis of the RecurDyn Plant Block in Simulink is abnormally operated.

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7 RecurDynTM/TRACK_HM

New Functions Inner pin track link

Inner pin track link is supported.

Upgraded Functions

Contact parameters of single wheel and double wheel You can set the contact parameters of single wheel and double wheel individually.

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8 RecurDynTM/Gear

Fixed Problems Fixed a bug in the direction of contact force of helical gear.

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9 RecurDynTM/Belt

Fixed Problems Fixed the bug that the several belt elements were not contacted to roller when you

selected a partial search. Fixed the problem that the distance sensor had zero values. Fixed the bug that the timing belt to timing pulley contact didn’t work normally in

using large arc radius with the general method in the timing pulley.

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10 RecurDynTM/MTT2D

Fixed Problems Fixed the bug that the excessive contact force in the sheet to sheet contact was

generated when the circular part of the sheet was contacted with the circular part of another sheet.

Fixed the bug that a contact force was not generated when the sheet to sheet contact was only defined in a model without other guides or rollers.

Fixed the bug that the curl angle was doubled when the sheet was extracted.

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11 RecurDynTM/MTT3D

Upgraded Functions Correction factor

If the four nodes are not on one plane, the vertical deformation occurs in the plate element of sheet. In this case, the correction factor is used to put the nodes on same plane. The vertical stiffness which is computed by Updated Lagrangian methods is multiplied by the correction factor, and then the resultant stiffness is used to calculate a vertical elastic force and bending moments of the finite

element. In previous version, since the value was internally set by 10, the bending characteristics of the sheet became stiffer than a physical model. If you want to get more flexible solution than, you should set the value to zero as default.

Static analysis Static analysis with NR method is available but solver can’t sometimes find the static equilibrium when the sheet is contacted. If you increase the convergence factor and the maximum iteration when the solver is failed in the analysis, you can get a solution.

Fixed Problems Fixed the bug that a simulation didn’t work when the sheet was only in a model. Fixed the bug that the contact force generated on the inner contact points wasn’t

applied. Note that a solution and solving speed for a model in which the

number of inner contact point isn’t zero can be different from the previous versions. And the inner C.P. is available in the rollers and circular guide.

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12 RecurDynTM/Tire

New Functions Soil Tire

Soil tire enables vehicle motion to be simulated on flat and uneven soft ground. The contact area, which on soft ground is more complex than on solid ground, is crucial for the investigation of these phenomena. The contact area is obtained from the equilibrium of forces while taking into account the tire deflection and the sinkage, considering the resistance of soil deformation and the wheel load.

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13 RecurDynTM/Hydraulic

New Functions Interface function with AMESim 4.2.0

The Hydraulic toolkit supplies the function for co-simulation between RecurDyn and Hydraulic software of AMESim 4.2.0.

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Copyright 2005 FunctionBay, Inc. All rights reserved User and training documentation from FunctionBay, Inc. is subjected to the copyright laws of the Republic of Korea and other countries and is provided under a license agreement that restricts copying, disclosure, and use of such documentation. FunctionBay, Inc. hereby grants to the licensed user the right to make copies in printed from of this documentation if provided on software media, but only for internal/personal use and in accordance with the license agreement under which the applicable software is licensed. Any copy made shall include the FunctionBay, Inc. copyright notice and any other proprietary notice provided by FunctionBay, Inc. This documentation may not be disclosed, transferred, modified, or reduced to any form, including electronic media, or transmitted or made publicly available by any means without the prior written consent of FunctionBay, Inc. and no authorization is granted to make copies for such purpose. Information described herein is furnished for general information only, is subjected to change without notice, and should not be construed as a warranty or commitment by FunctionBay, Inc. FunctionBay, Inc. assumes no responsibility or liability for any errors or inaccuracies that may appear in this document. The software described in this document is provided under written license agreement, contains valuable trade secrets and proprietary information, and is protected by the copyright laws of the Republic of Korea and other countries. UNAUTHORIZED USE OF SOFTWARE OR ITS DOCUMENTATION CAN RESULT IN CIVIL DAMAGES AND CRIMINAL PROSECUTION. Registered Trademarks of FunctionBay, Inc. or Subsidiary RecurDyn™ is a registered trademark of FunctionBay, Inc.

RecurDyn™/Professional, RecurDyn™/SOLVER, RecurDyn™/SOLID, RecurDyn™/FLEX, RecurDyn™/NodalFlex, RecurDyn™/LINEAR, RecurDyn™/CONTROL, RecurDyn™/TRACK_HM, RecurDyn™/TRACK_LM, RecurDyn™/CHAIN, RecurDyn™/MTT2D, RecurDyn™/MTT3D, RecurDyn™/BELT, RecurDyn™/HAT, RecurDyn™/Hydraulic, RecurDyn™/Gear, RecurDyn™/Hydraulic, RecurDyn™/Tire are trademarks of FunctionBay, Inc.

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Third-Party Trademarks Windows and Windows NT are registered trademarks of Microsoft Corporation. ProENGINEER and ProMECHANICA are registered trademarks of PTC Corp. Unigraphics is a registered trademark of EDS Corp. I-DEAS is a registered trademark of SDRC. SolidWorks is a registered trademark of SolidWorks Corp. AutoCAD is a registered trademark of Autodesk, Inc. CADAM and CATIA are registered trademark of Dassault Systems. FLEXlm is a registered trademark of GLOBEtrotter Software, Inc. All other brand or product names are trademarks or registered trademarks of their respective holders. UNITED STATES GOVERNMENT RESTRICTED RIGHTS LEGEND This document and the software described herein are Commercial Computer Documentation and Software, pursuant to FAR 12.212(a)-(b) or DFARS 227.7202-1(a) and 227.7202-3(a), and are provided to the Government under a limited commercial license only. For procurements predating the above clauses, use, duplication, or disclosure by the Government is subjected to the restrictions set forth in subparagraph (c)(1)(ii) of the Rights in Technical Data and Computer Software Clause at DFARD 252.227-7013 or Commercial Computer Software-Restricted Rights at FAR 52.227-19, as applicable.

Edition Note This document describes the release information of RecurDyn™ V. 6.0