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Cylindrical Element Isogeometric Model o
Cylindrical Element Isogeometric Model o
a r t i c l e i n f o a b s t r a c t
Article history: A geometric mapping between a canonical cylindrical domain and a physical rod-like body is established
Received 9 April 2010 and is utilized to analyze rod-like structures undergoing large deformations. A rod is described as a full
Received in revised form 12 August 2010 three-dimensional continuum, yet parameterized only by surface control points. This description pre-
Accepted 13 August 2010
serves the geometric smoothness, and allows for the consideration of lateral deformation in analysis.
Available online 20 August 2010
Numerical examples are presented to demonstrate the method.
2010 Elsevier B.V. All rights reserved.
Keywords:
Isogeometric analysis
Nonlinear rod
NURBS
Harmonic mapping
Harmonic coordinates
0045-7825/$ - see front matter 2010 Elsevier B.V. All rights reserved.
doi:10.1016/j.cma.2010.08.007
234 J. Lu, X. Zhou / Comput. Methods Appl. Mech. Engrg. 200 (2011) 233–241
Fig. 1. 3-Point, 4-point, 6-point, and 8-point circle and control polygons.
Fig. 2. A basis function in the 8-point disk. The dots on the circle are the physical
knots.
Pij ¼ Cj þ Rj Sj Pi ; ð13Þ nates are employed. If one places r quadrature points in the radius
direction, s in the h direction, and t in the longitudinal direction,
where Cj are the control points of the centerline, Rj and Sj are rota-
the integration of a function F is computed according to:
tion and stretching tensors. In a forward design, the parameters Pi,
Cj, R, S are user-selected to produce the desired geometry. In an in- Z " #
X
n X
r X
s X
t
verse design, these parameters need to be determined by fitting. See Fdv F nijk ; ul r ij wrj whk wzl ; ð14Þ
[14,24] for further discussions. X i¼1 j¼1 k¼1 l¼1
where (nijk, ul) are the position of a Gauss point, rij is the correspond-
Remark 2.4. In deformable modeling the representation (11) ing radius, wrj, whk, and wzl are the weights in r-, h-, and z-coordinate
admits a full three-dimensional deformation. In particular, warp- respectively. This quadrature rule is denoted as n r s t, where
ing is allowed. the first number signifies the circumferential divisions.
We utilized the following configuration:
3. Cylindrical element r ¼ 2; s ¼ 1; t ¼ p þ 1:
The cylindrical mapping (11) furnishes a geometric basis for There are p + 1 layers of quadrature points placed longitudinally.
analysis in the isoparametric setting. In this approach, the refer- Each layer contains two rings of quadratures placed uniformly in
ence (undeformed) geometry and the current (deformed) geome- the circumferential direction, m point per ring. Numerical tests
try are described by the same basis functions; the latter is (not reported) indicated that this scheme appears to be suffi-
obtained by displacing the control points. The derivation of dis- ciently accurate and preserve the rank of the element stiffness
crete equations follows that of the standard isoparametric element, matrix.
and the details are omitted here.
NURBS geometry has an intrinsic mesh structure. A NURBS 4. Numerical Examples
curve consists of several rational Bezier segments that are formally
equivalent to elements. Each segment (i.e., element) corresponds 4.1. Patch test: uniaxial stretching of a cylindrical element
to a non-empty knot span [ui, ui+1]. The basis function is C1 within
a segment but suffers a loss of continuity at a knot point (e.g. the A finite strain patch test is conducted. The tested element is the
element boundaries). Exploiting this feature, it is natural to divide 12-node element (Fig. 5(a)) of unit radius and unit height. The
a tensor-product rod into several elements. Each element is a sub- material is nonlinear elastic with a neo-Hookean energy function:
cylinder corresponding to a non-empty knot span of the centerline.
l j
A typical element would have the parametric domain: WðCÞ ¼ ðI1 2 log J 3Þ þ ðlog JÞ2 ; ð15Þ
n o 2 2
Xi ¼ n1 n2 uÞ : ðn1 Þ2 þ ðn2 Þ2 6 1; ui 6 u 6 uiþ1 : where I1 = tr (C) is the first principal invariant of the Green-Lagrang-
ian deformation tensor C = FTF, (l, j) are the material constants, and
A physical element is the image of a parametric element, which is a J is the determinant of the deformation gradient F. In small strain
cylinder of radius 1 and length ui+1 ui. Depending on the cross sec- limit, l ¼ 2ð1þ
E Em
mÞ, j ¼ ð1þmÞð12mÞ, where E and m are Young’s modulus
tion and centerline parameters, an element can have variable num-
and Poisson’s ratio, respectively. In this example, the material
ber of control points. If one utilizes the n-point reduced Bezier form
parameters are taken to be E = 106 and m = 0.3.
for the cross section and a degree-p centerline, then the element
Lateral deformation tests were conducted previously [6] and
contains n (p + 1) control points. Fig. 5 shows some examples
hence, axial loading is considered. The element is loaded axially
of parametric elements with the centerline domain [1, 1].
by displacement control points. The four control points at the low-
er end are fixed in the axial direction, and the control points at the
3.0.2. Quadrature rule
opposite end are displaced 0.5 unit axially. A minimal set of con-
straints just enough to eliminate rigid body motions is placed in
To compute the weak form one needs to integrate functions
the x- and y-directions. The axial displacements of the mid four
over an element. The computation boils down to an integration
control points are funded to be 0.25, and the axial strain
over the cylindrical parametric domain. We experimented some 1
ðC ZZ 1) has a uniform value 0.625 (Fig. 6). The x- and y-displace-
quadrature rules and the one which was found adequate is de- 2
ments of all control points agree with the analytical solution with-
scribed below.
in the machine precision.
The cylindrical domain is divided into n-angular slices of 2np
each, where n is the number or circumferential control points.
Within each slice, Gauss quadratures in cylindrical-polar coordi-
Fig. 5. Examples of parametric element: left: 2nd-degree 12-node element, right: Fig. 6. Uniaxial stretch of a cylindrical element: (a) deformed element; (b) strain
2nd-degree 24-node element. distribution.
J. Lu, X. Zhou / Comput. Methods Appl. Mech. Engrg. 200 (2011) 233–241 237
Fig. 7. Helical spring: (a) NURBS mesh with 4 elements per turn, (b) FEM model.
Table 1
Reaction force versus refinement (FEM result: 6.01). Row: number of elements per
turn in the longitudinal direction. Column: number of control points along the
circumference.
1 1 1
1; pffiffiffi ; 1; pffiffiffi ; . . . ; 1; pffiffiffi ; 1 : 4.3. Turbine blade modal analysis
2 2 2
Each coil contains 4 cylindrical elements. Due to the repeated knot The blades of small wind turbines are often a solid body which,
values, the NURBS basis functions are C0 continuous across the ele- within the proposed paradigm, may be described as a rod. Fig. 9
ment boundaries. shows a cross section profile described by 16 control points. The
The same neo-Hookean model is used for the simulation. The blade in Fig. 10 is constructed by extruding a cross section along
lower end of the helix is fixed while the upper end is pulled up- the longitudinal axis while twisting the pitch angle and reducing
wards with a displacement of 2.0. The initial NURBS model con- the cross section dimensions at constant rates. The initial NURBS
tains four 12-node element per turn (Fig. 7(a)). For comparison, model contains a single element containing 16 3 = 48 control
50.0
50.0
45.0
45.0
40.0 40.0
35.0
35.0
30.0
30.0
25.0
25.0
20.0
20.0
15.0
15.0
10.0
10.0
5.0 5.0
Fig. 8. The von Mises stress: (a) cylindrical element, 24 elements per turn; (b) finite element. The degree-of-freedom numbers in these models are 1740 and 21243,
respectively.
238 J. Lu, X. Zhou / Comput. Methods Appl. Mech. Engrg. 200 (2011) 233–241
Table 2
The first ten frequencies. N: number of NURBS elements.
Modes Frequencies
N=5 N = 10 N = 15 N = 20 N = 25 N = 30 FEM
1 0.19136 0.18857 0.18812 0.18796 0.187874 0.187824 0.1909
2 0.95579 0.79195 0.77924 0.77668 0.775798 0.775383 0.8018
3 1.44902 1.43379 1.43130 1.43032 1.42979 1.42945 1.3674
4 2.49828 2.06955 1.96951 1.95178 1.94657 1.94448 2.0630
5 3.46974 2.46023 2.45053 2.44705 2.44552 2.44473 2.2571
6 5.30767 4.20237 3.76425 3.69110 3.67126 3.66391 4.0258
7 5.63743 5.09790 5.06690 5.05624 5.05173 5.04947 4.4984
8 9.64319 5.53363 5.51095 5.50019 5.49542 5.49304 5.3152
9 10.4882 7.63507 6.24509 6.02659 5.97116 5.9518 6.8215
10 10.7239 8.16530 8.06399 8.03176 8.01842 8.01226 7.2485
J. Lu, X. Zhou / Comput. Methods Appl. Mech. Engrg. 200 (2011) 233–241 239
−1
ω1
−2 ω2
ω3
−3
1
−4
3
Log(error)
−5
−6
−7
−8
−9
1.6 1.8 2 2.2 2.4 2.6 2.8 3 3.2
Log(N)
Fig. 13. Rate of convergence for the first three frequencies. N: number of NURBS
elements.
6. Concluding remarks
5
The generator (the root cross section) are parameterized by the
0 following control points:
2 3
ð1:; 0:0708625; 0:Þ; ð0:847759; 0:177017; 0:Þ;
6 ð0:566454; 0:227835; 0:Þ; ð0:198912; 0:225; 0:Þ; 7
6 7
6 7
6 ð0:198912; 0:18125; 0:Þ; ð0:566454; 0:116567; 0:Þ; 7
6 7
6 ð0:847759; 0:0531051; 0:Þ; ð1:; 0:00994562; 0:Þ; 7
6 7
6 7:
6 ð1:; 0:00397825; 0:Þ; ð0:847759; 0:00566454; 0:Þ; 7
Fig. 16. The deformed configuration and von Mises stress at equilibrium (250 ms): 6 7
(a) cylindrical element, (b) FEM. 6 ð0:566454; 0:; 0:Þ; ð0:198912; 0:01; 0:Þ; 7
6 7
6 7
4 ð0:198912; 0:020:Þ; ð0:566454; 0:0254328; 0:Þ; 5
ð0:847759; 0:0226582; 0:Þ; ð1: 0:00994562; 0:Þ
The biceps in Fig. 14 are described by cylindrical elements. Each
branch contains 5 elements, with 8 control points for the cross sec- For the centerline, the initial NURBS parameters are
tion and a quadratic NURBS centerline. There are a total of
u ¼ f0; 0; 0; 1; 1; 1g; p ¼ 2; w ¼ f1; 1; 1g;
7 8 = 56 control points in each branch. We assume the muscle fi-
J. Lu, X. Zhou / Comput. Methods Appl. Mech. Engrg. 200 (2011) 233–241 241
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