Professional Documents
Culture Documents
Vladislav A. Yastrebov
Preface
To whom the course is aimed?
Developpers and users.
What is the aim?
Accurate contact modeling, correct interpretation, etc.
FEM - Finite Element Method, FEA - Finite Element Analysis
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 2/77
Intro Detection Geometry Discretization Solution FEA Examples
Outline
Mathematical foundation
contact geometry;
optimization methods.
Content
demonstrative;
simple;
general.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 3/77
Intro Detection Geometry Discretization Solution FEA Examples
Plan
1 Introduction
2 Contact detection
3 Contact geometry
7 Numerical examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 4/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 5/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 5/77
Intro Detection Geometry Discretization Solution FEA Examples
T.Dick, G.Cailletaud
Centre des Matériaux
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 5/77
Intro Detection Geometry Discretization Solution FEA Examples
F.Massi et al.
LaMCoS, INSA-Lyon et al.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 5/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 5/77
Intro Detection Geometry Discretization Solution FEA Examples
G.Rousselier et al.
Centre des Matériaux et al.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 5/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 5/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 5/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 5/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 5/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 6/77
Intro Detection Geometry Discretization Solution FEA Examples
Mechanical problem
From a real life problem to an engineering problem
Need to determine:
the problematic:
strength/life-time/fracture;
vibration/buckling;
thermo-electro-mechanical.
relevant geometry;
relevant loads:
static/quasi-static/dynamic;
mechanical/thermic;
volume/surface.
relevant material:
rigid/elastic/plastic/visco-plastic;
brittle/ductile.
relevant scale:
macro/meso/micro.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 7/77
Intro Detection Geometry Discretization Solution FEA Examples
Mechanical problem
From a real life problem to an engineering problem
Need to determine:
the problematic:
strength/life-time/fracture; For example: Brinell hardness
vibration/buckling; test
thermo-electro-mechanical.
relevant geometry;
relevant loads:
static/quasi-static/dynamic;
mechanical/thermic;
volume/surface.
relevant material:
rigid/elastic/plastic/visco-plastic; Scheme of the Brinell hardness test and
dierent types of impression
brittle/ductile. [Harry Chandler, Hardness testing]
relevant scale:
macro/meso/micro.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 7/77
Intro Detection Geometry Discretization Solution FEA Examples
Mechanical problem
From a real life problem to an engineering problem
Need to determine:
problematic:
strength. For example: Brinell hardness
test
geometry;
sphere + half-space.
loads:
mechanical surface quasi-static.
material:
rigid + elasto-visco-plastic.
scale:
macro. Scheme of the Brinell hardness test and
dierent types of impression
[Harry Chandler, Hardness testing]
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 7/77
Intro Detection Geometry Discretization Solution FEA Examples
Mechanical problem
From an engineering problem to a nite element model
Problem: FE model:
problematic: analysis type:
strength/life-time/fracture; stress-strain state;
vibration/buckling; eigen values;
thermo-electro-mechanical. coupled physics.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 8/77
Intro Detection Geometry Discretization Solution FEA Examples
Mechanical problem
From an engineering problem to a nite element model
Problem: FE model:
problematic: analysis type:
strength/life-time/fracture; stress-strain state;
vibration/buckling; eigen values;
thermo-electro-mechanical. coupled physics.
geometry; nite element mesh;
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 8/77
Intro Detection Geometry Discretization Solution FEA Examples
Mechanical problem
From an engineering problem to a nite element model
Problem: FE model:
problematic: analysis type:
strength/life-time/fracture; stress-strain state;
vibration/buckling; eigen values;
thermo-electro-mechanical. coupled physics.
geometry; nite element mesh;
loads: analysis type and BC:
static/quasi-static/dynamic; static/quasi-static/dynamic;
mechanical/thermic; mechanical/thermic;
volume/surface. volume/surface.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 8/77
Intro Detection Geometry Discretization Solution FEA Examples
Mechanical problem
From an engineering problem to a nite element model
Problem: FE model:
problematic: analysis type:
strength/life-time/fracture; stress-strain state;
vibration/buckling; eigen values;
thermo-electro-mechanical. coupled physics.
geometry; nite element mesh;
loads: analysis type and BC:
static/quasi-static/dynamic; static/quasi-static/dynamic;
mechanical/thermic; mechanical/thermic;
volume/surface. volume/surface.
material: material model:
rigid/elastic/plastic/visco- rigid/elastic/plastic/visco-
plastic; plastic;
brittle/ductile. brittle/ductile.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 8/77
Intro Detection Geometry Discretization Solution FEA Examples
Mechanical problem
From an engineering problem to a nite element model
Problem: FE model:
problematic: analysis type:
strength/life-time/fracture; stress-strain state;
vibration/buckling; eigen values;
thermo-electro-mechanical. coupled physics.
geometry; nite element mesh;
loads: analysis type and BC:
static/quasi-static/dynamic; static/quasi-static/dynamic;
mechanical/thermic; mechanical/thermic;
volume/surface. volume/surface.
material: material model:
rigid/elastic/plastic/visco- rigid/elastic/plastic/visco-
plastic; plastic;
brittle/ductile. brittle/ductile.
scale: microstructure:
macro/meso/micro. RVE/microstructure/.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 8/77
Intro Detection Geometry Discretization Solution FEA Examples
Mechanical problem
From engineering problem to a nite element model
Problem: FE model:
problematic: analysis type:
strength. stress-strain state.
geometry: nite element mesh:
loads: analysis type and BC:
material: material model:
scale: microstructure:
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 9/77
Intro Detection Geometry Discretization Solution FEA Examples
Mechanical problem
From engineering problem to a nite element model
Problem: FE model:
problematic: analysis type:
strength. stress-strain state.
geometry: nite element mesh:
sphere + half-space. sphere + large block.
loads: analysis type and BC:
material: material model:
scale: microstructure:
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 9/77
Intro Detection Geometry Discretization Solution FEA Examples
Mechanical problem
From engineering problem to a nite element model
Problem: FE model:
problematic: analysis type:
strength. stress-strain state.
geometry: nite element mesh:
sphere + half-space. sphere + large block.
loads: analysis type and BC:
mechanical surface mechanical surface
quasi-static. quasi-static.
material: material model:
scale: microstructure:
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 9/77
Intro Detection Geometry Discretization Solution FEA Examples
Mechanical problem
From engineering problem to a nite element model
Problem: FE model:
problematic: analysis type:
strength. stress-strain state.
geometry: nite element mesh:
sphere + half-space. sphere + large block.
loads: analysis type and BC:
mechanical surface mechanical surface
quasi-static. quasi-static.
material: material model:
rigid + elasto-visco-plastic. rigida + elasto-visco-plastic
scale: model.
microstructure:
a rigid in FEA: much more harder than another solid,
special boundary conditions or geometrical
representation.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 9/77
Intro Detection Geometry Discretization Solution FEA Examples
Mechanical problem
From engineering problem to a nite element model
Problem: FE model:
problematic: analysis type:
strength. stress-strain state.
geometry: nite element mesh:
sphere + half-space. sphere + large block.
loads: analysis type and BC:
mechanical surface mechanical surface
quasi-static. quasi-static.
material: material model:
rigid + elasto-visco-plastic. rigida + elasto-visco-plastic
scale: model.
macro. microstructure:
homogeneous > RVE.
a
rigid in FEA: much more harder than another solid,
special boundary conditions or geometrical
representation.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 9/77
Intro Detection Geometry Discretization Solution FEA Examples
Mechanical problem
From engineering problem to a nite element model
Problem: FE model:
problematic analysis type
geometry nite element mesh
loads analysis type and BC
material material model
scale microstructure
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 9/77
Intro Detection Geometry Discretization Solution FEA Examples
Mechanical problem
From engineering problem to a nite element model
Problem: FE model:
problematic analysis type
geometry nite element mesh
loads analysis type and BC
material material model
scale microstructure
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 9/77
Intro Detection Geometry Discretization Solution FEA Examples
Main ideas:
symmetry
geometry AND loading;
3D to 2D:
axisymmetry/plane
strain/plane stress;
3D to smaller 3D:
half/quarter/sector;
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 10/77
Intro Detection Geometry Discretization Solution FEA Examples
Axisymmetry
Main ideas:
symmetry
geometry AND loading;
3D to 2D:
axisymmetry/plane
strain/plane stress;
3D to smaller 3D:
half/quarter/sector;
Axisymmetry of geometry
axisymmetry of load
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 10/77
Intro Detection Geometry Discretization Solution FEA Examples
Mirror symmetry
Main ideas:
symmetry
geometry AND loading;
3D to 2D:
axisymmetry/plane
strain/plane stress;
3D to smaller 3D:
half/quarter/sector;
Axisymmetry of geometry
mirror symmetry of load
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 10/77
Intro Detection Geometry Discretization Solution FEA Examples
No symmetry
Main ideas:
symmetry
geometry AND loading;
3D to 2D:
axisymmetry/plane
strain/plane stress;
3D to smaller 3D:
half/quarter/sector;
Axisymmetry of geometry
no symmetry of load
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 10/77
Intro Detection Geometry Discretization Solution FEA Examples
Plain strain
Main ideas:
symmetry
geometry AND loading;
3D to 2D:
axisymmetry/plane
strain/plane stress;
3D to smaller 3D:
half/quarter/sector;
Mirror symmetry of geometry
mirror symmetry of load
very long structure or xed edges
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 10/77
Intro Detection Geometry Discretization Solution FEA Examples
Plain stress
Main ideas:
symmetry
geometry AND loading;
3D to 2D:
axisymmetry/plane
strain/plane stress;
3D to smaller 3D:
half/quarter/sector; Mirror symmetry of geometry
mirror symmetry of load
very thin structure
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 10/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 10/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 11/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 12/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 12/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 12/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 12/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 12/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 12/77
Intro Detection Geometry Discretization Solution FEA Examples
Account of contact
Signorini conditions
gn σ n = 0, gn ≥ 0, σ ≤ 0, σn = σ · n
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 13/77
Intro Detection Geometry Discretization Solution FEA Examples
Account of contact
Signorini conditions
gn σ n = 0, gn ≥ 0, σ ≤ 0, σn = σ · n
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 13/77
Intro Detection Geometry Discretization Solution FEA Examples
Account of contact
Coulomb's friction
σt
|ġt | (|σ t | + µσn ) = 0; |σ t | ≤ −µσn ; ġt = |ġt | , σt = σ · t
|σ t |
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 14/77
Intro Detection Geometry Discretization Solution FEA Examples
Account of contact
Coulomb's friction
σt
|ġt | (|σ t | + µσn ) = 0; |σ t | ≤ −µσn ; ġt = |ġt | , σt = σ · t
|σ t |
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 14/77
Intro Detection Geometry Discretization Solution FEA Examples
Account of contact
Coulomb's friction
σt
|ġt | (|σ t | + µσn ) = 0; |σ t | ≤ −µσn ; ġt = |ġt | , σt = σ · t
|σ t |
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 14/77
Intro Detection Geometry Discretization Solution FEA Examples
Contact detection
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 15/77
Intro Detection Geometry Discretization Solution FEA Examples
Contact detection
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 15/77
Intro Detection Geometry Discretization Solution FEA Examples
Contact detection
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 15/77
Intro Detection Geometry Discretization Solution FEA Examples
Contact detection
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 15/77
Intro Detection Geometry Discretization Solution FEA Examples
Contact detection
Zoom on penetration
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 15/77
Intro Detection Geometry Discretization Solution FEA Examples
Contact detection
Volume intersection
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 15/77
Intro Detection Geometry Discretization Solution FEA Examples
Contact detection
Surface-in-volume 1
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 15/77
Intro Detection Geometry Discretization Solution FEA Examples
Contact detection
Surface-in-volume 2
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 15/77
Intro Detection Geometry Discretization Solution FEA Examples
Contact detection
Nodes-in-volume 1
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 15/77
Intro Detection Geometry Discretization Solution FEA Examples
Contact detection
Nodes-in-volume 2
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 15/77
Intro Detection Geometry Discretization Solution FEA Examples
Contact detection
Nodes-to-surface 1
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 15/77
Intro Detection Geometry Discretization Solution FEA Examples
Contact detection
Nodes-to-surface 2
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 15/77
Intro Detection Geometry Discretization Solution FEA Examples
Contact discretization
What is elementary contact contrubutor?
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 16/77
Intro Detection Geometry Discretization Solution FEA Examples
Contact discretization
What is elementary contact contrubutor?
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 16/77
Intro Detection Geometry Discretization Solution FEA Examples
Contact discretization
What is elementary contact contrubutor?
Node-to-segment discretization
large deformation/large sliding
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 16/77
Intro Detection Geometry Discretization Solution FEA Examples
Contact discretization
What is elementary contact contrubutor?
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 16/77
Intro Detection Geometry Discretization Solution FEA Examples
Contact discretization
What is elementary contact contrubutor?
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 16/77
Intro Detection Geometry Discretization Solution FEA Examples
Plan
1 Introduction
2 Contact detection
3 Contact geometry
7 Numerical examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 17/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 18/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 18/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 19/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 19/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 19/77
Intro Detection Geometry Discretization Solution FEA Examples
New paradigm
BUT! We need to detect contact before any
penetration occures!
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 19/77
Intro Detection Geometry Discretization Solution FEA Examples
New paradigm
BUT! We need to detect contact before any
penetration occures!
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 19/77
Intro Detection Geometry Discretization Solution FEA Examples
New paradigm
BUT! We need to detect contact before any
penetration occures!
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 19/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 20/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 20/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 20/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 20/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 20/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 20/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 20/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 20/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 20/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 20/77
Intro Detection Geometry Discretization Solution FEA Examples
Some slave nodes are in the detection zone. One node is missed!
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 20/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 20/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 20/77
Intro Detection Geometry Discretization Solution FEA Examples
Triangles - slave nodes and circles - master nodes which are connected by
master surfaces.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 21/77
Intro Detection Geometry Discretization Solution FEA Examples
Triangles - slave nodes and circles - master nodes which are connected by
master surfaces.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 21/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 21/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 21/77
Intro Detection Geometry Discretization Solution FEA Examples
Contact detection zone is nothing but the region, where each point is
closer to the master surface than dmax
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 21/77
Intro Detection Geometry Discretization Solution FEA Examples
Each contact element consists of a slave node and of the master surface
onto which it projects, i.e. the closest master surface.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 21/77
Intro Detection Geometry Discretization Solution FEA Examples
Each contact element consists of a slave node and of the master surface
onto which it projects, i.e. the closest master surface.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 21/77
Intro Detection Geometry Discretization Solution FEA Examples
Each contact element consists of a slave node and of the master surface
onto which it projects, i.e. the closest master surface.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 21/77
Intro Detection Geometry Discretization Solution FEA Examples
Each contact element consists of a slave node and of the master surface
onto which it projects, i.e. the closest master surface.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 21/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 22/77
Intro Detection Geometry Discretization Solution FEA Examples
ρ∗ ∈ Γm : ∀ρ ∈ Γm , |rs − ρ∗ | ≤ |rs − ρ|
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 22/77
Intro Detection Geometry Discretization Solution FEA Examples
ρ∗ ∈ Γm : ∀ρ ∈ Γm , |rs − ρ∗ | ≤ |rs − ρ|
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 22/77
Intro Detection Geometry Discretization Solution FEA Examples
∂ρ
minξ∈[0;1] F (rs , ξ) ⇔ (rs − ρ(ξ )) · ∗
=0
∂ξ ξ∗
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 22/77
Intro Detection Geometry Discretization Solution FEA Examples
∂ρ
minξ∈[0;1] F (rs , ξ) ⇔ (rs − ρ(ξ ∗ )) · =0
∂ξ ξ∗
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 23/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 24/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 24/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 24/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 24/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 24/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 24/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 24/77
Intro Detection Geometry Discretization Solution FEA Examples
Blind spots
s
?
internal
s
master projection zone blind spots
normals to master s symmetry
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 25/77
Intro Detection Geometry Discretization Solution FEA Examples
Master-slave denition
The choice of master and slave surfaces is not random.
Incorrect choice leads to meaningless solutions.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 26/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 27/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 27/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 28/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 28/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 28/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 28/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 28/77
Intro Detection Geometry Discretization Solution FEA Examples
Summary
Contact detection
Global search/local contact detection;
slave-master or what-where approach;
conception of the maximal detection distance and its choice;
contact geometry and contact detection - closest point denition;
existance and uniqueness of the closest point;
from continuous and smooth to discretized C0 surface;
attention - blind spots;
detect contact at the beginning of increment;
dierent detection techniques;
self-contact detection.
contact detection is strongly connected
with contact geometry and
contact discretization.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 29/77
Intro Detection Geometry Discretization Solution FEA Examples
Plan
1 Introduction
2 Contact detection
3 Contact geometry
7 Numerical examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 30/77
Intro Detection Geometry Discretization Solution FEA Examples
Introduction
Geometry is a foundation for
master-slave approach;
detection;
discretization method;
solution.
Geometrical quantities
penetration or normal gap gn - normal contact;
tangential sliding ∆gt - frictional eects.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 31/77
Intro Detection Geometry Discretization Solution FEA Examples
Challenges
requirement of smooth surface.
non-uniqueness of projection;
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 32/77
Intro Detection Geometry Discretization Solution FEA Examples
Challenges
assymetry of contacting surfacesa ;
requirement of smooth surface.
non-uniqueness of projection;
a something penetrates into something, something slides over something
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 32/77
Intro Detection Geometry Discretization Solution FEA Examples
Challenges
assymetry of contacting surfacesa ;
requirement of smooth surface.
non-uniqueness of projection;
a something penetrates into something, something slides over something
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 32/77
Intro Detection Geometry Discretization Solution FEA Examples
Challenges
assymetry of contacting surfacesa ;
requirement of smooth surface.
non-uniqueness of projection;
a something penetrates into something, something slides over something
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 32/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 33/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 33/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 33/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 33/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 33/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 33/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 33/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 33/77
Intro Detection Geometry Discretization Solution FEA Examples
convergence problems;
unphysical oscilations;
remedy - special smoothing techniques.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 33/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 33/77
Intro Detection Geometry Discretization Solution FEA Examples
∂ gn ∂ ġt
δ gn = · δx δ ġt = · δx
∂x ∂x
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 34/77
Intro Detection Geometry Discretization Solution FEA Examples
∂ 2 gn ∂ 2 ġt
∆δ gn = ∆x · · δx ∆δ ġt = ∆x · · δx
∂ x2 ∂ x2
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 35/77
Intro Detection Geometry Discretization Solution FEA Examples
Master-slave
Slave node penetrates under and slides over the master surface.
Slave node point rs
Master surface ρ(ξ)
Surface parametrization ξ = {ξ1 , ξ2 }
Projection of the slave node
ρ(ξp )
Normal to the master surface
n(ξ p )
Geometrical quantities
Normal gap gn = (rs − ρ) · n
Tangential sliding ġt dt = δρ(ξ)
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 36/77
Intro Detection Geometry Discretization Solution FEA Examples
Master-slave
Slave node penetrates under and slides over the master surface.
Slave node point rs = rs (t )
Master surface ρ(ξ) = ρ(t , ξ)
Surface parametrization ξ = {ξ1 , ξ2 }
Projection of the slave node
ρ(ξp ) = ρ(t , ξ(rs (t )))
Normal to the master surface
n(ξ p ) = n(t , ξ(rs (t )))
Geometrical quantities
Normal gap gn (t ) = (rs (t ) − ρ(t , ξ(rs (t ))) · n(t , ξ(rs (t )))
Tangential sliding ġt (t , ξ(rs (t )))dt = δρ(t , ξ(rs (t )))
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 36/77
Intro Detection Geometry Discretization Solution FEA Examples
Contravariant
n surfaceo basis
∂ ρ̂ ∂ρ ∂ρ
∂ξ
= ∂ξ1
; ∂ξ 2
Basis change
∂ ρ̂
= A−1 ∂ρ ∂ρ
∂ξ ∂ξi
= aij ∂ξ
∂ρ
∂ξ j
1st fundamental covariant surface tensor
A ∼ aij = ∂ξ · ∂ξ
∂ρ ∂ρ
i j
1st fundamental contravariant surface tensor
A
−1
∼ aij = ∂ξ
∂ρ ∂ρ
i · ∂ξj
2nd fundamental surface tensor
∂2ρ
H ∼ hij = n · ∂ξ ∂ξ
i j
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 37/77
Intro Detection Geometry Discretization Solution FEA Examples
δ gn = n · (δ rs − δρ)
∂ρ ∂ρ
δξ = (A − gn H) −1
· · (δ rs − δρ) + gn n · δ
∂ξ ∂ξ
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 38/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 39/77
Intro Detection Geometry Discretization Solution FEA Examples
Approximation
Small penetration
∂ρ
δ gn = n · (δ rs − δρ) δξ = A−1 · · (δ rs − δρ)
∂ξ
∂ 2ρ
∂ρ ∂ρ
∆δ gn = −n · δ · ∆ξ + ∆ · δξ + δξ · 2 · ∆ξ
∂ξ ∂ξ ∂ξ
∂2ρ
» „ «
∂ρ ∂ρ ∂ρ
∆δξ = −A−1 · · δ · ∆ξ + ∆ · δξ + δξ · · ∆ξ +
∂ξ ∂ξ ∂ξ ∂ξ2
ff
∂ρ
+ ∆ · n + H · ∆ξ · (I {n · (δρ − δ rs )}) + (3)
∂ξ
ff –
∂ρ
+ δ · n + H · δξ · (I {n · (∆ρ − ∆rs )})
∂ξ
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 40/77
Intro Detection Geometry Discretization Solution FEA Examples
i =1 i =1
[X ] = [X (t )] = [x 0 (t ), x 1 (t ), ..., x N (t )]T ;
[Φ] = [Φ(ξ)] = [0, φ1 (ξ), . . . , φN (ξ)] ;
T
T
∂Φ(ξ)
0
[Φi ] = = [0, φ1,i , . . . , φN ,i ] ;
∂ξi
#T
∂ρ(t , ξ)
"
T
[X (t )] = [Φ0i ] [X ]
∂ρ ∂Φ(ξ)
ρi = = =
∂ξi ∂ξi ∂ξi ξ
ξ p p
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 41/77
Intro Detection Geometry Discretization Solution FEA Examples
T
n δx 0
−φ1 n δx 1
δ gn = .
T
· . = [∇gn ] · δ [X ] (4)
.. ..
−φN n δx N
T
δx 0
∂ρ
∂ξj
n 1, j δ x 1
− ∂ρ φ + g nφ
= [∇ξi ]T · δ [X ]
∂ξj 1
δξi = cij .
· .
. (5)
.
. .
δx N
∂ρ
− ∂ξ φ + gn nφN ,j
j N
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 42/77
Intro Detection Geometry Discretization Solution FEA Examples
ˆ ˜T
∆δ gn =δ [X ]T · −n Φ0i ⊗ [∇ξi ]T − [∇ξi ] ⊗ Φ0i
n
n
ˆ ˜
(6)
ˆ ˜ h iT
+gn aij n Φ0i ⊗ Φ0j
ff
n · ∆ [X ] =
= δ [X ]T · [∇∇gn ] · ∆ [X ]
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 43/77
Intro Detection Geometry Discretization Solution FEA Examples
T T T
8 2
cij 4 Φ0k
i ∂ρ ∂ρ h 0 i
∆δξ = δ [X ]
i
<
k k
h
·
:
−
∂ξ j
⊗ [∇ξ ] + [∇ξ ] ⊗
∂ξ
Φ
j k
∂2 ρ ∂3 ρ
A [∇ξ ] ⊗ [∇ξm ]T
0 1
+ gn n ·
∂ρ
+@
m
·
k
j k∂ξ ∂ξ ∂ξ ∂ξ
k j ∂ξm
∂ξ
T 00 T
+ gn Φ
jk n ⊗ [∇ξk ] + gn [∇ξk ] ⊗ n Φjk
00
h i h i
0 T T “h 0 i T
kj [∇gn ] ⊗ n Φk + hks [∇ξs ] + Φk n + hks [∇ξs ] ⊗ [∇gn ]
„ „ h i « ” «
−δ
(7)
+ gn a
k + hks [∇ξs ] +
∂ρ „ „ h «
l
[∇ξ ] ⊗ n Φ
i
·
∂ξm ∂ξj ∂ξ
@ A
l
T ”io · ∆ [X ] =
k + hks [∇ξs ] ⊗ [∇ξl ]
0
+ n Φ
“ h i ”
T ˆ
= δ [X ] · ∇∇ξi · ∆ [X ]
˜
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 44/77
Intro Detection Geometry Discretization Solution FEA Examples
Plan
1 Introduction
2 Contact detection
3 Contact geometry
7 Numerical examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 45/77
Intro Detection Geometry Discretization Solution FEA Examples
Introduction
Discretization
Discretization of the contact area into elementary units responsible
for the contact stress transmission from one contacting surface to
another.
NTN Node-to-node
Node-to-node discretization
[Francavilla & Zienkiewicz, 1975], [Oden, 1981], [Kikuchi & Oden, 1988]
Advantages:
, very simple;
, passes Taylor's test1 .
NTN Node-to-node
Node-to-node discretization
[Francavilla & Zienkiewicz, 1975], [Oden, 1981], [Kikuchi & Oden, 1988]
Advantages:
, very simple;
, passes Taylor's test1 .
Drawbacks:
/ small deformation;
/ small slip;
/ requires conforming FE meshes.
Scheme of two conforming meshes.
Pairing nodes form NTN contact elements.
1 Taylor's patch test requires that a
uniform contact stress transmittes correctly
from one contacting surface to another.
See section Finite Element Analysis.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 47/77
Intro Detection Geometry Discretization Solution FEA Examples
NTN Node-to-node
Denition of the normal
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 48/77
Intro Detection Geometry Discretization Solution FEA Examples
NTN Node-to-node
Denition of the normal
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 48/77
Intro Detection Geometry Discretization Solution FEA Examples
NTN Node-to-node
Denition of the normal
Master-slave discretization
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 48/77
Intro Detection Geometry Discretization Solution FEA Examples
NTN Node-to-node
Denition of the normal
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 48/77
Intro Detection Geometry Discretization Solution FEA Examples
NTN Node-to-node
Denition of the normal
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 48/77
Intro Detection Geometry Discretization Solution FEA Examples
NTN Node-to-node
Denition of the normal
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 48/77
Intro Detection Geometry Discretization Solution FEA Examples
NTS Node-to-Segment/Node-to-Surface
Node-to-segment discretization
[Hughes, 1977] [Hallquist, 1979] [Bathe & Chaudhary, 1985] [Wriggers et al., 1990]
Advantages:
, simple;
, large deformations and slip;
, mesh independent.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 49/77
Intro Detection Geometry Discretization Solution FEA Examples
NTS Node-to-Segment/Node-to-Surface
Node-to-segment discretization
[Hughes, 1977] [Hallquist, 1979] [Bathe & Chaudhary, 1985] [Wriggers et al., 1990]
Advantages:
, simple;
, large deformations and slip;
, mesh independent.
Drawbacks:
/ does not pass1 Taylor's test.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 49/77
Intro Detection Geometry Discretization Solution FEA Examples
NTS Node-to-Segment/Node-to-Surface
Node-to-segment discretization
[Hughes, 1977] [Hallquist, 1979] [Bathe & Chaudhary, 1985] [Wriggers et al., 1990]
Advantages:
, simple;
, large deformations and slip;
, mesh independent.
Drawbacks:
/ does not pass1 Taylor's test.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 49/77
Intro Detection Geometry Discretization Solution FEA Examples
NTS Node-to-Segment/Node-to-Surface
Node-to-segment discretization
[Hughes, 1977] [Hallquist, 1979] [Bathe & Chaudhary, 1985] [Wriggers et al., 1990]
Advantages:
, simple;
, large deformations and slip;
, mesh independent.
Drawbacks:
/ does not pass1 Taylor's test.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 49/77
Intro Detection Geometry Discretization Solution FEA Examples
NTS Node-to-Segment/Node-to-Surface
Node-to-segment discretization
[Hughes, 1977] [Hallquist, 1979] [Bathe & Chaudhary, 1985] [Wriggers et al., 1990]
Advantages:
, simple;
, large deformations and slip;
, mesh independent.
Drawbacks:
/ does not pass1 Taylor's test.
Segment-to-segment
Segment-to-segment discretization
[Simo et al., 1985], [Zavarise & Wriggers, 1998]
Advantages:
, avoids some spurious modes of
NTS;
, use of higher order shape
functions;
, large deformations and slip;
, mesh independent.
Scheme of two non-matching meshes
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 50/77
Intro Detection Geometry Discretization Solution FEA Examples
Segment-to-segment
Segment-to-segment discretization
[Simo et al., 1985], [Zavarise & Wriggers, 1998]
Advantages:
, avoids some spurious modes of
NTS;
, use of higher order shape
functions;
, large deformations and slip;
, mesh independent.
Scheme of two non-matching meshes
Drawbacks:
/ complicated segment denition;
/ only 2D version;
/ constant contact pressure
within one segment.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 50/77
Intro Detection Geometry Discretization Solution FEA Examples
Segment-to-segment
Segment-to-segment discretization
[Simo et al., 1985], [Zavarise & Wriggers, 1998]
Advantages:
, avoids some spurious modes of
NTS;
, use of higher order shape
functions;
, large deformations and slip;
, mesh independent.
Projections of both surfaces
Drawbacks:
/ complicated segment denition;
/ only 2D version;
/ constant contact pressure
within one segment.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 50/77
Intro Detection Geometry Discretization Solution FEA Examples
Segment-to-segment
Segment-to-segment discretization
[Simo et al., 1985], [Zavarise & Wriggers, 1998]
Advantages:
, avoids some spurious modes of
NTS;
, use of higher order shape
functions;
, large deformations and slip;
, mesh independent.
Contact sub-elements
Drawbacks:
/ complicated segment denition;
/ only 2D version;
/ constant contact pressure
within one segment.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 50/77
Intro Detection Geometry Discretization Solution FEA Examples
Segment-to-segment
Segment-to-segment discretization
[Simo et al., 1985], [Zavarise & Wriggers, 1998]
Advantages:
, avoids some spurious modes of
NTS;
, use of higher order shape
functions;
, large deformations and slip;
, mesh independent.
Integration line
Drawbacks:
/ complicated segment denition;
/ only 2D version;
/ constant contact pressure
within one segment.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 50/77
Intro Detection Geometry Discretization Solution FEA Examples
Advantages:
, passes Taylor's test;
, correct contact stress
distribution within contact
element;
, use of any order shape
functions;
, large deformations and slip;
, mesh independent.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 51/77
Intro Detection Geometry Discretization Solution FEA Examples
Advantages: Drawbacks:
, passes Taylor's test; / very complicated
, correct contact stress implementation1 ;
distribution within contact / stability problem for curved
element; surfaces.
, use of any order shape
functions;
1 3D implementation is a nightmare, but
, large deformations and slip;
it's feasible.
, mesh independent. T.A. Laursen about mortar method,
ECCM, 2010
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 51/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 52/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 52/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 52/77
Intro Detection Geometry Discretization Solution FEA Examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 52/77
Intro Detection Geometry Discretization Solution FEA Examples
Smoothing technique
Smothing of the master surface with
Hermite polynoms;
P-slines;
Bézier curves;
etc.
Consequences
fulls requirements of C 1 -smoothness
all along the master surface;
nonphysical edge eects;
complicated in 3D requires special
FE discretizations.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 53/77
Intro Detection Geometry Discretization Solution FEA Examples
Smoothing technique
Smothing of the master surface with
Hermite polynoms;
P-slines;
Bézier curves;
etc.
Consequences
fulls requirements of C 1 -smoothness
all along the master surface;
nonphysical edge eects;
complicated in 3D requires special
FE discretizations.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 53/77
Intro Detection Geometry Discretization Solution FEA Examples
Smoothing technique
Smothing of the master surface with
Hermite polynoms;
P-slines;
Bézier curves;
etc.
Consequences
fulls requirements of C 1 -smoothness
all along the master surface;
nonphysical edge eects;
complicated in 3D requires special
FE discretizations.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 53/77
Intro Detection Geometry Discretization Solution FEA Examples
Smoothing technique
Smothing of the master surface with Examples of NTS contact
Hermite polynoms; elements smoothed with
P-slines; Bézier curves
Bézier curves;
etc.
Consequences
fulls requirements of C 1 -smoothness
all along the master surface;
Scheme of two non-matching
nonphysical edge eects; meshes
complicated in 3D requires special
FE discretizations.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 53/77
Intro Detection Geometry Discretization Solution FEA Examples
Smoothing technique
Smothing of the master surface with Examples of NTS contact
Hermite polynoms; elements smoothed with
P-slines; Bézier curves
Bézier curves;
etc.
Consequences
fulls requirements of C 1 -smoothness
all along the master surface;
Smoothing of the master
nonphysical edge eects; surface
complicated in 3D requires special
FE discretizations.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 53/77
Intro Detection Geometry Discretization Solution FEA Examples
Smoothing technique
Smothing of the master surface with Examples of NTS contact
Hermite polynoms; elements smoothed with
P-slines; Bézier curves
Bézier curves;
etc.
Consequences
fulls requirements of C 1 -smoothness
all along the master surface;
Contact detection
nonphysical edge eects;
complicated in 3D requires special
FE discretizations.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 53/77
Intro Detection Geometry Discretization Solution FEA Examples
Smoothing technique
Smothing of the master surface with Examples of NTS contact
Hermite polynoms; elements smoothed with
P-slines; Bézier curves
Bézier curves;
etc.
Consequences
fulls requirements of C 1 -smoothness
all along the master surface;
Contact element construction
nonphysical edge eects; (edge contact element)
complicated in 3D requires special
FE discretizations.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 53/77
Intro Detection Geometry Discretization Solution FEA Examples
Smoothing technique
Smothing of the master surface with Examples of NTS contact
Hermite polynoms; elements smoothed with
P-slines; Bézier curves
Bézier curves;
etc.
Consequences
fulls requirements of C 1 -smoothness
all along the master surface;
Constructed smoothed contact
nonphysical edge eects; elements
complicated in 3D requires special
FE discretizations.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 53/77
Intro Detection Geometry Discretization Solution FEA Examples
Smoothing technique
Smothing of the master surface with Examples of NTS contact
Hermite polynoms; elements smoothed with
P-slines; Bézier curves
Bézier curves;
etc.
Consequences
fulls requirements of C 1 -smoothness
all along the master surface;
nonphysical edge eects;
complicated in 3D requires special
FE discretizations.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 53/77
Intro Detection Geometry Discretization Solution FEA Examples
Smoothing technique
Smothing of the master surface with Examples of NTS contact
Hermite polynoms; elements smoothed with
P-slines; Bézier curves
Bézier curves;
etc.
Consequences
fulls requirements of C 1 -smoothness
all along the master surface;
nonphysical edge eects;
complicated in 3D requires special
FE discretizations.
Plan
1 Introduction
2 Contact detection
3 Contact geometry
7 Numerical examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 54/77
Intro Detection Geometry Discretization Solution FEA Examples
Introduction
Boundary value problem with constraints
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 55/77
Intro Detection Geometry Discretization Solution FEA Examples
Introduction
Boundary value problem with constraints
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 55/77
Intro Detection Geometry Discretization Solution FEA Examples
Introduction
Boundary value problem with constraints
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 55/77
Intro Detection Geometry Discretization Solution FEA Examples
Introduction
Boundary value problem with constraints
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 55/77
Intro Detection Geometry Discretization Solution FEA Examples
Introduction
Boundary value problem with constraints
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 55/77
Intro Detection Geometry Discretization Solution FEA Examples
Introduction
Weak form with contact terms
σnc δ gn d Γ = 0
Z Z Z Z
σ · ·δεd Ω − fv · δ ud Ω − 1, 2
f0 · δ ud Γ −
Ω 1, 2 Ω 1, 2 ΓN Γc
Variational equality
Z Z Z
σ · ·δεd Ω − fv · δ ud Ω − f0 · δ u d Γ + C = 0
Ω 1, 2 Ω 1, 2 Γ1N,2
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 56/77
Intro Detection Geometry Discretization Solution FEA Examples
Introduction
Weak form with contact terms
σnc δ gn d Γ = 0
Z Z Z Z
σ · ·δεd Ω − fv · δ ud Ω − 1, 2
f0 · δ ud Γ −
Ω 1, 2 Ω 1, 2 ΓN Γc
Variational equality
Z Z Z
σ · ·δεd Ω − fv · δ ud Ω − f0 · δ u d Γ + C = 0
Ω 1, 2 Ω 1, 2 Γ1N,2
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 56/77
Intro Detection Geometry Discretization Solution FEA Examples
Introduction
Weak form with contact terms
σnc δ gn d Γ = 0
Z Z Z Z
σ · ·δεd Ω − fv · δ ud Ω − 1, 2
f0 · δ ud Γ −
Ω 1, 2 Ω 1, 2 ΓN Γc
Variational equality
Z Z Z
σ · ·δεd Ω − fv · δ ud Ω − f0 · δ u d Γ + C = 0
Ω 1, 2 Ω 1, 2 Γ1N,2
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 56/77
Intro Detection Geometry Discretization Solution FEA Examples
Introduction
Weak form with contact terms
σnc δ gn d Γ = 0
Z Z Z Z
σ · ·δεd Ω − fv · δ ud Ω − 1, 2
f0 · δ ud Γ −
Ω 1, 2 Ω 1, 2 ΓN Γc
Variational equality
Z Z Z
σ · ·δεd Ω − fv · δ ud Ω − f0 · δ u d Γ + C = 0
Ω 1, 2 Ω 1, 2 Γ1N,2
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 56/77
Intro Detection Geometry Discretization Solution FEA Examples
Variational inequality
[Duvaut & Lions, 1976], [Kikuchi &
Oden, 1988]
Variational equality1
optimization methods
[Kikuchi & Oden, 1988], [Bertsekas,
1984], [Luenberger, 1984], [Curnier
& Alart, 1991], [Wriggers, 2006]
mathematical programming methods
[Conry & Siereg, 1971], [Klarbring,
1986]
1 Oftenused with so-called active set strategy, which determines which contact
elements are active (in contact) and which are not.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 57/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Function to minimize f (x) and constraint gi (x) ≥ 0, i = 1, N
Penalty method
Lagrange multipliers method
Augmented Lagrangian method
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 58/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Function to minimize f (x) and constraint gi (x) ≥ 0, i = 1, N
Penalty method
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 58/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Function to minimize f (x) and constraint gi (x) ≥ 0, i = 1, N
Penalty method
Lagrange multipliers method
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 58/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Function to minimize f (x) and constraint gi (x) ≥ 0, i = 1, N
Penalty method
Lagrange multipliers method
Augmented Lagrangian method
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 58/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Demonstration
Function : ( ) = + 2 + 1 2
Constrain : ( ) = ≥ 0
f x x x
Solution : = 0
g x x
∗
x
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 59/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Demonstration
Function : ( ) = + 2 + 1 2
Constrain : ( ) = ≥ 0
f x x x
Solution : = 0
g x x
∗
x
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 59/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Demonstration :: penalty method
f (x ) = x 2 + 2 + 1,
x g x( )=x ≥ , 0 x
∗
= 0
Penalty method
fp (x ) = f (x ) + r h−g (x )i2
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 60/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Demonstration :: penalty method
f (x ) = x 2 + 2 + 1,
x g x( )=x ≥ , 0 x
∗
= 0
Penalty method
fp (x ) = f (x ) + r h−g (x )i2
r=0
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 60/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Demonstration :: penalty method
f (x ) = x 2 + 2 + 1,
x g x( )=x ≥ , 0 x
∗
= 0
Penalty method
fp (x ) = f (x ) + r h−g (x )i2
r=1
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 60/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Demonstration :: penalty method
f (x ) = x 2 + 2 + 1,
x g x( )=x ≥ , 0 x
∗
= 0
Penalty method
fp (x ) = f (x ) + r h−g (x )i2
r = 10
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 60/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Demonstration :: penalty method
f (x ) = x 2 + 2 + 1,
x g x( )=x ≥ , 0 x
∗
= 0
Penalty method
fp (x ) = f (x ) + r h−g (x )i2
r = 50
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 60/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Demonstration :: penalty method
f (x ) = x 2 + 2 + 1,
x g x( )=x ≥ , 0 x
∗
= 0
Penalty method
fp (x ) = f (x ) + r h−g (x )i2
Advantages , Drawbacks /
simple physical interpretation; solution is not exact:
no additional degrees of too small penalty →
freedom; large penetration;
too large penalty →
smooth functional. ill-conditioning of the global
matrix;
user has to choose penalty r
properly.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 60/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Demonstration :: Lagrange multipliers method
f (x ) = x 2 + 2 + 1,
x g x( )=x ≥ , 0 x
∗
= 0
Lagrange multipliers method
L(x , λ) = f (x ) + λg (x ) → Saddle point → minx maxλ L(x , λ)
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 61/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Demonstration :: Lagrange multipliers method
f (x ) = x 2 + 2 + 1,
x g x( )=x ≥ , 0 x
∗
= 0
Lagrange multipliers method
L(x , λ) = f (x ) + λg (x ) → Saddle point → minx maxλ L(x , λ)
Additional unknown λ
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 61/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Demonstration :: Lagrange multipliers method
f (x ) = x 2 + 2 + 1,
x g x( )=x ≥ , 0 x
∗
= 0
Lagrange multipliers method
L(x , λ) = f (x ) + λg (x ) → Saddle point → minx maxλ L(x , λ)
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 61/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Demonstration :: Lagrange multipliers method
f (x ) = x 2 + 2 + 1,
x g x( )=x ≥ , 0 x
∗
= 0
Lagrange multipliers method
L(x , λ) = f (x ) + λg (x ) → Saddle point → minx maxλ L(x , λ)
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 61/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Demonstration :: Lagrange multipliers method
f (x ) = x 2 + 2 + 1,
x g x( )=x ≥ , 0 x
∗
= 0
Lagrange multipliers method
L(x , λ) = f (x ) + λg (x ) → Saddle point → minx maxλ L(x , λ)
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 61/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Demonstration :: Lagrange multipliers method
f (x ) = x 2 + 2 + 1,
x g x( )=x ≥ , 0 x
∗
= 0
Lagrange multipliers method
L(x , λ) = f (x ) + λg (x ) → Saddle point → minx maxλ L(x , λ)
Advantages , Drawbacks /
exact solution. Lagrangian is not smooth;
additional degrees of freedom
increase the problem.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 61/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Demonstration :: Augmented Lagrangian method
f (x ) = x 2 + 2 + 1,
x g x( )=x ≥ , 0 x
∗
= 0
Augmented Lagrangian method
L(x , λ) = f (x ) + r h−g (x )i2 + λg (x ) → minx maxλ L(x , λ)
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 62/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Demonstration :: Augmented Lagrangian method
f (x ) = x 2 + 2 + 1,
x g x( )=x ≥ , 0 x
∗
= 0
Augmented Lagrangian method
L(x , λ) = f (x ) + r h−g (x )i2 + λg (x ) → minx maxλ L(x , λ)
Additional unknown λ
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 62/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Demonstration :: Augmented Lagrangian method
f (x ) = x 2 + 2 + 1,
x g x( )=x ≥ , 0 x
∗
= 0
Augmented Lagrangian method
L(x , λ) = f (x ) + r h−g (x )i2 + λg (x ) → minx maxλ L(x , λ)
Optimization methods
Demonstration :: Augmented Lagrangian method
f (x ) = x 2 + 2 + 1,
x g x ( )=x ≥ , 0 x
∗
= 0
Augmented Lagrangian method
L(x , λ) = f (x ) + r h−g (x )i2 + λg (x ) → minx maxλ L(x , λ)
Optimization methods
Demonstration :: Augmented Lagrangian method
f (x ) = x 2 + 2 + 1,
x g x ( )=x ≥ , 0 x
∗
= 0
Augmented Lagrangian method
L(x , λ) = f (x ) + r h−g (x )i2 + λg (x ) → minx maxλ L(x , λ)
Optimization methods
Demonstration :: Augmented Lagrangian method
f (x ) = x 2 + 2 + 1,
x g x ( )=x ≥ , 0 x
∗
= 0
Augmented Lagrangian method
L(x , λ) = f (x ) + r h−g (x )i2 + λg (x ) → minx maxλ L(x , λ)
Optimization methods
Demonstration :: Augmented Lagrangian method
f (x ) = x 2 + 2 + 1,
x g x( )=x ≥ , 0 x
∗
= 0
Augmented Lagrangian method
L(x , λ) = f (x ) + r h−g (x )i2 + λg (x ) → minx maxλ L(x , λ)
Advantages , Drawbacks /
exact solution; additional degrees of freedom
smoothed functional. increase the problem.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 62/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Augmented Lagrangian method + Uzawa algorithm
Augmented Lagrangian
L(x , λ) = f (x ) + r h−g (x )i + λg (x )
2
Uzawa algorithm
λi +1 = λi − 2r h−g (x )i
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 63/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Augmented Lagrangian method + Uzawa algorithm
Augmented Lagrangian
L(x , λ) = f (x ) + r h−g (x )i + λg (x )
2
Uzawa algorithm
λi +1 = λi − 2r h−g (x )i
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 63/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Augmented Lagrangian method + Uzawa algorithm
Augmented Lagrangian
L(x , λ) = f (x ) + r h−g (x )i + λg (x )
2
Uzawa algorithm
λi +1 = λi − 2r h−g (x )i
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 63/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Augmented Lagrangian method + Uzawa algorithm
Augmented Lagrangian
L(x , λ) = f (x ) + r h−g (x )i + λg (x )
2
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 63/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Augmented Lagrangian method + Uzawa algorithm
Augmented Lagrangian
L(x , λ) = f (x ) + r h−g (x )i + λg (x )
2
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 63/77
Intro Detection Geometry Discretization Solution FEA Examples
Optimization methods
Augmented Lagrangian method + Uzawa algorithm
Augmented Lagrangian
L(x , λ) = f (x ) + r h−g (x )i + λg (x )
2
Uzawa algorithm
λi +1 = λi − 2r h−g (x )i
Advantages , Drawbacks /
exact solution;
smoothed functional;
,
no additional degrees of
freedom.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 63/77
Intro Detection Geometry Discretization Solution FEA Examples
Plan
1 Introduction
2 Contact detection
3 Contact geometry
7 Numerical examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 64/77
Intro Detection Geometry Discretization Solution FEA Examples
Introduction
FEA requires
good nite element mesh
represents the real geometry;
ne enough to represent correctly stress-strain eld;
rough enough to solve the problem in reasonable terms.
comprehension how close we are to the real solution;
careful apposition of boundary conditions.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 65/77
Intro Detection Geometry Discretization Solution FEA Examples
Introduction
FEA requires
good nite element mesh
represents the real geometry;
ne enough to represent correctly stress-strain eld;
rough enough to solve the problem in reasonable terms.
comprehension how close we are to the real solution;
careful apposition of boundary conditions.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 65/77
Intro Detection Geometry Discretization Solution FEA Examples
Introduction
FEA requires
good nite element mesh
represents the real geometry;
ne enough to represent correctly stress-strain eld;
rough enough to solve the problem in reasonable terms.
comprehension how close we are to the real solution;
careful apposition of boundary conditions.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 65/77
Intro Detection Geometry Discretization Solution FEA Examples
Introduction
FEA requires
good nite element mesh
represents the real geometry;
ne enough to represent correctly stress-strain eld;
rough enough to solve the problem in reasonable terms.
comprehension how close we are to the real solution;
careful apposition of boundary conditions.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 65/77
Intro Detection Geometry Discretization Solution FEA Examples
Introduction
FEA requires
good nite element mesh
represents the real geometry;
ne enough to represent correctly stress-strain eld;
rough enough to solve the problem in reasonable terms.
comprehension how close we are to the real solution;
careful apposition of boundary conditions.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 65/77
Intro Detection Geometry Discretization Solution FEA Examples
Introduction
FEA requires
good nite element mesh
represents the real geometry;
ne enough to represent correctly stress-strain eld;
rough enough to solve the problem in reasonable terms.
comprehension how close we are to the real solution;
careful apposition of boundary conditions.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 65/77
Intro Detection Geometry Discretization Solution FEA Examples
Introduction
FEA requires
good nite element mesh
represents the real geometry;
ne enough to represent correctly stress-strain eld;
rough enough to solve the problem in reasonable terms.
comprehension how close we are to the real solution;
careful apposition of boundary conditions.
Example of contact problem solved in Example of contact problem solved in ABAQUS (no
ANSYS (no FE mesh presented) FE mesh presented)
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 65/77
Intro Detection Geometry Discretization Solution FEA Examples
Convergence by mesh
Basics
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 66/77
Intro Detection Geometry Discretization Solution FEA Examples
Convergence by mesh
Basics
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 66/77
Intro Detection Geometry Discretization Solution FEA Examples
Convergence by mesh
Basics
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 66/77
Intro Detection Geometry Discretization Solution FEA Examples
Convergence by mesh
Basics
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 66/77
Intro Detection Geometry Discretization Solution FEA Examples
Convergence by mesh
Basics
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 66/77
Intro Detection Geometry Discretization Solution FEA Examples
Convergence by mesh
Basics
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 66/77
Intro Detection Geometry Discretization Solution FEA Examples
Convergence by mesh
Basics
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 66/77
Intro Detection Geometry Discretization Solution FEA Examples
Convergence by mesh
Basics
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 66/77
Intro Detection Geometry Discretization Solution FEA Examples
Convergence by mesh
Basics
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 66/77
Intro Detection Geometry Discretization Solution FEA Examples
Convergence by mesh
Basics
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 66/77
Intro Detection Geometry Discretization Solution FEA Examples
Convergence by mesh
Basics
Case of singularity
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 66/77
Intro Detection Geometry Discretization Solution FEA Examples
Convergence by mesh
Basics
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 66/77
Intro Detection Geometry Discretization Solution FEA Examples
Convergence by mesh
Basics
Convergence by mesh
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 66/77
Intro Detection Geometry Discretization Solution FEA Examples
Convergence by mesh
Basics
Convergence by mesh
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 66/77
Intro Detection Geometry Discretization Solution FEA Examples
Convergence by mesh
Basics
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 66/77
Intro Detection Geometry Discretization Solution FEA Examples
Convergence by mesh
Basics
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 66/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
How fast can we go?
General thinks
Contact problems are always nonlinear
Nonlinear problems requires slow change of boundary conditions
innite looping;
convergence to the wrong solution.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 67/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
How fast can we go?
General thinks
Contact problems are always nonlinear
Nonlinear problems requires slow change of boundary conditions
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 67/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
How fast can we go?
General thinks
Contact problems are always nonlinear
Nonlinear problems requires slow change of boundary conditions
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 67/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
How fast can we go?
General thinks
Contact problems are always nonlinear
Nonlinear problems requires slow change of boundary conditions
Newton-Raphson iterations
R (x0 , f1 ) + ∂∂Rx x δx = 0 → δx = − ∂∂Rx x R (x0 , f1 ) → x 1 = x0 + δx
0 0
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 67/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
How fast can we go?
General thinks
Contact problems are always nonlinear
Nonlinear problems requires slow change of boundary conditions
Newton-Raphson iterations
R (x 1 , f1 ) + ∂∂Rx x δx = 0 → δx = − ∂∂Rx x R (x 1 , f1 ) → x 2 = x 1 + δx
1 1
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 67/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
How fast can we go?
General thinks
Contact problems are always nonlinear
Nonlinear problems requires slow change of boundary conditions
Convergence kx i +1 − x i k ≤ ε → x1 = x i +1
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 67/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
How fast can we go?
General thinks
Contact problems are always nonlinear
Nonlinear problems requires slow change of boundary conditions
Innite looping
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 67/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
How fast can we go?
General thinks
Contact problems are always nonlinear
Nonlinear problems requires slow change of boundary conditions
Innite looping
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 67/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
How fast can we go?
General thinks
Contact problems are always nonlinear
Nonlinear problems requires slow change of boundary conditions
Innite looping
Newton-Raphson iterations
R (x0 , f1 ) + ∂∂Rx x δx = 0 → δx = − ∂∂Rx x R (x0 , f1 ) → x 1 = x0 + δx
0 0
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 67/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
How fast can we go?
General thinks
Contact problems are always nonlinear
Nonlinear problems requires slow change of boundary conditions
Innite looping
Newton-Raphson iterations
R (x 1 , f1 ) + ∂∂Rx x δx = 0 → δx = − ∂∂Rx x R (x 1 , f1 ) → x 2 = x 1 + δx
1 1
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 67/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
How fast can we go?
General thinks
Contact problems are always nonlinear
Nonlinear problems requires slow change of boundary conditions
Innite looping
Innite looping
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 67/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
How fast can we go?
General thinks
Contact problems are always nonlinear
Nonlinear problems requires slow change of boundary conditions
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 67/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
How fast can we go?
General thinks
Contact problems are always nonlinear
Nonlinear problems requires slow change of boundary conditions
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 67/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
How fast can we go?
General thinks
Contact problems are always nonlinear
Nonlinear problems requires slow change of boundary conditions
Newton-Raphson iterations
R (x0 , f1 ) + ∂∂Rx x δx = 0 → δx = − ∂∂Rx x R (x0 , f1 ) → x 1 = x0 + δx
0 0
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 67/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
How fast can we go?
General thinks
Contact problems are always nonlinear
Nonlinear problems requires slow change of boundary conditions
Newton-Raphson iterations
R (x 1 , f1 ) + ∂∂Rx x δx = 0 → δx = − ∂∂Rx x R (x 1 , f1 ) → x 2 = x 1 + δx
1 1
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 67/77
Intro Detection Geometry Discretization Solution FEA Examples
Boundary conditions
How fast can we go?
General thinks
Contact problems are always nonlinear
Nonlinear problems requires slow change of boundary conditions
Solution. Correct?
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 67/77
Intro Detection Geometry Discretization Solution FEA Examples
Patch test
Methods passing Taylor's patch test
mortar;
Nitsche;
node-to-node;
Contact domain method.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 68/77
Intro Detection Geometry Discretization Solution FEA Examples
Patch test
Methods passing Taylor's patch test
mortar;
Nitsche;
node-to-node;
Contact domain method.
Method not passing Taylor's patch
test
node-to-segment.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 68/77
Intro Detection Geometry Discretization Solution FEA Examples
Patch test
Methods passing Taylor's patch test
mortar;
Nitsche;
node-to-node;
Contact domain method.
Method not passing Taylor's patch
test
node-to-segment.
But!
NTS passes the patch test in
two pass;
NTS not passing patch test -
NTS passing patch test [G. oscilation of contact pressure (top)
Zavarise, L. De Lorenzis, 2009]; Nitsche method passing patch test
Revisiting Taylor's patch test
[Criseld].
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 68/77
Intro Detection Geometry Discretization Solution FEA Examples
Master-slave discretization
General rules
Rule 1
Contacting surface with higher mesh density is always slave surface.
Rule 1
If the mesh densities are equal on two surfaces, master surface is the
surface which deforms less.
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 69/77
Intro Detection Geometry Discretization Solution FEA Examples
Plan
1 Introduction
2 Contact detection
3 Contact geometry
7 Numerical examples
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 70/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
3D contact
Increments
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 71/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
3D contact
Increments
y y
x x
z z
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 71/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
3D contact
Increments
y y
y
x x x
z z z
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 71/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Shallow ironing
νi = νs = 0.32
µ = 0.3
∆uv = 1mm/10 incr
∆uh = 10mm/500incr
NN = 3840
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 72/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Shallow ironing
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 72/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Shallow ironing
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 72/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Shallow ironing
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 72/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Shallow ironing
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 72/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Shallow ironing
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 72/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Shallow ironing
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 72/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Shallow ironing
Comparison
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 73/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Shallow ironing
Comparison
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 73/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Shallow ironing
Comparison
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 73/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Shallow ironing
Comparison
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 73/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Klang's problem
Description
Finite element mesh
Plane stress
E = 2.1 · 1011 Pa
ν = 0.3
µ = 0.4
r = 5.999 cm
R = 6 cm
F = 18750 N
α = 120◦
NN = 2500
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 74/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Klang's problem
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 74/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Klang's problem
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 74/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Klang's problem
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 75/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Klang's problem
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 75/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Klang's problem
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 75/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Klang's problem
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 75/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Klang's problem
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 75/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Klang's problem
Results
Semianalytical, K.M.Klang [1979]. Simulation, P.Alart and A.Curnier [1990]
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 75/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Klang's problem
Results
ZEBULON, 1 increment
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 75/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Klang's problem
Results
ZEBULON, 5 increment
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 75/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Klang's problem
Results
ZEBULON, 10 increment
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 75/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Klang's problem
Results
ZEBULON, 25 increment
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 75/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Klang's problem
Results
ZEBULON, 50 increment
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 75/77
Intro Detection Geometry Discretization Solution FEA Examples
Validation
Klang's problem
Results
ZEBULON, 100 increment
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 75/77
Intro Detection Geometry Discretization Solution FEA Examples
Performance
Disk-blade contact
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 76/77
Intro Detection Geometry Discretization Solution FEA Examples
Performance
Multi contact
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 77/77
Intro Detection Geometry Discretization Solution FEA Examples
Performance
Multi contact
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 77/77
Intro Detection Geometry Discretization Solution FEA Examples
Performance
Multi contact
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 77/77
Intro Detection Geometry Discretization Solution FEA Examples
Performance
Multi contact
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 77/77
Intro Detection Geometry Discretization Solution FEA Examples
Performance
Multi contact
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 77/77
Intro Detection Geometry Discretization Solution FEA Examples
Performance
Multi contact
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 77/77
Intro Detection Geometry Discretization Solution FEA Examples
Performance
Multi contact
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 77/77
Intro Detection Geometry Discretization Solution FEA Examples
Performance
Multi contact
V.A. Yastrebov | MINES ParisTech Computational Contact Mechanics Paris, 21-24 June 2010 77/77