VERSION 4.

Multibody Dynamics
& Fatigue Analysis
MINICOURSE
 Solved with COMSOL Multiphysics 4.4

Dynamics of Double Pendulum

Introduction
This tutorial example shows the modeling of a double pendulum using the Multibody
Dynamics interface in COMSOL Multiphysics. The example begins with the creation
of a simple hinge joint and then extends the model with several features available on
joints, such as constraints, locking, spring, damper, prescribed motion, and friction.

Model Definition
The model describes the motion of a double pendulum under gravity. The double
pendulum system shown in Figure 1 behaves linearly for small angles of rotation, but
it becomes highly nonlinear as the angle of rotation increases, eventually leading to a
chaotic system.

Figure 1: Geometry of the double pendulum.

Here, the arms of the double pendulum are connected through a hinge joint. In a
hinge joint, there is one rotational degree of freedom about the joint axis. The
remaining degrees of freedom of both components defining the joint are constrained
to the same values at the center of the joint.

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The complete model is divided into six parts in order to illustrate the available
functionality on the joint feature and related sub-features.

A new study is added for each of the cases to provide more clarity. This also helps in
storing all the model settings, which is needed when recomputing the solution in the
solved model.

The different cases are as follows.

Case-1: Basic hinge joint

Case-2: Constraints on joint

Case-3: Locking on joint

Case-4: Spring and damper on joint

Case-5: Prescribed motion on joint

Case-6: Friction on joint

The details of each case along with the results and modeling instructions are given at
a later point in this document.

Notes About the COMSOL Implementation

• For the first three cases, both arms are modeled as flexible elements using the Linear
Elastic Material feature, and in the last three cases they are modeled as rigid elements
using the Rigid Domain feature. Rigid elements can be used if the stresses and the
deformation in the components are of no interest.
• A Joint feature can directly establish a connection between Rigid Domain features.
However, Attachment features are needed to define the connection boundaries for
flexible elements.
• Dirichlet boundary conditions, like Rigid Connector and Fixed Constraint, cannot be
used with the Rigid Domain feature. Hence, the Prescribed Displacement/Rotation
feature (sub-feature of Rigid Domain) is used to prescribe the degrees of freedom.

Model Library path: Multibody_Dynamics_Module/Tutorial_Models/

double_pendulum

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Model Definition: Case-1 (Basic Hinge Joint)

The top surface of the upper arm is constrained so that it cannot translate but it is free
to rotate about the y axis. The whole system is placed in the gravitational field to
analyze the dynamics of the system.

In this case, the arms of the pendulum are modeled as flexible elements. Hence, the
stresses generated in the components can be evaluated concurrently while computing
the system’s dynamics.

Results and Discussion

Figure 2 and Figure 3 show the relative rotation between the arms and the reaction
forces at the hinge joint during the oscillation of the double pendulum. The x and z
components of the reaction forces balance the gravity load in the lower arm, as the
pendulum oscillates in the x-z plane.

Figure 2: Relative rotation of the arms at the hinge joint (Case-1).

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Figure 3: Reaction forces at the hinge joint (Case-1).

Modeling Instructions
From the File menu, choose New.

NEW
1 In the New window, click the Model Wizard button.

MODEL WIZARD
1 In the Model Wizard window, click the 3D button.
2 In the Select physics tree, select Structural Mechanics>Multibody Dynamics (mbd).
3 Click the Add button.
4 Click the Study button.
5 In the tree, select Preset Studies>Time Dependent.
6 Click the Done button.

GEOMETRY 1
If you do not want to build the geometry, you can load the geometry sequence from
the stored model. In the Model Builder window, under Component 1 right-click

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Geometry 1 and choose Insert Sequence from File. Browse to the model’s Model Library
folder and double-click the file double_pendulum.mph. You can then continue to the
Definitions section below.

To build the geometry from scratch, continue here.

Block 1
1 On the Geometry toolbar, click Block.
2 In the Block settings window, locate the Size section.
3 In the Depth edit field, type 0.5.
4 In the Height edit field, type 10.

Cylinder 1
1 On the Geometry toolbar, click Cylinder.
2 In the Cylinder settings window, locate the Size and Shape section.
3 In the Radius edit field, type 0.3.
4 In the Height edit field, type 0.5.
5 Locate the Position section. In the x edit field, type 0.5.
6 In the z edit field, type 9.5.
7 Locate the Axis section. From the Axis type list, choose y-axis.

Difference 1
1 On the Geometry toolbar, click Difference.
2 Select the object blk1 only.
3 In the Difference settings window, locate the Difference section.
4 Select the Objects to subtract toggle button.
5 Select the object cyl1 only.

Cylinder 2
1 On the Geometry toolbar, click Cylinder.
2 In the Cylinder settings window, locate the Size and Shape section.
3 In the Radius edit field, type 0.3.
4 In the Height edit field, type 1.25.
5 Locate the Position section. In the x edit field, type 0.5.
6 In the y edit field, type -0.75.
7 In the z edit field, type 0.5.

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8 Locate the Axis section. From the Axis type list, choose y-axis.

Copy 1
1 On the Geometry toolbar, click Copy.
2 Select the object cyl2 only.

Block 2
1 On the Geometry toolbar, click Block.
2 In the Block settings window, locate the Size section.
3 In the Width edit field, type 10.
4 In the Depth edit field, type 0.5.
5 Locate the Position section. In the y edit field, type -0.625.

Difference 2
1 On the Geometry toolbar, click Difference.
2 Select the object blk2 only.
3 In the Difference settings window, locate the Difference section.
4 Select the Objects to subtract toggle button.
5 Select the object copy1 only.

Union 1
1 On the Geometry toolbar, click Union.
2 Select the objects dif1 and cyl2 only.
3 In the Union settings window, locate the Union section.
4 Clear the Keep interior boundaries check box.

Form Union
1 In the Model Builder window, under Component 1>Geometry 1 click Form Union.
2 In the Form Union/Assembly settings window, locate the Form Union/Assembly section.
3 From the Action list, choose Form an assembly.
4 Click the Build Selected button.

DEFINITIONS

Integration 1
1 On the Definitions toolbar, click Component Couplings and choose Integration.
2 Select Domains 1 and 2 only.

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Variables 1
1 In the Model Builder window, right-click Definitions and choose Variables.
2 In the Variables settings window, locate the Variables section.
3 In the table, enter the following settings:

Name Expression Unit Description

Wp intop1([Link]*g_const*w) J Potential energy

MATERIALS
On the Home toolbar, click Add Material.

ADD MATERIAL
1 Go to the Add Material window.
2 In the tree, select Built-In>Structural steel.
3 In the Add material window, click Add to Component.

MULTIBODY DYNAMICS

Gravity 1
1 On the Physics toolbar, click Domains and choose Gravity.
2 Select Domains 1 and 2 only.

Attachment 1
1 On the Physics toolbar, click Boundaries and choose Attachment.
2 Select Boundaries 16, 17, 22, and 23 only.

Attachment 2
1 On the Physics toolbar, click Boundaries and choose Attachment.
2 Select Boundaries 6–9 only.

Hinge Joint 1
1 On the Physics toolbar, click Global and choose Hinge Joint.
2 In the Hinge Joint settings window, locate the Attachment Selection section.
3 From the Source list, choose Attachment 1.
4 From the Destination list, choose Attachment 2.

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5 Locate the Axis of Joint section. Specify the e0 vector as

0 x
1 y
0 z

Rigid Connector 1
1 On the Physics toolbar, click Boundaries and choose Rigid Connector.
2 Select Boundaries 19, 20, 24, and 25 only.
3 In the Rigid Connector settings window, locate the Prescribed Displacement at Center
of Rotation section.
4 Select the Prescribed in x direction check box.
5 Select the Prescribed in y direction check box.
6 Select the Prescribed in z direction check box.
7 Locate the Prescribed Rotation at Center of Rotation section. From the By list, choose
Constrained rotation.
8 Select the Constrain rotation around x-axis check box.
9 Select the Constrain rotation around z-axis check box.
Choose a coarse mesh to save the computation time.

MESH 1
1 In the Model Builder window, under Component 1 click Mesh 1.
2 In the Mesh settings window, locate the Mesh Settings section.
3 From the Element size list, choose Coarse.

STUDY 1

Step 1: Time Dependent

1 In the Model Builder window, under Study 1 click Step 1: Time Dependent.
2 In the Time Dependent settings window, locate the Study Settings section.
3 In the Times edit field, type range(0,0.02,1.5).
4 In the Model Builder window, right-click Study 1 and choose Rename.
5 Go to the Rename Study dialog box and type Study: Basic in the New name edit
field.
6 Click OK.

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7 On the Home toolbar, click Compute.

RESULTS
The two default plots show the displacement and velocity profile in the arms of double
pendulum. The stresses can also be visualized by changing the expression in the first
plot.

Use the following instructions to reproduce Figure 2:

1D Plot Group 3
1 On the Home toolbar, click Add Plot Group and choose 1D Plot Group.
2 In the Model Builder window, under Results right-click 1D Plot Group 3 and choose
Rename.
3 Go to the Rename 1D Plot Group dialog box and type Relative rotation in the
New name edit field.
4 Click OK.

Relative rotation
1 On the 1D plot group toolbar, click Global.
2 In the Global settings window, click Replace Expression in the upper-right corner of
the y-Axis Data section. From the menu, choose Multibody Dynamics>Hinge
joints>Hinge Joint 1>Relative rotation ([Link]).
3 In the Global settings window, locate the y-axis data section.
4 In the table, enter the following settings:

Expression Unit Description

[Link] deg Relative rotation

5 Click to expand the Title section. From the Title type list, choose None.
6 Click to expand the Legends section. Clear the Show legends check box.
7 Click to expand the Coloring and style section. Locate the Coloring and Style section.
Find the Line style subsection. In the Width edit field, type 2.
8 On the 1D plot group toolbar, click Plot.
To generate joint forces plot given in Figure 3, follow instructions below.

1D Plot Group 4
1 On the Home toolbar, click Add Plot Group and choose 1D Plot Group.

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2 In the Model Builder window, under Results right-click 1D Plot Group 4 and choose
Rename.
3 Go to the Rename 1D Plot Group dialog box and type Joint forces in the New name
edit field.
4 Click OK.

Joint forces
1 On the 1D plot group toolbar, click Global.
2 In the Global settings window, click Replace Expression in the upper-right corner of
the y-Axis Data section. From the menu, choose Multibody Dynamics>Hinge
joints>Hinge Joint 1>Joint force>Joint force, x component ([Link]).
3 Click Add Expression in the upper-right corner of the y-Axis Data section. From the
menu, choose Multibody Dynamics>Hinge joints>Hinge Joint 1>Joint force>Joint force,
y component ([Link]).
4 Click Add Expression in the upper-right corner of the y-Axis Data section. From the
menu, choose Multibody Dynamics>Hinge joints>Hinge Joint 1>Joint force>Joint force,
z component ([Link]).
5 Locate the Title section. From the Title type list, choose None.
6 Locate the Coloring and Style section. Find the Line style subsection. In the Width
edit field, type 2.
7 From the Marker list, choose Cycle.
8 In the Model Builder window, click Joint forces.
9 In the 1D Plot Group settings window, locate the Plot Settings section.
10 Select the y-axis label check box.
11 In the associated edit field, type Joint forces (N).
12 Click to expand the Legend section. From the Position list, choose Upper left.
13 On the 1D plot group toolbar, click Plot.
Joint forces in joint's local coordinate system can also be plotted by following the
similar instructions.

Model Definition: Case-2 (Constraints on Joint)

The top surface of the upper arm is fixed. A constraint is added at 45° relative rotation
between both the arms. The whole system is placed in the presence of the gravitational
field to analyze the dynamics.

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Both arms are modeled as flexible parts. The deformation, as well as the stresses
generated in the components, will be significant during and after the application of the
constraint condition.

Results and Discussion

The relative rotation between the arms, when a constraint is added to the joint, is
shown in Figure 4. In this case, the relative rotation first increases due to the
gravitational force; then it decreases after reaching the constrained maximum limit as
the lower arm bounces back. The relative rotation stays at its maximum limit for certain
duration. This happens because of the bending of the flexible arms due to the high
moment of inertia, and the sudden application of the constraint condition.

Figure 4: Relative rotation of the arms at the hinge joint (Case-2).

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Figure 5: Reaction moments at the hinge joint (Case-2).

Figure 5 shows the reaction moments at the joint when adding a constraint condition.
The joint allows the arms to rotate about the y axis, hence the reaction moment should
be zero in this direction. However, during the constraint condition, the same joint
restricts this motion and hence, high reaction moment in y direction can be seen. After
applying the constraint condition, the pendulum tries to rotate about other two axes
due to its unsymmetrical geometry, therefore non-zero moments in these directions
are also visible.

Figure 6 shows the variation of different forms of energy in the system when a
constraint condition is added to the joint. Before applying the constraint condition,
potential energy converts into kinetic energy and the strain energy is negligible.
During the constraint condition, the relative velocity goes to zero before changing
sign. In this period, the entire kinetic energy converts into strain energy. After the
constraint condition, the strain energy converts back into kinetic energy. Structural
waves persist in the components due to their flexible nature, therefore non-zero strain
energy can be seen.

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Figure 6: Time variation of different forms of energy iu Case-2.

Modeling Instructions
The same hinge joint is used for the first three cases by controlling the sub-features
from at the Study node. The joint’s center and axis are computed with different
techniques. This is to demonstrate various types of available techniques, which can be
useful in different cases.

MULTIBODY DYNAMICS

Hinge Joint 1
1 In the Model Builder window, under Component 1>Multibody Dynamics click Hinge
Joint 1.
2 In the Hinge Joint settings window, locate the Center of Joint section.
3 From the list, choose User defined.
4 Specify the Xc vector as

0.5 x
0 y
0.5 z

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5 Locate the Axis of Joint section. From the list, choose From selected coordinate
system.
6 From the Axis to use list, choose 2.

Constraints 1
1 Right-click Component 1>Multibody Dynamics>Hinge Joint 1 and choose Constraints.
2 In the Constraints settings window, locate the Rotational Constraints section.
3 In the max edit field, type pi/4.

Fixed Constraint 1
1 On the Physics toolbar, click Boundaries and choose Fixed Constraint.
2 Select Boundaries 19, 20, 24, and 25 only.
The Fixed Constraint overrides the Rigid Connector, which is present on the same
boundaries.

ROOT
On the Home toolbar, click Add Study.

ADD STUDY
1 Go to the Add Study window.
2 Find the Studies subsection. In the tree, select Preset Studies>Time Dependent.
3 In the Add study window, click Add Study.

STUDY 2

Step 1: Time Dependent

1 In the Model Builder window, under Study 2 click Step 1: Time Dependent.
2 In the Time Dependent settings window, locate the Study Settings section.
3 In the Times edit field, type range(0,0.01,1.5).
4 In the Model Builder window, click Study 2.
5 In the Study settings window, locate the Study Settings section.
6 Clear the Generate default plots check box.
7 Right-click Study 2 and choose Rename.
8 Go to the Rename Study dialog box and type Study: Constraints in the New name
edit field.
9 Click OK.

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10 On the Home toolbar, click Compute.

Duplicate the plots generated in the first case to reproduce the results shown in
Figure 4 and Figure 5:

RESULTS

Relative rotation 1
1 In the Model Builder window, under Results right-click Relative rotation and choose
Duplicate.
2 Right-click Relative rotation 1 and choose Rename.
3 Go to the Rename 1D Plot Group dialog box and type Relative rotation:
Constraints in the New name edit field.
4 Click OK.
5 In the 1D Plot Group settings window, locate the Data section.
6 From the Data set list, choose Solution 2.
7 On the 1D plot group toolbar, click Plot.

Joint forces 1
1 In the Model Builder window, under Results right-click Joint forces and choose
Duplicate.
2 Right-click Joint forces 1 and choose Rename.
3 Go to the Rename 1D Plot Group dialog box and type Joint moments:
Constraints in the New name edit field.

4 Click OK.
5 In the 1D Plot Group settings window, locate the Data section.
6 From the Data set list, choose Solution 2.

Joint moments: Constraints

1 In the Model Builder window, expand the Results>Joint moments: Constraints node,
then click Global 1.
2 In the Global settings window, click Replace Expression in the upper-right corner of
the y-Axis Data section. From the menu, choose Multibody Dynamics>Hinge
joints>Hinge Joint 1>Joint moment>Joint moment, x component ([Link]).
3 Click Add Expression in the upper-right corner of the y-Axis Data section. From the
menu, choose Multibody Dynamics>Hinge joints>Hinge Joint 1>Joint moment>Joint
moment, y component ([Link]).

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4 Click Add Expression in the upper-right corner of the y-Axis Data section. From the
menu, choose Multibody Dynamics>Hinge joints>Hinge Joint 1>Joint moment>Joint
moment, z component ([Link]).
5 In the 1D Plot Group settings window, locate the Legend section.
6 From the Position list, choose Lower left.
7 Locate the Plot Settings section. In the y-axis label edit field, type Joint moments
(N-m).

8 On the 1D plot group toolbar, click Plot.

Follow these instructions to reproduce energy plot shown in Figure 6:

Joint moments: Constraints 1

1 Right-click Joint moments: Constraints and choose Duplicate.
2 In the Model Builder window, under Results right-click Joint moments: Constraints 1
and choose Rename.
3 Go to the Rename 1D Plot Group dialog box and type Energy: Constraints in the
New name edit field.
4 Click OK.

Energy: Constraints
1 In the Model Builder window, expand the Results>Energy: Constraints node, then click
Global 1.
2 In the Global settings window, click Replace Expression in the upper-right corner of
the y-Axis Data section. From the menu, choose Definitions>Potential energy (Wp).
3 Click Add Expression in the upper-right corner of the y-Axis Data section. From the
menu, choose Multibody Dynamics>Global>Total kinetic energy (mbd.Wk_tot).
4 Click Add Expression in the upper-right corner of the y-Axis Data section. From the
menu, choose Multibody Dynamics>Global>Total strain energy (mbd.Ws_tot).
5 In the 1D Plot Group settings window, locate the Legend section.
6 From the Position list, choose Upper left.
7 Locate the Plot Settings section. In the y-axis label edit field, type Energy (J).
8 On the 1D plot group toolbar, click Plot.

Model Definition: Case-3 (Locking on Joint)

The top surface of the upper arm is constrained such that it cannot translate but is free
to rotate about the y axis. A lock condition is added at 45° relative rotation between

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both the arms of the pendulum. The whole system is placed in the presence of the
gravitational field and the dynamics of the system is analyzed. Both the arms of the
pendulum are modeled as flexible elements.

Results and Discussion

Figure 7 shows the relative rotation between the arms when a lock is added to the
joint. In this case, the relative rotation first increases due to the gravitational force and
then it is locked at the constrained maximum limit. The relative velocity is forced to
zero for the rest of the simulation once the relative rotation reaches the lock position.

Figure 7: Relative rotation of the arms at the hinge joint (Case-3).

Figure 8 shows the reaction moments at the joint when a lock condition is added to it.
The joint allows the arms to rotate relatively about the y axis so that the reaction
moment should be zero in this direction. However, after applying the lock condition,
the same joint restricts this motion so that a high reaction moment in y direction can
be seen. After the lock condition is applied, the pendulum also tries to rotate about the

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other two axes because of its unsymmetrical geometry, therefore non-zero moments
in these directions are also visible.

Figure 8: Reaction moments at the hinge joint (Case-3).

Modeling Instructions

MULTIBODY DYNAMICS

Hinge Joint 1
1 In the Model Builder window, under Component 1>Multibody Dynamics click Hinge
Joint 1.
2 In the Hinge Joint settings window, locate the Axis of Joint section.
3 From the list, choose Select a parallel edge.

Joint Axis 1
1 In the Model Builder window, expand the Hinge Joint 1 node, then click Joint Axis 1.
2 Select Edge 33 only.

Hinge Joint 1
1 In the Model Builder window, under Component 1>Multibody Dynamics click Hinge
Joint 1.
2 In the Hinge Joint settings window, locate the Center of Joint section.

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3 From the list, choose Centroid of selected entities.

4 From the Entity level list, choose Edge.

Center of Joint : Edge 1

1 In the Model Builder window, under Component 1>Multibody Dynamics>Hinge Joint 1
click Center of Joint : Edge 1.
2 Select Edges 34, 35, 46, and 48 only.

Locking 1
1 In the Model Builder window, under Component 1>Multibody Dynamics right-click
Hinge Joint 1 and choose Locking.
2 In the Locking settings window, locate the Rotational Locking section.
3 In the max edit field, type pi/4.

ADD STUDY
1 Go to the Add Study window.
2 Find the Studies subsection. In the tree, select Preset Studies>Time Dependent.
3 In the Add study window, click Add Study.

STUDY 3

Step 1: Time Dependent

1 In the Model Builder window, under Study 3 click Step 1: Time Dependent.
2 In the Time Dependent settings window, locate the Study Settings section.
3 In the Times edit field, type range(0,0.005,1.5).
4 Locate the Physics and Variables Selection section. Select the Modify physics tree and
variables for study step check box.
5 In the Physics and variables selection tree, select Component 1>Multibody
Dynamics>Hinge Joint 1>Constraints 1 and Component 1>Multibody Dynamics>Fixed
Constraint 1.
6 Click Disable.
7 In the Model Builder window, click Study 3.
8 In the Study settings window, locate the Study Settings section.
9 Clear the Generate default plots check box.
10 Right-click Study 3 and choose Rename.

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11 Go to the Rename Study dialog box and type Study : Locking in the New name
edit field.
12 Click OK.
13 On the Home toolbar, click Compute.
To generate the relative rotation plot shown in Figure 7, follow the below
instructions:

RESULTS

Relative rotation 1
1 In the Model Builder window, under Results right-click Relative rotation and choose
Duplicate.
2 Right-click Relative rotation 1 and choose Rename.
3 Go to the Rename 1D Plot Group dialog box and type Relative rotation :
Locking in the New name edit field.
4 Click OK.
5 In the 1D Plot Group settings window, locate the Data section.
6 From the Data set list, choose Solution 3.
7 On the 1D plot group toolbar, click Plot.

To generate a plot for joint moments shown in Figure 8, follow the instructions
below:

Joint moments: Constraints 1

1 In the Model Builder window, under Results right-click Joint moments: Constraints
and choose Duplicate.
2 Right-click Joint moments: Constraints 1 and choose Rename.
3 Go to the Rename 1D Plot Group dialog box and type Joint moments : Locking
in the New name edit field.
4 Click OK.
5 In the 1D Plot Group settings window, locate the Data section.
6 From the Data set list, choose Solution 3.
7 On the 1D plot group toolbar, click Plot.

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Model Definition: Case-4 (Spring and Damper on Joint)

In this case, both pendulum’s arms are modeled as rigid elements. The upper arm is
fixed. A torsional spring and damper are added on the relative rotation between the
arms. The spring constant and the damping coefficient are 5e6 N-m and 1e6 N-m-s,
respectively. The dynamics of the system is analyzed under gravity load.

Results and Discussion

Figure 9 shows the relative rotation between the arms when a spring and a damper are
added to the joint. In this case, the torsional spring tries to restrict the relative motion
at the joint and balances the applied moment due to the gravity load. Without the
damper the arms would oscillate about the equilibrium position. Here, a damper is
added to the joint, due to which the fluctuation in the relative rotation decreases and
the arms tend to attain the equilibrium position.

Figure 9: Relative rotation of the arms at the hinge joint (Case-4).

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Figure 10: Time variation of different forms of energy (Case-4).

Figure 10 shows the variation of different forms of energy in the system when a spring
and damper are added to the joint. Initially, the potential energy is converted into
kinetic energy, however after some time, the spring and damper effects dominate. The
damper dissipates energy and hence the kinetic energy reduces to almost zero. As the
energy dissipated in the damper is proportional to the velocity, this also attains a
constant value. The energy stored in the spring slowly converts into potential energy
and vice-versa.

Modeling Instructions
Although the hinge joint can also be used to define the connection between rigid
components, a separate hinge joint is created to re-run each study independently
without changing the attachment selection in the hinge joint.

MULTIBODY DYNAMICS

Rigid Domain 1
1 On the Physics toolbar, click Domains and choose Rigid Domain.

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2 Select Domain 2 only.

Use Rigid Domain's subfeature to prescribe or constrain its motion.
3 Right-click Component 1>Multibody Dynamics>Rigid Domain 1 and choose Fixed
Constraint.

Rigid Domain 2
1 On the Physics toolbar, click Domains and choose Rigid Domain.
2 Select Domain 1 only.

Hinge Joint 2
1 On the Physics toolbar, click Global and choose Hinge Joint.
2 In the Hinge Joint settings window, locate the Attachment Selection section.
3 From the Source list, choose Rigid Domain 1.
4 From the Destination list, choose Rigid Domain 2.
5 Locate the Center of Joint section. From the list, choose User defined.
6 Specify the Xc vector as

0.5 x
0 y
0.5 z

7 Specify the e0 vector as

0 x
1 y
0 z

8 Locate the Joint Forces and Moments section. From the list, choose Do not compute.

Spring and Damper 1

1 In the Model Builder window, right-click Hinge Joint 2 and choose Spring and Damper.
2 In the Spring and Damper settings window, locate the Spring and Damper : Rotational
section.
3 In the k edit field, type 5e6.
4 In the c edit field, type 1e6.

ADD STUDY
1 Go to the Add Study window.

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2 Find the Studies subsection. In the tree, select Preset Studies>Time Dependent.
3 In the Add study window, click Add Study.

STUDY 4

Step 1: Time Dependent

1 In the Model Builder window, under Study 4 click Step 1: Time Dependent.
2 In the Time Dependent settings window, locate the Study Settings section.
3 In the Times edit field, type range(0,0.02,5).
4 Locate the Physics and Variables Selection section. Select the Modify physics tree and
variables for study step check box.
5 In the Physics and variables selection tree, select Component 1>Multibody
Dynamics>Hinge Joint 1.
6 Click Disable.
Rigid Domain feature automatically overrides all Dirichlet type of boundary
conditions. Hence there is no need to disable Attachments, Rigid Connector and Fixed
Constraint.
7 In the Model Builder window, click Study 4.
8 In the Study settings window, locate the Study Settings section.
9 Clear the Generate default plots check box.
10 Right-click Study 4 and choose Rename.
11 Go to the Rename Study dialog box and type Study: Spring-Damper in the New
name edit field.
12 Click OK.
13 On the Home toolbar, click Compute.
Follow these instructions to generate the relative rotation plot shown in Figure 9:

RESULTS

Relative rotation 1
1 In the Model Builder window, under Results right-click Relative rotation and choose
Duplicate.
2 Right-click Relative rotation 1 and choose Rename.
3 Go to the Rename 1D Plot Group dialog box and type Relative rotation:
Spring-Damper in the New name edit field.

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4 Click OK.
Set the Data set to None for now to avoid the error in automatic plotting of a
variable, which is not available in the selected data set.
5 In the 1D Plot Group settings window, locate the Data section.
6 From the Data set list, choose None.

Relative rotation: Spring-Damper

1 In the Model Builder window, expand the Results>Relative rotation: Spring-Damper
node, then click Global 1.
2 In the Global settings window, click Replace Expression in the upper-right corner of
the y-Axis Data section. From the menu, choose Multibody Dynamics>Hinge
joints>Hinge Joint 2>Relative rotation ([Link]).
3 In the table, enter the following settings:

Expression Unit Description

[Link] deg Relative rotation

4 In the Model Builder window, click Relative rotation: Spring-Damper.

5 In the 1D Plot Group settings window, locate the Data section.
6 From the Data set list, choose Solution 4.
7 On the 1D plot group toolbar, click Plot.
The energy plot in Figure 10 can be generated by following the steps below.

1D Plot Group 11
1 On the Home toolbar, click Add Plot Group and choose 1D Plot Group.
2 In the 1D Plot Group settings window, locate the Data section.
3 From the Data set list, choose Solution 4.
4 Right-click Results>1D Plot Group 11 and choose Rename.
5 Go to the Rename 1D Plot Group dialog box and type Energy: Spring-Damper in
the New name edit field.
6 Click OK.

Energy: Spring-Damper
1 On the 1D plot group toolbar, click Global.
2 In the Global settings window, click Replace Expression in the upper-right corner of
the y-Axis Data section. From the menu, choose Definitions>Potential energy (Wp).

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3 Click Add Expression in the upper-right corner of the y-Axis Data section. From the
menu, choose Multibody Dynamics>Global>Total kinetic energy (mbd.Wk_tot).
4 Locate the y-Axis Data section. In the table, enter the following settings:

Expression Unit Description

[Link] J Energy stored in spring
timeint(0,t,[Link]) J Energy dissipated in damper

5 Locate the Title section. From the Title type list, choose None.
6 Locate the Coloring and Style section. Find the Line style subsection. In the Width
edit field, type 2.
7 From the Marker list, choose Cycle.
8 In the Model Builder window, click Energy: Spring-Damper.
9 In the 1D Plot Group settings window, locate the Plot Settings section.
10 Select the y-axis label check box.
11 In the associated edit field, type Energy (J).
12 On the 1D plot group toolbar, click Plot.
13 Click to expand the Axis section. Select the Manual axis limits check box.
14 In the y maximum edit field, type 1e6.
15 On the 1D plot group toolbar, click Plot.

Model Definition: Case-5 (Prescribed Motion on Joint)

As in the previous case, the pendulum’s arms are modeled as rigid elements. The upper
arm is fixed. The relative angular velocity between both arms is prescribed for certain
duration, after which each joint degree of freedom is made free. The prescribed angular
velocity is t rad/s and this is prescribed for one second. Here the angular velocity is the
linear function of time and reaches it’s maximum value 1 rad/s at 1 s.

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Results and Discussion

Figure 11: Relative angular velocity of the arms at the hinge joint (Case-5).

Figure 11 shows the relative angular velocity between the arms when prescribed for the
given duration. The velocity is prescribed till 1 s, and hence, it increases to it’s
maximum value in this time interval. After that, due to the inertia of the components
and in the presence of no losses, the velocity is maintained to the maximum value for
the rest of the simulation. The relative rotation between the arms is shown in
Figure 12. It is clear from this plot that before 1 s, the rotation increases quadratically
with time, after which it increases linearly.

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Figure 12: Relative rotation of the arms at the hinge joint (Case-5).

Modeling Instructions

MULTIBODY DYNAMICS

Prescribed Motion 1
1 In the Model Builder window, under Component 1>Multibody Dynamics right-click
Hinge Joint 2 and choose Prescribed Motion.
2 In the Prescribed Motion settings window, locate the Prescribed Rotational Motion
section.
3 From the Prescribed motion through list, choose Angular velocity.
4 In the p edit field, type t.
5 From the Activation condition list, choose Conditionally active.
6 In the ip edit field, type t>1.

ADD STUDY
1 Go to the Add Study window.
2 Find the Studies subsection. In the tree, select Preset Studies>Time Dependent.

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3 In the Add study window, click Add Study.

STUDY 5

Step 1: Time Dependent

1 In the Model Builder window, under Study 5 click Step 1: Time Dependent.
2 In the Time Dependent settings window, locate the Study Settings section.
3 In the Times edit field, type range(0,0.02,2).
4 Locate the Physics and Variables Selection section. Select the Modify physics tree and
variables for study step check box.
5 In the Physics and variables selection tree, select Component 1>Multibody
Dynamics>Gravity 1, Component 1>Multibody Dynamics>Hinge Joint 1, and Component
1>Multibody Dynamics>Hinge Joint 2>Spring and Damper 1.
6 Click Disable.
7 In the Model Builder window, click Study 5.
8 In the Study settings window, locate the Study Settings section.
9 Clear the Generate default plots check box.
10 Right-click Study 5 and choose Rename.
11 Go to the Rename Study dialog box and type Study: Prescribed motion in the
New name edit field.
12 Click OK.
13 On the Home toolbar, click Compute.
Follow these instructions to generate the relative rotation shown in Figure 11 and
the relative velocity shown in Figure 12:

RESULTS

Relative rotation: Spring-Damper 1

1 In the Model Builder window, under Results right-click Relative rotation:
Spring-Damper and choose Duplicate.
2 Right-click Relative rotation: Spring-Damper 1 and choose Rename.
3 Go to the Rename 1D Plot Group dialog box and type Relative rotation:
Prescribed motion in the New name edit field.

4 Click OK.
5 In the 1D Plot Group settings window, locate the Data section.

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6 From the Data set list, choose Solution 5.

7 On the 1D plot group toolbar, click Plot.

Relative rotation: Spring-Damper 1

1 In the Model Builder window, under Results right-click Relative rotation:
Spring-Damper and choose Duplicate.
2 Right-click Relative rotation: Spring-Damper 1 and choose Rename.
3 Go to the Rename 1D Plot Group dialog box and type Relative velocity:
Prescribed motion in the New name edit field.

4 Click OK.
5 In the 1D Plot Group settings window, locate the Data section.
6 From the Data set list, choose Solution 5.

Relative velocity: Prescribed motion

1 In the Model Builder window, expand the Results>Relative velocity: Prescribed motion
node, then click Global 1.
2 In the Global settings window, click Replace Expression in the upper-right corner of
the y-Axis Data section. From the menu, choose Multibody Dynamics>Hinge
joints>Hinge Joint 2>Relative angular velocity (mbd.hgj2.th_t).
3 Locate the y-Axis Data section. In the table, enter the following settings:

Expression Unit Description

mbd.hgj2.th_t deg/s Relative angular velocity

4 On the 1D plot group toolbar, click Plot.

Model Definition: Case-6 (Friction on Joint)

As in the previous case, the pendulum’s arms are modeled as rigid elements. The upper
arm is fixed. The dynamics of the system is analyzed under gravity load and frictional
losses on the joint. The effective friction moment is computed using the forces acting
on a joint and it is applied on the relative rotation between the arms.

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Results and Discussion

Figure 13: Relative rotation of the arms at the hinge joint (Case-6).

Figure 13 shows the relative rotation between the arms. The decay in the magnitude
of relative rotation, due to the frictional losses at the hinge joint, can be seen.

The time variation of friction moment is shown in Figure 14. The average value of
friction moment is governed by the gravity load acting on both the arms and the
fluctuations in friction moment are governed by the inertial forces in both the arms. A
high gradient of friction moment can be seen when a direction of motion is getting
reversed. This mimics the behavior of Coulomb’s friction law however at the same time
friction moment is not totally discontinuous unlike Coulomb’s friction law.

Figure 15 shows the variation of different forms of energy in the system when frictional
losses are added to the joint. The increasing frictional energy loss can be seen in the
plot.

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Figure 14: Friction moment profile at the hinge joint (Case-6).

Figure 15: Time variation of different forms of energy (Case-6).

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Modeling Instructions

MULTIBODY DYNAMICS

Hinge Joint 2
Compute joint forces to evaluate normal force in friction feature.

1 In the Model Builder window, under Component 1>Multibody Dynamics click Hinge
Joint 2.
2 In the Hinge Joint settings window, locate the Joint Forces and Moments section.
3 From the list, choose Computed using weak constraints.

Friction 1
1 Right-click Component 1>Multibody Dynamics>Hinge Joint 2 and choose Friction.
2 In the Friction settings window, locate the Friction section.
3 In the  edit field, type 0.6.
4 In the r edit field, type 0.3.

ADD STUDY
1 Go to the Add Study window.
2 Find the Studies subsection. In the tree, select Preset Studies>Time Dependent.
3 In the Add study window, click Add Study.

STUDY 6

Step 1: Time Dependent

1 In the Model Builder window, under Study 6 click Step 1: Time Dependent.
2 In the Time Dependent settings window, locate the Study Settings section.
3 In the Times edit field, type range(0,0.05,10).
4 Locate the Physics and Variables Selection section. Select the Modify physics tree and
variables for study step check box.
5 In the Physics and variables selection tree, select Component 1>Multibody
Dynamics>Hinge Joint 1, Component 1>Multibody Dynamics>Hinge Joint 2>Spring and
Damper 1, and Component 1>Multibody Dynamics>Hinge Joint 2>Prescribed Motion 1.
6 Click Disable.
7 In the Model Builder window, click Study 6.
8 In the Study settings window, locate the Study Settings section.

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9 Clear the Generate default plots check box.

10 Right-click Study 6 and choose Rename.
11 Go to the Rename Study dialog box and type Study: Friction in the New name
edit field.
12 Click OK.
13 On the Home toolbar, click Compute.
Follow the instructions to generate the relative rotation and friction moment plots
shown in Figure 13 and Figure 14:

RESULTS

Relative rotation: Spring-Damper 1

1 In the Model Builder window, under Results right-click Relative rotation:
Spring-Damper and choose Duplicate.
2 Right-click Relative rotation: Spring-Damper 1 and choose Rename.
3 Go to the Rename 1D Plot Group dialog box and type Relative rotation:
Friction in the New name edit field.

4 Click OK.
5 In the 1D Plot Group settings window, locate the Data section.
6 From the Data set list, choose Solution 6.
7 On the 1D plot group toolbar, click Plot.

Relative rotation: Friction 1

1 In the Model Builder window, under Results right-click Relative rotation: Friction and
choose Duplicate.
2 Right-click Relative rotation: Friction 1 and choose Rename.
3 Go to the Rename 1D Plot Group dialog box and type Friction moment in the New
name edit field.
4 Click OK.

Friction moment
1 In the Global settings window, locate the y-Axis Data section.
2 In the table, enter the following settings:

Expression Unit Description

[Link] N*m Friction moment

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3 On the 1D plot group toolbar, click Plot.

Energy plot Figure 15 can be generated by following the below steps:

1D Plot Group 16
1 On the Home toolbar, click Add Plot Group and choose 1D Plot Group.
2 In the 1D Plot Group settings window, locate the Data section.
3 From the Data set list, choose Solution 6.
4 From the Time selection list, choose Interpolated.
5 In the Times (s) edit field, type range(0,0.2,10).
6 Right-click Results>1D Plot Group 16 and choose Rename.
7 Go to the Rename 1D Plot Group dialog box and type Energy: Friction in the New
name edit field.
8 Click OK.

Energy: Friction
1 On the 1D plot group toolbar, click Global.
2 In the Global settings window, click Replace Expression in the upper-right corner of
the y-Axis Data section. From the menu, choose Definitions>Potential energy (Wp).
3 Click Add Expression in the upper-right corner of the y-Axis Data section. From the
menu, choose Multibody Dynamics>Global>Total kinetic energy (mbd.Wk_tot).
4 Locate the y-Axis Data section. In the table, enter the following settings:

Expression Unit Description

timeint(0,t,[Link]) J Energy loss due to
friction

5 Locate the Title section. From the Title type list, choose None.
6 Locate the Coloring and Style section. Find the Line style subsection. In the Width
edit field, type 2.
7 From the Marker list, choose Cycle.
8 In the Model Builder window, click Energy: Friction.
9 In the 1D Plot Group settings window, locate the Plot Settings section.
10 Select the y-axis label check box.
11 In the associated edit field, type Energy (J).
12 On the 1D plot group toolbar, click Plot.
13 Click to expand the Axis section. Select the Manual axis limits check box.

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14 In the y maximum edit field, type 3e6.

15 On the 1D plot group toolbar, click Plot.

Export
You can also generate an animation of the double pendulum. Follow the steps given
below to generate the animation for Case-1:

1 On the Results toolbar, click Player.

2 In the Player settings window, locate the Frames section.
3 In the Number of frames edit field, type 50.
4 Right-click Results>Export>Player 1 and choose Play.
The analyses are now finished. If you want to store this model and re-use it later,
you need to disable the features in all the studies which are added at a later stage.

STUDY: PRESCRIBED MOTION

Step 1: Time Dependent

1 In the Model Builder window, under Study: Prescribed motion click Step 1: Time
Dependent.
2 In the Time Dependent settings window, locate the Physics and Variables Selection
section.
3 In the Physics and variables selection tree, select Component 1>Multibody
Dynamics>Hinge Joint 2>Friction 1.
4 Click Disable.

STUDY: SPRING-DAMPER

Step 1: Time Dependent

1 In the Model Builder window, under Study: Spring-Damper click Step 1: Time
Dependent.
2 In the Time Dependent settings window, locate the Physics and Variables Selection
section.
3 In the Physics and variables selection tree, select Component 1>Multibody
Dynamics>Hinge Joint 2>Friction 1 and Component 1>Multibody Dynamics>Hinge Joint
2>Prescribed Motion 1.
4 Click Disable.

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STUDY : LOCKING

Step 1: Time Dependent

1 In the Model Builder window, under Study : Locking click Step 1: Time Dependent.
2 In the Time Dependent settings window, locate the Physics and Variables Selection
section.
3 In the Physics and variables selection tree, select Component 1>Multibody
Dynamics>Rigid Domain 1, Component 1>Multibody Dynamics>Rigid Domain 2, and
Component 1>Multibody Dynamics>Hinge Joint 2.
4 Click Disable.

STUDY: CONSTRAINTS

Step 1: Time Dependent

1 In the Model Builder window, under Study: Constraints click Step 1: Time Dependent.
2 In the Time Dependent settings window, locate the Physics and Variables Selection
section.
3 Select the Modify physics tree and variables for study step check box.
4 In the Physics and variables selection tree, select Component 1>Multibody
Dynamics>Hinge Joint 1>Locking 1, Component 1>Multibody Dynamics>Rigid Domain
1, Component 1>Multibody Dynamics>Rigid Domain 2, and Component 1>Multibody
Dynamics>Hinge Joint 2.
5 Click Disable.

STUDY: BASIC

Step 1: Time Dependent

1 In the Model Builder window, under Study: Basic click Step 1: Time Dependent.
2 In the Time Dependent settings window, locate the Physics and Variables Selection
section.
3 Select the Modify physics tree and variables for study step check box.
4 In the Physics and variables selection tree, select Component 1>Multibody
Dynamics>Hinge Joint 1>Constraints 1, Component 1>Multibody Dynamics>Hinge Joint
1>Locking 1, Component 1>Multibody Dynamics>Fixed Constraint 1, Component
1>Multibody Dynamics>Rigid Domain 1, Component 1>Multibody Dynamics>Rigid
Domain 2, and Component 1>Multibody Dynamics>Hinge Joint 2.
5 Click Disable.

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S h af t wi th Fi lle t
Introduction
This benchmark model is based on the example found in section 5.4.3 of Ref. 1. It
shows how to perform a high-cycle fatigue analysis for non-proportional loading using
critical plane methods.

Model Definition
The geometry is a circular shaft with two different diameters, 10 mm and 16 mm. At
the transition between the two diameters there is a fillet with a radius of 2 mm.

Figure 1: The notched shaft

Two time-dependent loads are applied at the small end of the shaft: a transverse force
and a twisting moment. The force varies between 0 and 1.94 kN and the torque varies

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between 28.7 and 28.7 Nm. Figure 2 shows the history of one loading cycle.

Figure 2: Load history.

The big end of the shaft is fixed. The material is Elastic with E = 100 GPa and  = 0.

In Ref. 1 it is stated that the fatigue limit for completely reversed axial tension is
700 MPa, while the fatigue limit for pure torsion is 560 MPa. These values are the
stress amplitudes.

In pure tension, the Findley criterion can be written as

 
2
------- +  k   max  2 + k   max = 2f (1)
 2

This means that you have to solve the simultaneous equations

2 2
700 +  k  700  + k  700 = 2f (2)
2 2
560 +  k  1120  + k  1120 = 2f

to get the Findley parameters f and k. The result is f = 440 MPa and k = 0.23.

The Matake criterion is similar to the Findley criterion, with the difference that the
critical plane is defined solely by the maximum shear stress. For a pure tensile case, the
Matake expression is

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
------- + k max = f (3)
4

which gives the corresponding system of equations as

350 + k  700 = f (4)

280 + k  1120 = f

The solution is f = 466 MPa and k = 0.17 as parameters for the Matake case.

Results and Discussion

Figure 3 and Figure 4 show the stress distribution from the two basic load cases. The
location for the maximum effective stress is at the surface of the fillet, at a radius
slightly larger than the minimum radius of the shaft.

In Figure 5 the effective stress from the combined load case with transverse force and
positive torque is shown. It is symmetric with respect to the XY-plane, and is identical
also for the case when the torque is reversed.

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Figure 3: Axial stress from transverse force.

Figure 4: Effective stress from torque.

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Figure 5: Effective stress distribution for one of the combined load cases.

The results from the fatigue evaluation is shown in Figure 6 and Figure 7. With the
Findley criterion, the fatigue usage factor is computed to 0.98, in perfect agreement
with Ref. 1.

There is a large difference in the fatigue usage factor between the top and bottom side
of the bar, even though the effective stress is the same at both positions. This shows
how the criterion captures the difference between the predominantly tensile stress
states at the critical spot, and the compressive stress states on the other side.

Using the Matake criterion the fatigue usage factor decreases to 0.72, which shows that
there can be large differences between results from seemingly similar models. The
critical plane computed in the Matake model differs from the one used in the Findley
model. As a consequence, the maximum normal stress on the critical plane is
significantly lower in the Matake case.

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Figure 6: Fatigue usage factor using the Findley criterion.

Figure 7: Fatigue usage factor using the Matake criterion.

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Notes About the COMSOL Implementation

In this model, you use the load case functionality in COMSOL to produce the load
cycle. In the first study the two basic load cases are analyzed. This study is not essential
for the analysis, but it allows you to inspect the results of the individual basic load cases.

Reference
1. D.F. Socie and G.B. Marquis, Multiaxial Fatigue, SAE, 1999.

Model Library path: Fatigue_Module/Stress_Based/shaft_with_fillet

Modeling Instructions
From the File menu, choose New.

NEW
1 In the New window, click the Model Wizard button.

MODEL WIZARD
1 In the Model Wizard window, click the 3D button.
2 In the Select physics tree, select Structural Mechanics>Solid Mechanics (solid).
3 Click the Add button.
4 Click the Study button.
5 In the tree, select Preset Studies>Stationary.
6 Click the Done button.

GEOMETRY 1
1 In the Model Builder window, under Component 1 click Geometry 1.
2 In the Geometry settings window, locate the Units section.
3 From the Length unit list, choose mm.
4 On the Geometry toolbar, click Work Plane.

Bézier Polygon 1
1 In the Model Builder window, under Component 1>Geometry 1>Work Plane 1
right-click Plane Geometry and choose Bézier Polygon.

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2 In the Bézier Polygon settings window, locate the Polygon Segments section.
3 Find the Added segments subsection. Click the Add Linear button.
4 Find the Control points subsection. In row 2, set yw to 5.
5 Find the Added segments subsection. Click the Add Linear button.
6 Find the Control points subsection. In row 2, set xw to 30.
7 Find the Added segments subsection. Click the Add Quadratic button.
8 Find the Control points subsection. In row 3, set xw to 32.
9 In row 3, set yw to 7.
10 In row 2, set xw to 32.
11 Find the Added segments subsection. Click the Add Linear button.
12 Find the Control points subsection. In row 2, set yw to 8.
13 Find the Added segments subsection. Click the Add Linear button.
14 Find the Control points subsection. In row 2, set xw to 50.
15 Find the Added segments subsection. Click the Add Linear button.
16 Find the Control points subsection. In row 2, set yw to 0.
17 Click the Build Selected button.
18 Click the Zoom Extents button on the Graphics toolbar.

Revolve 1
1 On the Geometry toolbar, click Revolve.
2 In the Revolve settings window, locate the Revolution Angles section.
3 Click the Full revolution button.
4 Clear the Keep original faces check box.
5 Locate the Revolution Axis section. Find the Direction of revolution axis subsection.
In the xw edit field, type 1.
6 In the yw edit field, type 0.
7 Click the Build Selected button.
8 Click the Zoom Extents button on the Graphics toolbar.

SOLID MECHANICS

Fixed Constraint 1
1 On the Physics toolbar, click Boundaries and choose Fixed Constraint.
2 Select Boundaries 21–24 only.

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Rigid Connector 1
1 On the Physics toolbar, click Boundaries and choose Rigid Connector.
2 Select Boundaries 1, 3, 5, and 7 only.

Applied Force 1
1 Right-click Component 1>Solid Mechanics>Rigid Connector 1 and choose Applied
Force.
2 In the Applied Force settings window, locate the Applied Force section.
3 Specify the F vector as

0 x
0 y
-1.94[kN] z

Rigid Connector 1
Right-click Component 1>Solid Mechanics>Rigid Connector 1>Applied Force 1 and choose
Load Group>New Load Group.

Applied Moment 1
1 In the Model Builder window, under Component 1>Solid Mechanics right-click Rigid
Connector 1 and choose Applied Moment.
2 In the Applied Moment settings window, locate the Applied Moment section.
3 Specify the M vector as

28.7[N*m] x
0 y
0 z

4 Right-click Component 1>Solid Mechanics>Rigid Connector 1>Applied Moment 1 and

choose Load Group>New Load Group.

GLOBAL DEFINITIONS
1 In the Model Builder window, expand the Global Definitions node.
2 Right-click Load Group 1 and choose Rename.
3 Go to the Rename Load Group dialog box and type Transverse force in the New
name edit field.
4 Click OK.
5 In the Load Group settings window, locate the Group Identifier section.

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6 In the Identifier edit field, type lgF.

7 In the Model Builder window, under Global Definitions right-click Load Group 2 and
choose Rename.
8 Go to the Rename Load Group dialog box and type Twisting moment in the New
name edit field.
9 Click OK.
10 In the Load Group settings window, locate the Group Identifier section.
11 In the Identifier edit field, type lgM.

MATERIALS

Material 1
1 In the Model Builder window, under Component 1 right-click Materials and choose
New Material.
2 In the Material settings window, locate the Material Contents section.
3 In the table, enter the following settings:

Property Name Value Unit Property group

Young's modulus E 100[GPa] Pa Basic
Poisson's ratio nu 0 1 Basic
Density rho 0 kg/m³ Basic

MESH 1
1 In the Model Builder window, under Component 1 click Mesh 1.
2 In the Mesh settings window, locate the Mesh Settings section.
3 From the Element size list, choose Fine.
4 Click the Build All button.
A finer mesh is needed in the fillet to resolve the stress concentration.
5 From the Sequence type list, choose User-controlled mesh.

Size 1
1 In the Model Builder window, under Component 1>Mesh 1 right-click Free Tetrahedral
1 and choose Size.
2 In the Size settings window, locate the Element Size section.
3 From the Predefined list, choose Finer.

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Size 2
1 Right-click Free Tetrahedral 1 and choose Size.
2 In the Size settings window, locate the Geometric Entity Selection section.
3 From the Geometric entity level list, choose Edge.
4 Select Edges 13, 14, 16, and 18 only.
5 Locate the Element Size section. Click the Custom button.
6 Locate the Element Size Parameters section. Select the Maximum element size check
box.
7 In the associated edit field, type 0.5.
8 Select the Maximum element growth rate check box.
9 In the associated edit field, type 1.2.
10 Click the Build All button.

STUDY 1

Step 1: Stationary
1 In the Model Builder window, under Study 1 click Step 1: Stationary.
2 In the Stationary settings window, click to expand the Study extensions section.
3 Locate the Study Extensions section. Select the Define load cases check box.
4 Click Add two times.
5 In the table, enter the following settings:

6 On the Home toolbar, click Compute.

RESULTS

Stress (solid)
Visualize the difference between the tension and compression on the opposite sides of
the shaft.

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1 On the 3D plot group toolbar, click Plot.

2 In the 3D Plot Group settings window, locate the Data section.
3 From the Load case list, choose Transverse force.
4 In the Model Builder window, expand the Stress (solid) node, then click Surface 1.
5 In the Surface settings window, click Replace Expression in the upper-right corner of
the Expression section. From the menu, choose Solid Mechanics 2>Stress>Stress
tensor (Spatial)>Stress tensor, x component ([Link]).
6 On the 3D plot group toolbar, click Plot.

SOLID MECHANICS

COMPONENT 1
On the Home toolbar, click Add Physics.

ADD PHYSICS
1 Go to the Add Physics window.
2 In the Add physics tree, select Structural Mechanics>Fatigue (ftg).
3 In the Add physics window, click Add to Component.

FATIGUE
In the Model Builder window, expand the Component 1>Solid Mechanics>Rigid Connector
1 node.

Stress-Based 1
1 Right-click Component 1>Fatigue and choose Stress-Based.
2 In the Stress-Based settings window, locate the Boundary Selection section.
3 From the Selection list, choose All boundaries.
4 Locate the Solution Field section. From the Physics list, choose Solid Mechanics.
5 Locate the Evaluation Settings section. Find the Critical plane settings subsection. In
the Q edit field, type 16.

ADD PHYSICS
1 Go to the Add Physics window.
2 In the Add physics tree, select Recently Used>Fatigue (ftg).
3 In the Add physics window, click Add to Component.

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FATIGUE 2
1 In the Model Builder window, under Component 1 right-click Fatigue 2 and choose
Stress-Based.
2 In the Stress-Based settings window, locate the Boundary Selection section.
3 From the Selection list, choose All boundaries.
4 Locate the Solution Field section. From the Physics list, choose Solid Mechanics.
5 Locate the Fatigue Model Selection section. From the Criterion list, choose Matake.
6 Locate the Evaluation Settings section. Find the Critical plane settings subsection. In
the Q edit field, type 16.

MATERIALS
Because the fatigue model is active only on the boundaries, you need to define a
material on the boundaries.

Material 2
1 In the Model Builder window, under Component 1 right-click Materials and choose
New Material.
2 In the Material settings window, locate the Geometric Entity Selection section.
3 From the Geometric entity level list, choose Boundary.
4 From the Selection list, choose All boundaries.
5 Locate the Material Contents section. In the table, enter the following settings:

Property Name Value Unit Property group

Normal stress sensitivity k_Findley 0.23 1 Findley
coefficient
Limit factor f_Findley 440[MPa] Pa Findley
Normal stress sensitivity k_Matake 0.17 1 Matake
coefficient
Limit factor f_Matake 466[MPa] Pa Matake

ROOT
On the Home toolbar, click Add Study.

ADD STUDY
1 Go to the Add Study window.
2 Find the Studies subsection. In the tree, select Preset Studies>Stationary.

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3 Find the Physics in study subsection. In the table, enter the following settings:

Physics Solve
Fatigue (ftg) ×
Fatigue (ftg2) ×

4 In the Add study window, click Add Study.

STUDY 2

Step 1: Stationary
1 In the Model Builder window, under Study 2 click Step 1: Stationary.
2 In the Stationary settings window, locate the Study Extensions section.
3 Select the Define load cases check box.
4 Click Add three times.
5 In the table, enter the following settings:

6 On the Home toolbar, click Compute.

RESULTS

Stress (solid) 1
On the 3D plot group toolbar, click Plot.

ADD STUDY
1 Go to the Add Study window.
2 Find the Studies subsection. In the tree, select Preset Studies>Stationary.
3 Find the Physics in study subsection. In the table, enter the following settings:

Physics Solve
Solid Mechanics (solid) ×

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4 In the Add study window, click Add Study.

As a last step perform a fatigue analysis on the load cycle.

STUDY 3

Step 1: Stationary
1 Click Study 3>Step 1: Stationary.
2 In the Stationary settings window, click to expand the Values of dependent variables
section.
3 Locate the Values of Dependent Variables section. Select the Values of variables not
solved for check box.
4 From the Method list, choose Solution.
5 From the Study list, choose Study 2, Stationary.
6 From the Load case list, choose All.
7 On the Home toolbar, click Compute.

RESULTS

Fatigue Usage Factor (ftg2)

If it should be possible to re-run the studies, they must have the same state as when
originally created.

STUDY 1

Step 1: Stationary
1 In the Model Builder window, under Study 1 click Step 1: Stationary.
2 In the Stationary settings window, locate the Physics and Variables Selection section.
3 In the table, enter the following settings:

Physics Solve for Discretization

Fatigue × physics
Fatigue 2 × physics

Finally, you can rename some of the features, so that the model structure is easier
understood.
4 In the Model Builder window, right-click Study 1 and choose Rename.
5 Go to the Rename Study dialog box and type Study 1 (Basic load cases) in the
New name edit field.

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6 Click OK.

STUDY 2
1 In the Model Builder window, right-click Study 2 and choose Rename.
2 Go to the Rename Study dialog box and type Study 2 (Combined load cases)
in the New name edit field.
3 Click OK.

STUDY 3
1 In the Model Builder window, right-click Study 3 and choose Rename.
2 Go to the Rename Study dialog box and type Study 3 (Fatigue) in the New name
edit field.
3 Click OK.

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