*HEADING
Connector element verification
Locking of flexible arms
**
*********************
** Core
*NODE, NSET=Core
101, -.6,    -1.04,   -1.2
102,  .6,    -1.04,   -1.2
103,  1.2,     0.,    -1.2
104,  .6,     1.04,   -1.2
105, -.6,     1.04,   -1.2
106, -1.2,     0.,    -1.2
**
121, -.6,    -1.04,    1.2
122,  .6,    -1.04,    1.2
123,  1.2,     0.,     1.2
124,  .6,     1.04,    1.2
125, -.6,     1.04,    1.2
126, -1.2,     0.,     1.2
**
*NODE, NSET=CoreRef
10100, 0., 0., 0.
**
*ELEMENT,TYPE=S4R, ELSET=Core
101, 101, 102, 122, 121
102, 102, 103, 123, 122
103, 103, 104, 124, 123
104, 104, 105, 125, 124
105, 105, 106, 126, 125
106, 106, 101, 121, 126
*SHELL SECTION, ELSET=Core, MATERIAL=Nominal
.65,
**
***************************
**
*NODE, NSET=Payload1
201,  -.1,  -1.5,   -.05
202,   .1,  -1.5,   -.05
203,   .1,  -1.3,   -.05
204,  -.1,  -1.3,   -.05
205,  -.1,  -1.5,    .05
206,   .1,  -1.5,    .05
207,   .1,  -1.3,    .05
208,  -.1,  -1.3,    .05
*NODE, NSET=Payload1Ref
10200, 0., -1.4, 0.
**
*ELEMENT,TYPE=C3D8R, ELSET=Payload1
201, 201, 202, 203, 204, 205, 206, 207, 208
*SOLID SECTION, ELSET=Payload1, MATERIAL=Nominal
**
*NODE, NSET=CoreArm1
301, 0., 1.04,   0.
302, 0., 1.5,    0.
**
*ELEMENT, TYPE=B31, ELSET=CoreArm1
301, 301, 302
*BEAM SECTION, SECTION=RECT, ELSET=CoreArm1, MATERIAL=Nominal
1., 1.
**
*NODE, NSET=Arm1
311, 0.,   1.5,   0.
320, 2.4,  1.5,   0.
321, 2.4,  1.5,   0.
330, 2.4, -1.4,   0.
331, 2.4, -1.4,   0.
340, 0.,  -1.4,   0.
*NGEN, NSET=Arm1
311, 320
321, 330
331, 340
*NSET, NSET=Payload1Att
340
**
*ELEMENT, TYPE=B31, ELSET=InnerArm1
311, 311, 312
*ELGEN, ELSET=InnerArm1
311, 9, 1, 1
*ELEMENT, TYPE=B31, ELSET=MiddleArm1
321, 321, 322
*ELGEN, ELSET=MiddleArm1
321, 9, 1, 1
*ELEMENT, TYPE=B31, ELSET=OuterArm1
331, 331, 332
*ELGEN, ELSET=OuterArm1
331, 9, 1, 1
*ELSET, ELSET=Arm1
InnerArm1, MiddleArm1, OuterArm1
*BEAM SECTION, SECTION=RECT, ELSET=Arm1, MATERIAL=Arm
1., 1.
**
*RIGID BODY, REFNODE=Payload1Ref, POSITION=CENTER OF MASS, 
ELSET=Payload1, TIENSET=Payload1Att
**
*********************************
**
*SYSTEM
0., 0.,  .15, -.6, 1.04, .15
-1., 0, .15
*NODE, NSET=Payload2
401,  -.1,  -1.5,   -.05
402,   .1,  -1.5,   -.05
403,   .1,  -1.3,   -.05
404,  -.1,  -1.3,   -.05
405,  -.1,  -1.5,    .05
406,   .1,  -1.5,    .05
407,   .1,  -1.3,    .05
408,  -.1,  -1.3,    .05
*NODE, NSET=Payload2Ref
10400, 0., -1.4,  0.
**
*ELEMENT,TYPE=C3D8R, ELSET=Payload2
401, 401, 402, 403, 404, 405, 406, 407, 408
*SOLID SECTION, ELSET=Payload2, MATERIAL=Nominal
**
*NODE, NSET=CoreArm2
501, 0., 1.04,   0.
502, 0., 1.5,    0.
**
*ELEMENT, TYPE=B31, ELSET=CoreArm2
501, 501, 502
*BEAM SECTION, SECTION=RECT, ELSET=CoreArm2, MATERIAL=Nominal
1., 1.
**
*NODE, NSET=Arm2
511, 0.,   1.5,   0.
520, 2.4,  1.5,   0.
521, 2.4,  1.5,   0.
530, 2.4, -1.4,   0.
531, 2.4, -1.4,   0.
540, 0.,  -1.4,   0.
*NGEN, NSET=Arm2
511, 520
521, 530
531, 540
*NSET, NSET=Payload2Att
540
**
*ELEMENT, TYPE=B31, ELSET=InnerArm2
511, 511, 512
*ELGEN, ELSET=InnerArm2
511, 9, 1, 1
*ELEMENT, TYPE=B31, ELSET=MiddleArm2
521, 521, 522
*ELGEN, ELSET=MiddleArm2
521, 9, 1, 1
*ELEMENT, TYPE=B31, ELSET=OuterArm2
531, 531, 532
*ELGEN, ELSET=OuterArm2
531, 9, 1, 1
*ELSET, ELSET=Arm2
InnerArm2, MiddleArm2, OuterArm2
*BEAM SECTION, SECTION=RECT, ELSET=Arm2, MATERIAL=Arm
1., 1.
**
*RIGID BODY, REFNODE=Payload2Ref, POSITION=CENTER OF MASS, 
ELSET=Payload2, TIENSET=Payload2Att
**
********************************
**
*SYSTEM
0., 0.,  -.15, -.6, -1.04, -.15
1., 0, -.15
*NODE, NSET=Payload3
601,  -.1,  -1.5,   -.05
602,   .1,  -1.5,   -.05
603,   .1,  -1.3,   -.05
604,  -.1,  -1.3,   -.05
605,  -.1,  -1.5,    .05
606,   .1,  -1.5,    .05
607,   .1,  -1.3,    .05
608,  -.1,  -1.3,    .05
*NODE, NSET=Payload3Ref
10600, 0., -1.4,  0.
**
*ELEMENT,TYPE=C3D8R, ELSET=Payload3
601, 601, 602, 603, 604, 605, 606, 607, 608
*SOLID SECTION, ELSET=Payload3, MATERIAL=Nominal
**
*NODE, NSET=CoreArm3
701, 0., 1.04,   0.
702, 0., 1.5,    0.
**
*ELEMENT, TYPE=B31, ELSET=CoreArm3
701, 701, 702
*BEAM SECTION, SECTION=RECT, ELSET=CoreArm3, MATERIAL=Nominal
1., 1.
**
*NODE, NSET=Arm3
711, 0.,   1.5,   0.
720, 2.4,  1.5,   0.
721, 2.4,  1.5,   0.
730, 2.4, -1.4,   0.
731, 2.4, -1.4,   0.
740, 0.,  -1.4,   0.
*NGEN, NSET=Arm3
711, 720
721, 730
731, 740
*NSET, NSET=Payload3Att
740
**
*ELEMENT, TYPE=B31, ELSET=InnerArm3
711, 711, 712
*ELGEN, ELSET=InnerArm3
711, 9, 1, 1
*ELEMENT, TYPE=B31, ELSET=MiddleArm3
721, 721, 722
*ELGEN, ELSET=MiddleArm3
721, 9, 1, 1
*ELEMENT, TYPE=B31, ELSET=OuterArm3
731, 731, 732
*ELGEN, ELSET=OuterArm3
731, 9, 1, 1
*ELSET, ELSET=Arm3
InnerArm3, MiddleArm3, OuterArm3
*BEAM SECTION, SECTION=RECT, ELSET=Arm3, MATERIAL=Arm
1., 1.
**
*RIGID BODY, REFNODE=Payload3Ref, POSITION=CENTER OF MASS, 
ELSET=Payload3, TIENSET=Payload3Att
**
********************************
**
*SYSTEM
0., 0., 0., 1., 0., 0.
*ORIENTATION, DEFINITION=COORDINATES, NAME=ArmHinge
0,0,1, 1,0,0
**
** CoreArm - InnerArm
*ELEMENT, TYPE=CONN3D2, ELSET=CoreInner
2201, 302, 311
2401, 502, 511
2601, 702, 711
*CONNECTOR SECTION, ELSET=CoreInner, BEHAVIOR=CoreInner 
join, revolute
ArmHinge,
*CONNECTOR BEHAVIOR, NAME=CoreInner
*CONNECTOR LOCK, COMPONENT=4, LOCK=4
,1.570796, , 
*CONNECTOR FRICTION,predefined
0.0,0.15,0.3d3
*friction
0.1,
**
** InnerArm - MiddleArm
*ELEMENT, TYPE=CONN3D2, ELSET=InnerMiddle
2202, 320, 321
2402, 520, 521
2602, 720, 721
*CONNECTOR SECTION, ELSET=InnerMiddle, BEHAVIOR=InnerMiddle
join, revolute
ArmHinge,
*CONNECTOR BEHAVIOR, NAME=InnerMiddle
*CONNECTOR LOCK, COMPONENT=4, LOCK=4
,1.570796, , 
*CONNECTOR ELASTICITY, COMPONENT=4, NONLINEAR
**-1.5e7, -.7
** -.5e7,  0.
**  .5e7,  .7 
**   0.,  1.4
**-1.5e7,  -0.78539
**-.5e7,   0.
** .5e7,  0.78539
** 0.,    1.57078
-3.e6, -.7
 0.,  .7
*CONNECTOR FRICTION,predefined
0.0,0.15,0.3d3
*friction
0.1,
**
** MiddleArm - OuterArm
*ELEMENT, TYPE=CONN3D2, ELSET=MiddleOuter 
2203, 330, 331
2403, 530, 531
2603, 730, 731
*CONNECTOR SECTION, ELSET=MiddleOuter, BEHAVIOR=MiddleOuter
join, revolute
ArmHinge,
*CONNECTOR BEHAVIOR, NAME=MiddleOuter
*CONNECTOR LOCK, COMPONENT=4, LOCK=4
,1.570796, , 
*CONNECTOR ELASTICITY, COMPONENT=4, NONLINEAR
**-1.5e7,  -0.78539
**-.5e7,   0.
** .5e7,  0.78539
** 0.,    1.57078
**-3.e7, -.7
**-1.e7,  0.
** 1.e7,  .7 
**   0.,  1.4
-1.e6, -.7
 0.,  .7
*CONNECTOR FRICTION,predefined
0.0,0.15,0.3d3
*friction
0.1,
**
*****************************
**
*ELSET, ELSET=CoreAll
Core, CoreArm1, CoreArm2, CoreArm3
*RIGID BODY, REFNODE=CoreRef, POSITION=CENTER OF MASS, 
ELSET=CoreAll
**
*NSET, NSET=NodeAll
Core, CoreRef, Payload1, Payload1Ref, CoreArm1, Arm1, Payload1Att,
Payload2, Payload2Ref, CoreArm2, Arm2, Payload2Att,
Payload3, Payload3Ref, CoreArm3, Arm3, Payload3Att,
**
*INITIAL CONDITIONS, TYPE=ROTATING VELOCITY
NodeAll, -5., 0., 0., 0.
0., 0., 0., 0., 0., 1.
**
**************************
*MATERIAL, NAME=Nominal
*ELASTIC
1., 0.25
*DENSITY
780.
**
*MATERIAL, NAME=Arm
*ELASTIC
1.e9, 0.25
*DENSITY
7800.
*ELSET,ELSET=connectors
CoreInner,InnerMiddle,MiddleOuter 
**************************
*STEP,INC=1000,NLGEOM,unsym=yes
*DYNAMIC, NOHAF, DIRECT
0.005,1.25
**
**************************
**************************
*OUTPUT,FIELD,FREQUENCY=20
*NODE OUTPUT
U,V,A
*NSET, NSET=OUT
Core
*OUTPUT,HISTORY,FREQUENCY=10
*NODE OUTPUT, NSET=OUT
U,V,A
*ELEMENT OUTPUT, ELSET=connectors
CP,
CRF,
CNM1,
CSM1,
*EL FILE,ELSET=connectors,FREQUENCY=10
CP,CRF
*El PRINT,ELSET=connectors
CSLST,
CP,
CRF,
*END STEP