*HEADING
Connector element verification
Motion Actuation
**
*********************
** Base
*NODE, NSET=Base
101, 0.,  -3., -1.5
102, 1.9, -3., -1.5
103, 10., -3., -1.5
104, 0.,  -1.1, -1.5
105, 1.9, -1.1, -1.5
106, 10., -1.1, -1.5
107, 0.,   1.1, -1.5
108, 1.9,  1.1, -1.5
109, 10.,  1.1, -1.5
110, 0.,   3., -1.5
111, 1.9,  3., -1.5
112, 10.,  3., -1.5
**
121, 0.,  -3., -.55
122, 1.9, -3., -.55
123, 10., -3., -.55
124, 0.,  -1.1, -.55
125, 1.9, -1.1, -.55
126, 10., -1.1, -.55
127, 0.,   1.1, -.55
128, 1.9,  1.1, -.55
129, 10.,  1.1, -.55
130, 0.,   3., -.55
131, 1.9,  3., -.55
132, 10.,  3., -.55
**
141, 0.,  -3., .5
142, 1.9, -3., .5
143, 10., -3., .5
144, 0.,  -1.1, .5
145, 1.9, -1.1, .5
146, 10., -1.1, .5
147, 0.,   1.1, .5
148, 1.9,  1.1, .5
149, 10.,  1.1, .5
150, 0.,   3., .5
151, 1.9,  3., .5
152, 10.,  3., .5
*NODE, NSET=BaseRef 
2100, 0., 0., 0.
*NODE, NSET=BaseCne
2102, 3., 0., -1.
**
*ELEMENT,TYPE=S4R, ELSET=Base
101, 101, 102, 105, 104
102, 102, 103, 106, 105
103, 104, 105, 108, 107
104, 107, 108, 111, 110
105, 108, 109, 112, 111
106, 105, 106, 109, 108
**
107, 141, 142, 145, 144
108, 142, 143, 146, 145
109, 144, 145, 148, 147
110, 147, 148, 151, 150
111, 148, 149, 152, 151
112, 125, 126, 129, 128
**
113, 103, 106, 126, 123
114, 123, 126, 146, 143
115, 106, 109, 129, 126
116, 109, 112, 132, 129
117, 129, 132, 152, 149
118, 126, 125, 145, 146
119, 125, 128, 148, 145
120, 128, 129, 149, 148
**
121, 101, 102, 122, 121
122, 121, 122, 142, 141
123, 102, 103, 123, 122
124, 122, 123, 143, 142
125, 110, 107, 127, 130
126, 130, 127, 147, 150
128, 107, 104, 124, 127
129, 127, 124, 144, 147
130, 104, 101, 121, 124
131, 124, 121, 141, 144
132, 112, 111, 131, 132
133, 132, 131, 151, 152
134, 111, 110, 130, 131
135, 131, 130, 150, 151
*SHELL SECTION, ELSET=Base, MATERIAL=Nominal
.1,
**
** Cover
*NODE, NSET=Cover
201, 10., -1., -.5
202, 10.,  1., -.5
203, 10., -1., .5 
204, 10.,  1., .5 
*NODE, NSET=CoverRef 
2200, 0., 0., 0.
*NODE, NSET=CoverCne
2201, 10., 0., .5
**
*ELEMENT,TYPE=S4R, ELSET=Cover
201, 201, 202, 204, 203
*SHELL SECTION, ELSET=Cover, MATERIAL=Nominal
.1,
**
** Arm1
*NODE, NSET=Arm1
301, 2.,  -1., -.5
302, 10., -1., -.5
303, 2.,   1., -.5
304, 10.,  1., -.5
311, 2.,  -1.,  .5
312, 10., -1.,  .5
313, 2.,   1.,  .5
314, 10.,  1.,  .5
*NODE, NSET=Arm1Ref 
2300, 0., 0., 0.
*NODE, NSET=Arm1Cne
2301, 3., 0., -1.
2302, 10., 0., .5
2303, 10., 0., 0. 
**
*ELEMENT,TYPE=S4R, ELSET=Arm1
301, 301, 302, 304, 303
302, 311, 312, 314, 313
303, 301, 302, 312, 311
304, 304, 303, 313, 314
305, 303, 301, 311, 313
*SHELL SECTION, ELSET=Arm1, MATERIAL=Nominal
.1,
**
** Arm2
*NODE, NSET=Arm2
401, 2.05, -.95, -.45
402, 9.95, -.95, -.45
403, 2.05,  .95, -.45
404, 9.95,  .95, -.45
411, 2.05, -.95,  .45
412, 9.95, -.95,  .45
413, 2.05,  .95,  .45
414, 9.95,  .95,  .45
*NODE, NSET=Arm2Ref 
2400, 0., 0., 0.
*NODE, NSET=Arm2Cne
2401, 10., 0., 0. 
2402, 9.95, -.95, .45
**
*ELEMENT,TYPE=S4R, ELSET=Arm2
401, 401, 402, 404, 403
402, 411, 412, 414, 413
403, 401, 402, 412, 411
404, 404, 403, 413, 414
405, 403, 401, 411, 413
*SHELL SECTION, ELSET=Arm2, MATERIAL=Nominal
.1,
**
** Riser1
*NODE, NSET=Riser1
501, 4.05, -.9, -.4
502, 9.95, -.9, -.4
503, 4.05,  .9, -.4
504, 9.95,  .9, -.4
511, 4.05, -.9,  .4
512, 9.95, -.9,  .4
513, 4.05,  .9,  .4
514, 9.95,  .9,  .4
*NODE, NSET=Riser1Ref 
2500, 0., 0., 0.
*NODE, NSET=Riser1Cne
2501, 4.05, -.95, .45
2502, 9.95,  0., 0.
**
*ELEMENT,TYPE=S4R, ELSET=Riser1
502, 511, 512, 514, 513
503, 501, 502, 512, 511
504, 504, 503, 513, 514
505, 503, 501, 511, 513
*SHELL SECTION, ELSET=Riser1, MATERIAL=Nominal
.1,
**
*NODE, NSET=Riser2
601, 4.1, -.85, -.35
602, 9.9, -.85, -.35
603, 4.1,  .85, -.35
604, 9.9,  .85, -.35
611, 4.1, -.85,  .35
612, 9.9, -.85,  .35
613, 4.1,  .85,  .35
614, 9.9,  .85,  .35
*NODE, NSET=Riser2Ref 
2600, 0., 0., 0.
*NODE, NSET=Riser2Cne
2601, 9.95,  0., 0.
2602, 9.9,   0., 0. 
**
*ELEMENT,TYPE=S4R, ELSET=Riser2
602, 611, 612, 614, 613
603, 601, 602, 612, 611
604, 604, 603, 613, 614
*SHELL SECTION, ELSET=Riser2, MATERIAL=Nominal
.1,
**
*NODE, NSET=Crane
701, 5.,  -.8, -.3
702, 9.9, -.8, -.3
703, 5.,   .8, -.3
704, 9.9,  .8, -.3
711, 5.,  -.8,  .3
712, 9.9, -.8,  .3
713, 5.,   .8,  .3
714, 9.9,  .8,  .3
*NODE, NSET=CraneRef 
2700, 0., 0., 0.
*NODE, NSET=CraneCne
2701, 9.9,   0., 0. 
2702, 5.5,   0., 0.
**
*ELEMENT,TYPE=S4R, ELSET=Crane
701, 701, 702, 704, 703
703, 701, 702, 712, 711
704, 704, 703, 713, 714
705, 703, 701, 711, 713
*SHELL SECTION, ELSET=Crane, MATERIAL=Nominal
.1,
**
*NODE, NSET=Chuck
801, 5.5, -.25, -.25
802, 7.5, -.25, -.25
803, 5.5,  .25, -.25
804, 7.5,  .25, -.25
811, 5.5, -.25,  .25
812, 7.5, -.25,  .25
813, 5.5,  .25,  .25
814, 7.5,  .25,  .25
*NODE, NSET=ChuckRef 
2800, 0., 0., 0.
*NODE, NSET=ChuckCne
2801, 5.5,   0., 0.
2802, 6.5,   0., 0.
**
*ELEMENT,TYPE=S4R, ELSET=Chuck
801, 801, 802, 804, 803
802, 811, 812, 814, 813
803, 801, 802, 812, 811
804, 804, 803, 813, 814
805, 803, 801, 811, 813
*SHELL SECTION, ELSET=Chuck, MATERIAL=Nominal
.1,
**
*NODE, NSET=Bit
901, 5.55, 0., 0.
902, 5.55, -.215, 0.
903, 5.55, 0., .215
904, 5.55, .215, 0.
905, 5.55, 0., -.215
911, 7.45, 0., 0.
912, 7.20, -.215, 0.
913, 7.20, 0., .215
914, 7.20, .215, 0.
915, 7.20, 0., -.215
*NODE, NSET=BitRef 
2900, 0., 0., 0.
*NODE, NSET=BitCne
2901, 6.5,   0., 0.
**
*ELEMENT,TYPE=S4R, ELSET=Bit
901, 901, 902, 912, 911
902, 901, 903, 913, 911
903, 901, 904, 914, 911
904, 901, 905, 915, 911
*SHELL SECTION, ELSET=Bit, MATERIAL=Nominal
.1,
**************************
**
** Base - Arm1
*ELEMENT, TYPE=CONN3D2, ELSET=B_A1
1, 2102, 2301
*ORIENTATION, DEFINITION=COORDINATES, NAME=B-A1
0,0,1, 0,-1,0
*CONNECTOR SECTION, ELSET=B_A1
slot, revolute
B-A1,
**
** Arm1-Cover
*ELEMENT, TYPE=CONN3D2, ELSET=A1-C
2, 2302, 2201
*ORIENTATION, DEFINITION=COORDINATES, NAME=A1-C
0,-1,0, 1,0,0
*CONNECTOR SECTION, ELSET=A1-C
join, revolute
A1-C,
**
** Arm1-Arm2
*ELEMENT, TYPE=CONN3D2, ELSET=A1-A2
3, 2303, 2401
*ORIENTATION, DEFINITION=COORDINATES, NAME=A1-A2
1,0,0, 0,1,0
*CONNECTOR SECTION, ELSET=A1-A2
slot, align
A1-A2,
**
** Arm2-Riser1
*ELEMENT, TYPE=CONN3D2, ELSET=A2-R1
4, 2402, 2501
*ORIENTATION, DEFINITION=COORDINATES, NAME=A2-R1
0,-1,0, 0,0,-1
*CONNECTOR SECTION, ELSET=A2-R1
cartesian, cardan
A2-R1,
**
** Riser1-Riser2
*ELEMENT, TYPE=CONN3D2, ELSET=R1-R2
5, 2502, 2601
*ORIENTATION, DEFINITION=COORDINATES, NAME=R1-R2
1,0,0, 0,1,0
*CONNECTOR SECTION, ELSET=R1-R2
slot, align
R1-R2,
**
** Riser2-Crane
*ELEMENT, TYPE=CONN3D2, ELSET=R2-C
6, 2602, 2701
*ORIENTATION, DEFINITION=COORDINATES, NAME=R2-C
0,1,0, 0,0,1
*CONNECTOR SECTION, ELSET=R2-C
join, revolute
R2-C,
**
** Crane-Chuck
*ELEMENT, TYPE=CONN3D2, ELSET=C-C
7, 2702, 2801
*ORIENTATION, DEFINITION=COORDINATES, NAME=C-C
0,1,0, 0,0,1
*CONNECTOR SECTION, ELSET=C-C
join, revolute
C-C,
**
** Chuck-Bit
*ELEMENT, TYPE=CONN3D2, ELSET=C-B
8, 2802, 2901
*ORIENTATION, DEFINITION=COORDINATES, NAME=C-B
1,0,0, 0,1,0
*CONNECTOR SECTION, ELSET=C-B
slot, revolute
C-B,
**
**************************
** Dummy
*NODE, NSET=Dummy
5001, 1., -2., -1.
5002, 1.,  2., -1.
*ELEMENT,TYPE=B31, ELSET=Dummy
5001, 5001, 5002
*BEAM SECTION,SECTION=RECT,MATERIAL=Dummy, ELSET=Dummy
1., 1.
*MATERIAL, NAME=Dummy
*ELASTIC
1., 0.
*DENSITY
.1 
**
*MATERIAL, NAME=Nominal
*ELASTIC
3.e7, 0.25
*DENSITY
7.34e-4
**************************
*RIGID BODY, REFNODE=BaseRef, ELSET=Base, TIENSET=BaseCne,
POSITION=CENTER OF MASS
*RIGID BODY, REFNODE=CoverRef, ELSET=Cover, TIENSET=CoverCne,
POSITION=CENTER OF MASS
*RIGID BODY, REFNODE=Arm1Ref, ELSET=Arm1, TIENSET=Arm1Cne,
POSITION=CENTER OF MASS
*RIGID BODY, REFNODE=Arm2Ref, ELSET=Arm2, TIENSET=Arm2Cne,
POSITION=CENTER OF MASS
*RIGID BODY, REFNODE=Riser1Ref, ELSET=Riser1, TIENSET=Riser1Cne,
POSITION=CENTER OF MASS
*RIGID BODY, REFNODE=Riser2Ref, ELSET=Riser2, TIENSET=Riser2Cne,
POSITION=CENTER OF MASS
*RIGID BODY, REFNODE=CraneRef, ELSET=Crane, TIENSET=CraneCne,
POSITION=CENTER OF MASS
*RIGID BODY, REFNODE=ChuckRef, ELSET=Chuck, TIENSET=ChuckCne,
POSITION=CENTER OF MASS
*RIGID BODY, REFNODE=BitRef, ELSET=Bit, TIENSET=BitCne,
POSITION=CENTER OF MASS
**************************
**
*STEP
*DYNAMIC,EXPLICIT
,215.
**************************
Base-Arm1,
** Lift of arm
*CONNECTOR MOTION, AMP=Base-Arm1_Amp1, TYPE=DISPLACEMENT
1, 1, 1.05
** Rotation of Arm1 5/6 Pi
*CONNECTOR MOTION, AMP=Base-Arm1_Amp2, TYPE=DISPLACEMENT
1, 4, 2.617
** Rotation of Cover 2/3 Pi
*CONNECTOR MOTION, AMP=Arm1-Cover_Amp, TYPE=DISPLACEMENT
2, 4, 2.094
** Extension of Arm2
*CONNECTOR MOTION, AMP=Arm1-Arm2_Amp, TYPE=DISPLACEMENT
3, 1, 7.
** Extension of Riser1
*CONNECTOR MOTION, AMP=Arm2-Riser1_Amp1, TYPE=DISPLACEMENT
4, 1, 0.
4, 2, 0.
4, 3, 5.9
** Rotation of Riser to vertical
*CONNECTOR MOTION, AMP=Arm2-Riser1_Amp2, TYPE=DISPLACEMENT
4, 4, 1.57079
4, 5, 0.
** Rotation of Riser 7/16 Pi
*CONNECTOR MOTION, AMP=Arm2-Riser1_Amp3, TYPE=DISPLACEMENT
4, 6, 1.37446
** Extension of Riser2
*CONNECTOR MOTION, AMP=Riser1-Riser2_Amp, TYPE=DISPLACEMENT
5, 1, 2.5
** Rotation of Crane -3/5 Pi
*CONNECTOR MOTION, AMP=Riser2-Crane_Amp, TYPE=DISPLACEMENT
6, 4, -1.88495
** Rotation of Chuck - Pi
*CONNECTOR MOTION, AMP=Crane-Chuck_Amp, TYPE=DISPLACEMENT
7, 4, -1.57079
** Extension of Bit
*CONNECTOR MOTION, AMP=Chuck-Bit_Amp1, TYPE=DISPLACEMENT
8, 1, 1.5
** Rotation of Bit 2 Pi
*CONNECTOR MOTION, AMP=Chuck-Bit_Amp2, TYPE=DISPLACEMENT
8, 4, 12.5663
**
*AMPLITUDE, NAME=Base-Arm1_Amp1, DEFINITION=SMOOTH STEP
0.,  0.,  3.,  1.,                185, 1., 190., 0.
*AMPLITUDE, NAME=Base-Arm1_Amp2, DEFINITION=SMOOTH STEP
3.,  0., 13.,  1.,                125., 1., 185., 0.
*AMPLITUDE, NAME=Arm1-Cover_Amp, DEFINITION=SMOOTH STEP
13., 0., 23.,  1.,                190., 1., 200., 0.
*AMPLITUDE, NAME=Arm1-Arm2_Amp, DEFINITION=SMOOTH STEP
23., 0., 28.,  1.,                185, 1., 190., 0
*AMPLITUDE, NAME=Arm2-Riser1_Amp1, DEFINITION=SMOOTH STEP
28., 0., 31.,  1.,                185, 1., 190., 0
*AMPLITUDE, NAME=Arm2-Riser1_Amp2, DEFINITION=SMOOTH STEP
31., 0., 41.,  1.,                125., 1., 185., 0.
*AMPLITUDE, NAME=Arm2-Riser1_Amp3, DEFINITION=SMOOTH STEP
41., 0., 50.,  1.,                125., 1., 185., 0.
*AMPLITUDE, NAME=Riser2-Crane_Amp, DEFINITION=SMOOTH STEP
50., 0., 62.,  1.,                155., 1., 185., 0.
*AMPLITUDE, NAME=Riser1-Riser2_Amp, DEFINITION=SMOOTH STEP
62., 0., 65.,  1.,                125., 1., 185., 0.
*AMPLITUDE, NAME=Crane-Chuck_Amp, DEFINITION=SMOOTH STEP
65., 0., 75.,  1.,                125., 1., 155., 0.
*AMPLITUDE, NAME=Chuck-Bit_Amp1, DEFINITION=SMOOTH STEP
75., 0., 85.,  .65,  125., 1.,              155., 0.
*AMPLITUDE, NAME=Chuck-Bit_Amp2, DEFINITION=SMOOTH STEP
85., 0., 125.,  1.
**************************
*BOUNDARY
2100,1,6,0.0
**************************
*FILE OUTPUT,NUMBER INTERVAL=4, TIMEMARKS=YES
*NODE FILE, NSET=Base
U,
*NSET, NSET=QA_TEST
Base
*OUTPUT, FIELD, NUMBER INTERVAL=4, TIMEMARKS=YES
*NODE OUTPUT, NSET=QA_TEST
U,
*Element output
CU,
*OUTPUT,HISTORY,TIME INTERVAL=215.
*ENERGY OUTPUT, VAR=ALL
*OUTPUT,FIELD,NUMBER=20
*NODE OUTPUT
U,V,A
*NSET, NSET=OUT
Base, Arm1, Arm1Cne, Arm2, Arm2Cne
*OUTPUT,HISTORY,FREQUENCY=10
*NODE OUTPUT, NSET=OUT
U,V,A
*END STEP