Nonstructural geometric discontinuities in finite element/multibody system analysis

Existing multibody system (MBS) algorithms treat articulated system components that are not rigidly connected as separate bodies connected by joints that are governed by nonlinear algebraic equations. As a consequence, these MBS algorithms lead to a highly nonlinear system of coupled differential and algebraic equations. Existing finite element (FE) algorithms, on the other hand, do not lead to a constant mesh inertia matrix in the case of arbitrarily large relative rigid body rotations. In this paper, new FE/MBS meshes that employ linear connectivity conditions and allow for arbitrarily large rigid body displacements between the finite elements are introduced. The large displacement FE absolute nodal coordinate formulation (ANCF) is used to obtain linear element connectivity conditions in the case of large relative rotations between the finite elements of a mesh. It is shown in this paper that a linear formulation of pin (revolute) joints that allow for finite relative rotations between two elements connected by the joint can be systematically obtained using ANCF finite elements. The algebraic joint constraint equations, which can be introduced at a preprocessing stage to efficiently eliminate redundant position coordinates, allow for deformation modes at the pin joint definition point, and therefore, this new joint formulation can be considered as a generalization of the pin joint formulation used in rigid MBS analysis. The new pin joint deformation modes that are the result of C ⁰ continuity conditions, allow for the calculations of the pin joint strains which can be discontinuous as the result of the finite relative rotation between the elements. This type of discontinuity is referred to in this paper as nonstructural discontinuity in order to distinguish it from the case of structural discontinuity in which the elements are rigidly connected. Because ANCF finite elements lead to a constant mass matrix, an identity generalized mass matrix can be obtained for the FE mesh despite the fact that the finite elements of the mesh are not rigidly connected. The relationship between the nonrational ANCF finite elements and the B-spline representation is used to shed light on the potential of using ANCF as the basis for the integration of computer aided design and analysis (I-CAD-A). When cubic interpolation is used in the FE/ANCF representation, C ⁰ continuity is equivalent to a knot multiplicity of three when computational geometry methods such as B-splines are used. C ² ANCF models which ensure the continuity of the curvature and correspond to B-spline knot multiplicity of one can also be obtained. Nonetheless, B-spline and NURBS representations cannot be used to effectively model T-junctions that can be systematically modeled using ANCF finite elements which employ gradient coordinates that can be conveniently used to define element orientations in the reference configuration. Numerical results are presented in order to demonstrate the use of the new formulation in developing new chain models.     

Sparse matrix implicit numerical integration of the Stiff differential/algebraic equations: Implementation

The finite element absolute nodal coordinate formulation (ANCF) is often used in modeling very flexible bodies in multibody system (MBS) applications. This formulation leads to a constant mass matrix, allowing for an efficient sparse matrix implementation. Nonetheless, the use of the ANCF finite elements to model stiff structures can lead to high frequencies associated with ANCF coupled deformation modes, as discussed in the literature. Implicit numerical integration methods can be effectively used to develop efficient procedures for the solution of MBS differential/algebraic equations. Most existing implicit integration algorithms, however, require numerical differentiation of the equations of motion, and some of these integration methods do not ensure that the kinematic algebraic constraint equations are satisfied at all levels (position, velocity, and acceleration). Because of these limitations, existing implicit integration methods can be less accurate and less efficient when used to solve large scale MBS applications. In order to circumvent this problem, the two-loop implicit sparse matrix numerical integration (TLISMNI) method was proposed for the solution of MBS differential/algebraic equations. The TLISMNI method does not require numerical differentiation of the forces and allows for an efficient sparse matrix implementation. This paper discusses TLISMNI implementation issues including the step size selection, the error control, and the effect of the numerical damping. The relation between the step size selection and the structure stiffness is also discussed. The use of the computer implementation described in this paper is demonstrated by solving very stiff structure problems using the Hilber?CHughes?CTaylor (HHT) method, which includes numerical damping. An eigenvalue analysis and Fast Fourier Transform (FFT) are performed in order to identify the fundamental modes of deformation and demonstrate that the contributions of these fundamental modes can be erroneously damped out when some other implicit integration methods are used. The TLISMNI method, on the other hand, captures the contributions of these fundamental modes. The results, obtained using the TLISMNI method, are compared with the results obtained using other methods including the implicit HHT-I3 and the explicit Adams integration methods. The results obtained show that the TLISMNI method can be five times faster than the other two methods when no numerical damping is considered.     

Nonlinear dynamics of three-dimensional belt drives using the finite-element method

In this paper, new nonlinear dynamic formulations for belt drives based on the three-dimensional absolute nodal coordinate formulation are developed. Two large deformation three-dimensional finite elements are used to develop two different belt-drive models that have different numbers of degrees of freedom and different modes of deformation. Both three-dimensional finite elements are based on a nonlinear elasticity theory that accounts for geometric nonlinearities due to large deformation and rotations. The first element is a thin-plate element that is based on the Kirchhoff plate assumptions and captures both membrane and bending stiffness effects. The other three-dimensional element used in this investigation is a cable element obtained from a more general three-dimensional beam element by eliminating degrees of freedom which are not significant in some cable and belt applications. Both finite elements used in this investigation allow for systematic inclusion or exclusion of the bending stiffness, thereby enabling systematic examination of the effect of bending on the nonlinear dynamics of belt drives. The finite-element formulations developed in this paper are implemented in a general purpose three-dimensional flexible multibody algorithm that allows for developing more detailed models of mechanical systems that include belt drives subject to general loading conditions, nonlinear algebraic constraints, and arbitrary large displacements. The use of the formulations developed in this investigation is demonstrated using two-roller belt-drive system. The results obtained using the two finite-element formulations are compared and the convergence of the two finite-element solutions is examined.     

Configuration Design Sensitivity Analysis of Nonlinear Structural Systems with Elastic Material*

ABSTRACT

A continuum-based design sensitivity analysis (DSA) method is presented for configuration design of nonlinear structural systems using Mindlin plate and Tim-oshenko beam theories. Both displacement and critical load performance measures are considered. Configuration design variables are characterized by shape and orientation changes of structural components. The material derivative that is used to develop the continuum-based shape DSA method is extended to account for effects of configuration design variation. The piecewise linear design velocity field, i.e., C⁰-regular, is used to support configuration design changes for a broad class of built-up structures with beams and plates. To allow use of the C⁰-design velocity field, mathematical models of beam and plate bending must be second-order partial differential equations, so that only first-order derivatives appear in the integrand of the energy equation and, thus, in the integrand of the configuration design sensitivity expression. Since the Mindlin plate and Timoshenko beam theories use displacement and rotation to describe structural response, mathematical models of beam and plate bending are reduced to second-order partial differential equations. The isoparametric finite element formulations are used for numerical evaluation of continuum design sensitivity expressions.     

On the Computer Formulations of the Wheel/Rail Contact Problem

In this investigation, four nonlinear dynamic formulations that can be used in the analysis of the wheel/rail contact are presented, compared and their performance is evaluated. Two of these formulations employ nonlinear algebraic kinematic constraint equations to describe the contact between the wheel and the rail (constraint approach), while in the other two formulations the contact force is modeled using a compliant force element (elastic approach). The goal of the four formulations is to provide accurate nonlinear modeling of the contact between the wheel and the rail, which is crucial to the success of any computational algorithm used in the dynamic analysis of railroad vehicle systems. In the formulations based on the elastic approach, the wheel has six degrees of freedom with respect to the rail, and the normal contact forces are defined as function of the penetration using Hertzs contact theory or using assumed stiffness and damping coefficients. The first elastic method is based on a search for the contact locations using discrete nodal points. As previously presented in the literature, this method can lead to impulsive forces due to the abrupt change in the location of the contact point from one time step to the next. This difficulty is avoided in the second elastic approach in which the contact points are determined by solving a set of algebraic equations. In the formulations based on the constraint approach, on the other hand, the case of a non-conformal contact is assumed, and nonlinear kinematic contact constraint equations are used to impose the contact conditions at the position, velocity and acceleration levels. This approach leads to a model, in which the wheel has five degrees of freedom with respect to the rail. In the constraint approach, the wheel penetration and lift are not permitted, and the normal contact forces are calculated using the technique of Lagrange multipliers and the augmented form of the system dynamic equations. Two equivalent constraint formulations that employ two different solution procedures are discussed in this investigation. The first method leads to a larger system of equations by augmenting all the contact constraint equations to the dynamic equations of motion, while in the second method an embedding procedure is used to obtain a reduced system of equations from which the surface parameter accelerations are systematically eliminated. Numerical results are presented in order to examine the performance of various methods discussed in this study.     

Theoretical analysis of a class of mixed,C0 continuity formulations for general dipolar Gradient Elasticity boundary value problems

Mixed weak formulations, with two or three main (tensor) variables, are stated and theoretically analyzed for general multi-dimensional dipolar Gradient Elasticity (biharmonic) boundary value problems. The general structure of constitutive equations is considered (with and without coupling terms). The mixed formulations are based on various generalizations of the so-called Ciarlet–Raviart technique. Hence, C⁰ continuity conforming basis functions may be employed in the finite element approximations (or even, C⁻¹ basis functions for the Cauchy stress variable). All the complicated boundary conditions, especially in the multi-dimensional scenario, are naturally considered. The main variables are the displacement vector, the double stress tensor and the Cauchy stress tensor. The latter variable may be eliminated in some of the formulations, depending on the structure of the constitutive equations. The standard continuous and discrete Babuška–Brezzi inf–sup conditions for the constraint equation, as well as, solution uniqueness for both the continuous statements and discrete approximations, are established in all cases. For the purpose of completeness, two one-dimensional mixed formulations are also analyzed. The respective constitutive equations possess general structure (with coupling terms). For the 1-D formulations, all the inf–sup conditions are satisfied, for both the continuous and discrete statements (assuming proper selection of the polynomial spaces for the main variables). Hence, the general Babuška–Brezzi theory results in quasi-optimality and stability. For multi-dimensional problems, the difficulty of deducing the inf–sup condition on the kernel is examined. Certain aspects of methodologies employed to theoretically by-pass this problem, are also discussed.     

A finite element formulation satisfying the discrete geometric conservation law based on averaged Jacobians

In this article, a new methodology for developing discrete geometric conservation law (DGCL) compliant formulations is presented. It is carried out in the context of the finite element method for general advective–diffusive systems on moving domains using an ALE scheme. There is an extensive literature about the impact of DGCL compliance on the stability and precision of time integration methods. In those articles, it has been proved that satisfying the DGCL is a necessary and sufficient condition for any ALE scheme to maintain on moving grids the nonlinear stability properties of its fixed‐grid counterpart. However, only a few works proposed a methodology for obtaining a compliant scheme. In this work, a DGCL compliant scheme based on an averaged ALE Jacobians formulation is obtained. This new formulation is applied to the θ family of time integration methods. In addition, an extension to the three‐point backward difference formula is given. With the aim to validate the averaged ALE Jacobians formulation, a set of numerical tests are performed. These tests include 2D and 3D diffusion problems with different mesh movements and the 2D compressible Navier–Stokes equations. Copyright © 2011 John Wiley & Sons, Ltd.     

Nanofluids thermal behavior analysis using a new dispersion model along with single-phase

A numerical study has been performed to analyze nanofluids convective heat transfer. Laminar α-Al₂O₃-water nanofluid flows in an entrance region of a horizontal circular tube with constant surface temperature. Numerical analysis has been carried out using two different single-phase models (homogenous and dispersion) and two-phase models (Eulerian–Lagrangian and mixture). A new model is developed to consider the nanoparticles dispersion. The transport equations for the tube with constant surface temperature were solved numerically using a control volume approach. The effects of nanoparticles volume fraction (0.5, 1 %) and Reynolds number (650 ≤ Re ≤ 2300) on nanofluid convective heat transfer coefficient were studied. The results are compared with the experimental data and it is shown that the homogenous single-phase model is underestimated and the mixture model is overestimated. Although the Eulerian–Lagrangian model gives a reasonable prediction for the thermal behavior of nanofluids, the dispersion single-phase model gives more accurate prediction despite its simplicity.     

Useful zero friction simulations for assessing MBS codes Pascal's formula giving wheelsets frequency for zero wheel-rail friction

Present study provides a simple analytical formula, the “Klingel-like formula” or “Pascal's Formula” that can be used as a reference to test some results of existing railway codes and specifically those using rigid contact. It develops properly the 3D Newton-Euler equations governing the 6 degrees of freedom (DoF) of unsuspended loaded wheelsets in case of zero wheel-rail friction and constant conicity. Thus, by solving numerically these equations, we got pendulum like harmonic oscillations of which the calculated angular frequency is used for assessing the accuracy of the proposed formula so that it can in turn be used as a fast practical target for testing multi-body system (MBS) railway codes. Due to the harmonic property of these pendulum-like oscillations, the square ω² of their angular frequency can be made in the form of a ratio K/M where K depends on the wheelset geometry and load and M on its inertia. Information on K and M are useful to understand wheelsets behavior. The analytical formula is derived from the first order writing of full trigonometric Newton-Euler equations by setting zero elastic wheel-rail penetration and by assuming small displacements. Full trigonometric equations are numerically solved to assess that the formula provides ω² inside a 1% accuracy for usual wheelsets dimensions. By decreasing the conicity down to 1 × 10^?4 rad, the relative formula accuracy is under 3 × 10^?5. In order to test the formula reliability for rigid contact formulations, the stiffness of elastic contacts can be increased up to practical rigidity (Hertz stiffness × 1000).     

Optimal control theory and Newton–Euler formalism for Cosserat beam theory

A Newton–Euler formalism is derived for Cosserat beam theory in a purely deductive manner, thanks to an analogy with optimal control theory. The method relies upon joint use of Gauss least constraint principle, Appell's equations and optimal control theory, that was used successfully in a previous work for the classical case of discrete Newton–Euler backward and forward recursions of multibody systems. To cite this article: G. Le Vey, C. R. Mecanique 334 (2006).     

Transfert de champs plastiquement admissibles

This paper presents a new approach to interpolate the mechanical fields associated to a given mesh of the computational domain which satisfy the equilibrium equations together with the mechanical criteria which are quadratical in terms of these fields. The method is based on the diffuse approximation techniques. These allow us to construct a field of globally arbitrary order of continuity which approximates accurately the initial discrete mechanical fields. Indeed, the construction is based locally on the resolution of a quadratical optimisation problem under degenerate quadratical constraints for which we propose an analytical solution. The method is applied, in particular, to an equilibrium problem of elastoplastic solid with non linear hardening. To cite this article: P. Villon et al., C. R. Mecanique 330 (2002) 313–318.     

Numerical study of the noninertial systems: application to train coupler systems

Car coupler forces have a significant effect on the longitudinal train dynamics and stability. Because the coupler inertia is relatively small in comparison with the car inertia; the high stiffness associated with the coupler components can lead to high frequencies that adversely impact the computational efficiency of train models. The objective of this investigation is to study the effect of the coupler inertia on the train dynamics and on the computational efficiency as measured by the simulation time. To this end, two different models are developed for the car couplers; one model, called the inertial coupler model, includes the effect of the coupler inertia, while in the other model, called the noninertial model, the effect of the coupler inertia is neglected. Both inertial and noninertial coupler models used in this investigation are assumed to have the same coupler kinematic degrees of freedom that capture geometric nonlinearities and allow for the relative translation of the draft gears and end of car cushioning (EOC) devices as well as the relative rotation of the coupler shank. In both models, the coupler kinematic equations are expressed in terms of the car body and coupler coordinates. Both the inertial and noninertial models used in this study lead to a system of differential and algebraic equations that are solved simultaneously in order to determine the coordinates of the cars and couplers. In the case of the inertial model, the coupler kinematics is described using the absolute Cartesian coordinates, and the algebraic equations describe the kinematic constraints imposed on the motion of the system. In this case of the inertial model, the constraint equations are satisfied at the position, velocity, and acceleration levels. In the case of the noninertial model, the equations of motion are developed using the relative joint coordinates, thereby eliminating systematically the algebraic equations that represent the kinematic constraints. A quasistatic force analysis is used to determine a set of coupler nonlinear force algebraic equations for a given car configuration. These nonlinear force algebraic equations are solved iteratively to determine the coupler noninertial coordinates which enter into the formulation of the equations of motion of the train cars. The results obtained in this study showed that the neglect of the coupler inertia eliminates high frequency oscillations that can negatively impact the computational efficiency. The effect of these high frequencies that are attributed to the coupler inertia on the simulation time is examined using frequency and eigenvalue analyses. While the neglect of the coupler inertia leads, as demonstrated in this investigation, to a much more efficient model, the results obtained using the inertial and noninertial coupler models show good agreement, demonstrating that the coupler inertia can be neglected without having an adverse effect on the accuracy of the solution.     

On the numerical solution of tracked vehicle dynamic equations

In this investigation, the solution of the nonlinear dynamic equations of the multibody tracked vehicle systems are obtained using different procedures. In the first technique, which is based on the augmented formulation that employes the absolute Cartesian coordinates and Lagrange multipliers, the generalized coordinate partitioning of the constraint Jacobian matrix is used to determine the independent coordinates and the associated independent differential equations. An iterative Newton-Raphson algorithm is used to solve the nonlinear constraint equations for the dependent variables. The numerical problems encountered when one set of independent coordinates is used during the simulation of large scale tracked vehicle systems are demonstrated and their relationship to the track dynamics is discussed. The second approach employed in this investigation is the velocity transformation technique. One of the versions of this technique is discussed in this paper and the numerical problems that arise from the use of inconsistent system of kinematic equations are reported. In the velocity transformation technique, the tracked vehicle system is assumed to consist of two kinematically decoupled subsystems; the first subsystem consists of the chassis, the rollers, the sprocket and the idler, while the second subsystem consists of the track which is represented as a closed kinematic chain that consists of rigid links connected by revolute joints. It is demonstrated that the use of one set of recursive equations leads to numerical difficulties because of the change in the track configuration. Singular configurations can be avoided by repeated changes in the recursive equations. The sensitivity of the predictor-corrector multistep numerical integration schemes to the method of formulating the state equations is demonstrated. The numerical results presented in this investigation are obtained using a planner tracked vehicle model that consists of fifty four rigid bodies.     

Viscoelastic flow of polymer solutions around a periodic,linear array of cylinders: comparisons of predictions for microstructure and flow fields

Numerical simulation is used to investigate the flow of polymer solutions around a periodic, linear array of cylinders by using three constitutive equations derived from kinetic theory of dilute polymer solutions: the Giesekus model; the finitely extensible, nonlinear elastic dumbbell model with Peterlin's approximation (FENE-P); and the FENE dumbbell model of Chilcott–Rallison (CR). In the Giesekus model, intramolecular forces are described by a Hookean spring, whereas a finitely extensible spring whose modulus is given by the Warner approximation is used in both the FENE-P and CR models. Hydro dynamic drag on the beads is taken to be anisotropic for the Giesekus model and isotropic for the other two models. The CR and FENE-P models differ subtly in their approximate treatment of the nonlinear force law. The three models exhibit very similar rheological behavior in viscometric flow and steady elongational flow, with the notable exception that the viscosity for the CR model is shear-rate independent. Finite element simulations are performed by using two different formulations: the elastic-viscous split-stress gradient (EVSS-G) method and a new variant of this formulation, the discrete EVSS-G (DEVSS-G) formulation, in which the elliptic stabilization term is added only to the discrete version of the momentum equation, and the constitutive equation is solved directly in terms of the polymer contribution to the stress tensor. Calculations are performed for all models up to a Weissenberg number We, where the configuration tensor 〈QQ〉 loses positive definiteness. However, by locally refining the mesh in the gap region, the positive definiteness of 〈QQ〉 is recovered. The flow and stress fields predicted by the three constitutive equations are qualitatively similar. A `birefringent strand' of highly stretched polymer molecules, which appears to emanate from the rear stagnation point in the cylinder, strengthens as We is increased. Not surprisingly, the molecular extension computed for the Giesekus model is considerably larger than that of the two FENE spring models. The drag force on the cylinders differs for the FENE-P and CR models, because of the difference in the shear-thinning viscosity resulting from the different approximations used in these models.     

Evaluation of self-consistent polycrystal plasticity models for magnesium alloy AZ31B sheet

Various self-consistent polycrystal plasticity models for hexagonal close packed (HCP) polycrystals are evaluated by studying the deformation behavior of magnesium alloy AZ31B sheet under different uniaxial strain paths. In all employed polycrystal plasticity models both slip and twinning contribute to plastic deformation. The material parameters for the various models are fitted to experimental uniaxial tension and compression along the rolling direction (RD) and then used to predict uniaxial tension and compression along the traverse direction (TD) and uniaxial compression in the normal direction (ND). An assessment of the predictive capability of the polycrystal plasticity models is made based on comparisons of the predicted and experimental stress responses and R values. It is found that, among the models examined, the self-consistent models with grain interaction stiffness halfway between those of the limiting Secant (stiff) and Tangent (compliant) approximations give the best results. Among the available options, the Affine self-consistent scheme results in the best overall performance. Furthermore, it is demonstrated that the R values under uniaxial tension and compression within the sheet plane show a strong dependence on imposed strain. This suggests that developing anisotropic yield functions using measured R values must account for the strain dependence.     

A new nonlinear multibody/finite element formulation for knee joint ligaments

The focus of this investigation is to study the mechanics of the human knee using a new method that integrates multibody system and large deformation finite element algorithms. The major bones in the knee joint consisting of the femur, tibia, and fibula are modeled as rigid bodies. The ligaments structures are modeled using the large displacement finite element absolute nodal coordinate formulation (ANCF) with an implementation of a Neo-Hookean constitutive model that allows for large change in the configuration as experienced in knee flexion, extension, and rotation. The Neo-Hookean strain energy function used in this study takes into consideration the near incompressibility of the ligaments. The ANCF is used in the formulation of the algebraic equations that define the ligament/bone rigid connection. A unique feature of the ANCF model developed in this investigation is that it captures the deformation of the ligament cross section using structural finite elements such as beams. At the ligament/bone insertion site, the ANCF is used to define a fully constrained joint. This model will reflect the fact that the geometry, placement and attachment of the two collateral ligaments (the LCL and MCL), are significantly different from what has been used in most knee models developed in previous investigations. The approach described in this paper will provide a more realistic model of the knee and thus more applicable to future research studies on ligaments, muscles and soft tissues (LMST). Current finite element models are limited due to simplified assumptions for the spatial and time dependent material properties inherent in the anisotropic and anatomic constraints associated with joint stability, and the static conditions inherent in the analysis. The ANCF analysis is not limited to static conditions and results in a fully dynamic model that accounts for the distributed inertia and elasticity of the ligaments. The results obtained in this investigation show that the ANCF finite elements can be an effective tool for modeling very flexible structures like ligaments subjected to large flexion and extension. In the future, the more realistic ANCF models could assist in examining the mechanics of the knee to study knee injuries and possible prevention means, as well as an improved understanding of the role of each individual ligament in the diagnosis and assessment of disease states, aging and potential therapies.     

A velocity transformation method for the nonlinear dynamic simulation of railroad vehicle systems

The solution of the constrained multibody system equations of motion using the generalized coordinate partitioning method requires the identification of the dependent and independent coordinates. Using this approach, only the independent accelerations are integrated forward in time in order to determine the independent coordinates and velocities. Dependent coordinates are determined by solving the nonlinear constraint equations at the position level. If the constraint equations are highly nonlinear, numerical difficulties can be encountered or more Newton–Raphson iterations may be required in order to achieve convergence for the dependent variables. In this paper, a velocity transformation method is proposed for railroad vehicle systems in order to deal with the nonlinearity of the constraint equations when the vehicles negotiate curved tracks. In this formulation, two different sets of coordinates are simultaneously used. The first set is the absolute Cartesian coordinates which are widely used in general multibody system computer formulations. These coordinates lead to a simple form of the equations of motion which has a sparse matrix structure. The second set is the trajectory coordinates which are widely used in specialized railroad vehicle system formulations. The trajectory coordinates can be used to obtain simple formulations of the specified motion trajectory constraint equations in the case of railroad vehicle systems. While the equations of motion are formulated in terms of the absolute Cartesian coordinates, the trajectory accelerations are the ones which are integrated forward in time. The problems associated with the higher degree of differentiability required when the trajectory coordinates are used are discussed. Numerical examples are presented in order to examine the performance of the hybrid coordinate formulation proposed in this paper in the analysis of multibody railroad vehicle systems.     

Application of quasi-continuum models for perturbation analysis of discrete kinks

Here, we study a relation between discrete and continuum models on an example of the sine-Gordon and ?? ⁴ equations. The analysis of various receptions of continualization in a linear case is carried out. The best approach allowing describing all spectrum of the discrete one-dimensional medium is chosen. Also, the nonlinear discrete sine-Gordon and ?? ⁴ models are analyzed. The possibility of improvement of the known continuum approximations of these equations is shown.     

Integration of B-spline geometry and ANCF finite element analysis

The goal of this investigation is to introduce a new computer procedure for the integration of B-spline geometry and the absolute nodal coordinate formulation (ANCF) finite element analysis. The procedure is based on developing a linear transformation that can be used to transform systematically the B-spline representation to an ANCF finite element mesh preserving the same geometry and the same degree of continuity. Such a linear transformation that relates the B-spline control points and the finite element position and gradient coordinates will facilitate the integration of computer aided design and analysis (ICADA). While ANCF finite elements automatically ensure the continuity of the position and gradient vectors at the nodal points, the B-spline representation allows for imposing a higher degree of continuity by decreasing the knot multiplicity. As shown in this investigation, a higher degree of continuity can be systematically achieved using ANCF finite elements by imposing linear algebraic constraint equations that can be used to eliminate nodal variables. The analysis presented in this study shows that continuity of the curvature vector and its derivative which corresponds in the cubic B-spline representation to zero knot multiplicity can be systematically achieved using ANCF finite elements. In this special case, as the knot multiplicity reduces to zero, the recurrence B-spline formula causes two segments to automatically blend together forming one cubic segment defined on a larger domain. Similarly in this special case, the algebraic constraint equations required for the C ³ continuity convert two ANCF cubic finite elements to one finite element, demonstrating the strong relationship between the B-spline representation and the ANCF finite element representation. For the same order of interpolation, higher degree of continuity at the finite element interface can lead to a coarser mesh and to a lower dimensional model. Using the B-spline/ANCF finite element transformation developed in this paper, the equations of motion of a finite element mesh that represents exactly the B-spline geometry can be developed. Because of the linearity of the transformation developed in this investigation, all the ANCF finite element desirable features are preserved; including the constant mass matrix that can be used to develop an optimum sparse matrix structure of the nonlinear multibody system dynamic equations.