Karamba Structural Guidance Note

IiA 20301

10-04-2019
Contents
Contents

▪ Objectives
▪ Approach
▪ Value
▪ Product
▪ Steel
- Structural guidance
▪ Concrete
- Structural guidance
▪ Useful components
▪ Useful links
▪ Conclusions and Recommendations
▪ Contact
Objectives
Objectives

Aim

The aim of this research is to create a structural guidance note for the
use of Karamba3D for specific materials and calculation setups and
create a set of tools (example tools) to use Karamba3D in
combination with Speckle. The focus of this research is on calculation
tools in early design phases of projects.

Karamba3D is fully embedded in the parametric design environment

of Grasshopper3D, a plugin for the 3d modelling tool Rhinoceros.
Karamba3D provides accurate analysis of spatial trusses, frames and
shells. Karamba3D is mostly used for steel structures, since the
utilisation and cross-section optimisation components use the steel
Eurocode.

Speckle is an open digital infrastructure for designing, making, and

operating the built environment.
Objectives

Context

Parametric optimisation is a very powerful and performance-based

design tool, which is already frequently used to improve our designs on
for example structural efficiency. Within Arup the use and popularity has
been significantly increased over the years and the potential use is
widely recognized within and outside of the firm.

As an example, in Amsterdam several projects have been benefited by

the use of parametric optimisation, especially in the early stages of the
design. Karamba3D can be used in parametric optimisation.
Optimisation of weights, deflections and utilizations can be performed
rapidly and design iterations can be viewed interactively.

Also it is noticed that several offices demand/require adequate

verification of results in order to believe the use of this new workflow.

Note that performing a hand calculation check is always required!

Approach
Approach

Technology

The following tools and technologies are used for this research:

Rhinoceros | A 3D modeler environment for computer-aided design applications

Grasshopper3D | Visual programming environment for parametric modelling in Rhinoceros

Karamba3D | Parametric structural engineering plugin for Grasshopper to provide accurate analyses

SpeckleWorks | Open digital infrastructure for designing, making and operating the built environment

Technosoft (TS) | Dutch structural engineering software for 1D, 2D and 3D calculations (used for verifications for Karamba calculations)

Oasys GSA | Software for advanced analysis and design of structures (used for verification for the Karamba calculations)

Worfklows

Three workflows have been described and follow in the next few pages.
Approach

Parametric model Exports

Architects/modeller/engineer

Structural analysis Form-finding

Cross-section Geometric
optimisation optimisation

Results

Steel profile
Utilisations
Deflection check

Typical parametric workflow

Approach
Typical parametric workflow Parametric
model Exports
Architects/modeller/engineer

The essence of parametric structural engineering is to associate parametric

geometry to software/plugins to explore shapes/context with form-finding Structural
Form-finding
processes and evaluate the structural behaviour. There are several plugins analysis

available for Grasshopper such as Kangaroo and Karamba. It is important Cross-

section
optimisati
Geometric
optimisati
on

to highlight that each project and design phase will have its specific
on

Results
demands and goals. Steel profile
Utilisations
Deflection check

In a typical parametric workflow the model will be created using Rhino and
Grasshopper. The parametric workflow can be used in all design phases but
is most powerful in the early stages. The input/parameters should be easily
changeable, so that the logic of the parametric model will adapt the
geometry according to the parameters.

After creating the parametric model form-finding can be used to digitally

approximate the rules imposed by nature and can be evaluated in real-
time. These results can then be used to perform structural analysis (the
form-finding process can also be skipped).

In the structural analysis the structure can be assessed, or optimisation

processes can be used to create a better design. In the end it is very easy
to export the model into other analysis software packages (GSA) for later
design stages and creating reports, but also to modelling software
packages such as Autodesk Revit.
Approach
Online viewer

Speckle Arup server

(Remote computer Amsterdam)

Revit (or Rhino) Structural analysis

model Structural Engineer
Architects/modeller

Cross-section
optimisation
Results
Design iterations
Steel profile
Utilisations
Deflection check

Tool A – Engineering as a Service

Approach Online viewer

Tool A – Engineering as a Service

Speckle Arup server
(Remote computer Amsterdam)

The power of using Speckle in our design workflows has been increasing
significantly over the last year. Speckle is an open source platform for
exchanging data across AEC software. It has the potential to be the AEC & Revit (or Rhino)
model
Structural analysis
Structural Engineer

design data communication platform of the future by enabling

Architects/modeller

collaboration and interoperability. Current Speckle clients include ones for Cross-section
optimisation

Rhino, Grasshopper, Dynamo and GSA WIP. Design iterations

Results
Steel profile
Utilisations
Deflection check

The workflow using Karamba and Speckle as a combination enables the

engineering as a service. Models can be created in Revit (or Rhino) by the
architect (or a modeler) and can be streamed through Speckle to an
analysis script running remotely on an Arup computer. In this way the
architect will be able to push their geometry changes to a structural
analysis script (with Karamba) and this analysis script would automatically
push back the results. These results can then be viewed online, or imported
back into their model (in Revit or Rhino). In this way the architect could
have direct feedback on their design changes through the use of Speckle in
combination with Karamba.
Approach Results
Play with design Steel profile
parameters Online viewer Utilisations
Deflection check
Etc.

Speckle Arup server

(Remote computer Amsterdam)

Structural analysis
Structural Engineer

Cross-section
optimisation

Speckle changed
parameters

Tool B – Interactive Designer

Approach Play with design parameters
Online viewer
Results
Steel profile
Utilisations
Deflection check
Etc.

Tool B – Interactive Designer

Speckle Arup server
(Remote computer Amsterdam)

On the other hand, predefined Karamba scripts could be generated if a

project or design task asks for repetitive analyses. In this way Karamba
scripts could be hosted on a remote computer and would always run on Structural analysis

the background. When someone needs to play with some parameters

Structural Engineer

and/or obtain results from such an analysis, they could use the Speckle Cross-section
optimisation

stream online. This results in an interactive tool for designers which can be Speckle changed parameters

project specific or very generic.

Value
Value

Costs (material) saving

Time saving (automation)

Interactive design, also available on the browser

Record design iterations

Already used in many example projects and proven beneficial!

Value

Increased the stiffness of the steel roof

by folding in two directions, resulting in
reduced amount of material.

Library of UvA - Amsterdam

Value

Explored many different design options

(flexible), performing all sorts of checks
with Karamba, workflow created in such
a way changed would be adapted
easily.

Camp Adventure tower - Copenhagen

Value

Explored the height and configuration

of this steel sculpture in order to
minimize the total weight of the
structure.

Art face - US
Value

Used many functionalities within

Karamba to explore the design and
perform feasibility studies.

Dutch Windwheel - Rotterdam

Value

Created a structural analysis tool for

steel platforms to perform quick
estimates of steel weight and heights of
cross sections also using the cross
section optimisation of Karamba.

Vanderlande - Various
Product
Product

Since the focus of Karamba over the years has been on steel (due to
the utilization and cross-section optimisation components using the
steel Eurocode), our focus of this research was also mainly on steel
structures.

In the latest version of Karamba (1.3.1) reinforcement design was

added. This was also explored in this research but not very extensively.

Timber design has not been included in this research.

Product: Steel
Steel Column
Steel Column

Objectives

Column buckling check with Karamba and verifications of Karamba calculations by hand and Technosoft

Technology

Handcalc. | Secure calculation by hand for Structural Analysis

Technosoft (TS) | Dutch structural engineering software for 1D, 2D and 3D calculations
Karamba3D | Parametric structural engineering plugin for Grasshopper to provide accurate analyses

Starting points

Material Grade | S235

Section Profile | HEA100
Length | 3.0 m
Member End Conditions | Pinned
Loading | 200 kN point load

Conclusion

The buckling checks for Karamba are similar to the code checks by hand and Technosoft.
Steel
Column handcalc Karamba3D

HEA100
L mm
t mm
A 2123 mm2
I 1338000 mm4
L 3000 mm
fy 235 N/mm2

Feuler 308.1 kN

F_N = Aeff*fy 498905 N

Lambda 1.27

alpha 0.49
O 1.57
X 0.40

NbRd 199.89 kN Using the Buckling Modes component

you can figure out the Buckling-Load-
Euler buckling loads are similar when Factor. If you use a unit load 1 kN you
you compare hand calculation with will find the Euler Buckling load.
Karamba Euler buckling load.
Steel
Column TS (Eurocode) calc (software) Karamba3D
Output Karamba details:
EN 1993-1-1;elem:0;sample point:0;crosec-
class:1;N_Rd:499.14[kN];Vy_Rd:228.48[kN];Vz_Rd:59.7[k
N];Mt_Rd:0.89[kNm];My_Rd:17.1[kNm];Mz_Rd:6.29[kN
m];Mcr:38.53[kNm];Ncr_y:804.18[kN];Ncr_z:308.13[kN];p
si_y:1;Cmy:1;Cmz:1;CmLT:1;chi_y:0.7319;chi_z:0.4005;ch
i_LT_mod:0.8862;kyy:1.2329;kzz:1.5402;kyz:1.5402;kzy:0.
9236

Using the Utilization component you can check the

Conclusion:
• Karamba3D performs EC 1993 buckling calculation.
Unity check. OptiCroSec also perform buckling checks
when looking for the most efficient profile. Be aware to
use the ModifyElement component to activate buckling
and the appropriate buckling lengths. Karamba doesn’t
take into account national annexes.
Steel
Column in Abaqus and Karamba Karamba3D non linear buckling

Non linear buckling HEA100

500
400

Load [kN]
300
200
100
0
0 20 40 60 80 100
Displacement [cm]

L/300 = 10 mm L/100 = 30 mm Euler

Geometric non linearity has been verified with Abaqus.
Using the AnalyseNonLin component with the
ArcLength method you can perform geometric
nonlinear calculations. Karamba gives similar results as
ABAQUS.
For example for a HEA100 column you can check the
influence of the imperfection on the non-linear behaviour.
Conclusion:
• Karamba3D performs geometric nonlinear buckling!
Material nonlinearity is not included.
Steel Beam
Steel Beam

Objectives

Steel beam analysis with Karamba and verifications of Karamba calculations by hand and Technosoft

Technology

Handcalc. | Secure calculation by hand for Structural Analysis

Technosoft (TS) | Dutch structural engineering software for 1D, 2D and 3D calculations
Karamba3D | Parametric structural engineering plugin for Grasshopper to provide accurate analyses

Starting points

Material Grade | S355

Section Profile | IPE270
Length | 6.0 m
Member End Conditions | Pinned
Loading | PL = 1.5 kN/m uniformly distributed
VL = 3.5 kN/m uniformly distributed

Conclusion

Force diagrams of Karamba and Technosoft/hand calculations are verified and the same. Deflections and utilisations are similar.
Steel
Beam handcalc Beam TS (Eurocode) calc (software) Karamba3D

abbr. variable unit

Material properties S355

Geometric properties IPE 270

L 6000 mm

Loading SDL 1,5 kN/m2

LL 3,5 kN/m2
Moment Moment
Cross-sectional properties mass 36,1 kg/m
mass 0,35 kN/m
Wy 429000 mm3
Iy 57900000 mm4
fyd 355 N/mm2
E 210000 N/mm2

ULS qugt 7,5 kN/m

Md 33,6 Nmm
σm 78 N/mm2
Shear force Shear force
Vd 22,4 kN

Normal force Normal force

Steel
Beam handcalc Beam TS (Eurocode) calc (software) Karamba3D
abbr. variable unit
Material properties S355

Geometric properties IPE 270

L 6000 mm

Loading SDL 1,5 kN/m2

LL 3,5 kN/m2
Displacement Displacement
Cross-sectional properties mass 36,1 kg/m
mass 0,35 kN/m
Wy 429000 mm3
Iy 57900000 mm4
fyd 355 N/mm2
E 210000 N/mm2

Md 33,6 kNm

SLS u_add 4,9 mm

u_final 7,4 mm
Unity Check (ULS) Unity Check (ULS)
Mb,Rd 57,7 kNm
UC 0,583
Conclusion:
• Final deflection hand calculation (7,4 mm) corresponds to the value
obtained from Technosoft.
• Moment/shear/axial diagrams correspond to hand calculations as well.
• Small differences in utilizations might occur due to small difference in
gravitational acceleration assumption between software and calculation of
CHI_LT:
• Karamba and GSA g = 9,81 m/s2
• Technosoft g = 10,0 m/s2
Steel Portal Frame
Steel Portal Frame

Objectives

Portal frame analysis with Karamba and verifications of Karamba calculations with Technosoft

Technology

Technosoft (TS) | Dutch structural engineering software for 1D, 2D and 3D calculations
Karamba3D | Parametric structural engineering plugin for Grasshopper to provide accurate analyses

Starting points

Material Grade | S355

Section Profile | HEA200
Height | 4.0 m
Length | 6.0 m
Member End Conditions | Pinned
Loading | PL = 5.6 kN point load
VL = 10.5 kN point load

Conclusion

Force diagrams of Karamba and Technosoft/hand calculations are verified and the same. Deflections and utilisations are similar.
Steel
Portal frame TS (Eurocode) calc (software) Karamba3D

Moment Shear force

Moment

Shear force Shear force

Steel
Portal frame TS (Eurocode) calc (software) Karamba3D

Normal force Normal force

Displacement Displacement

Conclusion:
• Final deflection hand calculation corresponds to
the value obtained from Technosoft.
• Moment/shear/axial diagrams correspond to
hand calculations as well.
• Small differences in utilizations might occur.
Karamba on the conservative side, changes are
due to different CHI LT calculation
Steel Typical Bay
Steel Typical Bay

Technology

The following tools and technologies are used for verifications for Karamba calculations:

Handcalc. | Secure calculation by hand for Structural Analysis

Technosoft (TS) | Dutch structural engineering software for 1D, 2D and 3D calculations
Karamba3D | Parametric structural engineering plugin for Grasshopper to provide accurate analyses

Starting points

Material Grade | S355

Section Profile | HEA220 | HEA200 | IPE270 | IPE220 | K50x30x2.9
Width | 6.0 m
Depth | 6.0 m
Height | 4.0 m
Member End Conditions | Pinned
Loading | PL = 1.5 kN/m uniformly distributed
VL = 3.5 kN/m uniformly distributed

Conclusion

Force diagrams of Karamba and GSA calculations are verified and the same. Deflections and utilisations are similar.
Steel
Portal frame GSA Karamba3D

Moment Moment

Shear force Shear force

Steel
Portal frame GSA Karamba3D

Normal force Normal force

Displacement z-dir. Displacement z-dir.

Steel
Portal frame GSA Karamba3D

Reactions Reactions

Conclusion:
• Final deflection corresponds
to the value obtained from
GSA.
• Moment/shear/axial diagrams
correspond to GSA
calculations as well as reaction
forces.

Utilisation checks similar to previous chapters

Steel Typical Bay

Watch its

Apply hinges (joints) to the beams using the Joint-Agent

or Beam-Joints. You can check the joints using the The circle represents the way it is able to move,
ModelView if you applied them correctly. in which way you have released the beam.
Steel Typical Bay

Watch its

You should always be aware of the lateral torsional (LT)

buckling or normal buckling. You can change the
buckling lengths of profiles using ModifyElem. For
example if you want your primary beams to be
restrained in the weak direction (BklLenLT and BklLenZ),
you can change the lengths here and this will be taken
into account in the utilisation check.
Steel Grasshopper scripts
Steel

Grasshopper files:
Columns:
Column buckling.gh
Column nonlinear buckling.gh

Beams:
Beam.gh

Frame:
Portal frame.gh

Typical steel bay:

Typical steel bay.gh
Product: Concrete
Concrete Floor
Concrete
Starting points for calculation and verification:

Concrete flat slab

• Cracked concrete E = 10.000 N/mm2
• Quality = C35/45
• Steel quality = B500
• Dimensions = 5.4m x 5.4m
• Thickness = 250mm
• 4 point supported

Loads
• Self weight (EG) = 6.25 kN/m2 (25 kN/m3)
• Permanent (G) = 1.0 kN/m2
• Live (Q) = 2.5 kN/m2
Handcalc m∗xx = ±27.6 kNm

±27.6
±27.6
±54.8 ±27.6

±8.3

351
351

106
As = 351 mm2 Τm 697 351

Dutch calculation method

m∗xx = ±8.3 kNm

±54.8
±54.8

±40.7
±40.7 ±8.3
• Design load. (qd)

697
697

518
• 1.2*(6.25 + 1.0) + 1.5 * 2.5 = 12.45 kN/m2
As = 106 mm2 Τm 518 106
• Reinforcement:
• Ø16
• c = 25mm
• Design moments look figure on the right
m∗xx = ±27.6 kNm ±8.3

±27.6
±27.6
• Calculate the required reinforcement: ±54.8 ±27.6

351
351
m∗ As = 351 mm2 Τm 697 351 106
• xx
As = 0.9d×435
• d = h – c – Ø – ½Ø = 201mm

• Reinforcement moments (include torsion):

• m∗xx = mxx ± mxy
• m∗yy = myy ± mxy
Concrete
Floor in GSA Floor in Karamba3D

2D moment My

Conclusion:
• Similar values for 2D moments.
Concrete
Floor in GSA Floor in Karamba3D

2D moment Mx

Conclusion:
• Similar values for 2D moments.
Concrete
Floor in GSA Floor in Karamba3D

2D moment Mxy

Conclusion:
• Similar values for 2D moments.
Concrete
Floor in GSA Floor in Karamba3D

Z displacement

Conclusion:
• Similar deflections.
Concrete
Floor in GSA Floor in Karamba3D

Reinf bottom A

Conclusion:
• Similar reinforcement configuration plot, still some insecurities of
calculation of the cm layer thickness to cm2/m
Concrete
Floor in GSA Floor in Karamba3D

Reinf top A

Conclusion:
• Similar reinforcement configuration plot, still some insecurities of
calculation of the cm layer thickness to cm2/m
Concrete Grasshopper scripts
Concrete

Grasshopper files:
Floors:
Concrete floor.gh
OptiShellReinf_I_Karamba example.gh
Useful components
Useful components
Disassemble Model/Element/Cross-
section
This can help you identifying the
results of your analysis, used
profiles, used properties etc.

Assemble Model
This component will help you
setting up your Karamba model.
It is usually a good start of
creating your parametric
Karamba script. Go from top to
bottom and connect all the
items. (Pt, Joint, Set, Ldist not
necessarily needed). Flattening Orientate
everything which goes into 1 This component will help you to
model is usually helpful. set the appropriate orientation
of the profiles. Use the
ModelView/ BeamView to
visualise the actual orientations.
Useful components
Mesh Breps
This component will help you
create meshes from surfaces
(always triangulated). The power
of this component is that you
can add points (Ipts) to be
included in the mesh.
Model view
Play with display settings to see if
your model is behaving as you
would expect it (deform it, look at
the loads, supports and joints).
Line-line intersection
This component will help you to
define your finite elements of
your beam model, by separating
(shattering) the lines into all
separate line for calculation.
Useful components

BESO shells
This component will allow you to
perfrom BESO analyses (where to put
your material the most efficient). Use the
right TargetRatio and play with the
iterations to see if you results converge.
See also the attached GH file.
Useful components

Shell Line Results

This component will allow you to see
the force flow of your structure. This
can help you in identifying where you
should make your structure (most
efficient). See also the attached GH file.
Useful links
Useful links

C:\Program Files\Rhino 6\Plug-ins\Karamba http://www.geometrygym.com/

In this folder you will find: The website of GeometryGym with useful plugins for
• The cross section and material tables; sending your Karamba model to GSA/Sofistik.
• Test examples by Karamba for most of the
components with explanations;
• Benchmark examples by Karamba for some
components.

https://www.karamba3d.com/ https://www.karamba3d.com/nightly-
builds/karamba_LATEST_VERSION/Karamba3D_1_3_1_Manual.pdf
The website of Karamba with some examples, tutorials,
The manual from Karamba with all the components
projects and research as inspiration for your own
well explained.
projects.

https://www.yammer.com/arup.com/#/threads/inGroup?type=in_group&feedId=102
71049&view=all - Karamba
https://www.yammer.com/arup.com/#/threads/inGroup?type=in_group&feedId=14
757778&view=all - Parametric Design for Structures

Yammer page of Karamba with recent updates and

Yammer page of parametric design for structures with
recent project examples.
Conclusions and Recommendations
Conclusions

Steel:
For steel Karamba is already well developed. In this research
steel member checks were verified with hand calculations
and/or other software.
• The deflections, reactions, and force diagrams are the
same.
• Utilisation for some parts may differ slightly but not
significantly. Karamba is on the conservative side.

Concrete:
For concrete Karamba is still under development. In the latest
update of Karamba they added reinforcement optimisation.
In this research these functionalities were tested. They seem
to work if you look in the manual, but if you test a simple
concrete floor, getting out the reinforcements is already quite
complicated. However:
• The deflections, reactions, and force diagrams are the
same.
Recommendations

General:
• Always perform a hand calculation when using Karamba
and check your results (look at deflected shape, eigen
mode analysis, verify reaction forces, bending moment
diagrams etc.).
• Perfect tool for early stage design.
• Useful for optimisation and exploration purposes.

• For second order analysis, always try to confirm with GSA

as a benchmark or some other software. Please refer to
the manual for some more details.
Contact
Contact

Amsterdam:
rick.titulaer@arup.com
vivian.van-deursen@arup.com
shibo.ren@arup.com
chris.noteboom@arup.com

Berlin:
kristjan.nielsen@arup.com

Karamba3D:
info@karamba3d.com