Introduction to Finite Element Analysis

LECTURE NOTES PREPARED AND COMPILED

by
Prof. N. V. RAMANA RAO
Professor of Civil Enggineering
JNTU COLLEGE OF ENGINEERING
KUKATPALLY
HYDERABAD
rao.nvr@gmail.com
Mobile No: 9849054319
1
General Overview
Finite element method is a numerical
method of solving a system of governing
equations over the domain of a continuous
physical system physical system
method applies the many fields of science
and engineering
for engineering use, fields of continuum
mechanics and the theory of elasticity
provide the governing equations
Why numerical method
Most engineering problem involve solution of
governing differential equations.
y
x
P
x
du P
0, u(0) = 0.
dx A E
Solve for unknown
+ =
4
4
Solve for unknown
displacement 'u'
d w p(x) dw
0, w(0)= (0) = 0.
dx EI dx
Solve for unknown
displacement 'w'
+ =
p
x
Solution of differential equation is tedious and
some times impossible
x
y
P
Complex geometry, boundary
conditions, loading conditions and
material
x
P
p
x
General Overview
Finite element method can be summarized
in the following steps:
small parts called elements subdivide the
domain of the solid structure domain of the solid structure
elements assemble through interconnections
at a finite number of points (nodes) on each
element
assembly provides a model of the structure
General Overview
within each small domain, we assume a
simple general solution to the governing
equations
solution for each element is a function of
the unknown solutions at the nodes

5
6

Subdomain
e
Domain divided with subdomains
with degrees of freedom
Domain
x
Domain with degrees of freedom

Fundamental concept of FEM

4
5
6
x
x
The fundamental concept of FEM is that
continuous function of a continuum (given
domain ) having infinite degrees of
freedom is replaced by a discrete model,
approximated by a set of piecewise
continuous function having a finite degree of
freedom.

x
Since the discrete model has finite degrees of freedom, hence the
method got the name FINITE ELEMENTS
Coined by Clough (1960).
Application of the general solution to all the elements results in a finite
set of algebraic equations which are solved for the unknown nodal
values
} { } ]{ [ F K =
[ ]{ } { }
K F =
{ }

Applying boundary conditions solution for

is obtained.
{ }

[ ]{ } { }
K F =
} { } ]{ [ F K =
General Overview
sources of error
assumed solution within the element is rarely
the exact solution
error between exact and assumed solution error between exact and assumed solution
magnitude depends on the size of the elements
relative to the solution variation
in most cases, assumed solution converges to the
correct as element size decreases
General Overview
all solid structures could be modeled with
three-dimensional solid elements, but for
many cases this is overkill
many structures can be simplified by many structures can be simplified by
making some assumptions e.g. plane
stress and plane strain assumptions,
simple beam theory
General Overview
elements are categorized as either
structural or continuum
structural elements include trusses, beams,
plates and shells plates and shells
formulations are based on same assumptions as in
their structural theories
finite element solution is no more accurate than a
solution using conventional beam or plate theory
General Overview
continuum elements are two- and three
dimensional solid elements
formulation based on the theory of elasticity
(provides the governing equations for deformation
and stress) and stress)
What is FEA / FEM?
FEA = Finite Element Analysis; FEM = Finite Element Method/Math.
Definitions:
Global definitions: The finite element method in structural analysis is a technique that
first discretizes a structure into a sets of structural components, each set with a
similar geometric pattern and physical assumption. Each pattern of such components
is called a specific kind of finite element. (Each kind of finite element has a specific
type of structural shape and is interconnected with adjacent elements by nodal
points). .T. Y. Yang
Mathematical definitions: FEM is a method for numerical solution of field problems. A
field problem requires that we determine the spatial distribution of one or more
dependent variables (e.g. temperature distribution in the piston of an engine).
Mathematically, a field problem is described by differential equations or by an integral
expression. .R Cook et. al.
The term Finite Element is coined by Clough [Clough, R. W., The Finite Element in
Plane Stress Analysis Proceedings, 2
nd
ASCE Conference on Electronic
Computation, Pittsburgh, Pa., Sept. 1960]
Some useful Resources:
Finite Element Structural Analysis - T. Y Yang.
Concepts and Applications of Finite Element Analysis-Robert D.
Cook. David S. Malkus, Michael E. Plesha. Robert J. Witt.
Introduction to Finite Elements in Engineering Tirupathi R. Introduction to Finite Elements in Engineering Tirupathi R.
Chandrupatla, Ashok D. Belegundu.
Why FEA?
FE technique become one of the rapidly growing tools in both industrial and
research field.
Example justifies the use of FEA tools comparing to hand calculations
(Mechanics) or testing:
Advantages of FEA:
Time Time
Cost
Easy to apply
In practice FEA is used as supplementary tool rather than counter part.
Fields: Aerospace, Manufacturing, Automotive, Naval, Biomedical,
Electronics, Research, etc.
How can we learn FEM?
To learn Structural FEM we should have exposure to the following fields:
Mechanics
Mathematics
Numerical Analysis
Programming.
Besides that you need to know about FEA software and your analytical
capability to interpret and defining problems.
FE Mechanics
Based on degree of freedom solid Finite element mechanics can be categorized as
1D Mechanics
2D Mechanics
3D Mechanics
For each category of mechanics element types are already defined that are ready to be used in structural problems.
1D Mechanics: When links can be define in terms of load/displacement along 1 (or x) direction. Some typical 1-D
elements:
Bar / Rod
Spring
Damper
cables, Trusses (1D), rigid link etc.
It should be noted that nothing in the nature is 1 D. But comparing to response along one direction others
are negligible.
FE Mechanics
2D Mechanics: When links can be define in terms of load/displacement along 2 (x and y)
direction. Some typical 2-D elements:
Plane stress element:
-Structure size is so small along 3
rd
direction that stress components are zero. -Structure size is so small along 3
rd
direction that stress components are zero.
Plane Strain element:
-Along 3
rd
direction structure is so big that strain change become insignificant.
FE Mechanics
Axisymmetric element:
Z
Beams, 2D Truss, etc.
R
Z

FE Mechanics
3D Mechanics:
Shell / Plate (thin & thick): In plane and bending moment.
3D bricks/prism/Tetrahedron, etc.:
Introduction and Basic Concepts
FE Mechanics
Besides elemental mechanics it is necessary to have knowledge regarding structural mechanics:
Static analysis
Quasi-static analysis
Dynamic
Vibration, etc.
Temperature displacement analysis.
Material
Linearity and Non linearity of behavior.
Discretizing model (meshing) based on engineering needs is crucial in FEA analysis: Discretizing model (meshing) based on engineering needs is crucial in FEA analysis:
FE Mechanics
Engineering approach to simplifying problems is extremely important as a FE analyst.
Math
FEM based on the numerical solution of differential equations.
FE analyst should have basic knowledge on
Algebra,
Geometry,
Trigonometry,
Calculus (Differential, Integral),
Vectors,
Matrices, etc.
Numerical Analysis and Programming
Numerical analyses (treating Math model with number) are the
backbone of solving problems using approximate solution
methods (Potential energy method such as Galerkins method,
Rayleigh-Ritz Method, etc).
Programming language: FORTRAN, C, Basic, Python, etc.
FEA Software
Structure of FEA software:
3 basic parts
Pre Processor.
Processor
Post Processor.
Pre Processor: Functions are to generate mesh, apply their
properties, define problems and other requirements. Output
request also need to make here. GUI (Graphics User Interface) request also need to make here. GUI (Graphics User Interface)
enables user to use it properly. Some commercial preprocessors:
ABAQUS CAE
PATRAN
HYPERMESH
SIMLAB
LS-PREPOST, etc.
FEA Software
Processor: Processors are the programs written in code
languages like FORTRAN, C, Basic, etc. It took input from
preprocessor and then solve it to generate results in binary or
ASCII format. Some commercial processors are
ABAQUS
NASTRAN
LS Dyna LS Dyna
Adams
Marc, etc.
FEA Software
Post Processor: Post processors are GUI based software that
convert ASCII data to format convenient for interpreting. Ability
to read and describe color code is absolute necessity as a FE
analyst. Some commercial processors are
ABAQUS Viewer
Hyperview Hyperview
LS Post
Simlab, etc.
Fundamental steps in FEA
Nature of the problem:
Static? Dynamic? Modal? ..
Contact? Linear or Non linear?
Loads? Boundary conditions?
What are the materials and their properties?
Is it possible to simplify the problem?
What are the minimum dimensions required to define the problem?
What kind of elements should we use to define FEA model?
Which area is most critical? (Load/BC/Sharp Geometric change/Material)
What will be the convenient co-ordinate system?
FEA Aspects:
Identify the curvature and select mesh size accordingly to capture geometry. Identify the curvature and select mesh size accordingly to capture geometry.
Identify the areas where stress/load should concentrate and create fine and coarse meshes/element accordingly.
Check element quality (Aspect ratio, Max/Min angle, minimum length ,etc).
Define element type and properties.
Define materials and assign it to respective elements/sections.
Define other features ( e.g, contact/Tie)
Define load/BC/Temperature.
Define Analysis procedure.
Analyze the model.
Check Mesh sensitivity, remesh and reanalyze.
Output request:
What are the output data you are looking for?
Are the unit consistent?
Are they look logical? If not then recheck and retune your model accordingly and reanalyze.
Problem:
Nature of problem:
Static
Linear
Pressure load can be applied at
one side while other side can be
held constant.
Material Defined (E = 2910
6
psi,
Steel Plate with hole under constant
pressure1000 psi.
Dimension: 10100.1
Hole: dia 4 at the center.
Ignore material non-linearity.
Material Defined (E = 2910
6
psi,
= 0.3).
Model simplification:
As the thickness is <<<< than any
other dimension we can consider it
as plane stress problem.
Due to symmetry we can only
analyzed half of the model.
Problem:
From load and boundary conditions it
can be anticipated that top and of the
hole will face higher tension.
Meshing scheme should be such that
it is adequate to capture geometric
change and region where maximum /
minimum stress developed should be minimum stress developed should be
fine enough represent large stress
drop/rise.
Mesh sensitivity check to ensure that
results are not mesh depended.
x
y
Mesh sensitivity and output request
Meshes are too coarse to
capture hole topology.
Mesh Sensitivity plot Mesh Sensitivity plot
0
10
20
30
40
0 0.125 0.25 0.375 0.5 0.625 0.75 0.875 1
Mesh size (coarse to fine), inch
S
t
r
e
s
s
,

k
s
i
Analyzing Output
Points to Remember
FEA
Necessity to learn FEA
Area where we should concentrate to become an FE
analyst.
Basic approaches to treat problem as an FE Analyst. Basic approaches to treat problem as an FE Analyst.
STRESSES AND EQULIBRIUM
37
Fig. 1 Three-dimensional body
A three-dimensional body occupying a volume V and having a surface S is
shown in Fig.1.
The deformation of a point is given by the three components of its
displacement:
T
=[ ] u,v,w u
(1)
T
( =[x, y, z] ) x
The distributed force per unit volume, for example, the weight per unit
volume, is the vector f given by
T
[ ]
x y
f , f , f = f
z
(2)
The body force acting on the elemental volume dV is shown in Fig.1
The surface traction T may be given by
38
T
]
x y z
T ,T ,T T =[
(3)
A load P acting at a point i is represented by its three components:
T
i i
[ ]
x y z
P , P ,P = P
(4)
The stresses acting on the elemental volume dV are shows Fig. 2.
39
Fig. 2 Equilibrium of elemental volume
The six independent components are
T
x y yz xz xy
[ , , , , , ]
z
=
(5)
x y z
, ,
yz xz xy
, , ,
where are normal stresses and
are shear stresses. The equilibrium equations
40
0
0
0
xy
x xz
x
xy y yz
y
yz
xz z
z
f
x y z
f
x y z
f
x y z

+ + + =


+ + + =

+ + + =

(6a)
(6b)
(6c)
STRAIN DISPLACEMENT RELATIONS
T
[ , , , , , ]
x y z yz xz xy
=
(7)
, ,
x y

z

, ,
yz xz

where and are normal strains and and
41
x y
z
x y

are the engineering shear strains.

42
Fig. 3 Deformed elemental surface
The shear strain-displacement can be written as
xy
u v
y x

= +

(8)
Considering the other faces y-z, and z-x,
43
T
, , , , ,
u v w v w u w u v
x y z z y z x y x
(
= + + +
(


(9)
y
x z
v v

=
yz
yz
G

=
Stress-strain relations
For linear elastic materials, the stress-strain relations come from the
generalized Hookes law. For isotropic materials, the two material
properties are Youngs modulus (or modulus of elasticity) E and
Poissons ratio . Considering an elemental cube inside the body,
Hookes law gives
v
44
y
x z
x
y
x z
y
y
x z
z
v v
E E E
v v
E E E
v v
E E E

=
= +
= +
yz
xz
xz
xy
xy
G
G
G

=
=
(10)
The shear modulus (or modulus of rigidity), G is given by
2(1 )
E
G
v
=
+
(11)
From Hookes law relationships (Eqn. 10), adding and LHS
(1 2 )
( )
x y z x y z
v
E

+ + = + +
(12)
Substituting for and so on into Eq. 10, we get the inverse relations
D = = = =
(13)
( ) x z +
45
D is the symmetric (6 X 6) material matrix given by
1 0 0 0
1 0 0 0
1 0 0 0
0 0 0 0.5 0 0 (1 )(1 2 )
0 0 0 0 0.5 0
v v v
v v v
v v v
E
v v v
v

(
(

(
(

=
(
+
(
(

D
(14)
46
0 0 0 0 0.5 0
0 0 0 0 0 0.5
v
v
(

Plane Stress. A thin planar body subjected to in-plane loading on
its edge surface is said to be in plane stress. A ring press fitted on a
shaft, Fig. 4, is an example. Here stresses
are set as zero. The Hookes law relations (Eq. 10) then give us
, , and
z xz yz

x
y
y
x
v
E E
y
x
v
E E

=
= +
47
Fig. 4 (a) Plane stress
2 (1 )
( )
y
x y
z
E E
v
x y
E
v
x y
E


+
=
= +
(16)
Plane Strain.
If a long body of uniform cross section is subjected to transverse
loading along its length, are taken as zero. Stress
may not be zero in this case. The stress strain relations can be
obtained
, , and
z xz yz

48
Fig. 4(b) plane strain
( )( )
1 0
1 0
1+ 1 2
0 0 0.5
v v
x x
E
v v
y y
v v
v
xy xy

(

(


(
` `
(

(

(


) )

(17)
D here is a (3x3) matrix.
Q. In a plane strain problem , we have

x
=20000 psi,
y
=-10000 psi,
E=30 x 10
6
psi and =0.3.
Determine the value of stress
z
.(Exercise Problem 1.2 from Chandrupatla
and Belegundu)
Sol. Plane strain

x
=20000 psi

y
=-10000 psi
E=30 x 10
6
psi

E=30 x 10
6
psi
=0.3
For plane strain,
z
=0

z
= (
x
+
y
)
Substituting the values

z
=3000 psi
Strain Energy stored in the spring
U = (force in the spring) (displacement )
= (Su) u
= s u
2
Potential energy of the external load p
Wp = (load) (displacement from zero potential state)
Potential energy and equilibrium
50
= - p u
Total potential energy = total strain energy + Work potential
= U+ Wp
= s u
2
p u
for minimum of , /u = 0
S u p = 0
Su = p
P
u
Potential Energy,
The total potential energy of an elastic body, is defined as the
sum of total strain energy (U) and the work potential:

= Strain energy + Work potential

(U) (WP) (22)
For linear elastic materials, the strain energy per unit volume in the body
51
For linear elastic materials, the strain energy per unit volume in the body
is . For an elastic body, the total strain energy is given by
1
2

V
1
T
2
U dV =


(23)
The work potential WP is given by
V S
T T T
WP
i i
i
dV dS =

u f u T u P
(24)
The total potential for the general elastic body shown in Fig.1.1 is
T
1
T T T
dV dV dS =

u f u T u P
52
T
1
T T T
2
i i
i
V V S
dV dV dS =

u f u T u P
(25)
Principle of MinimumPotential Energy
For conservative systems, of all the kinematically admissible
displacement field, those corresponding to equilibrium extremize the
total potential energy. If the extremum condition is a minimum, the
equilibrium state is stable.
Kinematically admissible displacements are those that satisfy the
single-valued nature of displacements and the boundary conditions.
53
single-valued nature of displacements and the boundary conditions.
Example 1.
The potential energy for the linear elastic one-dimensional rod (FIGURE 1.), with the
body force neglected, is
Where
Let us consider a polynomial function
1
0
2
2
2
1
u dx
dx
du
EA
L

\
|
=

) 1 (
1
= = x u u
Let us consider a polynomial function
This must satisfy at and at
Hence,
2
3 2 1
x a x a a u + + =
0 = u 0 = x 0 = u 2 = x
( )
2
3
3 2
2
2
x x a u
a a
+ =
=
1 1
1 , 1 = = A E
75 . 0
u
y
x
1
approximate solution
Then,
( )
( ) ( )
( )
3
2
3
2
3
2
0
3
2 2
3
3
2
0
2
2
3
3
2 ) ( 2
2 2 1 2
2 1 4
2
1
1 2
a a
a dx x x a
a dx x a
x a
dx
du
+ =
+ + =
+ =
+ =

Solution from mechanics

5 . 1 +
5 . 1
1
1 +
+

Stress from
approximate solution
FIGURE 1.
We set , resulting in,
The stress is then given by
3 3 3
2 ) ( 2 a a + =
0 2
3
2
4
3
3
= +
|

\
|
=

a
a
75 . 0 , 75 . 0
3 1 3
= = = a u a
( ) x
dx
du
E = = 1 5 . 1
Q. Use the rayleigh-ritz method to find the displacement of the midpoint of the
rod shown in the figure. (Exercise Problem 1.11 from Chandrupatla and
Belegundu) .
Figure
Sol. The potential energy equation is given by
Consider the polynomial from Example 1.2
On substituting the above and integrating, the first term of becomes
And the second term
Thus
Becomes

Q. A rod fixed at its ends is subjected to a varying body force as
shown. use the rayleigh-ritz method with an assumed displacement
field u=a
1
+a
2
.x+a
3
.x
2
+a
4
.x
3
to determine the displacement u(x) and
stress
x
.(Exercise Problem 1.15 from Chandrupatla and
Belegundu; similar to Exercise problem1.12)
Sol. We use
substituting the above conditions in the first equation

a
3
and a
4
are considered as independent unknowns in
On expanding and integrating the terms, we get
On expanding and integrating the terms, we get

and
a
3
= -0.239
a
4
= -0.085
On substituting in the expression for u , at x=1
u
1
=0.494
this approximation is giving a lower deformation by distributing the
energy more evenly in the structure.
One dimensional problems
In one dimensional problems, the stress, strain, displacement,
and loading depends only on the variable x
( ) u x = u
( ) x =
( ) x = ( ) T x = T
( ) f x = f
The stress-strain and strain-displacement relations are
E =
du
=
One dimensional problems
62
E =
dx
=
The loading consists of three types
- body force f
-traction force T
-point load P
i
P
P
1
f
T
One dimensional bar loaded by traction, body and point loads
One dimensional problems contd..
63
X
P
2
Finite element modeling of the bar
. .
1
3
2
1
2
3
.
.
.
.
One dimensional problems contd..
64
.
X
X
4
5
4
.
.
Co-ordinates and shape functions
Consider a typical finite element in the local coordinate system (Fig a) we
1 = +
1 2
1 =

X
1
X
X
2
e
1 2
Fig.a
Fig.b
e
One dimensional problems contd..
65
Consider a typical finite element in the local coordinate system (Fig a) we
define a natural co-ordinate system, denoted by
1
2 1
2
( ) 1 x x
x x
=

1
2
1
( )
2
1
( )
2
N
N

=
+
=
1
1
N
1
N
2
1 = 1 = + 0 =
1
0
e
Linear interpolation
e e
u
1
u
2
q
1
q
2
u
unknown
u
linear
1 2
1
2
Linear displacement field within the element can be written in terms of the nodal
Displacement q
1
and q
2
as
One dimensional problems contd..
66
1 1 2 2
u N q N q = +
In matrix notation
u Nq =
The transformation from x to can be written in terms of N
1
and N
2
as
1 1 2 2
x N x N x = +
Isoparametric formulation

[ ]
[ ]
1 2
1 2
,
,
T
N N N
q q q
=
=
where
The general expression for the potential energy
1
2
T T T
i i
i
Adx u fAdx u Tdx u P =

Since the continuum has been discretized into finite elements, the expression for
Potential energy becomes
1
2
T T T
i i
e e e i
Adx u fAdx u Tdx QP =


The last term above assumes that point load P are applied at the nodes. This
One dimensional problems contd..
67
The last term above assumes that point load P
i
are applied at the nodes. This
assumption makes the present derivation simpler with respect to notation, and
is also a common modeling practice
T T
e i i
e e e i
e
U u fAdx u Tdx QP =


where
1
2
T
e
U Adx =

is the element strain energy

Element stiffness matrix
Consider the strain energy form
1
2
T
e
U Adx =

Substituting for and into the above yields

EBq =
Bq =
1
[ ]
T T
U q B EBAdx q =

One dimensional problems contd..

68
[ ]
2
T T
e
e
U q B EBAdx q =

In the finite element model, the cross sectional area of element e,denoted by A
Is constant. Also , B is a constant matrix, further the transformation from x to
yields
2
e
l
dx d =
where
1 1
L
e
is the length of the element

The element strain energy Ue is now written as

1
1
1
2 2
T T
e
e e e
l
U q A E B B d q

(
=
(

Where E is the youngs modulus of element and by using

1
1
2 d

[ ]
2
1
1 1
1 1
1 2
T
e e e e
e
U q A l E q
l

=
`
)
Which results in
1 1
1
T
e e
A E
U q q

(
=
(
One dimensional problems contd..
69
1
1 1 2
T
e e
e
e
A E
U q q
l
(
=
(

The above equation is of the form
1
2
T e
e
U q k q =
Where the element stiffness matrix k
e
is given by
1 1
1 1
e e
e
e
A E
k
l

(
=
(

The element body force term appearing in the total potential energy
is considered first. substituing u = N
1
q
1
+ N
2
q
2
we have
T
e
u fAdx

1 1 2 2
( )
T
e
e
u fAdx A f N q N q dx = +

A and f are constant within the element and were consequently brought outside
The integral. the above equation can be written as
1
2
e
e T T
e
e
e
A N dx
u fAdx q
A f N dx


=
`

)

One dimensional problems contd..
70
e )

The integrals of the shape functions above can be readily evaluated

by making the substitution
2
e
l
dx d
| |
=
|
\
1
1
1
1
2
1
1
2 2 2
1
2 2 2
e e
e
e e
e
l l
N dx d
l l
N dx d

= =

= =


The body force term in reduces to
1
1 2
e
e e
A l f
f

=
`
)
Force vector
The element traction force term appearing in the total potential energy
is now considered we have
( )
1 1 2 2
T
e e
u Tdx N q N q Tdx = +

Since the traction force T is constant within the element, we have
1
2
e
T T
e
T N dx
u Tdx q
T N dx


=
`

One dimensional problems (contd..)
71
Traction force vector
2
e
e
T N dx

)

Then the element traction force vector,T

e
is given by
1
1 2
e
e
Tl
T

=
`
)
Example
Consider the thin steel plate as shown in fig. The
plate has a uniform thickness t=1in., Youngs
modulus and weight density
In addition to this self weight, the
plate is subjected to a point load P=100lb at its
midpoint.
, 10 30
6
psi E =
. . / 2836 . 0
3
in lb =
midpoint.
(a) Model the plate with two finite elements
(b) Write down the expressions for the element
stiffness matrix K and global load vector F.
(c) Assemble the structural stiffness matrix K and
global load vector F
(d) Using the elimination approach, solve for the
global displacement vector Q
(e) Evaluate the stresses in each element.
. 6 in
. 24 in
. 12in
P
.
.
. 25 . 5 in
. 12in
. 12in
1
2
1
Q
2
Q
P
1
2
. 3in
X
.
. 12in
. 75 . 3 in
3
3
Q
2
Solution
(a)Using two elements of 12 in. in length, we obtain the finite
elements model in fig (b). Nodes and elements are
numbered as shown. Note that the area at the midpoint of
the plate in fig (a) is 4.5in.
2
. Consequently the average
area of the element 1 is
A
1
= (6+4.5)/2=5.25in.
2
A = (3+4.5)/2=3.75in.
2
A
2
= (3+4.5)/2=3.75in.
2
The boundary condition for this model is Q
1
=0
(b)We can write the element stiffness matrices of the two
elements as
(

=
1 1
1 1
12
25 . 5 10 30
6
1
k
1 2
1
2
Global
dof
(

=
1 1
1 1
12
75 . 3 10 30
6
2
k
2 3
2
3
The element body force vectors are
)
`

=
1
1
2
2836 . 0 12 25 . 5
1
f
1
2
Global
dof

1
2836 . 0 12 75 . 3
2
(c) The assembled global stiffness
)
`

=
1
1
2
2836 . 0 12 75 . 3
2
f
2
3
(
(
(

=
75 . 3 75 . 3 0
75 . 3 00 . 9 25 . 5
0 25 . 5 25 . 5
12
10 30
6
K
1 2 3
1
2
3
The externally applied global load vector F is assembled
from
and the point load P=100lb;as
(d)In the elimination approach, the stiffness matrix K is
1
f
2
f

+ =
3810 . 6
100 3144 . 15
9334 . 8
F
(d)In the elimination approach, the stiffness matrix K is
obtained by deleting the rows and columns corresponding to
the fixed dofs. In this problem, dof 1 is fixed. Thus, K is
obtained by deleting the first row and column of the original
K. Also f is obtained by deleting the first component of the
original F. The resulting equations are
)
`

=
)
`

3810 . 6
3144 . 115
75 . 3 75 . 3
75 . 3 00 . 9
12
10 30
3
2
6
Q
Q
Solution of these equations yields
Thus ,
(e) The stress in each element is
. 10 9953 . 0
. 10 9272 . 0
5
3
5
2
in Q
in Q

=
=
[ ] . 10 9953 . 0 , 10 9272 . 0 , 0
5 5
in Q
T

=
(e) The stress in each element is
[ ]
[ ]
psi
psi
70 . 1
10 9953 . 0
10 9272 . 0
1 1
12
1
10 30
18 . 23
10 9272 . 0
0
1 1
12
1
10 30
5
5
6
2
5
6
1
=
)
`

=
=
)
`

The x coordinate system is mapped on to a coordinate system which is

given by the transformation
3
2 1
2( ) x x
x x

X
1 2

0 =
1
2
3
3
Quadratic shape functions
One dimensional problems (contd..)
78
1
2
3
1
( ) (1 )
2
1
( ) (1 )
2
( ) (1 )(1 )
N
N
N



=
= +
= +
1 =+ 1 =

0 =
Quadratic shape functions contd..
1
1
1
N
1
N
2
N
3
1 =+ 1 =
0 =
1
2
3
1
2
3
1
3
2
One dimensional problems contd..
79
The displacement field within the element is written in terms is written in terms
Of the nodal displacement as
1 1 2 2 3 3
u N q N q N q = + +
or
u Nq =
1
3
2
q
1
q
2
q
3
u
Two dimensional problems
The displacement vector u is given as
[ ]
T
u u v =
Where u and v are the x and y components of u, respectively the stresses and
Strains are given by
T
x y xy
T
x y xy


( =

( =

y
T
v
u
The fig. representing the two dimensional problem
in a general setting, the body force, traction vector,
p
x
80
x
y
U=0
in a general setting, the body force, traction vector,
And elemental volume are given by
T
x y
T
x y
f f f
T T T
( =

( =

and
dv tdA =
The strain displacement relations are given by
T
u u u v
x y y x

( | |
= +
( |

\
p
x
p
y
o
Constant strain triangle
Area coordinates
the shape functions can be physically represented
By area coordinates N
1
,N
2
,N
3
2
3
(x,y)
A
A
2
A
1
T
1
1
2
2
A
N
A
A
N
A
A
=
=
Two dimensional problems contd..
81
1
2 A
3
U=0
The independent shape functions are conveniently reperensented by the pair
1
2
3
1
N
N
N

=
=
=
1 2 3
1 N N N + + =
3
3
A
N
A
=
Finite element Discretization
Isoparametric Representation Isoparametric Representation
.
.
.
q
5
q
2
q
3
q
4
q
6
q
1
3
2
e
.
u
v
( ) y x,
( )
3 3
, y x
( )
2 2
, y x
The displacement inside the element can be written using the shape function as
.
1
q
1
( )
1 1
, y x
Fig 3. Triangular element
6 3 4 2 2 1
5 3 3 2 1 1
q N q N q N v
q N q N q N u
+ + =
+ + =
In terms of
The relation is expressed in a matrix form by defining the shape function matrix
as
,
( ) ( )
( ) ( )
6 6 4 6 2
5 5 3 5 1
q q q q q v
q q q q q u
+ + =
+ + =


(

=
3 2 1
3 2 1
0 0 0
0 0 0
N N N
N N N
N
and
We have
Nq u =
3 3 2 2 1 1
3 3 2 2 1 1
y N y N y N y
x N x N x N x
+ + =
+ + =
The equation relating and coordinates to and as x
y

( ) ( )
( ) ( )
3 3 2 3 1
3 3 2 3 1
y y y y y y
x x x x x x
+ + =
+ + =


Isoparametric representation
The displacements inside the elements are now written using the shape function
And the nodal values of the unknown displacements
1 1 2 3 3 5
1 2 2 4 3 6
u N q N q N q
v N q N q N q
= + +
= + +
The relations can be expressed in matrix form by defining a shape function
0 0 0 N N N
(

= u Nq
Two dimensional problems contd..
84
1 2 3
1 2 3
0 0 0
0 0 0
N N N
N
N N N
(
=
(


o
or
= u Nq
For the triangular element, the coordinates x,y can be also be represented
by the nodal Coordinates by using the same shape functions
1 1 2 2 3 3
1 1 2 2 3 3
x N x N x N x
y N y N y N y
= + +
= + +
u u x u y
x y
u u x u y


= +


= +
u x y
u
x
u
u x y


(

(



(
=
` `

(

(


In evaluating strains ,the partial derivatives of u and v are to be taken with
respect to X and y coordinates, these derivatives can be expressed in terms
local coordinates by
Make use of chain rule
Strain displacement relation
Two dimensional problems contd..
85
u u x u y
x y

= +

u x y
y


(

(


)
)

x y
x y



(
(

(
=

(
(


J


Where the 2 X 2 matrix is denoted as the Jacobian of transformation
13 13
23 23
x y
x y
(
=
(

J


u
u
x
u
u
y

=
` `

)
)
I
J

Where J is the inverse of the Jacobian

Strain displacement relation contd..
Two dimensional problems contd..
86
23 13
23 13
1
det
y y
x x

(
=
(

I
J
J

x
13 23 23 13
det x y x y = J
1
det
2
A = J
and
The area of the triangle
Plane stress
t
y
x
z
Two dimensional problems contd..
87
t
0
0
0
z
y z
x z

=
=
=
0
z

The constitutive relation
2
1 0
1 0
1
1
0 0
2
x x
y x
xy xy
E

(
(
(
=
` `
(

) )
(

z
Two dimensional problems contd..
Plane strain
y
x
88
0
z

0
0
0
z
xz
yz

=
=
=
The constitutive relation
1 0
1 0
(1 )(1 2 )
1 2
0 0
2
x x
y x
xy xy
E




(
(
(
=
` `
(
+

(

) )
(

I. A three- node triangular element is defined in Fig.1 in an x, y coordinate system with nodes 1, 2 and 3
located at (x
1
, y
1
) , (x
2
, y
2
) and (x
3
, y
3
), respectively, in the global system. Derive shape functions in the
terms of global coordinates.
x
3
y
3
1
2
3
Y
y
3
x
1
x
2
y
1
y
2
1
Fig. 1
X
y C x C C
3 2 1
+ + =
Assume an interpolation to represent the variation of the unknown quantity
(a)
Write the interpolation function as a matrix equation
or in matrix format (b)
The boundary conditions are in terms, of nodal point values of :
[ ]

=
3
2
1
1
C
C
C
y x [ ]{ } C =
(c)
3 3 3
2 2 2
1 1 1
) , (
) , (
) , (



=
=
=
y x
y x
y x
y C x C C
3 2 1 1
+ + =
y C x C C
3 2 1 3
+ + =
or

(
(
(

3
2
1
3 3
2 2
1 1
2
1
1
1
1
3 C
C
C
y x
y x
y x

y C x C C
3 2 1 2
+ + =
Substitute Equation (c) into Equation (a) to obtain three equations that can be
solved for C
1,
C
2
and C
3
:
(d)
Write Eq. (d) in matrix form as Write Eq. (d) in matrix form as
(e)
and solve for {C} as
(f)
Substitute Eq. (f) into Eq. (b):
{ } [ ]{ } C X =
{ } [ ] { }
1
= X C
[ ][ ] { }
1
= X
[ ]{ } N =
(g)
The shape functions are the product of the first two matrices on the right-hand side of Equation (g).
or (h)
Solving Eq. (h) gives
N
1
= [(x
2
y
3
-x
3
y
2
) + x(y
2
-y
3
)+ y(x
3
-x
2
)]/2A
N = [(x y -x y ) + x(y -y )+ y(x -x )]/2A (i)
[ ][ ]
1
] [

= X N
[ ] [ ][ ]
1
3 2 1
1

= X y x N N N
N
2
= [(x
3
y
1
-x
1
y
3
) + x(y
3
-y
1
)+ y(x
1
-x
3
)]/2A (i)
N
3
= [(x
1
y
2
-x
2
y
1
) + x(y
1
-y
2
)+ y(x
2
-x
1
)]/2A
Where
(j)
A is the area of the triangular element.
(
(
(

=
3 3
2 2
1 1
1
1
1
det
2
1
y x
y x
y x
A
II. The plate of Fig.2 is 6 X 10 in and 0.2 in thick and loaded with a tension of 10,000 psi as shown.
Compute the node displacements, strains and stresses using a one-element analysis.
Assume E= 10 x 10
6
psi and solve the problem for v=0 and again for v= 0.3.
10 in
6 in
t = 0.2 in
10,000 psi
4
1
3
2
(5.0, 2.5)
u
4
=0
u
1
=v
1
=0 v
2
=0
6000 1b
6000 1b
10 in
Fig. 2
The plate should be analyzed as plane stress. Boundary conditions should allow the plate to deformin both
coordinate directions but prevent rigid body translation and rotation. Node 1 is fixed in both directions,
node 2 is fixed in y direction, and node 4 is fixed in the x direction, as shown in Fig. 2. For the eight
possible node displacements u
1
=u
4
=v
1
=v
2
=0 are the boundary conditions.
The pressure loading must be distributed to nodes 2 and 3 as (10,000 psi) (6 in) (0.2 in)/2=6000 lb.
For this elemental model global stiffness matrix is given by the matrix:
( + + C C a C b C C C a C b C C C a C b C C C a C b C
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(

+

+

+
+

+
+
+

+
+
+
+
+

+
+

+
+

+
+
+
a
b C
b
a C
C C
b
a C
a
b C
a
b C
b
a C C C
a
b C
b
a C
C C
b
a C
a
b C C C
b
a C
a
b C
a
b C
b
a C C C
a
b C
b
a C C C
a
b C
b
a C
C C
b
a C
a
b C C C
b
a C
a
b C C C
b
a C
a
b C
a
b C
b
a C C C
a
b C
b
a C C C
a
b C
b
a C C C
a
b C
b
a C
C C
b
a C
a
b C C C
b
a C
a
b C C C
b
a C
a
b C C C
b
a C
a
b C
3 3
4 3 3
3 6 4 3 3
4 6 3 4 3 3
6 6 4 6 3 4 3 3
4 6 6 4 3 6 4 3 3
6 3 4 6 6 4 3 6 4 3 3
4 3 6 4 6 6 4 6 3 4 3 3
33 22
33 12 33 11
33 22 33 12 33 22
33 12 33 11 33 12 33 11
33 22 33 12 33 22 33 12 33 22
33 12 33 11 33 12 33 11 33 12 33 11
33 22 33 12 33 22 33 12 33 22 33 12 33 22
33 12 33 11 33 12 33 11 33 12 33 11 33 12 33 11
Symmetric
The material constants are computed using the plane stress constitutive equations, and for the case v = 0.3,
Consider the following equations
(1)
(2)
Equations (1)- (2) give C
11
= C
22
= E/(1-v
2
) = 10.9890(10)
6
psi, C
12
= vE/ (1-v
2
) = 3.2967(10)
6
psi, and
C
33
= E/2(1+v) = 3.8462(10)
6
psi. The stiffness matrix after substituting boundary conditions and load vector
( )
xy xy yy
yy xx xx
v
E
G
v
v
E


) 1 ( 2
1
2
+
= =
+

=
(
(
(
(
(
(
(
(
(
(
(

240 , 874 , 6 0 270 , 283 , 2 363 , 37 , 1 0 710 , 785 , 1 0 0
0 1 0 0 0 0 0 0
270 , 283 , 2 0 240 , 874 , 6 710 , 785 , 1 0 363 , 37 , 1 0 0
363 , 37 , 1 0 710 , 785 , 1 555 , 334 , 4 0 850 , 037 , 1 0 0
0 0 0 0 1 0 0 0
710 , 785 , 1 0 363 , 37 , 1 850 , 037 , 1 0 555 , 334 , 4 0 0
0 0 0 0 0 0 1 0
0 0 0 0 0 0 0 1

=
(
(
(
(
(
(
(
(
(
(
(

0
0
0
6000
0
6000
0
0
4
4
3
3
2
2
1
1
v
u
v
u
v
u
v
u
is, for v=0.3,
u
1
v
1
u
2
v
2
u
3
v
3
u
4
v
4
v = 0 0.0 0.0 0.002 0.0 0.002 0.0 0.0 0.0
v = 0.3 0.0 0.0 0.002 0.0 0.002 -0.00036 0.0 -0.00036
Table. 1 Node displacements (in)
The solution for displacements is exact because the linear shape functions predict the linear solution for
this problem. Also for v = 0 the problemis one- dimensional and reduces to the axially loaded member.
The strains are computed using Equation {} = [L] [N] {u}. Note that the matrix product [L][N] = [B] is
given by
where,
[ ]
(
(
(
(
(
(
(

=
x
N
y
N
x
N
y
N
x
N
y
N
x
N
y
N
y
N
y
N
y
N
y
N
x
N
x
N
x
N
x
N
B
4 4 3 3 2 2 1 1
4 3 2 1
4 3 2 1
0 0 0 0
0 0 0 0
[ ]
(

=
4 3 2 1
4 3 2 1
0 0 0 0
0 0 0 0
N N N N
N N N N
N
the derivatives of the shape functions are given by
( )
ab
y
x
N
ab
y
x
N
ab
y b
x
N
ab
y b
x
N

4
3
2
1
( )
ab
x a
y
N
ab
x
y
N
ab
x
y
N
ab
y a
y
N

4
3
2
1
Choose x and y of the above equations as x = a/2 =10/2 = 5.0 and y = b/2 = 6/2=
3.0 to represent the centre of the element and compute {e} = [B] {u}.
For v = 0.0,
xy
=0.0002 and
yy
=
xy
= 0.0, and for v=0.3,
xx
=0.0002,

yy
= -0.0006, and
xy
= 0.0. Again the solution is exact for this elementary
problem.
ab x
=
ab y
=

The stresses are computed using the equation

and for both cases
xx
= 2000 psi and
yy
=
xy
= 0.0

(
(
(

xy C
C C
C C
yy
xx
xy
yy
xx

33
22 12
12 11
0 0
0
0
III. Given a uniformly varying pressure loading P
x
between nodes 1 and 2 of the triangular element of Fig.
3.use the integration formulas to compute the distribution of the load to nodes to 1 and 2.
3
2
P
x
P
x
y
The equation of the pressure loading
assuming a local coordinate system
located at node 1, is
(a)
3
1
2 1
1
b
y y
P
y y
y y
P p
x x x

=
1
x
Local coordinate system
Fig. 3
In this application of numerical
integration the integration occurs along
a line rather than over an area.
(b)

+ +
=

)! 1 (
! !
2 1
d L L
One-dimensional finite element can be formulated in terms of length coordinates, but there is usually no
advantage when compared with the more traditional Cartesian coordinates. [T
x
, T
y
]
T
represents any general
traction-type surface load . Along the line connecting nodes 1 and 2 the area coordinate L
3
is zero or in terms
of length coordinates only L
1
and L
2
exist and terms
corresponding to T
y
are zero:
(c)
b y y P
L
b y y P L
T N
N
N
x
x
x

=
(
(
(
(

/ ) (
0
/ ) (
0
0
0
3 1
2
3 1 1
2
1
1
(c)
In terms of area coordinates and the coordinates of the triangular element,
but L
3
= 0 between nodes 1 and 2. Substitute y into Eq. (c) and use Eq. (b) to integrate the first term in the
matrix:
tdy
b y y P
dS
T
T
N
N
N
N
x
y
x
S

=
)
`

(
(
(
(
(
(

0
0
0
/ ) (
0
0
0
0
3 1
3
3
2
2
3 3 2 2 1 1
y L y L y L y + + =
( )
1 2
1 2
3
3
2 2 1 1 1 1
6
) (
! 3
! 1 ! 1
! 3
! 0 ! 2
! 2
! 0 ! 1
) (
2
1
y y
t P
y y
b
t
P
dy
b
t
y L y L y P L
x
x
y
y
x
=

\
|
=
|
|

\
|

A similar computation for the third term in the matrix of Eq. (c) gives the distribution to node 2:
( )
1 2
3
y y
t P
x

One-third of the distributed pressure should be assigned to node 1, and two thirds of the pressure should be
assigned to node 2.
Example 2.
Evaluate the shape functions at the interior point for the triangular
element shown in the figure 2.
Solution
Using the isoparametric representation, we have
These two equations are rearranged in the form
3 2 1
, , N N N
P
2 (7,3.5)
3 (4,7)
.
P(3.85,4.8)
y
7 5 . 3 5 7 5 . 3 2 8 . 4
4 3 5 . 2 4 7 5 . 1 85 . 3
3 2 1
3 2 1
+ = + + =
+ + = + + =


N N N
N N N
These two equations are rearranged in the form
Solving the above equations, we obtain
1 (1.5,2)
x
2 . 2 5 . 3 5
15 . 0 3 5 . 2
= +
=


5 . 0 , 2 . 0 , 3 . 0
2 . 0 , 3 . 0
3 2 1
= = =
= =
N N N

FIGURE 2.
In evaluating the strains, partial derivatives of should be taken with respect
to . Using the chain rule for partial derivatives of
which can be written as
v u,
y x,
u

y
y
u x
x
u u
y
y
u x
x
u u

(
(
(

x
u
y x u

( ) 1
( ) 2
where the square matrix is denoted as the Jacobian of the transformation

(
(
(

y
u
x
y x u

(
(
(
(

=


y x
y x
J
( ) 2
( ) 3
On taking the derivatives of
Where is given by
y x,

u
u
y
u
x
u
and
y x
y x
1
23 23
13 13
J J
1
J

u
( ) 4
The magnitude of det J is twice the area of the triangle.

u
u
J
J
det
1
1
13 23 23 13
det y x y x = J and
J det
2
1
= A
( ) 5
( ) 6
Example 3.
Determine the Jacobian of the transformation J for the triangulation element shown
in the figure. 3.
Solution
We have
2 (7,3.5)
3 (4,7)
.
P(3.85,4.8)
y
(

=
(

=
5 . 3 0 . 3
5 5 . 2
23 23
13 13
y x
y x
J
units 75 . 23 det = J
This is twice the area of the triangle.
From equations of and we have
1 (1.5,2)
x
units 75 . 23 det = J
( ) 4 ( ) 5

u
x
u
x
u
y
u
y
y
u
x
u
13 23
13 23
det
1
J
FIGURE 3.
Replacing u by v, we get
Using the strain-displacement, we get

v
x
v
x
v
y
v
y
y
v
x
v
13 23
13 23
det
1
J
( ) ( )
( ) ( )
( ) ( ) ( ) ( )

+ +
+

=

=
6 4 13 6 2 23
5 3 13 5 1 23
det
1
q q y q q y q q x q q x
q q x q q x
q q y q q y
y
v
x
u
J

This equation can be written in the form of matrix as

Where the B matrix is given as
( ) ( ) ( ) ( )

+ +

6 4 13 6 2 23 5 3 13 5 1 23
det
q q y q q y q q x q q x
x
v
y
u
y J
Bq =
(
(
(

=
12 21 31 13 23 32
21 13 32
12 31 23
0 0 0
0 0 0
det
1
y x y x y x
x x x
y y y
J
B
Example 4.
Find the strain-nodal displacement matrices for the elements shown in figure 4.
Use the local numbers given at the corners
e
B
1 = e
2 = e
1
2
2
3
3
3 in.
2 in.
Solution
We have
(
(
(

= 0 0 0
0 0 0
det
1
21 13 32
12 31 23
1
x x x
y y y
J
B
Using the local numbers at the corners can be written using the relation as
(
(
(

=
(
(

2 0 0 3 2 3
0 0 3 0 3 0
0 2 0 0 0 2
6
1
det
12 21 31 13 23 32
y x y x y x
J
FIGURE 4.
2
B
(
(
(

=
2 0 0 3 2 3
0 0 3 0 3 0
0 2 0 0 0 2
6
1
1
B
Example 5.
A two-dimensional plate is shown in the figure 5. Determine the equivalent point
loads at the nodes 7,8 and 9 for the linearly distributed pressure load acting on the
edges 7-8-9.
( ) 60 , 70
( ) 40 , 85
MPa 3
MPa 2
9
8
.
9
.
8
.
18
F
17
F
16
F
15
F
F
( ) 20 , 100
MPa 1
MPa 2
8
7
.
7
14
F
13
F y
x
mm Thickness 10 =
FIGURE 5.
We consider the two edges 7-8 and 8-9 separately and merge them.
For the edge 7-8
( ) ( )
( ) ( )
[ ]
T
y x y x
T T T T T T T T T
s p T c p T s p T c p T
x x
s
y y
c
mm y y x x
mm y mm x mm y mm x MPa p MPa p
2 , 2 , 2 , 2
25 10
2 . 1 , 6 . 1 , 6 . 0 , 8 . 0
6 . 0 , 8 . 0
25
40 , 85 , 20 , 100 , 2 , 1
1
2 1 2 2 1 1 1 1
2 1
1 2
2 1
1 2
2
1 2
2
1 2 2 1
2 2 1 1 2 1
+ + + +

=
= = = = = = = =
=

= =

=
= + =
= = = = = =

l l
l
These loads add to respectively
[ ]
[ ]
T
y y x x y y x x
T T T T T T T T T
125 , 7 . 166 , 100 , 3 . 133
2 , 2 , 2 , 2
6
2 1 2 1 2 1 2 1
1
=
+ + + + =
16 15 14 13
, , , F F F F
( ) ( )
( ) ( )
[ ]
[ ]
T
T
y y x x y y x x
y x y x
T T T T T T T T T
s p T c p T s p T c p T
x x
s
y y
c
mm y y x x
mm y mm x mm y mm x MPa p MPa p
200 , 7 . 266 , 175 , 3 . 233
2 , 2 , 2 , 2
6
25 10
8 . 1 , 4 . 2 , 2 . 1 , 6 . 1
6 . 0 , 8 . 0
25
60 , 70 , 40 , 85 , 3 , 2
2 1 2 1 2 1 2 1
2
2 1 2 2 1 1 1 1
2 1
1 2
2 1
1 2
2
1 2
2
1 2 2 1
2 2 1 1 2 1
=
+ + + +

=
= = = = = = = =
=

= =

=
= + =
= = = = = =

l l
l
[ ] 200 , 7 . 266 , 175 , 3 . 233 =
These loads add to respectively
18 17 16 15
, , , F F F F
Example 6.
For the two-dimensional loaded plate shown in figure 6., determine the
displacements of the nodes 1 and 2 and the element stress using the plane stress
condition. Body force may be neglected in comparison with the external forces.
For the plane stress conditions,
the material property matrix is given by
lb 1000
2 in.
2 = e
2
3
(
(
(
(

=
2
1
0 1
0 1
1

E
D 2 in.
3 in.
25 . 0 , 10 30
., 5 . 0
6
= =
=
psi E
in Thickness
FIGURE 6.
1
4
1 = e
(
(
(

=
(
(

=
7
7 7
7 7
2
10 2 . 1 0 0
0 10 2 . 3 10 8 . 0
0 10 8 . 0 10 2 . 3
2
1
0 0
0 1
1

D
The connectivity table is as follows
nodes
Element no. 1 2 3
1 1 2 4
2 3 4 2
On performing the matrix multiplication , we get
e
DB
On performing the matrix multiplication , we get
e
DB
(
(
(

=
(
(
(

=
4 . 0 0 0 6 . 0 4 . 0 6 . 0
0 267 . 0 6 . 1 0 6 . 1 267 . 0
0 067 . 1 4 . 0 0 4 . 0 067 . 1
10
4 . 0 0 0 6 . 0 4 . 0 6 . 0
0 267 . 0 6 . 1 0 6 . 1 267 . 0
0 067 . 1 4 . 0 0 4 . 0 067 . 1
10
7 2
7 1
DB
DB
The multiplication gives the stiffness matrix
e e
e e
T
A t DB B
(
(
(
(
(
(
(
(

=
2 . 0
0 533 . 0
0 2 . 0 2 . 1
3 . 0 0 0 45 . 0
2 . 0 2 . 0 2 . 1 3 . 0 4 . 1
3 . 0 533 . 0 2 . 0 45 . 0 5 . 0 983 . 0
1
Symmetric
k
8 7 4 3 2 1
(
(
(
(
(
(
(
(

=
2 . 0
0 533 . 0
0 2 . 0 2 . 1
3 . 0 0 0 45 . 0
2 . 0 2 . 0 2 . 1 3 . 0 4 . 1
3 . 0 533 . 0 2 . 0 45 . 0 5 . 0 983 . 0
2
Symmetric
k
Since the body forces are neglected and the dofs , the set of
equations are written as
Solving the equations, we get
For the element 1, the nodal displacement vector is given by
4 3 1
, , Q Q Q

(
(
(

1000
0
0
4 . 1 0 2 . 0
0 983 . 0 45 . 0
2 . 0 45 . 0 983 . 0
10
3
2
1
7
Q
Q
Q
5
4
5
2
5
1
10 436 . 7 ., 10 875 . 0 ., 10 913 . 1

= = = Q in Q in Q
For the element 1, the nodal displacement vector is given by
The element stresses are calculated from
Similarly,
[ ]
T
0 , 0 , 436 . 7 , 875 . 0 , 0 , 913 . 1 10
5 1
=

q
DBq =
[ ] psi
T
3 . 62 , 7 . 1138 , 3 . 93
1
=
[ ]
[ ]
T
T
4 . 297 , 4 . 23 , 4 . 93
436 . 7 , 875 . 0 , 0 , 0 , 0 , 0 10
2
5 2
=
=

q
Axisymmetric formulation
Considering the elemental volume, the potential energy can
be written in the form
Where is the elemental surface area and the point

=
i
i
T
i
L
T
A
T
A
T
rded rdAd rdAd P u T u f u


2
0
2
0
2
0
2
1
rded P
Where is the elemental surface area and the point
load
represents a line load distributed around a circle.
The above equation can be rewritten as
rded
i
P

|
|

\
|
=
i
L A A
rde rdA rdA
i
T
i
T T T
P u T u f u
2
1
2
Where
The relationship between strains and displacements is
[ ]
[ ]
[ ]
T
z r
T
z r
T
T T
f f
w u
,
,
,
=
=
=
T
f
u
[ ]
T
= , , ,
The stress vector is correspondingly defined as
[ ]
T
T
rz z r
r
u
r
w
z
u
z
w
r
u
(

=
=
, , ,
, , ,

[ ]
T
rz z r
, , , =
The stress strain relation in the usual form is given by
D =
dA rd
drdz rd dv

=
=
d
z
dv
Elemental volume
dz
rd
dA
dr
r
dv
Matrix D can be written as
Galerkin formulation
( )
( )( )
( )
(
(
(
(
(
(
(
(

=
1 0
1 1
0
1 2
2 1
0 0
1
0 1
1
1
0
1
1
2 1 1
1

E
D
Galerkin formulation
Where
( ) ( )

+ +
i
T
i
T T
P T f dl r dA r rdA
L A A
T
2 2 2
[ ]
T
z r
, =
T
r z r z r
r r z z r
(

=

, , , ()
Finite Element Modeling: Triangular Element
Using three shape functions we define
Where
3 2 1
, , N N N
Nq u =
(

=
3 2 1
3 2 1
0 0 0
0 0 0
N N N
N N N
N
If we denote
3 2 1
0 0 0 N N N
[ ]
T
q q q q q q
6 5 4 3 2 1
= q
= = = 1 , ,
3 2 1
N N N
( )
( )
6 4 2
5 3 1
1
1
q q q w
q q q u


+ + =
+ + =
17
15
11
12
13
14
16
18
.
.
.
.
.
.
.
.12
13
11
14
15
16
17
j
Q
2
1 2 j
Q
.
j
1
2
4
5
3
6
7
8
9
10
12
.
.
.
.
.
.
.
.
.
.
1
2
3
4
5
6
7
8
9
10
triangulation
By using isoparametric representation
Chain rule of differentiation gives
( )
( )
3 2 1
3 2 1
1
1
z z z z
r r r r


+ + =
+ + =

r
u
u
J

z
u
r
u
J

z
w
r
w
w
w
J

1
Where the Jacobian is given by
The inverse of equation 1 is given by
(

=
23 23
13 13
z r
z r
J

u
r
u
1
J

u
z
u
r
1
J

w
w
z
w
r
w
1
J
Where
Introducing these transformation relationship into the
stress-displacement relations we get
(

13 23
13 23
det
1
z r
z z
J
J
1
( ) ( )
( ) ( )

q q z q q z
5 3 13 5 1 23
det J
This can be written in the matrix form as
( ) ( )
( ) ( ) ( ) ( )

+ +
+ +
+
=
r
q N q N q N
q q z q q z q q r q q r
q q r q q r
2 2 2 2 1 1
6 4 13 6 2 23 5 3 13 5 1 23
6 4 13 6 2 23
det
det
det
J
J
J

Bq =
Element strain-displacement matrix is given by
(
(
(
(
(
(
(
(

=
0 0 0
det det det det det det
det
0
det
0
det
0
0
det
0
det
0
det
3 2 1
12 21 31 13 23 32
21 13 32
12 31 23
r
N
r
N
r
N
z r z r z r
r r r
z z z
J J J J J J
J J J
J J J
B
Surface traction
For uniformly distributed load with components and ,as shown in
fig, on the edge connecting nodes 1 and 2, we get
r
T
z
T

=
e
e T T
rde T q T u 2
r
T
.
( ) ( )
2 2
2 2 1 1
r N r N r
+ =
+ =
T
3
q
4
q
2
surface traction
z
T
.
.
( ) ( )
2
1 2
2
2 1 2 1
z z r r l + =

r
T
1
q
2
q
1
2 1
l
[ ]
T
q q q q q
4 3 2 1
, , , =
[ ]
T
z r z r
e
bT bT aT aT l T , , , 2
2 1
=
6
2
1 1
r r
a
+
=
6
6
1 1
r r
b
+
=
6
b =
( ) ( )
2
1 2
2
2 1 2 1
z z r r l + =

In this derivation r is expressed as and then integrated.

2 2 1 1
r N r N +
Example
An axissyymetric body with linearly distributed load on the conical
surface is shown in fig. Determine the equivalent point loads at nodes
2,4,and 6.
MPa 25 . 0
MPa 2 . 0
2
z

MPa 35 . 0
MPa 4 . 0
4
6
r

Solution
We approximate the linearly distributed load by the average
uniformly distributed loads on the edges 6-4 and 4-2 as
shown in fig.
Consider the edges 6-4 and 4-2 separately and then merge
them.
For edge 6-4 For edge 6-4
mm z mm r mm z mm r MPa p 55 , 40 , 40 , 60 , 35 . 0
2 2 1 1
= = = = =
( ) ( ) mm z z r r l 25
2
1 2
2
2 1 2 1
= + =

6 . 0
2 1
1 2
=

l
z z
c
8 . 0
2 1
2 1
=

l
r r
s
28 . 0 , 21 . 0 = = = = ps T pc T
z r
67 . 26
6
2
1 1
=
+
=
r r
a
6 + r r
33 . 23
6
6
1 1
=
+
=
r r
b
[ ]
[ ] N
bT bT aT aT l T
T
T
z r z r
25 . 1026 69 . 769 9 . 1172 65 . 879
, , , 2
2 1
1
=
=

These loads add to and ,respectively

7 12 11
, , F F F
8
F
For edge 4-2
mm z mm r mm z mm r MPa p 70 , 20 , 55 , 40 , 25 . 0
2 2 1 1
= = = = =
( ) ( ) mm z z r r l 25
2
1 2
2
2 1 2 1
= + =

6 . 0
2 1
1 2
=

l
z z
c
8 . 0
2 1
2 1
=

l
r r
s
2 . 0 , 15 . 0 = = = = ps T pc T
z r
67 . 16
6
2
1 1
=
+
=
r r
a
33 . 13
6
6
1 1
=
+
=
r r
b
[ ]
[ ] N
bT bT aT aT l T
T
T
z r z r
25 . 1026 69 . 769 9 . 1172 65 . 879
, , , 2
2 1
1
=
=

These loads add to and ,respectively

3 8 7
, , F F F
4
F
[ ] [ ]N F F F F F F 9 . 1172 7 . 879 5 . 1696 4 . 1162 9 . 418 2 . 314
12 11 8 7 4 3
=
Example
In the figure, a long cylinder of inside diameter 80mm and
outside diameter 120mm snugly fits in a hole over its full length.
The cylinder is then subjected to an internal pressure of 2MPa.
Using two elements on the 10-mm length shown, find the
displacements at the inner radius.
4
1
F
z
diam mm 80
diam 20mm 1
MPa 2
2
1
2
3
1
3
F
mm 10
mm 40
mm 60
0.3
GPa 200
=
=

E
Solution
Consider the following table
Element
Connectivity
1 2 3
1 1 2 4
2 2 3 4
node
Coordinates
r z
1 40 10
2 40 0
3 60 0
4 60 10
We will use the units of millimeters for length, newtons for force, and
megapascals for stress and E. These units are consistent.
On substituting we have
0.3 and MPa 000 200 = = E
(
(
(
(
(

=
5 5 5
5
5 5 5
5 5 5
10 69 . 2 0 10 15 . 1 10 15 . 1
0 10 77 . 0 0 0
10 15 . 1 0 10 69 . 2 10 15 . 1
10 15 . 1 0 10 15 . 1 10 69 . 2
D
For both the elements, detJ and
The forces are given by
(

10 69 . 2 0 10 15 . 1 10 15 . 1
2
mm 200 =
2
e
100mm A =
( )( )( )
N 2514
2
2 10 40 2
2
2
1
3 1
= = = =

i e
p l r
F F
2 1
and F F
The B matrices relating element strains to nodal displacement are obtained first.
For element 1
( ) and mm 67 . 46 60 40 40
3
1
= + + = r
(
(
(
(

=
0 00625 . 0 0 00625 . 0 0 00625 . 0
0 1 . 0 05 . 0 1 . 0 05 . 0 0
0 0 1 . 0 0 1 . 0 0
0 05 . 0 0 0 0 05 . 0
1
B
( )
1
For element 2
( ) and mm 33 . 53 60 60 40
3
1
= + + = r
(
(
(
(

=
0 00625 . 0 0 00625 . 0 0 00625 . 0
0 1 . 0 05 . 0 1 . 0 05 . 0 0
1 . 0 0 1 . 0 0 0 0
0 0 0 05 . 0 0 05 . 0
1
B
The element stress-displacement matrices are obtained by multiplying DB
(
(
(
(

=
0 766 . 0 15 . 1 191 . 0 15 . 1 384 . 0
385 . 0 0 0 77 . 0 385 . 0 77 . 0
1 . 0 657 . 0 69 . 2 082 . 0 69 . 2 49 . 0
0 43 . 1 15 . 1 082 . 0 15 . 1 26 . 1
10
4
1
B D
(
(
(
(

=
15 . 1 168 . 0 15 . 1 743 . 0 0 407 . 0
0 77 . 0 385 . 0 77 . 0 385 . 0 0
69 . 2 072 . 0 69 . 2 647 . 0 0 503 . 0
15 . 1 072 . 0 15 . 1 42 . 1 0 27 . 1
10
4
2
B D
The stiffness matrices are obtained by finding for each element
B D B
T
e
A r 2
(
(
(
(
(
(
(
(

0.565 symmetric
0 2.25
0 1.93 - 7.89
1.13 - 0.16 0.24 - 2.30
0.565 - 1.93 89 . 7 37 . 1 45 . 8
1.13 1.932 - 1.45 2.34 - 2.58 - 4.03
10
8 7 4 3 2 1 dof Global
7 1
k
(

0.565 symmetric
(
(
(
(
(
(
(
(

9.01 symmetric
0.241 2.62
9.01 - 1.05 9.66
2.17 2.42 - 3.46 - 5.11
0 1.29 - 645 . 0 29 . 1 645 . 0
1.69 - 0.085 - 1.69 2.22 - 0 2.05
10
8 7 6 5 4 3 dof Global
7 2
k
Using the elimination approach, on assembling the matrices with reference to
the degrees of freedom 1 and 3, we get
So that
)
`

=
)
`

=
2514
2514
35 . 4 34 . 2
34 . 2 03 . 4
10
2
1 7
Q
Q
mm 10 014 . 0
2
1

= Q
mm 10 00133 . 0
2
3

= Q
Types of Elements
One dimensional elements
1. Beam (axial)
2. Beam (bending)
3. Pipe
139
Two dimensional elements
1. Triangular
inplane
bending
2. quadrilateral
inplane
bending
Types of Elements
140
Three dimensional elements
1. brick
2. Tetrahedral
Types of Elements
141
Modeling
Element type must be consistent
Finer mesh near the stress gradient
Extremely fine mesh when forces to be applied near the stress
142
concentration areas such as fillets
Uniform change in stress between adjacent elements
Better aspect ratio
Modeling (contd)
Gross element distortion should be avoided
Adjoining elements must share common nodes and common
degrees of freedom
143
45
0
15
0
Debugging of FE models
Geometry
Material properties
Applied forces
144
Displacement constraints
Common symptoms and their possible causes
Symptoms Causes
Excessive deflection, but
anticipate stress
Youngs modulus too low,
missing nodal constraints
145
Excessive deflection and
excessive stress
Internal discontinuity in stress and
deflection
Applied force too high,
nodal coordinates incorrect,
force applied at wrong nodes
Force applied at wrong nodes,
missing or double internal element
Symptoms Causes
Discontinuity along boundary Missing nodal constraint,
force applied at wrong node
Common symptoms and their possible causes
146
Higher or lower frequency than
anticipated
-Static deflections, O.K.
-Static deflection not O.K.
Internal gap opening up in model
under load, stress discontinuity
Density incorrect
Youngs modulus incorrect
Improper nodal coupling
Common Errors in Finite Element Analysis
Idealization error Discretization error
Idealization Error
Posing the problem
Establishing boundary conditions
Stress-strain assumption Stress-strain assumption
Geometric simplification
Specifying simplification
Specifying material behaviour
Loading assumptions
Error - 1
147
Discretization Error
Imposing boundary conditions
Displacement assumption
Poor strain approximation due to element distortion
Feature representation
Numerical integration Numerical integration
Matrix ill-conditioning
Degradation of accuracy during Gaussian elimination
Lack of inter-element displacement compatibility
Slope discontinuity between elements
Error - 2
148
SOURCES OF NONLINEARITIES
Geometric
Material
Force Boundary Conditions Force Boundary Conditions
Displacement Boundary Conditions
149
GEOMETRIC NONLINEARITY
Physical source
Change in geometry as the structure deforms is taken into account
in setting up the strain displacement
and equilibrium equations.
Applications
1. Slender structures in aerospace, civil and mechanical
engineering applications.
2. Tensile structures such as cables and inflatable membranes.
3. Metal and plastic forming.
4. Stability analysis of all types.
150
GEOMETRIC NONLINEARITY CONTD..
Mathematical source
Strain-displacement equations:
e = Du (2.1)
The operator D is nonlinear when finite strains (as
opposed to infinitesimal strains) are expressed in terms
of displacements.
Internal equilibrium equations:
b = D (2.2)
In the classical linear theory of elasticity, D = DT is the
formal adjoint of D, but that is not necessarily true if
geometric nonlinearities are considered.
151
GEOMETRIC NONLINEARITY CONTD..
Large strain
The strains themselves may be large, say over 5%.
Ex: rubber structures (tires, membranes)
Small strains
but finite displacements and/or rotations. Slender
structures undergoing finite displacements structures undergoing finite displacements
Rotations
although the deformational strains may be treated
as infinitesimal.
Example: cables, springs
152
Linearized prebucking.
When both strains and displacements may be treated as
infinitesimal before loss of stability by buckling.These may
be viewed as initially stressed members.
GEOMETRIC NONLINEARITY CONTD..
Example:
Many civil engineering structures such as buildings and stiff
(non-suspended) bridges.
153
MATERIAL NONLINEARITY
Physical source
Material behavior depends on current deformation state and
possibly past history of the deformation.
Other constitutive variables (prestress, temperature, time,
moisture, electromagnetic fields, etc.) may be involved.
Applications Applications
Structures undergoing
Nonlinear elasticity
Plasticity
Visco-elasticity
Creep, or inelastic rate effects.
154
MATERIAL NONLINEARITY CONTD..
Mathematical source
The constitutive equations that relate stresses and
strains. For a linear elastic material
= Ee
where the matrix E contains elastic moduli.
Note:
If the material does not fit the elastic model,
generalizations of this equation are necessary, and a
whole branch of continuum mechanics is devoted to the
formulation, study and validation of constitutive
equations.
155
MATERIAL NONLINEARITY CONTD..
The engineering significance of material nonlinearities varies greatly
across disciplines.
Civil engineering deals with inherently nonlinear materials such as
concrete, soils and low-strength steel.
Mechanical engineering creep and plasticity are most important,
frequently occurring in combination with strain-rate and frequently occurring in combination with strain-rate and
thermal effects.
Aerospace engineering material nonlinearities are less important
and tend to be local in nature (for example, cracking and
localization failures of composite
materials).
156
Material nonlinearities may give rise to very complex
phenomena such as path dependence, hysteresis,
localization, shakedown, fatigue, progressive failure.
MATERIAL NONLINEARITY CONTD..
The detailed numerical simulation of these phenomena
in three dimensions is still beyond the capabilities of the
most powerful computers.
157
FORCE BC NONLINEARITY
Physical Source
Applied forces depend on deformation.
Applications
The most important engineering application concerns pressure loads
of fluids.
Ex:
1. Hydrostatic loads on submerged or container structures;
2. Aerodynamic and hydrodynamic loads caused by the motion of
aeriform and hydro form fluids (wind loads, wave loads, and drag
forces).
158
DISPLACEMENT BC NONLINEARITY
Physical source
Displacement boundary conditions depend on the
deformation of the structure.
Applications
The most important application is the contact problem,
in which no-interpenetration conditions are enforced on flexible
bodies while the extent of the contact area is unknown.
Non-structural applications of this problem pertain to the more
general class of free boundary problems,
example: ice melting, phase changes, flow in porous media.
The determination of the essential boundary conditions is a key
part of the solution process.
159
Some solution method
For a time independent problem
[K]{D}={F}
For a linear analysis [K] and {R} are independent of [D].
For nonlinear analysis [K] and {R} are regarded
as function of {D}
Consider [K] is a function of {D} and can be computed
for a given {D} Consider a nonlinear spring in Fig 1
Spring stiffness [K]=K
0
+K
N
K
U
P
P
Hardening
K
N
>0
K
N
=0
Fig 1
160
Spring stiffness [K]=K
0
+K
N
K
0
=constant term
K
N
=depends on deformation
(K
0
+K
N
)u=P
Where u=displacement
P=load And K
N
=f(u) and depends on [D]
Note: 1.when K
N
is known in terms of u,P can be calculated in terms of u
2.Explicit solution for u is not available
3.u can be determined by iterative methods
u
Softening
K
N
<0
1
0
A
P
u
K
=
2
0 1
( ( ))
A
P
u
K f u
=
+
Direct substitution
Let K
N
<0 (softening spring
P
A
is the load applied
Assume K
N
=0 first iteration
U
A
=displacement produced for the first iteration
Use u
1
to compute the new stiffness. K
0
+K
N1
=K
0
+f(u)
Writing symbolically
u
P
u
1
u
2
u
3
1
2
3
a
b
c
K
0
Slope=K
0
-K
N1
161
1 1 1
1 0 2 0 1 1 0
, ( ) ,......, ( )
A N A i Ni A
u k p u k k p u k k p

+
= = + = +
Writing symbolically
This calculations are interpreted graphically in Fig 2.2
Note:
1.Approximate stiffness K
0
+K
Ni
can be regarded as secants of the actual curve
2.After several iterations, the secant stiffness=K
0
+K
N
3.stiffness=P
A
/U
A
u=u
A
is closely approximated