Master's Degree Thesis

ISRN: BTH-AMT-EX--2015/D11--SE

A Continuum Based Solid Shell

Element Based on EAS and ANS
.

Waleed Ahmad Mirza

Department of Mechanical Engineering

Blekinge Institute of Technology
Karlskrona, Sweden
2015
Supervisors: Maciej Wysocki and Mohammad Rouhi, SICOMP AB
Sharon Kao-Walter, BTH

A
Continuum
Based
Solid

Shell
Element
Based
on
EAS
and
ANS
Waleed
Ahmad
Mirza
Department
of
Mechanical
Engineering
Blekinge
Institute
of
Technology
Karlskrona,
Sweden.
2015
Thesis
submitted
for
completion
of
Master
of
Science
in
Mechanical

Engineering
with
emphasis
on
Structural
Mechanics
at
the
Department
of

Mechanical
Engineering,
Blekinge
Institute
of
Technology,
Karlskrona,

Sweden.

Abstract
This
work
is
a
stepping
stone
towards
developing
higher
order
shell
element
for

simulating
composite
manufacturing
procedure.
In
this
study,
a
continuum

approach
suitable
for
combined
material
and
geometrically
nonlinear
analysis

for
an
eight
node
solid
shell
element
SS8
is
explained.
The
formulation
of
SS8

comprises
two
ingredients
to
alleviate
undesirable
locking
eects:
1)
Assumed

Natural
Strain
concept,
which
has
proven
to
alleviate
the
curvature
thickness

and
transverse
shear
locking
problems.
2)
Enhanced
Assumed
Strain,
which

adds
enhanced
degrees
of
freedom
to
improve
the
in-plane
response
of
the

element
and
the
curvature
thickness
locking
problem.
This
formulation
has

been
extended
to
represent
geometric
and
material
non-linearity
using
Total

Lagrangian
approach.
Finally,
nite
strain
formulation
has
been
veried
by

numerical
examples.
Results
when
compared
to
continuum
shell
element
in

ABAQUS
show
a
reasonable
agreement
with
a
relative
error
of
less
than
2%.

Keywords
Lagrangian,
Finite
Strain,
Solid
Shell
Element,
Enhanced
Assumed
Strain

Acknowledgement
This research work is carried out in Swerea SICOMP AB and Blekinge Institute of Technology, Karlskrona, Sweden, under the supervision of Dr. Maciej
Wysocki, Dr. Mohammad Rouhi and Prof. Sharon Kao-Walter.
I am grateful to Dr. Maciej Wysocki who provided me the opportunity to conduct this research. Moreover my sincere appreciation goes to Dr. Mohammad
Rouhi for helping me with technical diculties and to all my colleagues at
SICOMP for providing me a conducive atmosphere to carry out this research
and above all for their valuable support and advice. Last but not least, my
father, mother and girlfriend, who owes my deepest gratitude and love for
being an endless source of motivation for me.

Gothenburg, May 2015

Waleed Ahmad Mirza

Contents
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.
.







2 Introduction
2.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Solid Shell Elements State of the art review . . . . . . . . . . . .
2.3 Outline of thesis and proposed methodology . . . . . . . . . . . . .






3 Theory of Finite Strain Analysis

3.1 Total Lagrangian Formulation . . . . . . . . . . . . . . . . . . . . .
3.1.1 Integrating EAS and TL Formulation . . . . . . . . . . . .





4 SS8
4.1
4.2
4.3
4.4
4.5
4.6
4.7

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1 Notation
1.1 Variables . .
1.2 Abbreviations
1.3 Superscripts .
1.4 Operators . .

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Formulation- Small Strain kinematics

Linear Element Formulation . . . . . . . . . . . . . .
Thickness Strain . . . . . . . . . . . . . . . . . . . .
Transverse Shear Strain . . . . . . . . . . . . . . . .
In-plane Strain Response . . . . . . . . . . . . . . . .
Transformation to Orthonormal Coordinate System .
Enhanced Strain . . . . . . . . . . . . . . . . . . . .
Element Stiness Matrix . . . . . . . . . . . . . . . .

5 SS8 Formulation- Finite Strain kinematics

5.1 Geometric and Kinematic Formulation . . . . . . . .
5.1.1 Strain and Enhanced Strain Parametrization
5.1.2 Internal load vectors . . . . . . . . . . . . . .
5.2 Stiness Computation . . . . . . . . . . . . . . . . .
5.3 Constitutive Equations of Hyperelasticity . . . . . .

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Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



6 Numerical Analysis
6.1 Benchmarking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Cantilever beam bending . . . . . . . . . . . . . . . . . . . . . . . .
6.2.1 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.2 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Analysis
of
thin
Eeam
(
L

t =30,
300
and
3000)
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6.3.1 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Cooks Membrane Problem . . . . . . . . . . . . . . . . . . . . . .
6.4.1 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.2 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Patch Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.1 Result . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.2 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6 Distortion test . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.1 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.2 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . .


















7 Conclusion and Recommendations

7.1 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 Learning outcomes . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3 Future Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .






8 References



9 Appendix
9.1 Appendix A: Flow Diagrams . . . . . . . . . . . . . . . . . . . . .
9.2 Appendix B: MATLAB Code . . . . . . . . . . . . . . . . . . . . .





5.4

Notation
Variables
Benh

Enhanced
strain
displacement
tensor

BN L

Non-linear
strain
displacement
tensor

BOMH

Non-linear
strain
displacement
matrix

Linear
strain
displacement
tensor

B
b
Cijrs

Left
green
Cauchy
tensor

Component
of
Fourth
order
material
tensor

Right
green
Cauchy
stress

Energy
dissipation

Elasticity
modulus

t+t
E
o

Green
Lagrangian
strain
tensor
at
time
t
+
t

eij

Linear
strain
tensor

Deformation
gradient

Transformation
matrix

fenh

Internal
force

due
to
enhanced
strain
matrix
and
stress
state

fJOU

Internal stress state tensor

G

Shear modulus

Gi

ith column of Jacobian matrix

gi

ith column of spatial basis vector

I4

Fourth order Identity Tensor

Determinant of deformation gradient

KL

Linear stiness tensor

KN L

Non-linear stiness tensor

l

N

Spatial velocity gradient

Tensor of order 3x24 containing shape functions

Spatial normal to a surface

NI

k
NX

Shape function at node I

Derivative of Shape function at node k with respect to spatial
coordinate
X

Stress power

External load

Second Piola-Kirchho stress

Sv

Second Piola-Kirchho stress in vector formulation

t
U

True traction vector

3 8 tensor representing displacement of each node of SS8

u
ui,j

Nodal displacement
Displacement component i with respect to component j

Vo

Undeformed volume

v
X, Y, Z

Poisson ratio
Global coordinates( material coordinates)

x, y, z

Deformed coordinates

, ,

Natural coordinates

Enhanced degree of freedom

ij

Non-linear strain tensor

ij

Components of Green Lagrangian strain tensor

Free energy

Cauchy stress

xx

Longitudinal stress along x-axis

yy

Longitudinal stress along y-axis

xy

In plan sheer stress

Abbreviations

Assumed Natural Deviatoric Strain

ANDES
ANS

Assumed Natural Strain

EAS

Enhanced Assumed Strain

SS8

Eight Node Solid Shell Element

TL

Total Lagrangian

UL

Updated Lagrangian

Superscripts
c

Orthonormal Coordinate system

Discrete

Natural coordinate system

Operators

Variation operator

(a b)ijkl = (a)ij (b)kl with c : (a b) = (c : a)b and (a b) : c = (b : c)a

Introduction
Shell
elements
are
very
ecient
and
robust
in
capturing
mechanics
of

structures
with
thickness
span
much
smaller
than
other
two
directions.
These

shell
elements
consist
of
arrange
of
subclasses,
one
of
which
is
solid
shell

elements.
Solid
shell
elements
are
in
general
modies
brick
elements,
capable
to

model
thin
shell
or
plate
like
structures.
From
literature
review,
solid
shell

elements
are
found
to
have
following
advantages
over
other
families
of
shell

elements
[4].
 They
are
computationally
eective
and
reliable
in
terms
of
capturing
in
plane
and
transverse
response
compared
to
brick
elements.
For
instance,
in
application
such
as
sheet
metal
deforming
membrane
stretching,
bending
and
shearing
are
very
dominant.
In
such
scenario,
solid
shell
elements
can
be
successfully
implemented
to
capture
such
intricate
responses.
 Unlike
planer
shell
elements,
using
solid
shell
elements
boundaries
of
three
dimensional
structures
can
be
modelled
without
introducing
any
kinematic
assumptions.
But
these
advantages
come
at
cost
of
many
undesirable
phenomenas,
popularly
referred
as
locking
eects
[1].
Locking
occurs
when
a
shell
element
is

modelled
like
a
solid
brick
element
using
displacement
interpolation
which

tends
to
lock
out
realistic
displacement
of
element
response
by
activating

extraneous
strains
that
require
much
higher
energy
input
than
strains
of
the

realistic
mode.
These
locking
behaviours
prevent
solid
elements
to
be
used

for
shell
like
structures.
The
goal
of
this
project
is
to
formulate
an
eight
node
solid
shell
element

based
on
continuum
approach
using
isotropic
hyper-elastic
constitutive
material
model.
This
formulation
is
coupled
with
techniques
such
as
Assumed

Natural
Strain
(ANS)
and
Enhanced
Assumed
Strain
(EAS)
aimed
at
removing
locking
eects.
First
a
solid
shell
element
is
formulated
for
small

strain,
linear
kinematics
and
later
extended
to
nite
strain,
nonlinear
material
kinematics
using
Lagrangian
approach.
At
the
end
case
studies
have
been

proposed
to
verify
the
formulation.

2.1
Motivation
This
work
is
part
of
a
bigger
project
aimed
at
developing
a
simulation
tool
for

modelling
composite
manufacturing
process
of
a
wide
range
of
popular
infusion

techniques
using
higher
order
solid
shell
elements.
Higher
order
shell
elements

have
extensive
application
in
elds
like
porous
media
theory
where
pressure

eld,
a
derivative
of
displacement,
is
approximated
with
linear
variation
[].

As
a
consequence
of
linear
pressure
variation,
the
displacement
is
rendered

quadratic.
This
quadratic
displacement
trend
can
be
very
well
captured
with
a

20
node
solid
shell
element.
Moreover,
in
other
applications
of
structural

mechanics,
higher
order
shell
elements
are
better
capable
of
capturing
curved

geometries.
The
current
project
is
a
stepping
stone
towards
developing
higher
order
solid

shell
elements.
The
project
involves
formulating
a
3D-shell
element
comprising
8
nodes
based
on
hyper-elastic
material
model.
The
approach
developed

for
formulating
eight
node
solid
shell
element
will
be
used
for
modelling
higher

order
solid
shell
element
in
the
follow
up
project.
Such
higher
order
element

will
be
implemented
in
simulating
composite
manufacturing
procedures
like

vacuum
infusion.

2.2
Solid
Shell
Elements

State
of
the
art

review
Solid
shell
elements
are
quite
similar
to
brick
elements
in
nodal
formulation

and
exhibit
only
translational
degree
of
freedom.
Along
with
several
advantages,
these
elements
come
with
a
number
of
disadvantages
resulting
from

smaller
span
of
thickness
dimension
compared
to
the
lateral
dimensions
[1].

Solid
shell
concept
was
developed
to
overcome
well
known
degenerate
concept.

Using
nodes
at
upper
and
lower
surface
and
displacement
degree
of
freedom,

stresses
and
strains
in
longitudinal,
transverse
and
thickness
direction
are
cal-

10

culated accurately. Along with several advantages, these elements come with
a number of disadvantages resulting from smaller span of thickness dimension
compared to the lateral dimensions. In literature several techniques such as
ANDES, ANS and EAS [1], [4] have been applied to overcome deciencies
such as extra undesirable energy modes and locking phenomenas. A review
on the locking behaviour is as follow.
1- Transverse shear locking / trapezoidal locking is the inability of an
element to exhibit zero shear strain when subjected to pure bending. This
defect is owed to the formulation of standard strain displacement matrix using displacement interpolation, as a result of which shear strain terms arise
in strain displacement matrix because of in plane strain terms. This idea can
be illustrated in the following example.

Figure
2.1:
Deformed
and
un-deformed
state
of
element
under
pure

bending.
Consider
the
4
node
quadrilateral
element
as
illustrated
in
gure
2.1.
The

element
is
subjected
to
pure
bending
which
is
supposed
to
render
zero
shear

strain.
Lets
assume
the
displacement
vector
in
the
current
deformation
is
as

follows:
(u1 , v1 , u2 , v2 , u3 , v3 , u4 , v4 ) = (1, 0, 1, 0, 1, 0, 1, 0)

(2.1)

These nodal displacements will trigger shear strain owing to the following
strain displacement formulation.

xx

(1y)

yy = 1/4

xy

0
(1y)
0
(1+y)
0
(1+y)
0

0
(1x)
0
(1+x)
0
(1+x)
0
(1x) {u}
(1x) (1y) (1+x) (1y) (1+x) (1+y) (1x) (1+y)

11

(2.2)

This
problem
can
be
minimized
by
using
reduced
integration.
Shear
strains

are
evaluated
at
x=0
and
y=0,
which
results
in
zero
shear
strains
as
can
be

seen
in
equation
(2.2).
2- Volumetric
locking
arise
in
problems
comprising
incompressible
or
nearly
compressible
constitutive
material
models
where
1oisson
ratio
is
equal
to
0.5.
This
value
renders
the
material
matrix
equal
to
innity
as
shown
in
equation
(2.3-2.6)
leading
to
a
very
high
value
of
stress.
There
are
several
methods
to
avoid
this
behaviour
one
of
which
is
reduced
integration
or
using
constraints
such
as
given
in
equation
(2.6).

xx
1v
v
0
xx

1v
0 yy
yy =
v

(1 + v)(1 2v)
xy
0
0
1 2v 2xy

(2.3)

1v
v
0
E

1v
0
C=
v
(1 + v)(1 2v)
0
0
1 2v

(2.4)

Equation (2.4) becomes as follows at v=0.5.

0.5 0.5 0

C = 0.5 0.5 0
0
0 0

(2.5)

exx = eyy

(2.6)

The
constraint
limits
the
value
of
stress
on
each
integration
points
by
cancelling
the
denominator
term
of
(1-2v)
in
equation
(2.4).
3- Poisson
thickness
locking
happens
when
the
displacement
is
assumed
to
vary
linearly
in
the
thickness
direction,
which
renders
constant
thickness
strain.
However,
due
to
Poissons
eect
(shown
in
equation
2.7),
the
thickness
strain
is
coupled
with
in-plane
strains
that
vary
linearly
across
the
thickness.
This
discrepancy
results
in
Poisson
thickness
locking.
The
remedies
to
this
defect
could
be:
1-
Assuming
a
quadratic
displacement
distribution
in
thickness
direction,
resulting
a
linear
thickness
strain.
2-
Using
EAS
degreesof-freedoms
and
enhancing
the
thickness
strain
to
vary
linearly
across
the

12

thickness

xx
1v
v
0

xx
E

v
1

v
0
=
yy

yy

(1 + v)(1 2v)
xy
0
0
1 2v 2xy

(2.7)

 Curvature/Trapezoidal
locking
occurs
when
element
edges
in
thickness
direction
are
not
perpendicular
to
the
mid
plane.
This
type
of
situation
arises
when
curved
geometries
are
modelled
with
solid
shell
element.
This
defect
can
be
reduced
by
using
Assumed
Natural
Strain
concept>@
 Membrane
locking
happens
when
the
element
is
subjected
to
in-plane
longitudinal
or
transverse
(shear)
loads
and
the
low
order
shape
functions
are
not
capable
of
modelling
the
physical
behaviour
of
the
element.
ANDES
and
ANS
approach
can
used
to
alleviate
this
behaviour
[1].
Assumed
Natural
Strain
(ANS)
concept
was
rst
introduced
in
1978
by
Park

and
Stanley
[]
for
doubly
curved
thin
shell.
This
technique
is
eective
in

alleviating
shear
locking.
A
similar
technique
called
Mixed
Interpolation

Tensoral
Components
(MITC)
was
developed
by
Bathe
et
al.
[4].
The
Assumed
Natural
Deviatoric
Strain
concept
(ANDES)
presented
by
Felippa
and

Militello,
represents
a
combination
of
free
formulation
of
Bergan
[]
<>
and

has
been
extensively
used
by
researchers
for
alleviating
membrane
strain.
ANDES
and
MITC,
though
very
eective,
has
not
been
used
much
in
the
past.

EAS
technique
originated
from
variational
framework
presented
by
Simo
and

Rifai
[15]
which
ultimately
evolved
to
EAS
variant.
EAS
is
mainly
used
to

counter
Poisson
thickness
locking.
All
locking
alleviating
techniques
have
been

extensively
used
in
both
small
and
nite
strain
analysis.
As
far
as
nonlinear
formulations
of
solid
shell
elements
is
concerned,
a
detailed

work
has
been
done
till
now.
Up
to
this
point,
researchers
have
used
Total

Lagrangian,
Updated
Lagrangian
and
Co
Rotational
formulation
to
model

nonlinearity.
Schwarze
and
Reese
[17]
developed
a
reduced
integration
geometric
nonlinear
element
based
on
5otal
Lagrangian
approach.
Abed-Meraim

and
Combescure
[18>
<19]
employed
updated
Lagrangian
approach
to
model

nonlinear
behaviour
of
solid
shell
elements.
In
work
of
Mostafa
[1]
solid

shell
element
with
ANDES,
ANS
and
EAS
techniques
have
been
used
but

for
nonlinear
analysis
he
used
Co
Rotational
Formulation
which
is
eective

for
modelling
material
nonlinearity
but
has
disadvantage
of
not
being
able
to

capture
large
strains
[1].
More
work
on
nonlinear
analysis
can
be
found
in

[20,21,22,23].

13

2.3

Outline of thesis and proposed methodology

To accomplish the goals of this project, following methodology has been followed.
1- Literature review to comprehend theory and equations constituting nite
strain kinematics and Enhanced Assumed Strain concept (Chapter 3).
2- SS8 formulation for small strain linear kinematic using Assumed Natural
Strain (ANS) and Enhanced Assumed Strain (EAS) concepts (Chapter 4).
3- Finite strain formulation of SS8 element using Total Lagrangian approach
(Chapter 5).
4- Implementation and verication of formulated element in the proposed case
studies (Chapter 6).
5- Finally drawing conclusion and suggesting future work (Chapter 7).

14

Theory
of
Finite
Strain

Analysis
This
chapter
details
theory
and
constitutive
equations
behind
the
adopted
nite
strain
methodology.
There
are
two
popular
methodologies
to
approach
a

nite
strain
problem:
Total
Lagrangian
(TL)
and
Updated
Lagrangian
(UL)

formulation.
According
to
Bathe
et
al.
[4],
in
Total
Lagrange
formulation
(TL),

the
reference
conguration
is
the
undeformed
or
material
conguration
as

opposed
to
Updated
Lagrangian
(UL)
formulation
where
the
reference
conguration
is
set
as
the
current
conguration
from
the
last
converged
increment.
In
TL
formulation,
integrals
are
solved
over
the
undeformed
conguration
and
Second
Piola-Kirchho
stress
and
Green
Lagrangian
strain
are
used

as
stress
and
strain
measures.
Whereas
in
UL,
formulation
integrals
are
solved

over
current
conguration
and
if
the
increments
are
small,
Cauchy
stress
and

Rate
of
Deformational
tensor
are
employed
as
stress
strain
measures.
The

downside
of
Updated
Lagrangian
approach
includes
more
computation
since

reference
state,
volume
and
stress
orientation
are
updated
in
every
incre-ment.

But
unlike
Total
Lagrangian
formulation,
Updated
Lagrangian
does
not

contain
any
initial
displacement
eect
in
strain
measure.
In
this
study,
Total

Lagrangian
formulation
has
been
followed
coupled
with
EAS
approach

to
model
ILQLWHstrain
response.

.1
Total
Lagrangian
Formulation

Consider
energetically
conjugate
pair
of
stress
and
strain
at
time
t
+
t
re
Sij and
t+t
ij
.
Principle
ferred
to
reference
state
at
time
t=0
denoted
as
t+t
o
o
of virtual work involving such energetically conjugate pair can be written as
follow [36].

15


Vo

t+t
Sij 0t+t ij dVo
o

= t+t R

(3.1)

In an incremental approach solution at time t is known (for example t0 Sij ,

tu
0 i,j etc.). Therefore stresses and strains are decomposed as follows:
(3.2)

t+t
Sij
=tP
Sij
+P
Sij
o
t+t
ij
=tP
ij
+Pij
o

(3.3)

In
incremental
procedure,
the
stress
tP
Sij
and
strain
tP
ij
stated
at
time
t
are

known
while
increments
i.e.
P
ij
,
P
Sij
are
unknown.
Therefore,
these
unknown

increments
are
required
to
be
estimated
at
any
given
time
step.
Dening
the

Green
Lagrangian
Strain
Tensor
at
time
t
and
t
+
t
in
following
equations.
t
Pij
=

1 t
t
uj,i
+tP
uk,itPuk,j
)
( ui,j
+P

2 P

(3.4)

and
t+t
ij
P

1 t+t
ui,j +tP+t uj,i +tP+t uk,i tP+t
(
2 P

uk,j )

(3.5)

Now substituting equation (3.4) and (3.5) in equation (3.3) yields the following.
=
P ij

1
1
(0ui,j
+0
uj,i
+tP
uk,i
tP
uk,j
)
+
uk,iPuk,j
2
2

(3.6)

Now,
linear
strain
increment
Peij
and
non-linear
strain
increment
Pij
can
be

dened
as
follows:
Peij
=

1
( ui,j
+0
uj,i
+tP
uk,i
tP
uk,j
)
2 0

(3.7)

oij
=

1
uk,iPuk,j
2

(3.8)

(3.9)

oij
=oij
+oeij

16

Variation in incremental Green Lagrangian Strain yields the following.

(3.10)

oij
=
Pij
+
Peij
Now equation of virtual work becomes,



Vo

o Sij o ij dVo +

Vo

t
t+t
R

PSij
0ij
dVo
=

t
PSij
Peij
dVo









(3.11)

Vo

The above mentioned equation is a non-linear function of the unknown displacement increment. Therefore, equation (3.11) is linearized to obtain the
following form.
t



U
=
t+tR
to
f JOU
oK


(3.12)

Equation (3.12) is an approximation of equation (3.11) obtained by neglecting

all higher order terms in displacement increment. A detailed description of
linearization procedure can be found in [36]. Here nal form is mentioned.



o Cijrso ers o eij dVo +
Vo
Vo

t
o Sij o ij dVo

t+t


Vo

t
PSij
Pij
dVo



(3.13)

Now writing the linearized form of principle of virtual work in matrix notations.
t
o KL

t
o KN L

t


of JOU=

Vo

t 5 U
oBo
C o
BdVo

Vo


Vo

(3.14)

t 5 t S
t B
oBOlg o o nlg dVo

(3.15)

t 5
U
oB PSv
dVo

(3.16)

(to K +to KN L )  U = t+t R to fint

17

(3.17)

3.1.1
Integrating
EAS
and
TL
Formulation

The
EAS
formulation
was
introduced
in
1990
by
J.C.
Simo
et
al.
[15].
Enhanced
Assumed
Strain
Approach
is
capable
of
treating
volumetric,
thickness

and
shear
locking.
This
formulation
enhances
the
in
plane
strain
and
thickness
strain
response
by
adding
extra
degree
of
freedom
in
strain
displacement

matrix.
In
this
section
we
will
layout
the
mathematical
formulation
governing

this
approach.
In
EAS,
Linear
strain
displacement
matrix
B
is
enhanced
by

adding
few
extra
columns,
denoted
by
Benh.


B new = B Benh

(3.18)

Matrix
Benh
is
formulated
by
meeting
the
following
conditions
[2]

Benh
should
be
linearly
independent
from
B
as
given
in
following
equation.

Ignoring
the
condition
will
render
matrix
singularity
and
will
give
a
nonunique
solution.
Benh B =

(3.19)

2- Second
Piola-Kircho
Ttress
and
enhanced
strain
displacement
matrix

should
be
orthonormal
i.e.

Vo

T
Benh
Sv dVo = 0

(3.20)

Since Second Piola-Kircho stress is constant, therefore equation (3.20) is

written as:

Vo

Benh dVo = 0

(3.21)

Now the new form of equation (3.17) is as follow.


Vo

T S B
T
B T CBdVo + Vo Bnlg
9 nlg dVo
Vo B CBenh dVo


T
T
Vo Benh CBdVo
Vo Benh CBenh dVo

Rt+t
0

 

 
 (3.22)
5
B

S
dV
v

o
 Vo 5
Vo

Benh Sv dVo

Where are the extra degree of freedom added as a result of enhancing the
strain displacement matrix. In short form equation (3.22) can be written as:

18

t
o KL

+ to KN L GT
G
A

 

Rt+t
u
=

t
o fint
t
o fenh

(3.23)

Lastly, these extra degree of freedoms are condensed out using static condensation method. Finally displacement degrees of freedom are left as given in
the following equation:
R to fint + GT A1to fenh
(to KL + to KN L GT A1 G)u = t+t
o

(3.24)

In
linear
formulation
terms
such
as
toKN L
and
ot fint
will
be
ignored

and
Gollowing
equation
JT
MFGU
(KL GT A1 G)u = R GT A1 fenh

(3.25)

Now
in
next
chapter
using
equation
(3.25)
and
(3.24)

SS8
element
for
small

strain
and
nite
strain
case

JT
GPSNVMBUFE

19

SS8
Formulation-
Small

Strain
kinematics
In
chapter
3,
continuum
mechanics
behind
Total
Lagrangian
method
and

Enhanced
Assumed
Strain
(EAS)
method
were
discussed.
In
this
chapter,
nite

element
implementation
of
these
concepts
is
explained.
Techniques
such
as

Enhanced
Assumed
Strain
and
Assumed
Natural
Strain
will
be
used
to
model

small
and
nite
strain
response
of
SS8
solid
shell
element.
First,
moving
on
from

equation
(3.25)
small
strain
response
of
SS8
element
is
modelled.
Later
using

TL
formulation
(as
discussed
in
chapter
3),
this
formulation
will
be
extended
to

nite
strain,
non-linear
material
analysis.
MATLAB
code
based
on
this

formulation
will
be
veried
with
case
studies
in
chapter
6.
Small
strain

formulation
of
SS8
element
proceeds
as
follow.

.1
Linear
Element
Formulation

In
this
section
geometric
formulation
of
SS8
element
is
described.
The
element

geometry
is
shown
in
gure
4.1.
Anode
node-numbering
convention
is
adopted

so
that
edges
between
nodes
(1,2,3,4)
and
(5,6,7,8)
correspond
to
the
thickness

direction.
Faced
1-2-3-4
and
5-6-7-8
thus
constitute
the
bottom
and
top
surfaces

of
the
element,
and
the
remaining
four
faces
are
in-plane
surfaces.
Note
that,

the
order
of
node
numbering
is
kept
constant
throughout
the
formulation.

Similar
to
Quak
[27],
three
dierent
coordinate
systems
have
been
used
namely:

1- Global
Cartesian
coordinate
system.
2-
Orthonormal
coordinate
system.
3Convective
coordinate
system.
These
coordinate
systems
are
illustrated
in
table
4.1
and
gure
4.1.
Following
vectors
are
used
to
dene
these
coordinate
systems.

20

Figure
4.1:
Geometry
of
SS8
Solid
Shell
Element
[28].

X= X Y

T

T

x= x y z

T

(Xi , i = 1, 2, 3)

(4.1)

(i , i = 1, 2, 3)

(4.2)

(xi , i = 1, 2, 3)

(4.3)

J = G1 G2 G3 =

Y

Z

Y

Z

(4.4)

Table
4.1:
Coordinate
System.

Coordinate system
Orthonormal
Natural
Cartesian

Base vectors
r1 , r2 , r3
1, 2, 3
e1 , e2 , e3
21

Coordinates
x,y,z
, ,
X,Y,Z

Environment
Local
Local
Global

Orthonormal Coordinate System is constructed at element centre = 0, =

0, = 0 by the following system of equations.
X

P1 = Y

(4.5)

P3 =

Y

Z

(4.6)

P2 = P1 P3

ri =

(4.7)

1
Pi , i = 1, 2, 3
Pi 

(4.8)

Orthonormal coordinate system is used to compute parameters such as Second

Piola-Kirchho stress (in nonlinear analysis) and Green Lagrangian strain (in
both linear and nonlinear analysis). One advantage of constructing such system is that in nonlinear analysis local stress and strain components between
iterations can be added without any transformation. If these parameters were
in global form then they would have to be rotated between the increments.
Lastly, the natural coordinate system is used to build strain interpolation and
enhanced strain interpolation matrices.
In order to estimate coordinates of points across the element, isoparametric
formulation is used. Isoparametric formulation relates global coordinates of
points within the element to nodal coordinates using shape functions.
Xh =

8


N1 (, , )XI

(4.9)

I=1

Where,
1
NI ( 1 , 2 , 3 ) = (1 + 1 )(1 + 1 )(1 + 1 )
8

(4.10)

Superscript h is used to denote nite element approximation and XI represents the coordinate of I shown as follows:

22

XI = XI , YI , ZI 

(4.11)

A similar isoparametric formulation is also used to interpolate displacements

in terms of shape function.
Uh =

8


N1 (, , )UI

(4.12)

I=1

Similar to XI , UI represents displacement of nodal point I of SS8 element,

shown as follow:
UI = [UxI , UyI , UzI ]

(4.13)

Furthermore, N tensor is dened as follows:

N = [N1 I, N2 I, N3 I, N4 I, N5 I, N6 I, N7 I, N8 I]

(4.14)

Where
I
is
3x3
identity
matrix
and
N
is
a
tensor
of
order
3x24.
Once
coordinate
systems
and
kinematic
parameters
have
been
dened,
strain
displacement
matrix
of
SS8
element
will
be
estimated.

4.2
Thickness
Strain

Thickness
strain
response
is
formulated
using
Green
Lagrangian
strain

coupled
with
Assumed
Natural
Strain
approach.
n
i
Ec
=
Eij
G Gj

(4.15)

n represents the entries of Green Lagrangian Strain tensor in natural

Where Eij
coordinate system represented by equation (4.16) and Gi represents columns
of inverse Jacobian matrix.
n
n
n
n
n
n T
, E22
, E33
, 2E12
, 2E13
, 2E32
)
E n = (E11

(4.16)

n is represented as,
In general Eij

1
U
U U
U
n
= (Gi
+
Gj +
)
Eij
2
j
i
j i

23

(4.17)

U U
Note that the nonlinear term
in equation (4.17) is ignored in linear
i j
analysis. Now in order to calculate thickness strain, i, j= 3 will be inserted
to the equation and equation (4.9) and (4.12) will be substituted in equation
(4.17). Final form of thickness Green Lagrangian Strain proceeds as below.
n
E33
= GT3 N3 U

(4.18)

Where N 3 represents the derivative of tensor N shape function vector with

n with respect to U yields out of the
respect to . Now the derivative of E33
plane strain displacement matrix B 33 .
B33 = GT3 N3

(4.19)

Now
using
Assumed
Natural
Strain
method,
B33
is
interpolated
at
four
collocation
points
(shown
in
Figure
4.2)
and
the
four
values
are
interpolated

linearly
to
obtain
the
assumed
strain
eld.
AN S
B33
=

4

1

4
L=1

T L
(1 + L )(1 + 1 )(GL
3 ) N3

(4.20)

L

Where
GL
3 ,N3 are
calculated
at
points
A1,
A2,
A3,
A4.
Schwarze
et
al.
[]

showed
that
constructing
element
with
this
formulation
alleviates
thickness
curvature
locking.

Figure
4.2:
Collocation
points
used
in
thickness
strain
interpolation
[35].

24

4.3
Transverse
Shear
Strain

Transverse
shear
strains
are
also
formulated
in
similar
lines
as
thickness
n using
Green
Lagrangian
Strain
tensor
and
ANS
concepts.
Here
only

strain
E33

nal
form
of
derivation
is
presented.


AN S
B + (1 )B D
1 (1 )B13
B13
13
=
AN
S
A + (1 )B C
B23
2 (1 )B23
23

(4.21)

Figure
4.3:
Natural
coordinates
of
collocation
points
used

in
transverse
strain
interpolation
[35].
Cardoso
et
al.
[29]
have
shown
that
this
approach
for
constructing
the
transverse
shear
strain
eld
is
eective
in
alleviating
transverse
shear
locking
in
the

element
behaviour.
It
is
to
be
noted
that
in
[1],
Mustafa
has
used
full

integration
by
utilizing
4
collocation
points
for
each
transverse
shear
strain.

However,
similar
to
the
current
work,
Quak
[27]
also
used
two
collocation

points
for
enhancing
the
computational
eciency
of
the
algorithm.

4.4
In-plane
Strain
Response

Using
procedures
outlined
in
section
4.2
and
4.3,
in
plane
strain
response
is

approximated
using
Green
Lagrangian
Strain
tensor.
Note
that
here
only

equation
(4.17)
is
being
used.
ANS
method
is
not
used
in
formulation
of

in-plane
response.
The
nal
form
of
in
plane
strain
displacement
matrix
is

shown
as
follow.

25

B11
GT1 N1

GT2 N2
B22 =

B12
GT2 N1 + GT1 N2

4.5

(4.22)

Transformation to Orthonormal Coordinate
System

Until
now
strain
displacement
matrix
is
estimated
in
natural
coordinate
system.
Now
these
strain
components
are
transformed
into
orthonormal
coordinate
system.
Following
series
of
steps
are
taken
to
undergo
this
transformation.
Ec = F En

(4.23)

Where
F
is
the
transformation
matrix
converting
Green
Lagrangian
strain

from
natural
coordinates
to
orthonormal
coordinates
[2].
F
=

(4.24)

As
seen,
F
matrix
is
written
in
terms
of
components
of
T
matrix.
Note

that
F
is
formulated
with
respect
to
the
components
of
strain
mentioned
in

order
given
by
equation
(4.16).
T
matrix
is
evaluated
with
the

following
equation
[2].


T = [ r1 r2 r 3

T 

J 1

T

(4.25)

Note that T is a 3x3 matrix. Now with T matrix in hand, the entries of matrix
are used to calculate transformation matrix F. Note that strain displacement

26

matrix
in
orthonormal
coordinate
system
is
also
arranged
in
order
of
strain

vector
given
in
equation
(4.16).

4.6
Enhanced
Strain

Now
in
order
to
counter
membrane,
shear
and
thickness
locking
SKnomenas,

columns
of
strain
displacement
matrix
are
enhanced.
Strains
are
enhanced
according
to
equation
(3.22).
The
assumed
natural
thickness
strain
calculated

in
equation
(4.20)
is
increased
by
one
extra
degree
of
freedom
to
alleviate

thickness
locking.
In
an
attempt
to
improve
the
in-plane
response
of
element

[1],
ve
extra
degrees
of
freedom
are
used
(represented
in
rst
two
and
fourth

row
of
enhanced
strain
displacement
matrix)
in
equation
(4.26).

Benh (, , ) =
0

0
0

0
0
0
0

0
0
0

0
0

0
0
2
2
0
0
0
0

0
0

0
0

(4.26)

Matrix
mentioned
in
equation
(4.26)
is
only
capable
to
alleviate
membrane
and

thickness
locking.
On
the
other
hand
a
number
of
researchers
[37],
[38]
have

suggested
enhanced
strain
matrices
which
are
also
capable
of
alleviating
shear

locking
eects.
For
instance,
Quy
et
al.
[3]
have
introduced
an
enhanced
strain

displacement
matrix
involving
parabolic
transverse
strains
to
avoid
shear
and

Poisson
locking.
The
formulated
matrix
is
as
follow.

0
0

Benh (, , ) =
0

0
0
0
0

0
0
0
0
0

0 0 0 0 0
0 0 0 0 0

0 0 0 0 0

0 0 0 0 0

0 0 0
0 0

(4.27)

Kinkel
et
al.
[3]
proposed
a
matrix
capable
to
remove
all
types
of
locking

i.e.
membrane,
1oisson
and
shear
locking.
The
proposed
matrix
is
as
follow.

27

M1 =
0

0
0

0
0
0
0

0
0
0
0
0
0

0
0

0
0

0
0
0

0
0

0
0
0
0

0
0
0
0

0
0
0
0
0

0 0
0 0

0 0

0 0
0

(4.28)

0 0 0 0 0 0 0 0
0
0 0 0 0 0 0 0

0
0 0 0 0 0 0 0 0

M2 =

0
0 0 0 0 0 0 0 0

0 0
0 0 0 0 0 0
0 0 0 0 0 0 0 0

(4.29)

0 0 0 0 0
0
0
0
0
0

0
0
0
0

0
0
0
0

0
0 0
0
0 0
0
0

M3 =

0 0
0
0
0
0 0
0

0
0 0
0
0
0
0 0
0 0 0
0
0
0
0
0

(4.30)

Now combining M1 M2 and M3 together in a matrix as follow:



Benh (, , ) = M1 M2 M3

(4.31)

In SS8 formulation, Benh matrix used in equation (4.31) is implemented. The

enhanced strain displacement matrix is converted to orthonormal coordinate
system using the following.
c
Benh
=
FPBenh

(4.32)

Where
Fo
is
the
value
of
transformation
matrix
at

=
0,

=
0,

=
0.

4.7


Element
Stiness
Matrix
Once
B,
Benh
and
material
matrix
C
are
calculated,
stiness
matrix
KL
can
be

estimated
by
equation
(3.14)
leading
to
estimation
of
nodal
displacements

using
equation
(3.25).
In
the
next
chapter
this
small
strain
formulation
of

28

SS8 element will be extended to nite strain, non-linear material kinematics

using TL approach.

29

SS8
Formulation-
Finite

Strain
kinematics
In
this
chapter,
kinematic
formulation
of
SS8
solid
shell
element
is
extended
to
nite
strain,
material
non-linear
analysis.
As
explained
in

chapter
3,
Total
Lagrangian
together
with
EAS
concept
will
be
used
in

formulating
nite
strain
analysis.
In
last
section
of
this
chapter,
an

incremental
procedure
for
implementation
of
SS8
element
in
FEM
is

introduced.

5.1
Geometric
and
Kinematic
Formulation
Geometric
formulation
of
SS8
element
and
coordinate
systems
used
for
nite

strain
analysis
is
consistent
with
chapter
4.
In
nite
strain
analysis,

deformation
is
a
function
of
time
and
spatial
coordinates,
so
nodal
coordinates

and
displacements
are
updated
in
every
increment.
Coordinates
of
body
at
any

instant
of
time
during
deformation
are
called
spatial
coordinates
(also
called

deformed
coordinates)
dened
as
below.
xh =

8


(5.1)

NI (, , )xI

I=1

Where
xI
represent
the
coordinate
of
node
I
and
is
a
matrix
of
3x8
order.

Spatial
coordinates
are
now
used
to
dene
spatial
basis
vectors
(also

known
as
columns
of
spatial
Jacobian
vector)
as
follow.

g1 g2 g3 =

30

(5.2)

Relation between Gi and gi is as follows:

gi = Gi +

U
i

(5.3)

Equation
(5.3)
can
also
be
written
as:

gi
=
FGi

(5.4)

Where
F
is
the
deformation
gradient
not
the
transformation
matrix
F
given

in
chapter
4.

5.1.1
Strain
and
Enhanced
Strain
Parametrization

Green
Lagrangian
Strain
tensor
components
are
formulated
in
local
coordinate
system
as
follow.
O
i

t D

t



j


G
PE =
PEij G

t n
o Eij

(5.5)

1
t U
t U
t U ot U
)
= (GTi o + GTj o + o
j
i
j i
2

(5.6)

Strain displacement matrix of equation (5.6) is as follow.

Bij = GTi Nj + GTj Ni + U T NiT Nj + U T NjT Ni

(5.7)

For the sake of simplicity from now onward time increments will not be mentioned in superscripts. Equation (5.7) can be written in simplied form by
exploiting equation (5.4).
Bij = giT Nj + gjT Ni

(5.8)

Note
that
unlike
strain
displacement
formulation
of
small
strain
analysis,
in
nite
strain
analysis
deformation
gradient
plays
a
role
in
updating
strain
displacement
matrix.
Final
form
of
strain
displacement
matrix

is
as
follows.
31

g1T N1
g2T N2

1
L
L
1
1
2
2
T
(1 + L )(1 + L )(g3 ) N3

4
B = l=1

T
T

g
N
+
g
N
2 1
1 2

B + (1 + n)B D ]
0.5[(1 n)B13

13

(5.9)

A + (1 + )B C ]
0.5[(1 )B23
23

Enhanced
Strain
displacement
matrix
is
formulated
in
exactly
the
same
way

as
mentioned
in
the
last
chapter.
Transformations
are
carried
out
in
accordance
with
equation
(4.23)
and
equation
(4.24)
to
obtain
strain
displacement

matrices
Bc
in
orthonormal
coordinate
system.

5.1.2
Internal
load
vectors

The
internal
force
vectors
are
also
calculated
in
the
local
orthonormal
coordinate
system
as
follow.


fint =

Vo

fenh =

Vo

(B c )T Sv dVo

(5.10)

c
(Benh
)T Sv dVo

(5.11)

Where
Sv
is
Second
Piola-Kirchho
stress
in
vector
formation
containing
entries
of
S
tensor.

5.2



Stiness
Computation
As
stated
earlier
total
stiness
of
SS8
element
consists
of
linear
stiness
KL

which
comes
from
the
strain
displacement
matrices
and
KN L
which
comes

from
the
internal
stress
state.
Once
strain
displacement
B c
and
enhanced

c
have
been
calculated,
the
linear
stiness
matrix
is

displacement
matrix
Benh

computed
as
follow.


KL =

Vo

(B c )T CB c dVo

(5.12)

Stress stiening matrix is computed with series of equations and transformations given below.

32

KN L =

Vo

(Bnlg )T S9 Bnlg dVo

(5.13)

Where,

S 0 0

S9 = 0 S 0
0 0 S

(5.14)

Note that S is a 3x3 tensor of Second Piola-Kirchho stress.

k
NX
N k
Y
k
NZ



0
Bknlg =
0
0

0
0

0
0
0
k
NX
NYk
NZk
0
0
0

0
0

0
k = 1 8
0

k
NX

NYk
NZk

(5.15)

All entries denoted by Bknlg are assembled in a 9x24 matrix as follow.

B nlg  = B1nlg , B2nlg , B3nlg , B4nlg , B5nlg , B6nlg , B7nlg , B8nlg 

(5.16)

In
next
section,
equations
used
to
estimate
Second
Piola-Kirchho
stress
tensor
and
fourth
order
material
tensor
C
are
discussed.

5.3
Constitutive
Equations
of
Hyperelasticity

It
is
assumed
that
the
free
energy
density
(per
unit
volume
of
the
reference
conguration)
acts
as
potential
function
for
stress
due
to
total
(elastic)

deformation.
In
order
to
assure
objectivity
of
the
response
because
of
super

imposed
rigid
body
motions,
free
energy

is
related
to
the
deformation
via

right
CauchyGreen
deformation
tensor
c
as
follow
[30]:
= e (c)

(5.17)

33

The
constitutive
relations
for
hyper
elastic
response
are
obtained
for
zero
energy
dissipation
D
at
constant
temperature.
This
is
expressed
as:

D =P =0

(5.18)

Where P is the stress power. Now with these fundamental assumptions, NeoHookean model based on isochoric-volumetric split is employed to estimate
Cauchy stress tensor.
= iso + vol

(5.19)

Where,
2

iso = GJ 3 (b

I1
1)
3

(5.20)

Where invariant I1 is dened as I1 =trb = 1:b

vol = KJ(J 1)1

(5.21)

Now Second Piola-Kirchho stress is calculated by push forward transformation equation as follows.
S = F1 (F1 )T

(5.22)

C = E2iso + E2vol

(5.23)

Where,


2
2
E2iso = GJ 2 I1 (I + 13 1 1) (b 1 + 1 b)
3

(5.24)

E2vol = KJ[(2J 1)1 1 2(J 1)I4 ]

(5.25)

In
equations
of
section
5.3,
G
is
the
shear
modulus,
K
is
the
bulk
modulus
and
J

is
the
determinant
of
the
deformation
gradient.
Now
with
all
parameters
of

equation
(3.25)
in
hand,
implementation
of
the
proposed
formulation
in
a
nite

element
algorithm
using
Newton
Raphson
Method
will
be
discussed.

34

5.4
Algorithm
Algorithm
to
implement
the
proposed
formulation
in
a
nite
element

program
is
as
follows:
Start
values:
(5.26)

u(k+1)
=
0
1- Computation
for
internal
and
external
forces
is
as
follows:


f JOU(k+1)
=


R=

Vo

Vo

[B c (uk+1 )]T S(uk+1 )dVo

N T
ob
dVP
+


Vo

(5.27)

N T tdA

(5.28)

2- Calculate out of balance force.

(5.29)

1


(k+1)
Re = [G(k+1) ]T A
e
f FOI +
R

f JOU
elm
If
R5 =
Ae=1
Re

tolerance

END

3- Compute
components
of
tangential
stiness
matrix.



k+1

=


[Bc(uk+1)]T
C
Bc(uL)dVo
+

K=
Vo

f FOI
=

(5.30)

c
(Benh
)T CB c (uk+1 )dVo

Vo

Vo

(Bnlg )T
S9Bnlg dVo

c
(Benh
)T
4WdVo

(5.31)

(5.32)

Vo

c
c
(Benh
)T CBenh
dVo

A=

(5.33)

Vo

4- Assembling and solving these equations gives following results:

(k+1)

KT

elm


K (k+1) [G]T A1 G

e=1

35

(5.34)

R5(k+1) =

(k+1)

KT

elm


[G]T A1 fenh + R fint

(5.35)

e=1

u

k+1

=R5(k+1)

(5.36)

5- Updating displacements.
u(k+1) = u(k+1) + u(k+1)

(5.37)

6- Go
to
step
1
for
for
further
iterations.
It
should
be
noted
that
in
this
section,
an
incremental
procedure
based

on
Newton
Raphson
method
is
proposed
and
superscript
k
refers
to

iteration
number,
not
time
increment.
In
nite
strain
analysis,
this

Newton
Raphson
procedure
is
repeated
for
each
time
step.
For
more

details
refer
to
Appendix
A
and
B.

36

Numerical
Analysis
In
this
chapter,
a
number
of
case
studies
will
be
solved
using
the
formulated

MATLAB
code
and
results
will
be
benchmarked
against
results
obtained
from

8
node
continuum
shell
element
in
ABAQUS.
The
purpose
of
benchmarking

is
to
verify
the
formulated
MATLAB
code
and
response
of
SS8
element
under

given
natural
and
essential
boundary
conditions.
For
this
purpose,
several

case
studies
have
been
chosen
from
the
literature.
A
summary
of
these

case
studies
is
mentioned
in
table
6.1.

Table
6.1:
Description
of
proposed
case
studies

Case
Studies.

Challenge/Purpose.

Cantilever
beam
under
tip
loading.

To
verify
transverse

response
of
SS8
element.
To
verify
SS8
element
is
free

of
shear
locking.

Analysis
of
thin
beam.

1- To
verify
in
plane
reCooks
membrane
problem
[1],
[35]. sponse
of
SS8
element.
2To
verify
SS8
element
is
free
of
membrane
locking.
SS8
elements

sensitivity
to

distortion.

Distortion
test
[35].

response

element

To
verify
completeness,
convergence
and
compatibility

of
SS8
element
in
nite
element
formulation.

Patch
test
[1],
[35].

37

6.1
Benchmarking
As
mentioned
previously,
the
8
node
continuum
shell
element
S8R
in

ABAQUS
is
used
for
the
purpose
of
benchmarking.
This
element
is

chosen
because
its
geometric
formulation
is
similar
to
SS8
element
than

any
other
element
in
ABAQUS.
Material
model
employed
in
ABAQUS
is

Neo-Hookean
hyper-elastic
material
model
as
shown
in
gure
6.1.
Static

analysis
is
carried
out
for
each
case
study
and
geometric
non-linearities

are
turned
on
in
step
denition.

Figure
6.1:
Material
Model
in
ABAQUS.

6.2
Cantilever
beam
bending

This
case
study
involves
a
three
dimensional
cantilever
plate
subjected
to
tip

loading.
Consider
a
simply
supported
cantilever
beam
subjected
to
static

load
of
F = 1E5
N
applied
vertically
at
its
tip,
as
shown
in
Fig.
6.2.
Let

the
length
of
the
plate
be /
=
0.3 m,
its
cross
section
a
rectangle
of
height

H
and
thickness
t,
thus
with
area
A
=
H.t
(L
>>
A
and
H/t
>
5).
The

beam
is
made
of
an
isotropic,
hyper-elastic
material
with

E=200.E9
1P
and
Poisson
ratio
v
=
0.3
and
its
shear
modulus
by
G
= 2(vE+1).

38

Figure
6.2:
Cantilever
beam
case
Ttudy

6.2.1
Results
In
this
section,
results
of
nite
strain
analysis
for
given
beam
bending
problem

are
displayed.
1- First,
values
of
cantilever
beam
vertical
(transverse)
displacement
for
the
SS8
element
are
compared
against
results
obtained
from
ABAQUS.
The
results
of
both
models
are
displayed
in
gure
6.3.
Transverse
displacement
of
the
beam
is
plotted
on
y
axis
and
various
beam
sections
are
plotted
on
x
axis.

Figure
6.3:
Comparison
of
results
from
nite
strain
models.
2- Secondly,
values
of
in-plane
strain
from
MATLAB
and
ABAQUS
are
compared
(Table
6.2).
Here
only
the
in-plane
strains
are
compared
because
ABAQUS
is
only
equipped
to
give
in-plane
strain
parameters,
whereas
MATLAB
code
is
also
capable
to
give
transverse
and
out
of
the
plane
strains
in

39

output.
Deformed
and
undeformed
states
of
beam
obtained
from
both
models

are
illustrated
in
g.
6.4.

Table
6.2:
Comparison
of
strain
values
of
nite
strain
model
from

ABAQUS
and
MATLAB.
Strain Parameter

Results from ABAQUS

Results from MATLAB

Exx
Eyy
Exy

9.09E-2
1.603E-2
7.278E-3

8.98E-2
1.58E-2
7.211E-3

Figure
6.4:
Deformed
and
undeformed
beam
geometry
obtained

from
ABAQUS
and
MATLAB

6.2.2
Discussion
The
vertical
tip
displacement
values
obtained
from
ABAQUS
and
MATLAB

are
0.26338
m
and
0.261
m
respectively.
The
relative
percentage
dierence

error
is
0.9%.
When
strain
values
are
compared
as
shown
in
table
6.2,
a
relative

percentage
error
of
0.92%
is
obtained.
This
study
proves
that
SS8
element

exhibits
an
accurate
transverse
response
when
compared
with
8
node

continuum
shell
element
of
ABAQUS.





"OBMZTJT
PG
UIJO
CFBN
-U



BOE


As
described
in
chapter
2,
in
case
of
thin
beams,
transverse
shear
strains
are

negligibly
small
however
locking
can
give
rise
to
shear
strains
consequently

40

increasing the stiness of the beam. In this study, SS8 element is used to
analyse beam with T Length
hickness = 30, 300 and 3000 and compared results with
an
8
node
brick
element
in
ABAQUS
to
prove
that
EAS
modied
element
is

free
of
shear
locking.
To
compensate
the
reduction
of
beams
stiness
in
this

analysis,
tip
load
is
reduced
by
1000
when
thickness
is
decreased
by
a
factor
of

10. Results
of
this
comparison
are
outlined
in
table
6.3.

Table
6.3:
Analysis
of
thin
beam.

Length to
thickness
ratio.

30(thick
beam)
300
3000(thin
beam)

wmax from
continuum shell
element
[m].
2.14E-1

wmax from
SS8 [m].

wmax from
brick element [m].

2.123E-1

2.047E-1

Percentage
error between
column 3
and 4.
3.58%

2.242E-1
2.26E-1

2.198E-1
2.19E-1

1.783E-1
1.274E-1

20.47%
43.46%

6.3.1
Conclusion
It
can
be
seen
that
brick
elements
show
a
sizeable
increase
in
beam
stiness
in

thin
beam
case
as
opposed
to
SS8
element,
whose
bending
stiness
does
not

change
much
with
increasing
L/t
ratio.
For
brick
element
the
value
of
stiness

increases
from
3.58%
to
43.46%
as
L/t
ratio
is
increased.
The
reason
of
this

increase
in
stiness
is
that
8
node
brick
elements
does
not
involve
modications

such
as
ANS
and
EAS
in
its
formulation.
Hence
in
case
of
thin
structures,
they

cannot
counter
locking
phenomenas.
Whereas,
formulation
of
SS8
element

involves
modications
that
counter
locking.
Hence,
this
analysis
indicates
that

SS8
element
is
free
of
shear
locking.

6.4
Cooks
Membrane
Problem

The
formulated
element
has
been
tested
with
Cooks
membrane
problem.
The

nature
of
the
problem
in
Cooks
membrane
is
shown
in
g.
6.5.
A
skewed
plate

is
cantilevered
and
subjected
to
in
plane
shear
load.
The
material
behavior

is
modelled
as
isotropic
linear
elastic
with
Youngs
modulus
E
=
1
XQLWOHVV
and

41

Poissons
ratio
=
The
beam
is
xed
at
the
left
end
and
subjected
to
a
shear
force
F
 
distributed
uniformly
over
right
edge
of
the
plate.
This
test

is
used
to
check
the
presence
of
membrane
locking
in
an
element.
In
order

to
check
the
elements
behavior
under
Poisson
locking,
same
analysis
is

carried
out
with
Poisson
ration
v
=
0.4,
0.495
and
0.4995.

Figure
6.5:
Cooks
membrane
study.

6.4.1

Results

For
the
given
shear
load
and
geometric
properties,
analysis
has
been
carried

out
for
nite
strain
models
of
ABAQUS
and
MATLAB.
A
maximum
tip

displacement
is
measured
to
be
1.504
units
and
1.491
units
obtained
from

ABAQUS
and
MATLAB
respectively.
A
graph
representing
mesh
convergence
for
the
given
problem
is
presented
in
g.
6.6.
Behavior
of
SS8
element
for

values
of
Poisson
ratio
0.4,
0.495
and
0.4995
are
plotted
and
displayed
in
g.

6.7.
Deformed
state
of
the
skewed
membrane
obtained
from
ABAQUS
and

MATLAB
are
shown
in
the
gure
6.8.

42

Figure
6.6:
Mesh
Convergence
test
for
Cooks
membrane

problem
at
1oisson
ratio=1/3.

Figure
6.7:
Response
of
Cooks
membrane
at
dierent
1oisson
ratios.

Figure
6.8:
Results
of
Cooks
membrane
problem
carried
out
at
very

ne
mesh.
43

6.4.2
Discussion
This
reasonable
agreement
in
value
of
maximum
vertical
displacement
shows

the
membrane
response
is
well
captured
by
SS8
element
and
there
is

no
membrane
locking.
It
can
be
seen
in
GJg.
6.7
that
SS8
element
gives

an
accurate
membrane
response
until
v
=
0.495.
But
for
0.4995,

SS8
element
fails
to
converge.
Hence
SS8
element
cannot
model

response
of
material
with
Poisson
ratio
greater
than
0.495.
Moreover,
mesh

convergence
test
shows
that
8
node
continuum
shell
element
converges

faster
than
SS8
element.

6.5
Patch
Test

In
this
section,
SS8
is
evaluated
in
context
of
patch
test.
Patch
check
is

used
to
verify
if
given
element
is
able
to
full
the
condition
of
compatibility,

convergence
and
completeness
in
nite
element
analysis.
Problem
description

of
this
case
study
is
illustrated
in
g.
6.9.
Material
behavior
is
modelled
with

E
=
10E6
and
v
=
0.25.
Following
essential
boundary
conditions
are
applied
at

exterior
nodes.
y
x
u1 = (x + ) 103 , u2 = (y + ) 103 , u3 = 0.0
2
2
Mesh description is shown in g. 6.9.

Figure
6.9:
Element
mesh
for
patch
test
[35].

44

(6.1)

6.5.1
Result
As
a
result
of
subjected
boundary
conditions,
the
plate
undergoes
deformation

and
nodal
displacements
outlined
in
table
6.4
are
obtained.

Table
6.4:
Nodal
degrees
of
freedom
in
patch
test.

Nodal displacements
Analytical
solution
Solution
obtained
from SS8
elements

u

v

u

v

5E-5

4E-5

1.95E4
1.94E4

1.2E- 2.E-4
4
1.19E- 1.99E1
4

4.99E- 3.9E5
5

u

v

u

v

1.6E4

1.2E4

1.2E4
1.599E- 1.199E- 1.2E4
4
4

Moreover,
a
constant
stress
state
is
achieved
in
all
ve
elements
BT
GPMMPX.
S11 = S22 = 1499, S12 = 399.8

6.5.2

(6.2)

Discussion

Nodal displacements show a reasonable agreement with analytical formulation

[1]. Moreover, constant stress DFURVV DOO HOHPHQWV shows that SS8 element has
passed the patch test. This should be seen as no surprise since in chapter 3 it
was assumed that volume integration of enhanced strain displacement
matrix is zero, which is necessary condition for passing the patch test.

6.6
Distortion
test

In
this
case
study,
in-plane
shear
locking
with
respect
to
mesh
distortion
is

investigated.
A
cantilever
beam
with
length
=
10
units
and
width
=
height
=2

units
is
modeled
with
nite
elements
and
is
subjected
to
a
couple
force
F
=
10

at
its
free
end
as
shown
in
g.
6.10.
Material
is
used
with
Elasticity
modulus

E=
1.5E3
and
3oisson
ratio
v
=
0.
The
distortion
in
mesh
is
dened
by
the

parameter
s
as
shown
in
g.
6.10.

45

Figure
6.10:
Illustration
of
mesh
distortion
study.

6.6.1
Results
Analytical
maximum
vertical
beam
deection
is
1
unit
[35].
From
MATLAB,

maximum
vertical
deection
is
found
to
be
0.99978
unit.
Moreover
a
distortion
sensitivity
analysis
is
carried
out
as
shown
in
g.
6.11
and
results

are
compared
with
results
obtained
from
8
node
continuum
shell
element
in

ABAQUS.
In
mesh
sensitivity
analysis,
beam
is
divided
in
10
elements,
each

with
a
length
of
1
unit.
Therefore
value
of
s
is
only
varied
between
0
to
0.5.

)LJXUH0HVK'LVWRUWLRQDQDO\VLV

46

6.6.2
Discussion
Maximum
vertical
displacement
obtained
from
MATLAB
matches
the
analytical
result.
As
value
of
distortion
parameter
s
is
increased,
a
signicant
drop

is
value
of
vertical
displacement
is
observed.
This
trend
is
in
similar
lines
with

the
trend
obtained
by
doing
the
same
study
in
ABAQUS.
But
from
the
g.
6.11

it
should
be
noted
that
SS8
element
is
is
slightly
less
sensitive
to
mesh

distortion
compared
to
continuum
shell
element
of
ABAQUS.

47

Conclusion
and

Recommendations
In
this
chapter
the
results
of
this
research
project
will
be
summarized
and

potential
follow
up
avenues
of
research
will
be
explored.

7.1
Conclusion
In
this
work,
an
eight
node
shell
element
has
been
formulated
using
Assumed

Natural
Strain
(ANS)
and
Enhanced
Assumed
Strain
(EAS)
technique.
This

formulation
is
extended
to
incorporate
geometric
and
material
non-linearity

using
Total
Lagrangian
approach
based
on
constitutive
relations
of
isotropic

hyper-elasticity.
Later
this
nite
strain
formulation
is
veried
for
intended

response
by
using
case
studies
comprising:
1-
A
cantilever
beam/plate

subjected
to
end
loading.
2-
Cooks
membrane
problem.
3-
Patch
test.
4-
Mesh

distortion
test.
Results
are
compared
against
a
Neo-Hookean
hyper-elastic

nite
strain
model
developed
in
ABAQUS
involving
8
node
continuum
shell

element.
Following
conclusions
are
obtained
from
these
studies.
1- Beam subjected to end loading: In this study cantilever beam is subjected to a tip load and its response in terms of vertical displacement and
in-plane strain is compared with ABAQUS. Comparison shows a small relative error of less than 1%, verifying accurate transverse response of SS8
element.
2- Analysis of Thin Beam: This study is carried out to assess SS8 elements response under shear locking. Results of SS8 elements are compared
with 8 node hexahedral brick element in ABAQUS. It is observed that brick

48

element shows a sti behaviour as length to thickness ratio is increased. When

length to thickness ratio is increased from 30 to 3000, stiness of brick element increases from 3.58% to 43.46%. On contrary to brick element, SS8
element retains its stiness with increase in length to thickness ratio. This
study shows that that SS8 element doesnt show any extraneous locking in
thin structures when subjected to transverse loading.
 Cooks
Membrane
Problem:
This
study
constitutes
a
skewed
beam
subjected
to
an
in-plane
shear
load.
Accurate
membrane
response
of
the
skewed
beam
estimated
by
SS8
element
proves
that
SS8
element
is
free
of
membrane
locking.
Whereas,
1oisson
locking
test
revealed
that
SS8
element
does
not
converge
for
materials
with
1oisson
ratio
greater
than
0.495,
thus
failing
the
1oisson
locking
test.
Mesh
convergence
of
Cooks
membrane
study
shows
that
SS8
element
exhibits
slow
convergence
when
compared
with
8
node
continuum
shell
element
in
ABAQUS
4- Patch Test: Patch test has been carried out to check quality of formulated SS8 element. Patch check is used to verify if given element is able to
full the conditions of compatibility, convergence and completeness in nite
element analysis. In the study, it is shown that a plate with irregular mesh of
SS8 element exhibits constant stress eld under given displacement boundary
conditions, which is a necessary condition to pass the patch test.
5- Mesh Distortion Test: In this study a cantilever beam is subjected to
couple force and its tip displacement response is checked by increasing the
distortion parameter s of the mesh. It is observed that value of tip vertical
displacement of the beam signicantly decreases as distortion parameter s is
increased from 0 to 0.49. This trend is compared and veried against results
of continuum shell element in ABAQUS.
In above mentioned studies, error ranging from 0.5%-1.8% are observed.
These errors can be attributed to the dierence of element model used in
ABAQUS and SS8 formulation, explained as follow.
1- In ABAQUS, reduced integration has been carried out coupled with hour
glass mode remedies in order to remove shear locking from the continuum
shell element. While in SS8 element, ANS and EAS approach has been carried out for this purpose.
2- In ABAQUS, the continuum shell element is capable to exhibit 6 degrees
of freedom (3 translational DOF and 3 rotational DOF) per node while SS8

49

is
only
capable
of
exhibiting
3
degrees
of
freedom
per
node.
This
indicates
a

dierence
in
respective
formulations
of
SS8
and
continuum
shell
element.
3- The
nature
of
model
used
in
ABAQUS
for
8
node
continuum
shell
element
could
not
be
explored
indepth
because
of
the
lack
of
a
detailed
description
in
ABAQUS
theory
manual
[33].

7.2
Learning
outcomes

In
this
project
following
learning
outcomes
and
goals
have
been
achieved.
1- An in-house code consisting of 8 node solid shell element is developed,
which is capable to capture nite strain and material non-linearity.
2- A great deal of learning in elds of non-linear continuum mechanics and
nite element analysis is achieved.
3- In-depth experience of structured programming in MATLAB.
4- Exposure to Latex, as the documentation of this research project is carried
out in Latex.

7.3
Future
Work

For
future
work,
following
recommendations
are
proposed.
1- The
methodology
proposed
for
developing
SS8
element
can
be
used
to
develop
a
higher
order
20
node
element,
as
the
one
shown
in
g.7.1.
It
is
learnt
from
the
literature
review
that
by
far
such
element
has
not
been
developed
mainly
because
of
lack
of
its
application.
Mostly
in
structural
analysis
using
more
elements
with
less
number
of
nodes
is
favoured
than
using
less
higher
order
elements.
In
opinion
of
our
research
team,
20
node
thick
shell
element
is
very
feasible
for
simulating
composite
manufacturing
procedures
like
vacuum
infusion
where
linear
pressure
eld
[34]
is
only
possible
if
displacement
eld
is
quadratic
or
higher
order.
Developing
such
an
element
will
take
more
computation
but
essentially
the
same
methodology.

50

Figure
7.1:
20
node
solid
shell
element

2-
In
this
study,
SS8
element
is
only
veried
to
be
free
of
shear
and
membrane

locking.
Membrane
and
shear
locking
are
most
dominant
of
all
lockings
while

less
dominant
lockings
such
as
curvature,
thickness
and
curvature
lockings

are
yet
to
be
veried.
Some
case
studies
that
can
further
verify
SS8
element,

are
proposed
in
table
7.1.

7DEOH 3URSRVHGFDVH VWXGLHV IRUIXWXUHZRUN

Numerical
Example

Challenge

Stretching
of
a
cylinder
with
Geometric
non-linear
befree
ends.

haviour
of
the
element

against
bending
and
membrane
modes.
Bending
patch
test.

Ability
of
the
element
to
reproduce
a
constant
bending.

Twisted
beam.

Performance
of
wrapped

structures
when
curvature

locking
is
dominant.

Compression
of
Clamped
Studying
elements
response

square
plate.
under
buckling.

51

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5

Appendix
9.1

Appendix A: Flow Diagram

5

9.2

Appendix B: MATLAB Code

The related codes in our routines regarding Newton iteration read as below:
%

%====================

MAIN FEM ANALYSIS PROCEDUR======================================

%
%
w
Nodal displacements. Let w-i^a be ith displacement
component
%
%

at jth node.
dw

%
w_2^2,
%
K
K_1121

Correction to nodal displacements. Let w_i^a be ith displacement

Component at jth node. Then dofs (w_1^1, w_2^1, w_3^1, w_1^2,
Global stiffness matrix. Stored as [K_1111
K_1122

K_1112

K_1211

K_1212

K_1221

K_1222

K_2111

K_2112

K_2121

K_2122]

%
%

Force vector. Currently only includes contribution from tractions

acting on element faces (i.e. body forces are neglected)

Volume contribution to residual

RHS of equation system

%
clear all; clc;
%

Run preproc routine

preproc;

%
dw = zeros (nnode*ndof,1);dw=sparse(dw);
w = zeros (nnode*ndof,1);w=sparse(w);
K= zeros (nnode*ndof,nnode*ndof);K=sparse(K);
R= zeros (nnode*ndof,1);R=sparse(R);
b= zeros (nnode*ndof,1);b=sparse(b);

5

%
%

Here we specify how the Newton Raphson iteration should run

Load is applied in nsteps increments;

tol is the tolerance used in checking Newton-Raphson convergence

maxit is the max no. Newton-Raphson iterations

relax is the relaxation factor (Set to 1 unless big convergence problems)

Nsteps = 25;
tol = 0.0001;
maxit = 200;
relax = 1.;

for step=1 : nsteps

loadfactor = step/nsteps;
err1 = 1 . ;
err2 = 1 . ;
nit = 0;
disp(%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%)
disp(%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%)
disp(%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%)
disp (%%%%%%%%%%%%%%%%%%%

Step Load

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%)

disp ([step loadfactor])

disp(%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%)
disp(%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%)
disp(%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%)

while

(err2>tol)
nit =

nit

&
+

(nit<maxit)
1;

%Calculate the Global Stiffness Matrix

5

K = globalstiffness (nrecord, ndof, nnode, cords,

nelem, maxnodes, nelnodes, connect, materialprops, w);
%Calculate global traction vector
F = globaltraction (nol2, py, ivno, nnode);
%Calculate global residual vector
R = globalresidual (nrecord, ndof, nnode, cords,
nelem, maxnodes, nelnodes, connect, materialprops, w);
%out of balance vector
for n=1 : nnode*ndof
b(n) = loadfactor*F(n) R(n) ;
end
for n = 1 : nfix
rw = ndof* (fixnodes (1,n)-1) + fixnodes (2,n) ;
for cl=1 : ndof*nnode ;
K (rw,cl) = 0 ;
end

Solve for the correction

dw = (K\b) ;

Check Convergence
err1 = 0 ;
err2 = 0 ;
wnorm = 0 ;
for n=1 : ndof*nnode
w(n) = w(n) + relax*dw (n) ;
wnorm = wnorm + w(n)*w(n) ;
err1 = err1+dw (n)*dw (n) ;
err2 = err2+b(n)*b(n);
end

% Store traction and displacement for plotting later

end
% Run post processing routine
plot_disp;



School of Engineering, Department of Mechanical Engineering

Blekinge Institute of Technology
SE-371 79 Karlskrona, SWEDEN

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