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Chapter 4

Isoparametric Elements

Method of Finite Elements I

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Todays Lecture Contents

The Shape Function

Isoparametric elements
1D Demonstration: Bar elements
2D Demonstration: Triangular elements

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The Shape Function

Shape functions comprise interpolation functions which relate the
variables in the finite element with their values in the element nodes. The
latter are obtained through solving the problem using finite element
procedures.

=
In general we may write: u ( x) =
H ( x)u
i
i i Hu

where:
u ( x) is the function under investigation (for example:
displacement field)
H ( x) is the shape functions matrix

u = [u1 u2 u N ]
T
is the vector of unknowns in the nodes
(for example: displacements)
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The Shape Function

Regardless of the dimension of the element used, we have to bear in
mind that Shape Functions need to satisfy the following constraints:
H i ( x ) in node i has a value of 1 and in all other nodes assumes a
value of 0.
Furthermore we have to satisfy the continuity between the
adjoining elements.
Example: rectangular element with 6 nodes

H4 H5

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The Shape Function

Usually, polynomial functions are used as interpolation functions,
for example:
N
Pn ( x ) = ai x i
i =0

where n is the order of the polynomial; is equal to the

number of unknowns in the nodes (degrees of freedom).

In MFE we use three different polynomials:

Lagrange
Serendipity and
Hermitian polynomials.

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The Shape Function

Lagrange Polynomials

A function (x) can be approximated by a polynomial of the order m

and the values of (x) in those m+1 points:

m +1

i
( x) ( x) =L ( x )
i =1
i

where:

Li ( x )
= =
x xjm +1
( x x1 )( x x2 ) ( x xm+1 )
j =1 xi x j ( xi x1 )( xi x2 ) ( xi xm+1 )
i j

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The Shape Function

Lagrange Polynomials

A function (x) can be approximated by a polynomial of the order m

and the values of (x) in those m+1 points:

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Lagrange

Polynomials

Example

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Serendipity Polynomials
These functions are similar to Lagrangian polynomials, but for their
incompleteness. Due to this fact we do not need to introduce
additional inner nodes, as for Lagrangian polynomials of higher order.
Lagrange Polynomials

Serendipity Polynomials

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Hermitian Polynomials
Lagrangian polynomials and serendipity functions provide a C0
continuity. If we additionally need continuity of the first derivatives
between the finite elements we use Hermitian polynomials.
A Hermitian polynomial of the order n, Hn(x), is a 2n+1 order
polynomial. For example a Hermitian polynomial of the first order is
actually a third order polynomial.
Let us consider a bar element with nodes on its ends. Unknowns are
values of the function in the nodes 1 and 2, 1 and 2, and first
derivatives of in respect to x , 1,x and 2,x

Remember: The 1st derivative of

displacement, corresponds to rotation

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Hermitian Polynomials

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Isoparametric Elements
In general, we would like to be able to represent any element in a
standardized manner introducing a transformation between the
natural coordinates and the real coordinates (global or local)

Different schemes exist for establishing such transformations:

1 sub parametric representations (less nodes for

geometric than for displacement representation)

2 isoparametric representations (same nodes for both

geometry and displacement representation)

3 super parametric representations (more nodes for

geometric than for displacement representation)
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Isoparametric Elements
Displacement fields as well as the geometrical representation of the
finite elements are approximated using the same approximating
functions shape functions

4 u4 , v4
s
y -1, 1 1, 1

u1 , v1 1 3 u3 , v3
r
2 u2 , v2
-1, -1 1, -1
x
This transformation allows us to refer to similar elements (eg. truss, beams, 2D
elements, in a standard manner, using the natural coordinates (r,s), without
every time referring to the specific global coordinate system used (x,y).

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Isoparametric Elements
Isoparametric elements can be one-, two- or three-dimensional:

n n n
=x i i i i
=i 1 =i 1 =i 1
=
hx; y
= h y ; z h z i i

n n n
=u i i i i
=i 1 =i 1 =i 1
=
h u ; v
= h v ; w h w
i i

The principle is to assure that the value of the shape function hi

is equal to one in node i and equals zero in other nodes.

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Isoparametric Elements
In order to establish the stiffness matrixes we must differentiate
the displacements with respect to the coordinates (x, y, z).

Since the shape functions are usually defined in natural

coordinates we must introduce the necessary coordinate
transformation between natural and global or local coordinate
system. For example:
x y z
= + +
r x r y r z r
x y z Chain rule of differentiation!
= + +
s x s y s z s
x y z
= + +
t x t y t z t
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Isoparametric Elements
Written in matrix notation:

x y z x y z
= + +
r x r y r z r r r r r x

x y
= + +
z
= x y z
s x s y s y s s s s s y

x y
= + +
z x y z
t x t y t z t t t t t z

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Isoparametric Elements
We recall the Jacobian operator J:

x y z
r r r r x
1
= x y z = J = J
s s s s y r x x r

x y z
t t t t z

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Isoparametric Elements
Let us now consider the derivation of the stiffness matrix K.
Firstly, we write for the strain matrix (using matrix B):

= Bu
and then we can write up the integrals for calculating the stiffness
matrix:

K = BT CBdV
V

= BT CB det J dr ds dt
V

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Consider the bar element with two end

nodes at points x1, x2 defined on the
Bar Element
Cartesian axis.

and now consider the following standard

truss element defined on the natural axis r

r=-1 r=0 r=1

Is there a function that can map each point on the x axis to a point on the
r axis, so that:
1.
2.

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Bar Element
x2
The relation between the x-coordinate y
x1
and the r-coordinate is given as:

1 1 x
x= (1 r ) x1 + (1 + r ) x2 u1 u2
2 2
2 r = 1 r =0 r =1
= hi xi
i =1

The relation between the displacement 1 1

u and the nodal displacements are u= (1 r )u1 + (1 + r )u2
2 2
given in the same way: 2
= hi ui
i =1

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Bar Element
We need to be able to establish the strains meaning we need to
be able to take the derivatives of the displacement field in regard
to the x-coordinate
x2
y
du du dr x1

= =
dx dr dx
du d 1 1 1 x
= ( (1 r )u1 + (1 + r )u2 ) = (u2 u1 ) u1 u2
dr dr 2 2 2
dx d 1 1 1 L r = 1 r =0 r =1
= ( (1 r ) x1 + (1 + r ) x2 ) = ( x2 x1 ) = =J
dr dr 2 2 2 2

du (u2 u1 ) (u2 u1 ) dx 1
= J=
2
=
= =
dx ( x2 x1 ) L dr L

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Bar Element
The strain-displacement matrix then becomes:
1
B= [ 1 1] since =
B
L u1
u
2
and the stiffness matrix is calculated as:
AE 1
1
dx L
K=2 [ 1 1] Jdr , J= =
L 1
1 dr 2

AE L 1 1 1 AE 1 1
=
L2 2 1 1 1 L 1 1
K r K

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