Reading assignment:

MANE 4240 & CIVL 4240

Introduction to Finite Elements Logan 6.2-6.5 + Lecture notes

Summary:

Prof. Suvranu De • Computation of shape functions for constant strain triangle

• Properties of the shape functions
• Computation of strain-displacement matrix
• Computation of element stiffness matrix
Constant Strain • Computation of nodal loads due to body forces
• Computation of nodal loads due to traction
Triangle (CST) • Recommendations for use
• Example problems

Finite element formulation for 2D:

u (x,y)≈ N1(x,y)u1 + N2(x,y)u2 + N3(x,y)u3 + N4(x,y)u4
Step 1: Divide the body into finite elements connected to each v (x,y)≈ N1(x,y)v1 + N2(x,y)v2 + N3(x,y) v3 + N4(x,y)v4
other through special points (“nodes”)
py ⎧u 1 ⎫
3 v3 ⎪v ⎪
px ⎪ 1⎪
4 3
u3 ⎪u 2 ⎪
v4 ⎧u 1 ⎫ ⎪ ⎪
v 2 Element ‘e’ v2 ⎪v ⎪ ⎧u (x, y)⎫ ⎡ N1 0 N2 0 N3 0 N4 0 ⎤ ⎪v 2 ⎪
u=⎨ ⎬=⎢ ⎥ ⎨ ⎬
1 4 ⎪ 1⎪ ⎩ v (x, y)⎭ ⎣ 0 N1 0 N2 0 N3 0 N 4 ⎦ ⎪u 3 ⎪
u ST u4 ⎪u 2 ⎪
u2 ⎪ ⎪ ⎪v 3 ⎪
v1 2 ⎪v 2 ⎪ ⎪ ⎪
y d=⎨ ⎬
x y ⎪u 4 ⎪
Su ⎪u 3 ⎪ ⎪v ⎪
1 u1 ⎪v 3 ⎪ u=Nd ⎩ 4⎭
v ⎪ ⎪
x x ⎪u 4 ⎪
u ⎪v ⎪
⎩ 4⎭

1
TASK 2: APPROXIMATE THE STRAIN and STRESS WITHIN
EACH ELEMENT
⎧εx ⎫
⎪ ⎪
ε = ⎨ε y ⎬
⎪γ xy ⎪
⎩ ⎭
Approximation of the strain in element ‘e’ ⎧u1 ⎫
⎪v ⎪
⎡ ∂N1(x, y) ∂N 2 (x, y) ∂N3(x, y) ∂N 4 (x, y) ⎤⎪ 1 ⎪
∂u (x, y) ∂N1(x, y) ∂N 2 (x, y) ∂N (x, y) ∂N (x, y) ⎢ 0 0 0 0 ⎥⎪u 2 ⎪
εx = ≈ u1 + u2 + 3 u3 + 4 u4 ⎢ ∂x ∂x ∂x ∂x ⎥⎪ ⎪
∂x ∂x ∂x ∂x ∂x =⎢ 0
∂N1(x, y)
0
∂N 2 (x, y)
0
∂N3(x, y)
0
∂N 4 (x, y)⎥⎪v 2 ⎪
⎢ ⎨ ⎬
∂v (x, y) ∂N1(x, y) ∂N 2 (x, y) ∂N (x, y) ∂N (x, y) ∂y ∂y ∂y ∂y ⎥⎪u 3 ⎪
εy = ≈ v1 + v2 + 3 v3 + 4 v4 ⎢ ∂N (x, y) ∂N (x, y) ∂N (x, y) ∂N (x, y) ∂N (x, y) ∂N (x, y) ∂N (x, y) ∂N (x, y)⎥
⎢ 1 1 2 2 3 3 4 4
⎥⎪v3 ⎪
∂y ∂y ∂y ∂y ∂y ⎣⎢ ∂ ∂x ∂y ∂x ∂y ∂x ∂y ∂x ⎥⎪ ⎪
 
⎦⎪u 4 ⎪
y

∂u (x, y) ∂v (x, y) ∂N1(x, y) ∂N (x, y) B ⎪v ⎪
γ xy = + ≈ u1 + 1 v1 + ...... ⎩ 4⎭
∂y ∂x ∂y ∂x
ε=Bd

Summary: For each element

Displacement approximation in terms of shape functions Constant Strain Triangle (CST) : Simplest 2D finite element
u=Nd
v1
v3
Strain approximation in terms of strain-displacement matrix 1 u1
(x1,y1) (x3,y3)
ε=Bd v2 v u3
y u 3
Stress approximation (x,y)
σ = DB d u2
2 (x2,y2)
Element stiffness matrix
x
k = ∫ e B D B dV
T
V
• 3 nodes per element
Element nodal load vector • 2 dofs per node (each node can move in x- and y- directions)
• Hence 6 dofs per element
f = ∫ e N X dV + ∫ e N T S dS
T T

V
 
 ST

 

f f
b S

2
The displacement approximation in terms of shape functions is Formula for the shape functions are
v1 a1 + b1 x + c1 y
N1 =
u (x,y) ≈ N1u1 + N2 u2 + N3u3 v3 2A
1 u1 a + b x + c2 y
(x1,y1) (x3,y3) N2 = 2 2
v(x,y) ≈ N1 v1 + N 2 v 2 + N 3 v 3 v2 v u3 2A
⎧u1 ⎫ u 3 a + b x + c3 y
⎪v ⎪ y (x,y) N3 = 3 3
⎪ 1⎪ 2A
0 ⎤ ⎪⎪u 2 ⎪⎪ where u2
⎧u (x, y)⎫ ⎡ N 1 0 N2 0 N3 2 (x2,y2)
u=⎨ ⎬=⎢ ⎨ ⎬
⎩v (x, y)⎭ ⎣ 0 N1 0 N2 0 N 3 ⎥⎦ ⎪v 2 ⎪
x
⎪u 3 ⎪ ⎡1 x 1 y1 ⎤
⎪ ⎪ 1
u 2×1 = N 2×6 d 6×1 ⎪⎩ v 3 ⎪⎭ A = area of triangle = det ⎢⎢1 x 2 y 2 ⎥⎥
2
⎣⎢1 x 3 y 3 ⎦⎥
⎡N 0 N2 0 N3 0⎤ a1 = x 2 y 3 − x 3 y 2 b1 = y 2 − y 3 c1 = x 3 − x 2
N=⎢ 1
⎣0 N1 0 N2 0 N 3 ⎥⎦ a 2 = x 3 y1 − x1 y 3 b2 = y 3 − y1 c 2 = x1 − x3
a 3 = x1 y 2 − x 2 y1 b3 = y1 − y 2 c3 = x 2 − x1

2. At every point in the domain

Properties of the shape functions:

1. The shape functions N1, N2 and N3 are linear functions of x

and y 3

N2 ∑N
i =1
i =1
N1 N3
3
1
1 1 ∑N x
i =1
i i =x
1 3 1
3

∑N y
3
y 2 3
i i =y
i =1
1
2 2

x
⎧1 at node ' i '
Ni = ⎨
⎩0 at other nodes

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3. Geometric interpretation of the shape functions Approximation of the strains
At any point P(x,y) that the shape functions are evaluated, ⎧ ∂u ⎫
⎪ ∂x ⎪
⎧ εx ⎫ ⎪ ⎪
⎪ ⎪ ⎪ ∂ v ⎪
A1 ε = ⎨ε y ⎬ = ⎨ ∂y ⎬ ≈ Bd
N1 = ⎪γ
⎩ xy
⎪ ⎪
⎭ ⎪ ∂u ∂v
⎪
⎪
A ⎪ ∂y + ∂x ⎪
⎩ ⎭
A2
N2 = ⎡∂N1(x,y) ∂N2(x,y) ∂N3(x,y) ⎤
P (x,y)
A ⎢ 0 0 0 ⎥
1 A3 ⎢ ∂x ∂x ∂x ⎥
∂N1(x,y) ∂N2(x,y) ∂N3(x,y)⎥
A2 N3 = B=⎢ 0 0 0
A3
A1 A ⎢ ∂y ∂y ∂y ⎥
3 ⎢∂N (x,y) ∂N (x,y) ∂N (x,y)
y
∂N2(x,y) ∂N3(x,y) ∂N3(x,y)⎥
⎢ 1 1 2
⎥
⎣⎢ ∂y ∂x ∂y ∂x ∂y ∂x ⎦⎥
2
⎡b1 0 b2 0 b3 0 ⎤
1⎢
x = 0 c1 0 c2 0 c3 ⎥⎥
2A ⎢
⎣⎢c1 b1 c2 b2 c3 b3 ⎥⎦

Inside each element, all components of strain are constant: hence IMPORTANT NOTE:
the name Constant Strain Triangle 1. The displacement field is continuous across element
boundaries
2. The strains and stresses are NOT continuous across element
Element stresses (constant inside each element) boundaries

σ = DB d

4
Element stiffness matrix Element nodal load vector
t
k = ∫ e B D B dV
T
V
f = ∫ e N X dV + ∫ e N T S dS
T T

V
 
 ST

 

Since B is constant f
b f
A
S

k = B D B∫ e dV = B D B At
T T t=thickness of the element
V A=surface area of the element

Element nodal load vector due to body forces

EXAMPLE:

f b = ∫ e N X dV = t ∫ e N X dA If Xa=1 and Xb=0

T T
V A

⎧t N X dA ⎫
⎧ f b1x ⎫ ⎪ A
∫e 1 a ⎪
⎧t N X
∫e 1 a dA ⎫ ⎧ tA ⎫
fb1y ⎧ f b1x ⎫ ⎪ A ⎪ ⎧
t N dA ⎫ ⎪ ⎪
fb3y ⎪ f ⎪ ⎪t ∫ e N1 X b dA ⎪ ⎪ f ⎪ ⎪ t ∫ e N1 X b dA ⎪ ⎪ ∫Ae 1 ⎪ ⎪ 3 ⎪
1 fb1x ⎪ b1 y ⎪ ⎪ A ⎪
⎪ b1 y ⎪ ⎪ A ⎪ ⎪ 0 ⎪ ⎪0⎪
⎪⎪ f b 2 x ⎪⎪ ⎪⎪t ∫ e N 2 X a dA⎪⎪ ⎪ dA⎪⎪ ⎪⎪t N dA⎪⎪ ⎪ tA ⎪
⎪⎪ f b 2 x ⎪⎪ ⎪t ∫Ae N 2 X a
⎬ = ⎨ ∫Ae 2 ⎬ = ⎨ 3 ⎬
Xb fb3x fb =⎨ ⎬=⎨ ⎬ fb =⎨ ⎬=⎨
A
fb2y Xa
y (x,y)
3 ⎪ f b 2 y ⎪ ⎪t ∫Ae N 2 X b dA⎪ ⎪ f b 2 y ⎪ ⎪t ∫Ae N 2 X b dA⎪ ⎪ 0 ⎪ ⎪0⎪
⎪ f b3 x ⎪ ⎪ ⎪ ⎪ f b3 x ⎪ ⎪ ⎪ ⎪ t N dA ⎪ ⎪ tA ⎪
dA⎪ ⎪ ∫Ae 3 ⎪ ⎪ ⎪
⎪⎩ f b 3 y ⎪⎭ ⎪ ∫A
fb2x ⎪ ⎪ ⎪t e N 3 X a dA⎪ ⎪ ⎪ ⎪t ∫Ae N 3 X a
⎪ ⎪⎭ ⎪ 3 ⎪
2
⎩⎪ f b 3 y ⎭⎪ ⎪ ⎪ ⎪⎩ 0
⎪⎩t ∫Ae N 3 X b dA⎪
⎭ ⎪⎩t ∫Ae N 3 X b dA⎪ ⎩0⎭
x ⎭

5
Element nodal load vector due to traction Element nodal load vector due to traction

EXAMPLE:
= ∫ e N T S dS
T
f S ST

EXAMPLE:
fS2y f S = t∫ N
T
T S dS
l 2−3e along 2 − 3
(2,2)
fS1y 2 fS2x
fS3y f = t∫ N
T
T S dS y f S2 x = t ∫ N 2 along 2−3 (1) dy 1
1 S l1− 3 e along 1− 3 ⎧1⎫ l 2−3 e
TS = ⎨ ⎬
fS1x fS3x ⎩0⎭ ⎛1⎞ 2
fS3y = t ⎜ ⎟ × 2 ×1 = t
y 3 ⎝ 2⎠
1 3 f x
(0,0) (2,0) S3x Similarly, compute
2 f S2 y = 0
x f S3 x = t
f S3 y = 0

Example 1000 lb
Recommendations for use of CST y 300 psi
3 2
1. Use in areas where strain gradients are small
El 2 Thickness (t) = 0.5 in
2 in E= 30×106 psi
2. Use in mesh transition areas (fine mesh to coarse mesh) El 1
1 ν=0.25
3. Avoid CST in critical areas of structures (e.g., stress
x
concentrations, edges of holes, corners) 4 3 in

4. In general CSTs are not recommended for general analysis

purposes as a very large number of these elements are required (a) Compute the unknown nodal displacements.
for reasonable accuracy. (b) Compute the stresses in the two elements.

6
Realize that this is a plane stress problem and therefore we need to use Step 2: Compute strain-displacement matrices for the elements

Recall ⎡b1 0 b2 0 b3 0 ⎤ with

1⎢ b1 = y 2 − y3 b2 = y3 − y1 b3 = y1 − y 2
⎡
1 ν
⎤
0 ⎥ ⎡3.2 0.8 0 ⎤ B= 0 c1 0 c2 0 c3⎥⎥
E ⎢ 2A ⎢ c1 = x3 − x2 c2 = x1 − x3 c3 = x2 − x1
D= ⎢ν 1 0 ⎥ = ⎢⎢0.8 3.2 0 ⎥⎥ ×10 7 psi ⎣⎢c1 b1 c2 b2 c3 b3⎥⎦
1 −ν ⎢
2
1 −ν ⎥
⎢0 0 ⎥ ⎢⎣ 0 0 1.2⎥⎦
⎣ 2 ⎦ For Element #1: 2(2) y1 = 0; y 2 = 2; y3 = 0
Step 1: Node-element connectivity chart x1 = 3; x2 = 3; x3 = 0
Hence
ELEMENT Node 1 Node 2 Node 3 Area b1 = 2 b2 = 0 b3 = −2
(sqin) c1 = −3 c2 = 3 c3 = 0
1 1 2 4 3 4(3) 1(1) Therefore ⎡ 2 0 0 0 −2 0 ⎤
1
2 3 4 2 3 (local numbers within brackets) B = ⎢⎢ 0 −3 0 3 0 0 ⎥⎥
(1)

6
Node x y ⎣⎢−3 2 3 0 0 − 2⎥⎦
For Element #2:
1 3 0 Nodal coordinates
2 3 2 ⎡− 2 0 0 0 2 0⎤
1
B = ⎢⎢ 0 3 0 −3 0 0⎥⎥
(2)
3 0 2
6
4 0 0 ⎣⎢ 3 − 2 −3 0 0 2⎥⎦

Step 3: Compute element stiffness matrices

(1) (1) T (1) (1) T (1) ( 2) ( 2) T ( 2) ( 2) T ( 2)

k = AtB D B = (3)(0.5)B D B k = AtB D B = (3)(0.5)B DB
⎡0.9833 − 0.5 − 0.45 0.2 − 0.5333 0.3 ⎤ ⎡0.9833 − 0.5 − 0.45 0.2 − 0.5333 0.3 ⎤
⎢ 1.4 0.3 −1.2 0.2 − 0.2⎥⎥ ⎢ 1.4 0.3 −1.2 0.2 − 0.2⎥⎥
⎢ ⎢
⎢ 0.45 0 0 − 0.3⎥ 7 ⎢ 0.45 0 0 − 0.3⎥ 7
=⎢ ⎥ ×10 =⎢ ⎥ ×10
⎢ 1.2 − 0.2 0 ⎥ ⎢ 1.2 − 0.2 0 ⎥
⎢ 0.5333 0 ⎥ ⎢ 0.5333 0 ⎥
⎢ ⎥ ⎢ ⎥
⎣⎢ 0.2 ⎦⎥ ⎣⎢ 0.2 ⎦⎥
u1 v1 u2 v2 u4 v4 u3 v3 u4 v4 u2 v2

7
 Step 4: Assemble the global stiffness matrix corresponding to the nonzero degrees of Step 5: Compute consistent nodal loads
freedom
⎧ f1 x ⎫ ⎧ 0 ⎫
Notice that ⎪ ⎪ ⎪ ⎪
u3 = v3 = u 4 = v4 = v1 = 0 f = ⎨ f2x ⎬ = ⎨ 0 ⎬
⎪f ⎪ ⎪f ⎪
Hence we need to calculate only a small (3x3) stiffness matrix ⎩ 2y ⎭ ⎩ 2y ⎭

f 2 y = −1000 + f S 2 y
⎡ 0.983 − 0.45 0.2⎤ u1
K = ⎢⎢ − 0.45 0.983 0 ⎥⎥ × 10 7 u2 The consistent nodal load due to traction on the edge 3-2
⎢⎣ 0.2 0 1.4 ⎥⎦ v2
3 x
u1 u2 v2 f S2 y = ∫ N 3 3− 2 ( −300 )tdx N 2 3− 2 =
x =0
3
3
= ( −300 )(0.5) ∫ N 3 3− 2 dx
x=0

x3 3 2
= −150 ∫ dx
x =0 3

3
⎡ x2 ⎤ ⎛9⎞
= −50 ⎢ ⎥ = −50 ⎜ ⎟ = −225 lb
⎣ 2 ⎦0 ⎝2⎠

Hence Step 7: Compute the stresses in the elements

f 2 y = −1000 + f S 2 y
In Element #1
= −1225 lb
σ (1) = D B(1) d(1)
Step 6: Solve the system equations to obtain the unknown nodal loads
With
Kd = f
= [u1 v1 u2 v2 u4 v4 ]
(1)T
d
⎡ 0.983 − 0.45 0.2⎤ ⎧ u1 ⎫ ⎧ 0 ⎫ [
= 0.2337×10−4 0 0.1069×10−4 − 0.9084×10−4 0 0 ]
⎪ ⎪ ⎪ ⎪
10 7 × ⎢⎢ − 0.45 0.983 0 ⎥⎥ ⎨u 2 ⎬ = ⎨ 0 ⎬
Calculate
⎢⎣ 0.2 0 ⎥ ⎪ ⎪
1.4 ⎦ ⎩ v2 ⎭ ⎩− 1225 ⎪⎭
⎪

⎡ − 114.1 ⎤
Solve to get
σ (1) = ⎢⎢− 1391.1⎥⎥ psi
⎧ u1 ⎫ ⎧ 0.2337 × 10 in ⎫ ⎣⎢ − 76.1 ⎦⎥
−4

⎪ ⎪ ⎪ −4 ⎪
⎨u 2 ⎬ = ⎨ 0.1069 × 10 in ⎬
⎪ v ⎪ ⎪− 0.9084 × 10 − 4 in ⎪
⎩ 2⎭ ⎩ ⎭

8
 In Element #2

σ (2) = D B(2) d(2)

With

= [u3 v3 u4 v4 u2 v2 ]
( 2)T
d
[
= 0 0 0 0 0.1069×10−4 − 0.9084×10−4 ]
Calculate

⎡ 114.1 ⎤
σ ( 2) = ⎢⎢ 28.52 ⎥⎥ psi
⎢⎣− 363.35⎥⎦

Notice that the stresses are constant in each element