MANE 4240 & CIVL 4240

Introduction to Finite Elements

Introduction to the Stiffness

(Displacement) Method:
Analysis of a system of springs
Prof. Suvranu De

Reading assignment:
Chapter 2: Sections 2.1-2.5 + Lecture notes
Summary:
Developing the finite element equations for a system of
springs using the direct stiffness approach
Application of boundary conditions
Physical significance of the stiffness matrix
Direct assembly of the global stiffness matrix
Problems

FEM analysis scheme

Step 1: Divide the problem domain into non overlapping regions
(elements) connected to each other through special points
(nodes)
Step 2: Describe the behavior of each element
Step 3: Describe the behavior of the entire body by putting
together the behavior of each of the elements (this is a process
known as assembly)

F1x

F2x
k1

F3x

k2

Problem
Analyze the behavior of the system composed of the two springs
loaded by external forces as shown above
Given
F1x , F2x ,F3x are external loads. Positive directions of the forces are
along the positive x-axis
k1 and k2 are the stiffnesses of the two springs

F1x

F2x
k1

F3x

k2

Solution
Step 1: In order to analyze the system we break it up into smaller
parts, i.e., elements connected to each other through nodes
F1x

k1

1
Node 1

F2x

d1x

Element 1

d2x

k2

F3x

3
Element 2

Unknowns: nodal displacements d1x, d2x, d3x,

d3x

F1x

k1

1
Node 1

F2x

d1x

Element 1

d2x

k2

F3x

3
Element 2

d3x

Solution
Step 2: Analyze the behavior of a single element (spring)

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Two nodes: 1, 2
Nodal displacements: d1x d 2x
Nodal forces: f1x f2x
Spring constant: k

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,z) and global (x,y,z) coordinate systems

Local (x , y

Behavior of a linear spring (recap)

F
d

F = Force in the spring

d = deflection of the spring
k = stiffness of the spring
Hookes Law
F = kd

f1x

f2x
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Hookes law for our spring element

f2x k (d 2x d1x )

Eq (1)
Force equilibrium for our spring element (recap free body diagrams)

f1x f2x 0
f1x f2x k (d 2x d1x )

Eq (2)

Collect Eq (1) and (2) in matrix form

Element force
vector

f1x
k - k d1x
f k d

- k k d 2x
f 2x

Element nodal

Element
stiffness
matrix

displacement
vector

Note
T

1. The element stiffness matrix is symmetric, i.e. k k

2. The element stiffness matrix is singular, i.e.,

det ( k ) k 2 k 2 0
The consequence is that the matrix is NOT invertible. It is not
possible to invert it to obtain the displacements. Why?
The spring is not constrained in space and hence it can attain
multiple positions in space for the same nodal forces
e.g.,

f1x
2 - 2 1 - 2

f 2x
- 2 2 2 2
f1x
2 - 2 3 - 2

f 2x
- 2 2 4 2

Solution
Step 3: Now that we have been able to describe the behavior of
each spring element, lets try to obtain the behavior of the original
structure by assembly
Split the original structure into component elements
Element 2
Element 1
k1
1
2
k2
2
(1)
f2x(1) d 2x

(1)
f1x(1) d1x

f1x(1)
k1 - k1
(1)

k
k
f 2x
1 1

(1 )
k

(1)
f

Eq (3)

(1)
d1x

(1)
d 2x

(1 )
d

3
(2)
f2x(2) d 2x

(2)
f1x(2) d1x

f1x(2)
k2 - k2
(2)

k
k
f 2x
2
2

(2)
(2)
f

Eq (4)

(2)
d1x

(2)
d 2x

(2)
d

To assemble these two results into a single description of the

response of the entire structure we need to link between the local
and global variables.
Question 1: How do we relate the local (element) displacements
back to the global (structure) displacements?
F1x
k2
F2x
F3x
k1
x

Node 1

1
d1x

Element 1

d2x

Element 2

(1)
d1x
d1x
(2) d
d (1)

d
2x
1x
2x
d (2) d
2x

3x

Eq (5)

d3x

Hence, equations (3) and (4) may be rewritten as

f1x(1)
k1 - k1
(1)

k
k
f 2x
1
1

d1x

d 2x

f1x(2)
k2
(2)
f 2x
- k2

- k 2 d 2x

k 2 d 3x

Or, we may expand the matrices and vectors to obtain

f1x(1)
k1 k1 0
(1)
-k

k
0
f
2x
1
1

0
0
0 0


f

(1) e

(1) e

Eq (6)
k (1) e
f (1) e

d1x
d
2x
d 3x

0
0
f (2)
0
1x

f (2)
0
2x

(2)e
f

0 d1x
d

k 2 k 2 2x
- k 2 k 2 d 3x

0

(2)e
k

Eq (7)

Expanded element stiffness matrix of element 1 (local)

Expanded nodal force vector for element 1 (local)
Nodal load vector for the entire structure (global)

Question 2: How do we relate the local (element) nodal forces back

to the global (structure) forces? Draw 5 FBDs
F1x
k2
F2x
F3x
k1
x
1 A

d1x

D3

2 C
d2x

d3x

2
F1x

f1x(1)

f2x(1)

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F2x

3
f1x(2)

At node 1 : F1x - f1x(1) 0

At node 2 : F2x - f2x(1) f1x(2) 0
At node 3 : F - f (2) 0
3x

2x

(2)
f2x

F3x

In vector form, the nodal force vector (global)

f1x(1)
F1x

(1) (2)
F F2x f 2x f1x
F
(2)
f
2x
3x

Recall that the expanded element force vectors were

f (1) e

f1x(1)
0
( 2)e
(1)
f (2)

f 2x and f
1x
0
f (2)
2x

Hence, the global force vector is simply the sum of the expanded
element nodal force vectors F

1x

(1) e
( 2)e

F2x f f
F3x

But we know the expressions for the expanded local force vectors
from Eqs (6) and (7)

f (1) e k (1)e d and f ( 2 ) e k (2)e d

Hence

F f

(1) e

( 2) e

(1)e

d k

(2)e

(1)e
(2)e

d k k d

FKd
F Global nodal force vector
d Global nodal displacement vector
K Global stiffness matrix
sum of expanded element stiffness matrices

For our original structure with two springs, the global stiffness
matrix is

k 1 k 1 0 0
K - k1 k1 0 0
0
0 0 0


(1 ) e
k

k1
- k1
0

k1
k1 k 2
- k2

0
0
k 2 k 2
- k 2 k 2

(2)e
k

0
k 2
k 2

NOTE
1. The global stiffness matrix is symmetric
2. The global stiffness matrix is singular

The system equations

F1x k1

F2x - k1
F 0
3x

FKd
k1
k1 k 2
- k2

imply

0
k 2
k 2

d1x

d 2x
d
3x

F1x k1d1x k1d 2x

F2x -k1d1x (k1 k 2 )d 2x k 2 d 3x
F3x -k 2 d 2x k 2 d 3x
These are the 3 equilibrium equations at the 3 nodes.

F1x
1 A

k1
d1x

k2

F2x
B

F3x
D3

2 C
d2x

x
d3x

2
F1x

f1x(1)

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f2x(1)

F2x

3
f1x(2)

(2)
f2x

F1x k1 d1x d 2x f1x(1)

F3x

At node 1 : F1x - f1x(1) 0

F2x -k1d1x (k1 k 2 )d 2x k 2 d 3x
(1)
(2)
At node 2 : F2x - f2x f1x 0
k1 d1x d 2x k 2 d 2x d 3x
At node 3 : F3x - f2x(2) 0
f2x(1) f1x(2)
F3x -k 2 d 2x d 3x f2x(2)

Notice that the sum of the forces equal zero, i.e., the structure is in
static equilibrium.
F1x + F2x+ F3x =0
Given the nodal forces, can we solve for the displacements?
To obtain unique values of the displacements, at least one of the
nodal displacements must be specified.

Direct assembly of the global stiffness matrix

Global
F1x

F2x

k1

1
d1x

Element 1

d2x

k2

F3x
3

Element 2

Local
1
(1)
f1x(1) d1x

Element 1
k1

2
(1)
f2x(1) d 2x

2
(2)
f1x(2) d1x

d3x
Element 2
k2

3
(2)
f2x(2) d 2x

Node element connectivity chart : Specifies the global node

number corresponding to the local (element) node numbers
ELEMENT Node 1 Node 2
1

Local node number

Global node number

Stiffness matrix of element 1

d1x d2x

(1)

k1 - k1 d1x

k
k
1 d2x
1

Stiffness matrix of element 2

d2x d3x

k ( 2 ) k 2
-k
2

Global stiffness matrix

d2x
d3x
d1x

k1
K - k1
0

- k1
k1 k 2
- k2

0
- k 2
k 2

d1x
d2x
d3x

Examples: Problems 2.1 and 2.3 of Logan

- k 2 d2x

k 2 d3x

Example 2.1
22

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Compute the global stiffness matrix of the assemblage of

springs shown above
d2x
d3x
d4x
d1x
1000
0
0 d1x
1000
1000 1000 2000

K
0
2000

0
0

2000
0 d2x
2000 3000 3000 d3x

3000
3000 d
4x

Example 2.3
3

2002 Brooks/Cole Publishing / Thomson Learning

Compute the global stiffness matrix of the assemblage of

springs shown above
k1

K -k1
0

-k1
k1 k 2 k 3
- k2 k3

- k 2 k 3
k 2 k 3

Imposition of boundary conditions

Consider 2 cases
Case 1: Homogeneous boundary conditions (e.g., d1x=0)
Case 2: Nonhomogeneous boundary conditions (e.g., one of the
nodal displacements is known to be different from zero)
Homogeneous boundary condition at node 1
k2=100N/m
k1=500N/m
1
2
Element 2
Element 1
d1x=0
d2x

F3x=5N
3
d3x

System equations

0
500 -500
-500 600 -100

0
-100 100

d 1x F1x
d 2 x 0
d 3 x 5
Global Stiffness Nodal Nodal
load
disp
matrix
vector vector
Note that F1x is the wall reaction which is to be computed as part
of the solution and hence is an unknown in the above equation
Writing out the equations explicitly
-500d 2x F1x
Eq(1)
Eq(2)
600d 2 x 100d3 x 0
100d 2 x 100d3 x 5

Eq(3)

Eq(2) and (3) are used to find d2x and d3x by solving
600 100 d 2 x
100 100 d

3 x
d 2 x
0.01 m

d
0.06
m

3 x

NOTICE: The matrix in the above equation may be obtained from

the global stiffness matrix by deleting the first row and column
0
500 -500
-500 600 -100

0
-100 100

600 100
100 100

Note use Eq(1) to compute F1x =-500d 2x 5 N

NOTICE:
1. Take care of homogeneous boundary conditions
by deleting the appropriate rows and columns from the
global stiffness matrix and solving the reduced set of
equations for the unknown nodal displacements.
2. Both displacements and forces CANNOT be known at
the same node. If the displacement at a node is known, the
reaction force at that node is unknown (and vice versa)

Imposition of boundary conditionscontd.

Nonhomogeneous boundary condition: spring 2 is pulled at
node 3 by 0.06 m)
k2=100N/m
k1=500N/m
x
1
3
2
Element 2
Element 1
d3x=0.06m
d1x=0
d2x

System equations

0
500 -500
-500 600 -100

0
-100 100

d 1x F1x
d 2 x 0
d 3 x F3 x
0.06
Note that now F1x and F3x are not known.

Writing out the equations explicitly

-500d 2x F1x
Eq(1)
600d 2 x 100(0.06) 0
Eq(2)
100d 2 x 100(0.06) F3 x
Eq(3)

Now use only equation (2) to compute d2x

600d 2 x 100(0.06)
d 2 x 0.01m

Now use Eq(1) and (3) to compute F1x =-5N and F3x=5N

Recap of what we did

Step 1: Divide the problem domain into non overlapping regions
(elements) connected to each other through special points
(nodes)
Element
Step 2: Describe the behavior of each element ( f k d )

nodal
displacement
vector

Step 3: Describe the behavior of the entire body (by assembly).

This consists of the following steps
1. Write the force-displacement relations of each spring in
Global
expanded form e

f k e d

nodal
displacement
vector

Recap of what we didcontd.

2. Relate the local forces of each element to the global forces at
the nodes (use FBDs and force
equilibrium).
e
Finally obtain

F f
FKd

Where the global stiffness matrix

K k

Recap of what we didcontd.

Apply boundary conditions by partitioning the matrix and vectors

K11 K12 d1 F1
K K d F
22
21
2
2
Solve for unknown nodal displacements

K 22 d 2 F2 K 21 d1
Compute unknown nodal forces

F1 K11 d1 K12 d 2

Physical significance of the stiffness matrix

F1x

k1

F2x
2

1
Element 1

d1x
d2x
In general, we will have a
stiffness matrix of the form
(assume for now that we do not
know k11, k12, etc)
The finite element
force-displacement
relations:

k11
k
21
k 31

k2

F3x

3
Element 2

d3x

k11
K k 21
k 31
k12
k 22
k 32

k13
k 23
k 33

k12
k 22
k 32

k13
k 23
k 33

d1 F1

d 2 F2
d F
3 3

Physical significance of the stiffness matrix

The first equation
is

k11d1 k12 d 2 k13d 3 F1

Force equilibrium
equation at node 1

Columns of the global stiffness matrix

What if d1=1, d2=0, d3=0 ?
F1 k11
F2 k 21
F3 k 31

While nodes 2 and 3 are held fixed

Force along node 1 due to unit displacement at node 1
Force along node 2 due to unit displacement at node 1
Force along node 3 due to unit displacement at node 1

Similarly we obtain the physical significance of the other

entries of the global stiffness matrix

Physical significance of the stiffness matrix

In general
Force at node i due to unit displacement at node j
k ij = keeping
all the other nodes fixed
This is an alternate route to generating the global stiffness matrix
e.g., to determine the first column of the stiffness matrix
F1

k1

F2
2

1
d1

Element 1

d2

Find F1=?, F2=?, F3=?

k2

F3

Set d1=1, d2=0, d3=0

x

3
Element 2

d3

Physical significance of the stiffness matrix

For this special case, Element #2 does not have any contribution.
Look at the free body diagram of Element #1

d (1)
2x

(1)
d1x

f1x(1)

k1

f2x(1)

(1) ) k (0 1) k
f2x(1) k1 (d (1)

d
2x
1x
1
1
f1x(1) f2x(1) k1

Physical significance of the stiffness matrix

Force equilibrium at node 1
F1
(1)
F1 =f1x k1

f1x(1)

Force equilibrium at node 2

F2
f2x(1)

Of course, F3=0

F2 =f2x(1) k1

F1 = k1d1 = k1=k11
F2 = -F1 = -k1=k21
F3 = 0 =k31

Physical significance of the stiffness matrix

Hence the first column of the stiffness matrix is
F 1

F 2
F
3

k1

k1
0

To obtain the second column of the stiffness matrix, calculate the

nodal reactions at nodes 1, 2 and 3 when d1=0, d2=1, d3=0
Check that
F 1

F 2
F
3

k1

1 k2

k2

Physical significance of the stiffness matrix

To obtain the third column of the stiffness matrix, calculate the
nodal reactions at nodes 1, 2 and 3 when d1=0, d2=0, d3=1
Check that
F 1

F 2
F
3

k 2

Steps in solving a problem

Step 1: Write down the node-element connectivity table
linking local and global displacements
Step 2: Write down the stiffness matrix of each element
Step 3: Assemble the element stiffness matrices to form the
global stiffness matrix for the entire structure using the
node element connectivity table
Step 4: Incorporate appropriate boundary conditions
Step 5: Solve resulting set of reduced equations for the
unknown displacements
Step 6: Compute the unknown nodal forces