3 Rod and beam elements

How to analyze structures shown in pictures using

FEM:

3 Rod and beam elements

Rod (spar, truss element) and beam, definitions:
Rod elements can only extend or compress
axially (two-force system!)
Beam elements can carry bending moments
and (and torsion in 3D) in additio to axial
loads

rod
beam
rod

3.1 Rod
The stiffness matrix of a rod element has already been
defined (spring!):
N1

A,E
L N2
U1

k1
k1

k1
, u
k1

U2

ki ,ekv

Thus the basic equation is

AE 1
L
1

1 u1
1 u2

U1
U2
Ai E
li

F1
F2

General definition: columns of stiffness matrix are

nodal loads imposed on the elements resulting unit
displacement in corresponding degree of freedom
and keeping other degrees of freedom zero.

3.1 Rod
More formal definition comes from integral
A,E
N1 L N2

B T EB dV

k
V

u1

u2

where B is strain-displacement matrix, E on

material matrix or constitutive matrix. Matrix B is
obtained by defining the displacement field in the
rod using linear interpolation

u( x)

L x
L

x u1
L u2

or u

Nd

where N is so-called shape function matrix.

4

3.1 Rod
Strain is the gradient of axial displacement, i.e.

du
dx

d
N
dx

1
L

Bd, B

1
,d
L

u1
u2

Notice that strain-displacement matrix is derivative of

the shape function vector.
Thus the stiffness matrix can be derived as
L

B TEB dV

1/ L
1/ L

1
L

1
Adx
L

AE 1
L
1

1
1

3.2 2D Beam
2 dimensional Beam element has for degrees of
freedom, i.e. rotations at the end of the beam as
well as transverse displacements:

d
In the development of the stiffness matrix the
assumption is a prismatic and materially
homogenous beam.
Notice that axial deformations are excluded from
the definition but they can be readily incorporated
in stiffness matrix from rod element previously
defined.

v1
1

v2
2

3.2 2D Beam
The stiffness matrix of a two-dimensional prismatic
beam made of homogenous material can be
derived using integral

B T EI BdV

k
V

in which the strain-displacement matrix B is

obtained from curvature d2v/dx2 using third order
polynomial, which describes the displacement field
as:
2
3

3.2 2D Beam
Using four shape functions, i.e. each for
corresponding dof, leads to formulation

v1
v ( x)

N1

N2

N3

N4

v2
2

and strain-displacement function B is obtained

from curvature d2v/dx2
2
2
d v
dx 2

d
N
dx 2

Bd

Engineering beam theory:

d2
dx 2

M
EI
8

3.2 2D Beam
The shape functions are obtained from beam theory:

jossa

3.2 2D beam
Thus the derivatives of the shape functions shown in
the previous slide result the strain-displacement matrix
6
L2

12 x
L3

4
L

6x
L2

6
L2

12 x
L3

2
L

6x
L2

And the integration

d 2v
dx 2

d2
N
dx 2

Bd

v1

v2

T
2

results

B T EI BdV

k
V

12
EI 6 L
L3 12
6L

6L
4 L2

12
6L

6L
2 L2

6L
2 L2

12
6L

6L
4 L2
10

3.3 Transformation
Stiffness matrix of a rod in local coordinate system (a)
Transformation from local to global system (b)

11

3.3 Transformation
The global stiffness matrix of a rod can be derived as

T k' T

AE
L

where
k'

cos
0

c2

cs

c2

cs

cs

cs

s2

cs

cs

cs

s2

cs

s2

AE 1
1
L
sin
0

,s

sin , c

cos

1
1
0
cos

0
sin

3.3 Transformation
Example: calculate the displacements and stresses of
the structure shown in figure, when A = 300 mm2 for all
rods and E = 200 GPa.

13

3.3 Transformation
Element numbering, directions of local coordinates,
stiffness matrices and degrees of freedom:
uC

vC

uB

vB
uC
vC
uB
vB

1:C->B
3:C->A
uB

vB

uA

vA
uB
vB
uA
vA

2:B->A
uC

T k' T

AE
L

c2

cs

c2

cs
c2

s2
cs

cs
c2

cs

cs

cs
s2
,s
cs
s

sin , c

cos

vC

uA

vA
uC
vC
uA
vA
14

3.3 Transformation
Global stiffness matrix and force vector when loading
and boundary conditions are taken into account:

1:C->B

uC

vC

uB

vB

uA

vA

3:C->A

2:B->A

uC
vC
uB
vB
uA
vA
15

3.3 Transformation
Solution and results [mm]:

uB = -1,50 mm
vB = -11,3 mm
vA= - 4,00 mm
16

3.3 Transformation
Formulate the stiffness matrix of the structure shown in
figure. E = 210 GPa and cross-section is RHS 100x100x4.
Axial stiffness of beam BC =
The stiffnes matrix of beam AB in global coordinate
system is
k1

c2
cs

AE
LAB

c2
cs

cs
s2

c2

cs

c2

cs

cs

cs

s2

uA

cs
s2

vA
uB

, u1

vB

and of beams BD and DC:

k2

12
EI 6 LBD
3
LBD
12
6 LBD

6 LBD
2
4 LBD

12
6 LBD

6 LBD
2
2 LBD

6 LBD
2
2 LBD

12
6 LBD

6 LB D
2
4 LBD

vB
B

, u2

vD

12
k3

EI 6 LDC
3
12
LDC
6 LDC

6 LDC

12

6 LDC

vD

4 LDC
6 LDC

6LBC
12

2 LDC
, u3
6 LDC

6LDC

4 LDC

2 LDC

vC

2
C

17

3.3 Transformation
Taking into account the boundary conditions and the axial
stiffness of beam BC (infinite!) results

k1

k2

AE
3
LAB

12
EI 6 LBD
3
12
LBd
6 LBD

c2
cs

cs
s2
2

cs

c2
cs

cs
s2

cs

cs

s2

cs

s2

6 LBD
2
4 LBD
6 LBD

12
6 LBD
12

6 LBD
2
2 LBD
6 LBD

6 LBD

4 LBD

2 LBD

uA
u1

vA
uB

vB

vB
B

vD
D

k3

12
EI 6 LDC
3
12
LDC
6 LDC

6 LDC
2
4 LDC
6 LDC

12
6 LDC
12

6 LDC
2
2 LDC
6 LDC

6 LDC

4 LDC

2 LDC

vB
B

vD

2
D

18

3.3 Transformation
Global stiffness matrix is then
D

kG

AE 2 12 EI
s
3
LAB
LBD
6 EI
2
LBD
12 EI
3
LBD
6 EI
2
LBD

6 EI
2
LBD
4 EI
LBD
6 EI
2
LBD
2 EI
LBD

12EI
3
LBD
6 EI
2
LBD
12EI 12EI
3
3
LBD
LDC
6 EI 6 EI
2
2
LBD
LDC
6 EI
L2 DC

6 EI
2
LBD
2 EI
LBD
6 EI 6 EI
2
2
LBD
LDC
4 EI 4 EI
LBD LDC
2 EI
LDC

0
vB

0
6 EI
,d
L2 DC
2 EI
LDC
4 EI
LDC

vD
D
C

19

3.3 Transformation
The solution results
D

Displacement vector

Backsubstitution gives element forces, example is

element BD:

20

10

3.3 Transformation of 2D beam element

Global stiffness matrix of a 2D beam element, when also
axial stiffness is taken into account is
cos
sin
0
0
k

T Tk' T
T
u1

sin
0
0
0
0

cos
0
0
0
0

0
0
1
0
0 cos
0 sin
0
0

0
0
0
sin
cos
0

0
0
0
0
0
1

v1

v2

Y
1

u2

U
u2

v1

v2

u1

1
2

X
21

3.2 2D beam: example

Calculate the maximum displacement and maximum
normal stress in the frame shown in picture. Crane beam
is IPE 300 and column is HEA200. Neglect self-weight.

22

11

3.2 2D beam: example

Element model and degrees of freedom (notice assumptions of model!):
E = 210 GPa
1
2
AIPE300 = 5380 mm 2
IIPE300 = 83,6E6 mm 4
AHEA20 = 5380 mm 2
1
2
IHEA200 = 36,9E6 mm 2
k

kG

u1
v1

k
k

k
k

k
k

k l k l k l
k l k l k l

l
l

l
l

l
l

0
0

0
0

0
0

k l k l k l

0 0 0

l m l m l m m m m

0 0 0

l m l m l m m m m

0 0 0

l m l m l m m m m

0 0 0
0 0 0

0
0

0
0

0
0

m
m

m
m

m
m

m m m
m m m

0 0 0

m m m

u2
v2
U

u3
v3
3

u4
v4
4

23

3.2 2D beam: example

Distributed loading, e.g. self-weght in a

beam element
w

is changed to nodal loads and moments at

nodes:
wL
wL
2
2

wL
12

2
wL2
12
24

12