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DOI 10.1007/s00466-006-0029-x

O R I G I NA L PA P E R

rotational variables

Z. X. Li

Received: 14 April 2005 / Accepted: 23 December 2005 / Published online: 31 August 2006

Springer-Verlag 2006

3-noded iso-parametric element formulation of 3D

beam was presented, which was used for accurate mod- Developing an efficient beam element formulation for

elling of frame structures with large displacements and large displacement analysis of frame structures has been

large rotations. Firstly, a co-rotational framework was an issue of many researchers (Crisfield 1996, Hsiao et

fixed at the internal node of the element, it translates al. 1987). There already exist various formulations to

and rotates with the node rigidly; then, vectorial rota- meet this requirement, Hsiao et al. (1987) had divided

tional variables were defined, they are three smaller them into three categories: Total Lagrangian formula-

components of the cross-sectional principal vectors at tion (Bathe and Bolourchi 1979, Kwak et al. 2001, Pai et

each node, sometimes they represent different compo- al. 2000, Schulz and Filippou 2001). Updated Lagrang-

nents of the cross-sectional principal vectors in incre- ian formulation (Bathe and Bolourchi 1979, Cardona

mental solution procedure so as to avoid the occurrence and Geradin 1988, Chen and Blandford 1991, Misra et

of ill-conditioned tangent stiffness matrix; thereafter, al. 2000, Teh and Clarke 1999) and co-rotational for-

the internal force vector and tangent stiffness matrix in mulation (Battini and Pacoste 2002, Crisfield 1990, Cr-

local system was derived from the strain energy of the isfield and Moita 1996, Hsiao et al. 1987, Hsiao and Lin

element as its first partial derivative and second partial 2000a, Teh and Clarke 1998), certainly, there also ex-

derivative with respect to local variables, respectively, ist some mixed type formulations of them (Jiang and

and a symmetric tangent stiffness matrix was achieved; Chernuka 1994, Hsiao and Lin 2000b, Lin and Hsiao

finally, several examples were analysed to illustrate the 2001). In addition, Simo and Vu-Quoc developed a class

reliability and accuracy of this procedure. of geometrically-exact beam formulation, this formula-

tion demonstrates its computational efficiency in large

Keywords Co-rotational procedure Vectorial displacement analyses of frame structures and benefit

rotational variable Large rotation Large in solving dynamic problems of flexible beam or beams

displacement 3D beam element system subject to large overall motions (Simo and Vu-

Quoc 1986a,b, 1988, 1991, Vu-Quoc and Deng 1995,

Vu-Quoc and Ebcioglu 1995, 1996, Vu-Quoc and Simo

1987). For convenience, these formulations can also be

This work is supported by National Natural Science Foundation classified into two groups: formulations with asymmet-

of China (50408022), and the Scientific Research Foundation for

the Returned Overseas Chinese Scholars, State Education

ric element tangent stiffness matrices and formulations

Ministry and Zhejiang Province. with symmetric element tangent stiffness matrices. Due

to the non-commutativity of spatial rotations, most

Z. X. Li (B) co-rotational formulations belong to the first group, and

Department of Civil Engineering,

the geometrically-exact beam formulation proposed by

Zhejiang University,

Hangzhou 310027, China Simo and Vu-Quoc also falls into this category (Simo and

e-mail: lizx19993@zju.edu.cn Vu-Quoc 1986a,b, 1988, 1991, Vu-Quoc and Deng 1995,

310 Comput Mech (2007) 39:309322

Vu-Quoc and Ebcioglu 1995, 1996, Vu-Quoc and Simo like beam and shell elements in bionic structural mod-

1987). For an asymmetric tangent stiffness matrix, more elling of dragonflys wing.

storage is occupied so as to store all its components.

Simo and Vu-Quoc (1986c) denoted that in a conser-

vative system, although their developing tangent stiff-

ness matrix is always asymmetric, it will become sym- 2 Description of the co-rotational framework

metric once the incremental loading process arrives at

an equilibrium level, Crisfield and his co-worker (Cr- In this beam element formulation, several basic assump-

isfield 1990, 1996, Crisfield and Moita 1996) had also tions were adopted: (1) all elements are straight at the

found this phenomenon, so they symmetrized element initial configuration; (2) the shape of the cross-section

tangent stiffness matrix by excluding the non-symmet- does not distort with element deforming; (3) restrained

ric term (Simo and Vu-Quoc 1986c, Crisfield 1990, 1996, warping effects are ignored. Certainly, this co-rotational

Crisfield and Moita 1996). This treatment can improve procedure and vectorial rotational variables can also

the computational efficiency greatly. Simo (1992) pre- be easily extended to solve some complicated beam

sented a rigorous justification for the symmetrization of or shell problems, such as open cross-section beams,

non-symmetric tangent stiffness matrix. Simo (1992) and curved beam, multi-layered composite beam and lami-

Crisfield (1996) also predicted that a symmetric tangent nated curved shell element etc.

stiffness matrix in the co-rotational framework could be Local coordinate system and global coordinate sys-

achieved if a certain set of additive rotational variables tem are illustrated in Fig. 1, both of them are Cartesian

were adopted. coordinate systems, where the local coordinate system

Up to now, numerous theoretical models of beams is fixed at the internal node of element, and translates

have been developed and applied to various practical and rotates with the element rigid-body translation and

circumstances. No single theory has proven to be gen- rotation, but does not deform with the element.

eral and comprehensive enough for the entire range of In order to define the initial orientation of the local

applications. Some beam formulations address better coordinate axes, an auxiliary node is prescribed, which is

performance over certain class of physical problems with located in one of the symmetry plane of the element (see

greater accuracy and efficiency rather than their general- Point A in Fig. 1). Vectors v120 and v3A0 are calculated

ity, while, other models tend to a wider range of practical from,

engineering problems, and the accuracy of the formula-

tions has been somewhat sacrificed. In this paper, the v120 = X20 X10 v3A0 = XA0 X30

author defined a set of vectorial rotational variables and

developed an advanced co-rotational formulation for where, Xi0 (i = 1, 2, 3, A) is the global coordinates of

3D beam element. In contrast with other existing beam Node i, then the orientation vectors of local axes are

element formulations for large displacement and large defined as,

rotation analysis of frame structures, this formulation

v120 v120 v3A0

has several advantages: (1) all the variables are additive ex0 = ez0 = ey0 = ez0 ex0

in an incremental solution procedure, this renders great |v120 | |v120 v3A0 |

simplification in updating vectorial rotational variables

in incremental loading; (2) a quite simple relationship is where, ex0 , ey0 , ez0 (see Fig. 1) are the normalized ori-

established between the local variables and the global entation vectors of x-axis, y-axis and z-axis in global

variables, and the transformation matrix can be derived coordinate system, respectively.

from this relationship conveniently; (3) symmetric tan- The orientation vectors eix , eiy , eiz of Node i at the

gent stiffness matrices are achieved both in local system deformed configuration are calculated from the rota-

and global system; (4) total variables are used in calcu- tional variables directly in incremental solution pro-

lating tangent stiffness matrix in local system and global cedure. In particular, at Node 3 (the internal node),

system, this ensures the accuracy and reliability of beam e3x , e3y , e3z are coincident with the orientations of lo-

element formulation. Considering the merits of the pro- cal coordinate axes,

posed co-rotational procedure and vectorial rotational

variables, the author and his co-worker (Izzuddin and LI e3x = ex e3y = ey e3z = ez

2004, Li and Izzuddin 2005) have also extended them to

2D beam element, curved shell element, multi-layered and at the initial configuration,

tube-like beam element, laminated curved shell element

and several super-elements consisting of multiple tube- e3x0 = ex0 e3y0 = ey0 e3z0 = ez0

Comput Mech (2007) 39:309322 311

initial configuration

e 2y 0

r2y0

A r2x0

Y e3y 0 e2x0

r3y 0 x

r3x0 2 r2z0

e 1y 0 3

e3x0 e2z0

r1y 0

o r3z 0

e3z 0 z

r1x0

1 e1x0

e1z 0 r1z 0

o

X

however, the initial orientation vectors of two end nodes eiy,l eiz,l + eiy,m eiz,m + eiy,n eiz,n = 0 (1a)

are defined as e2iy,l + e2iy,m + e2iy,n = 1 (1b)

T T

eix0 = {1, 0, 0} eiy0 = {0, 1, 0} e2iz,l + e2iz,m + e2iz,n

=1 (1c)

eiz0 = {0, 0, 1}T i = 1, 2

Firstly, assumed that eiy,l eiy,m , eiy,l eiy,n (l, m,

In global coordinate system, there are 18 degree of free- n {1, 2, 3}, and l = m = n) at the end of the current

doms per element, and each node six freedoms, incremental loading or iterating step:

uG = U1 V1 W1 e1y,n1 e1y,m1 e1z,n1 , . . . ,

T Case 1 If eiz,l eiz,m and eiz,l eiz,n , then three

U3 V3 W3 e3y,n3 e3y,m3 e3z,n3 rotational variables at the next incremental loading or

where, Ui , Vi and Wi are the displacements of Node i, iterating step are eiy,n , eiy,m

, e

iz,n , where n m l are the

eiy,ni , eiy,mi and eiz,ni are the vectorial rotational vari- cyclic permutations of 1 2 3 , according to Eq. (1),

ables, they are three smaller components of eiy and other components of eiy and eiz are calculated from

eiz . This definition can eliminate the possibility of the these rotational variables as,

denominators approaching to zero in the partial deriv-

eiy,l = s1 1 e2iy,n e2iy,m (2a)

atives of the rest components of eiy and eiz with respect

to eiy,ni , eiy,mi and eiz,ni [referred to Eqs. (2) and (3)], eiy,m eiy,n eiz,n + s2 eiy,l 1 e2iy,n e2iz,n

accordingly, avoid the occurrence of ill-conditioned tan- eiz,m = (2b)

gent stiffness matrix in global system. 1 e2iy,n

In local coordinate system, there are 12 freedoms per

eiz,l = s3 1 e2iz,m e2iz,n (2c)

element, and each end node 6 degree of freedoms,

T where, s1 , s3 are the sign flags of eiy,l and eiz,l at the start

uL= u1 v1 w1 r1y,n1 r1y,m1 r1z,n1 u2 v2 w2 r2y,n2 r2y,m2 r2z,n2

of the incremental loading or iterating step, respectively,

where, ui , vi , wi are the local displacements of Node i, they are one of the numeric values of 1 or 1, s2 is also

and riy,ni , riy,mi and riz,ni are the local vectorial rotational such a constant, and it is conditioned on eT iy eiz = 0. Note

variables, which are three smaller components of riy and that n, m, l may have different values at different node

riz . This definition can avoid the occurrence of ill-condi- or at different incremental loading or iterating step.

tioned tangent stiffness matrix in local system.

Considering that eiy and eiz are always orthogonal Case 2 If eiz,m eiz,l and eiz,m eiz,n at the end

eTiy eiz = 0, and both of them are unit vectors, the rest of the current incremental loading or iterating step, then

components of eiy and eiz can be calculated from the three rotational variables are defined as eiy,n , eiy,m , eiz,n ,

rotational variables eiy,ni , eiy,mi and eiz,ni according to the according to Eq. (1), other components of eiy and eiz are

following equations, calculated from them as,

312 Comput Mech (2007) 39:309322

co-rotational framework r2x e2x

r2y0 r2x0 e'2x0 r2y r2z

y e'2y0 e2y

r2z0 2

2 y x

r3y0 x e2z

e'3y0 r3x0 e'3x0e'2z0 z e 3y r3x

r3y e3x r z

e'3z0 3z

3 r3z0 3 3 e 3z

2

r1y r

e'1y0 r1y0 r1x0 e'1x0 e1y 1x

e1x

r1z0

r1z

y 1

1

e1z Y

e'1z0 A e 2y0 r2y0

e3y0 r3y0 r2x0

e2x0

e3x0 x 2

e1y0 3 r3x0 e2z0 r2z0

r1y0 o r3z0

1 r1x0 e3z0 z

1 e1x0

e1z0 o X

r1z0

Z

eiy,l = s1 1 e2iy,n e2iy,m (3a) and from (2) to (3), it suffers pure deformation. In the

co-rotational framework presented in Fig.2, the process

s1 1e2iy,me2iy,n eiy,n eiz,n +s2 eiy,m 1e2iy,ne2iz,n from (1) to (2) is excluded, and only the process from

eiz,l = (2) to (3) is considered, where, (2) is treated as a pseudo

1e2iy,n

initial configuration of (3), so the relationships of local

(3b) variables and global variables are given as,

eiz,m = s3 1 e2iz,n e2iz,l (3c)

ti = R(di d3 + vi0 ) R0 vi0 (5a)

where, s1 , s2 , s3 are the same kind of constants as those riy = RRT

i ey0 (5b)

in case 1.

riz = RRT

i ez0 (5c)

Vector eix is the cross-product of vectors eiy and eiz , T T

ex0 ex

eix = eiy eiz (4) ui

T T

where, ti = vi , R0 = ey0 , R = ey , Ri =

The definition of local vectorial rotational variables

wi eT eT

riy,ni , riy,mi and riz,ni (they are three smaller components T z0 z

eix

of riy and riz ) follows the same route as that of global T

vectorial rotational variables (eiy,ni , eiy,mi and eiz,ni are eiy (i = 1, 2). At the right side of Eq. (5a), the first

three smaller components of eiy and eiz ). eT

iz

Rigid-body motion contributes nothing to strain, so it term is the local coordinates of Node i at the deformed

is excluded in advance so as to achieve an element-inde- configuration, while, the second term is its initial local

pendent co-rotational formulation. In Fig. 2, (1) denotes coordinates. At the right side of Eq. (5b,5c), e iy = RT

i ey0

the initial configuration; (3) represents the current con- and e iz = RTi ez0 are the cross-sectional principal vec-

figuration. From (1) to (3), the element experiences both tors of Node i at the deformed configuration (they are

rigid-body motion and pure deformation. (2) is an inter- coincident with ey0 and ez0 at undeformed configuration

mediate configuration between (1) and (3). From (1) for a straight beam element, and the nodal orientation

to (2), the element experiences pure rigid-body motion, matrix Ri0 at initial configuration is a unit matrix, while,

Comput Mech (2007) 39:309322 313

Ri e iy = Ri0 ey0 and Ri e iz = Ri0 ez0 , accordingly, e iy =

1 u0 u0 u0 x

RTi ey0 and e iz = RTi ez0 ). vi0 is the relative vector from

2 x x + x x

Node 3 to Node i at the initial configuration, it is calcu- (0) = u0

x r y + x

x r y ry0

u0 x

lated from, r

x z + x z rz0 )

(r

1 u ry x (ry ry0 )

2 x0 x + x x

vi0 = Xi0 X30 i = 1, 2 (6) ry0

(1) = ry

r r

x

ry

y x

ry0

y0

Especially, at the internal node, t3 = {0, 0, 0}T , r3x0 = x r z x r z0

{0, 0, 1}T . u r (rz rz0 )

12 x0 xz + x

x x

(2) = rz rz0

x ry x ry0

rz rz0

x rz x rz0

ry r r

3 Kinematics of 3-noded iso-parametric beam element 12 x xz xy0 rxz0

(3) = 0

For this 3-noded iso-parametric beam element, Lagrang-

0

ian interpolation functions are introduced to describe

the coordinates, displacements and vectorial rotations

1 ry ry ry0 ry0

at any point of element in local coordinate system.

2 x x

x x

The local coordinates at any point of element are (4) = 0

depicted as 0

1 r r rz0 rz0

3 2 xz xz x x

x= hi ( ) xi0 + yl riy0 + zl riz0 (7) (5) = 0

i=1 0

3 3

where, x = {x, y, z}T ; hi ( ) is Lagrangian interpolation and u = ) ti ; ry =

i=1 hi ( riy ; ry0 =

i=1 hi ( )

3 0 3 3

function at Node i; xi0 = {xi0 , yi0 , zi0 }T are the local coor- i=1 ih ( ) r ;

iy0 zr = i=1 i h ( ) r ; r

iz z0 = i=1 hi ( )

3

dinates of Node i; yl and zl are the relative coordinates of riz0 ; x = / i=1 hi ( )xi0 , the prime appended above

a point to the central line of element along its two cross- and to the right of hi ( ) represents its first derivative

sectional principal vectors, respectively, in the proposed with respect to .

formulation, yl = y, zl = z.

The displacements at any point of element can be

expressed as, 4 Definition of element tangent stiffness matrix

3

The strain energy of element can be calculated as below,

u= hi ( ) ti + yl riy riy0 + zl (riz riz0 ) (8)

i=1 1 T

U= DdV (10)

2

Considering the possibility of large displacements and V

large rotations, Green strain measure is introduced to where, D is the elastic constant matrix, D

describe the straindisplacement relationship of this

E 0 0

beam element formulation, = 0 k0 G 0 ; E and G are the elastic modulus and

0 0 k0 G

1 (u+x) (u+x) x x

xx

2 x x x x shear modulus, respectively; k0 is the shear factor of

= xy = (u+x) (u+x) x x cross-section; V the volume of element.

y x y

(9)

x

xz (u+x) (u+x) x x The internal force vector in local system is the first

x z x z derivatives of the strain energy with respect to local

variables, it is calculated from

For convenience, Eq. (9) is rewritten as,

U

f= = BT DdV (11)

= (0) + yl (1) + zl (2) + yl zl (3) + y2l (4) + z2l (5) uL

V

314 Comput Mech (2007) 39:309322

where, where, uLj and uLk are the jth and kth components of

uL , respectively. Due to the commutativity of uLj and

(0) (1) (2) (3)

B= = + yl + zl + yl zl uLk in the differentiation of Eq. (12), kt is symmetric.

uL uL uL uL uL Equation (12) can be rewritten as

(4) (5)

+y2l + z2l % &

uL uL T T B

kt = B DB + D dAdx

= B(0) + yl B(1) + zl B(2) + yl zl B(3) + y2l B(4) + z2l B(5) uL

L A

Eq. (11) can be rewritten as

= b0 A + b1 Sy + b2 Sz + b3 Syz + b4 Iy + b5 Iz

L

f = BT DdAdx

+b6 Swyz + b7 Swzy + b8 Iwyz + b9 Iwy +b10 Iwz dx

L A

where,

= a0 A + a1 Sy + a2 Sz + a3 Syz + a4 Iy + a5 Iz

L B(0)

b0 = B(0) DB(0) + (0) D

T T

+a6 Swyz + a7 Swzy + a8 Iwyz + a9 Iwy + a10 Iwz dx uL

B (1)

= B(0) DB(1) + (0) D + B(1) DB(0)

T T T

where, A and L are the cross-sectional

" area and"length b1

of beam element, respectively; A = dA; Sy = yl dA; uL

B (0)

" " "A "A

+(1) D

T

Sz = zl dA; Syz = yl zl dA; Iy = y2l dA; Iz = z2l dA; uL

A " A " A "A

Swyz = y2l zl dA; Swzy = z2l yl dA; Iwyz = y2l z2l dA; B(2)

= B(0) DB(2) + (0) D + B(2) DB(0)

T T T

b2

"A " A A uL

Iwy = y4l dA; Iwz = z4l dA, for a beam element with

B(0)

+(2) D

T

A A

bisymmetric cross-section, Sy = Sz = Syz = Swyz = uL

Swzy = 0; a0 a10 can be calculated as below, B(3)

= B(0) DB(3) + (0) D + B(3) DB(0)

T T T

b3

uL

a0 = B(0) D(0)

T

B(0) B(2)

+(3) D + B(1) DB(2) + (1) D

T T T

a1 = B(1) D(0) + B(0) D(1)

T T

uL uL

a2 = B(2) D(0) + B(0) D(2)

T T

B (1)

+B(2) DB(1) + (2) D

T T

a3 = B(3) D(0) + B(0) D(3) + B(2) D(1)

T T T

uL

+B(1) D(2)

T

B (4)

= B(0) DB(4) + (0) D + B(4) DB(0)

T T T

b4

a4 = B(4) D(0) + B(0) D(4) + B(1) D(1)

T T T

uL

(0) B(1)

a5 = B(5) D(0) + B(0) D(5) + B(2) D(2) B

T T T

T T T

T T T uL uL

B (5)

+B(2) D(4)

T

= B(0) DB(5) + (0) D + B(5) DB(0)

T T T

b5

(5)T (1) (1)T (5) (3)T (2)

uL

a7 = B D +B D +B D

B(0) B(2)

+(5) D + B(2) DB(2) + (2) D

T T T

(2)T (3)

+B D uL uL

(5)T (4)

+ B(4) D(5)

T

a8 = B D B (3)

= B(1) DB(3) + (1) D + B(3) DB(1)

T T T

b6

a9 = B(4) D(4)

T

uL

a10 = B(5) D(5) B(1) B(4)

T

T T T

uL uL

The tangent stiffness matrix in local system is the sec- (2)

B

+B(4) DB(2) + (4) D

T T

ond partial derivative of the strain energy U with respect

to local variables, it is given as, uL

B (5)

# $ % &

= B(1) DB(5) + (1) D + B(5) DB(1)

T T T

2U B b7

kt = = T T

B DB + D dV uL

uLj uLk 1212 uL (1)

B B(3)

+(5) D + B(2) DB(3) + (2) D

V T T T

(12) uL uL

Comput Mech (2007) 39:309322 315

+B(3) DB(2) + (3) D

T T

uL as below,

B(5) fG f TT TT

b8 = B(4) DB(5) + (4) D + B(5) DB(4)

T T T

uL ktG = = TT + f = TT kt T + f (17)

uG uG uG uG

B (4)

+(5) D

T

T

uL where, ktG is an 18 18 matrix; u G

is a 12 18 18

matrix, it is calculated from

B(4)

b9 = B(4) DB(4) + (4) D

T T

R R R16

uL uG 0 0 0 u G uG

B(5)

b10 = B(5) DB(5) + (5) D

T T T 0 R 22

0 0 0 R 26

= uG uG

(18)

uL uG R R R36

0 0 u G

0 u G uG

Gaussian integral procedure is adopted to calculate 0 0 0 R 44

uG 0 R 46

uG

the internal force vector and tangent stiffness matrix,

R

n0 #

the nonzero sub-matrices of uGij (i = 1, 2, 3, 4; j = 2, 4, 6)

are given in Appendix A.2. Considering that

f= a0 A + a1 Sy + a2 Sz + a3 Syz + a4 Iy + a5 Iz

# $

i=1 T 2 uLi

+a6 Swyz + a7 Swzy + a8 Iwyz + a9 Iwy = (19)

$ uG uGj uGk 121818

+a10 Iwz wt (i)J (13) and the commutativity of the uGj and uGk in the differ-

i

entiation of Eq. (19), it is obvious that the second term

in the right-hand side of Eq. (17) is symmetric, further-

n0 #

more, ktG is symmetric.

kt = b0 A + b1 Sy + b2 Sz + b3 Syz + b4 Iy + b5 Iz In incremental solution procedure, the equilibrium

i=1

equation at the start of ith loading increment is given as,

+b6 Swyz + b7 Swzy + b8 Iwyz + b9 Iwy

$ ktG0 i uG1 i = i1 P (20)

+b10 Iwz wt (i)J (14)

i where, kitG0 is the global tangent stiffness matrix at the

start of incremental loading Step i; uG1 i and i1 are

where, n0 is the number of Gaussian integral points

the increments of the global variables and the load-

along the central axis of element, n0 = 2 in solving

ing parameter, respectively; P is the prescribed external

the examples below; i and wt (i) are the dimensionless

force vector.

coordinate and weight factor at Gaussian point i, respec-

The equilibrium equation at jth iterating step of ith

tively; J is the jacobian, J = 3i=1 hi ( ) xi0 .

loading increment is given as,

The relationship of the global internal force vector fG

and the local internal force vector f is given as, ktG ij1 uG ij = ij P + Pres j2 (21)

T

fG = T f (15) where, ktG ij1 is the tangent stiffness matrix at the end

of (j 1)th iterating step; uG ij and ij are the incre-

where, T is the transformation matrix from global coor-

ments of the global variables and the loading parameter

dinate system to local coordinate system, it is calculated

achieved at jth iterating step; Pres is the unbalanced load-

from

ing vector at the end of last iterating step; i1 and ij

uLi are calculated in accordance with general displacement

Ti,j = (16a)

uGj controlling procedure (Yang and Shieh 1990).

For convenience, Eq. (21) can be rewritten as

R 0 0 0 R R16

0 R22 0 0 0 R26

T=

0 0

(16b) ktG ij1 u1 ij = P (22a)

R 0 R R36

0 0 0 R44 0 R46 ktG ij1 u2 ij = Pres (22b)

T is a 12 18 matrix, R and Rij (i = 1, 2, 3, 4; j = 2, 4, 6) and the increments of the global variables can be given

are its sub-matrices. R represents the same matrix as as

that in Eq. (5); Rij is a 3 3 matrix (see Appendix A.1),

and 0 is a 3 3 zero matrix. uG ij = ij u1 ij + u2 ij (23)

316 Comput Mech (2007) 39:309322

u v w u v w u v w

300 7.01 11.93 40.15 6.8 11.5 39.5 6.97 11.86 40.08

450 10.73 18.47 48.46 10.68 18.38 48.39

600 13.55 23.56 53.43 13.4 23.5 53.4 13.51 23.47 53.37

an incremental solution procedure, the global variables

at the end of ith loading increment are updated by

1

n

i1

uiG = uG + uG ij (24)

j=1 O Y

i1

where, uG is the values of the global variables at the

end of (i 1)th loading increment, and n is the number P

of iterations at ith increment.

v

45

Iterating process will be terminated if the following X

0

converge criterion is satisfied,

R

u w

u2 i T Pres

j

err (25)

uG i1 T i1 P

Fig. 3 A cantilever 450 -bend with a concentrated tip load

examples, err = 105 . 5.2 A cantilever subject to an end moment

end bending moment M = 2 EI/L(see Fig. 4), its width

5.1 Analysis of a cantilever 450 -bend with large and height are b = 0.5 and t = 0.1, respectively, and

displacements and large rotations its length is 100; its youngs modulus is 2.1 107 , the

Poissons ratio is 0.3, and the cross-sectional shear

A bend beam lies in XY plane, it is fixed at one end factor is 5/6.

and free at another end (see Fig. 3), a concentrated load Considering that the components of nodal external

is applied at the free end in Z-direction. The bend has force vector with respect to vectorial rotational vari-

an average radius of 100 in, and its cross-section is a ables are not moment in the proposed beam element

square with an area of 1 in2 , and its elastic modulus E formulation, the end moment is transformed into equiv-

and Poissons ratio are 107 psi and 0.0, respectively. alent components with respect to vectorial rotational

This bend is subdivided into eight beam elements

equally, and these elements are idealized as straight

Y

beams. The tip displacements under different load lev-

els are given in Table 1. To verify the reliability and

accuracy of the procedure, the results from Bathe and

Bolourchi (1979) and Simo and Vu-Quoc (1986c) are

also presented in Table 1, it is shown that the results

o

from present studies can fit in well with them. X

In calculating the tip displacements under 600 lb load- M

ing level, 8 loading increments are required, and their

iteration numbers are 7, 5, 5, 4, 4, 4, 3, 3, respectively. Fig. 4 A cantilever subject to an end moment

Comput Mech (2007) 39:309322 317

0

phenomena in thin beam element occur.

-20 M=0

M=21.42 5.3 A portal frame subject to a concentrated load

M=35.99

-40 M=43.98 A portal frame is subjected to a concentrated load (see

M=54.95 Fig. 6). the cross sections of its three members are rect-

-60 angular, and their sizes are b = 0.5 and h = 0.1, respec-

tively. The material properties are E = 2.1 107 and

= 0.3, and the cross-sectional shear factor is 5/6.

-80 X

-25 0 25 50 75 100 In order to check the convergence of the proposed

procedure, each member is divided into 4, 8 and 16 equal

Fig. 5 Deformed shapes of the cantilever under different end beam elements, respectively. The curve of load against

moment levels

displacement at loading point is depicted in Fig. 7. It

is shown that four elements per member are enough

to achieve satisfying accuracy. Considering the effects

variables of end node firstly. The relationship of the rota- of shear locking and membrane locking phenomena in

tion iz and the vectorial rotational variables at end node thin beam element, reduced integration procedure can

i is given as below: alleviate or eliminate locking problems of this portal

If eiy,1 0 and eiy,2 > 0, then iz = arcsineiy,1 ; frame effectively.

If eiy,1 < 0 and eiy,2 > 0, then iz = 2 + arcsineiy,1 ; The deformed shapes of portal frame under differ-

If eiy,2 0, then iz = arcsineiy,1 . ent loading levels are depicted in Fig. 8. It demonstrates

If 22 eiy,1 22 , then eiy,1 , eiy,3 and eiz,1 are three that the proposed procedure is reliable and efficient in

vectorial rotational variables at the end node, solving large displacement and large rotation problems.

M

W = Miz = eiy,1 P

eiy,2

M

eiy,2 , and another two components with respect to eiy,3

100

and eiz,1 are equal tozero.

If 22 < eiy,2 < 22 , then eiy,2 , eiy,3 and eiz,2 are three

vectorial rotational variables at the end node,

100

M

W = Miz = eiy,2

eiy,1 Fig. 6 A portal frame subject to a concentrated load

P

eMi , and another two components with respect to eiy,3 -80

iy,1

and eiz,2 are equal to zero.

This cantilever is divided into five beam elements

-60

equally. The deformed shapes of the cantilever at differ-

4-elements

ent end moment levels are depicted in Fig. 5, it experi-

8-elements

ences large displacement and large rotation, and its end -40 16-elements

rotation arrives at 2 under M = 2LEI , however, the

proposed procedure still demonstrates satisfying effi-

ciency and reliability. Urthaler and Reddy (2005) and -20

Lee (1997) had also solved similar problems (but they

did not present the geometry and material properties of

0 V

the problems), and Lees procedure (Lee 1997) seems to 0 -50 -100 -150 -200

be quite efficient in solving similar problems, however, it

can not cope with buckling and post-buckling problem, Fig. 7 Response of portal frame subject to a concentrated load

318 Comput Mech (2007) 39:309322

Y P

100 -10

-8

50

-6

Present study

0 Wen & Rahimzadeh(1983)

-4

Hsiao et al(1987)

P=0

P=-62.07

-50 P=-44.94 -2

P=-10.82

P=-70 w

0

0 0.3 0.6 0.9 1.2

-100 X

-30 0 30 60 90 120

Fig. 10 Response of space arc frame under ultimate concentrated

Fig. 8 Deformed shapes of portal frame under different load loading

levels

5.4 Analysis of a space arc frame under vertical and at the apex

horizontal concentrated loading

The space dome is described in Fig. 11, all its mem-

This frame is shown in Fig. 9, it consists of two groups bers have the same rectangular cross sections, b h =

of members. For the members in the arc frame planes, 0.76 m1.22 m. The material properties are E = 2.069

the cross-section property are A1 = 0.5, Iy1 = 0.4 and 1010 and G = 8.83 109 N/m2 , respectively. This space

Iz1 = 0.133, respectively, and for the rib members, A2 =

0.1, Iy2 = 0.05 and Iz2 = 0.05, respectively. The material

properties are E = 4.32 105 and G = 1.66 105 . This 0.76

frame is pinned at four boundary nodes. In addition to

Y

four vertical concentrated loads P, the structure is also

1.22

subjected to two lateral concentrated loads 0.001P (see

Fig. 9).

In large displacement analysis of this space arc frame,

each leg is divided into two equal beam elements, while, X

the rest members are treated as one element, respec-

tively. The curve of nodal displacement w against load P

10.885

agreement with the solution given by Hsiao et al. (1987)

and Wen and Rahimzadeh (1983).

P P

w

P P 12.19

2 1

30

1 2 P

12.57

0.001P

40

0.001P

1

4.55 1.55

1 1 Z

1

6.285 X

o

24.38

69.28 61.44 69.28

Fig. 9 Space arc frame load

Comput Mech (2007) 39:309322 319

P(MN)

-150

-120

-90

Y

1 X

Teh & Clarke(1999)

Izzuddin(2001)

-30

0

w(m)

0 -1 -2 -3 -4 -5

trated load is exerted at the apex. P

In numerical analysis, each member is modelled by

2

one beam element. The load-displacement curve at the

6.216

apex is depicted in Fig. 12. Comparison of the results Z

from the proposed procedure and those from Teh and X

Clarke (1999) and Izzuddin (2001) is given in Fig. 12. It 25 25

is shown that they are in agreement with each other very

43.3 43.3

well.

Fig. 13 Twenty four member star-shaped dome subject to a con-

centrated load at the apex

P(KN)

The geometry of a 24-member star-shaped dome is -2.5

shown in Fig. 13, its member cross-section properties are

A = 3.17 cm2 , Iy = 0.837 cm4 , Iz = 0.837 cm4 , and the -2.0

elastic modulus and shear modulus are E = 3.03 105

and G = 1.096 105 N/cm2 , respectively. This dome -1.5

is pinned at six boundary nodes, and is loaded with a

concentrated load at the apex. -1.0

Present study

In numerical analysis of this dome, each member is Meek & Tan (1984)

divided into two equal beam elements. The load-dis- Hsiao et al(1987)

-0.5

placement curve of this dome at the apex is depicted in

Fig. 14, where the results from Hsiao et al. (1987) and w(cm)

0.0

Meek and Tan (1984) are also given, it is shown that the 0 -1 -2 -3 -4 -5

curve from present studies can fit in well with them.

Keeping the same geometry of the dome, the same Fig. 14 Load-displacement curve of the star-shaped dome at the

apex

loading case, and the same material properties and mem-

ber cross-sectional area, while adjusting the cross section

sizes along two principal inertia axes -y and -z: A =

3.17 cm2 , Iy = 0.295 cm4 , Iz = 2.377 cm4 , each member nomenon occurs after the concentrated load arrives at

is subdivided into two beam elements equally, the load- an ultimate level.

displacement curve at the apex is presented in Fig. 15. The results from Meek and Tan (1984) are also

It illustrates that the response of the dome is greatly depicted in Fig. 15. Meek and Tans results are very

different from that in the last case, snap-through phe- close to those from present studies.

320 Comput Mech (2007) 39:309322

-1.5

R Te R Te R Te

R y0 R y0 R y0

e3y,n k ,nr e3y,m k ,nr e3z,n k ,nr

-1.2

Present study R RT e R T R

R ey0

T

Ri6 = e3y,n k y0 R ey0

Meek & Tan(1984) ,mr e3y,m k ,mr e3z,n k ,mr

-0.9

R T R T R T

e3y,n Rk ez0 e3y,m Rk ez0

,nr e3z,n Rk ez0

,nr ,nr

-0.6

where, i = 2, 4, k = i

2.

-0.3

RTi RTi RT i

w(cm) R eiy,n ey0 R eiy,m ey0 R eiz,n ey0

0.0 ,nr ,nr ,nr

0 -1 -2 -3 -4 -5

RTi e RT

R eiz,n ey0

RT

Fig. 15 Load-displacement curve of the dome at the apex R(2i)(2i) = R eiy,n y0

i

R eiy,m ey0 i

,mr ,mr ,mr

RTi RTi RT i

R eiy,n ez0 R eiy,m ez0 R eiz,n ez0

6 Conclusions ,nr ,nr ,nr

where, i = 1, 2.

Compared with the existing 3-D beam element formu-

Note that the subscripts nr and mr denote the nr th and

lations for frame structures with large displacements

mr th components of the related vectors, respectively.

and large rotations, there are several advantages in the

proposed procedure: (1) the element tangent stiffness

T

matrix is symmetric, so it ensures the computational A.2 Sub-matrices of uG

efficiency and the saving of storage source; (2) vec-

torial rotational variables are defined so all the vari-

ables of freedoms are additive, and correction matrix T R R R

= s

is avoided; (3) these variables can be used to describe uG i=i1 :i3 ,j=16:18,k=k1 :k3 e3y,n e3y,m e3z,n

where, if i1 : i3 = 1 : 3 and k1 : k3 = 1 : 3, or i1 : i3 = 7 : 9

test, the proposed procedure demonstrates satisfying

and k1 : k3 = 7 : 9, then s = 1; if i1 : i3 = 1 : 3 and

accuracy and efficiency in large displacement analyses

k1 : k3 = 13 : 15, or i1 : i3 = 7 : 9 and k1 : k3 = 13 : 15,

of frame structures. T

then s = 1. The subscripts at the right side of u G

T

represent the location of this sub-matrix in uG .

T

uG i=i1 :i3 ,j=16:18,k=16:18

2R 2R 2R

(d d3 + vl0 ) e3y,n e3y,m (dl d3 + vl0 ) e3y,n e3z,n (dl d3 + vl0 )

e23y,n l

2R 2R 2R

d3 + vl0 )

= e3y,n e3y,m (dl d3 + vl0 ) (d

e23y,m l

d3 + vl0 ) e3y,m e3z,n (dl

2R 2R 2R

e3y,n e3z,n (dl d3 + vl0 ) e3y,m e3z,n (dl d3 + vk0 )

e23z,n

(dl d3 + vl0 )

Appendixes

where, if l = 1, then i1 : i3 = 1 : 3; if l = 2, then

A. 1 Sub-matrices of T i1 : i3 = 7 : 9.

R T

R

Ri6 = (dk d3 + vk0 ) (dk d3 + vk0 ) uG i=i1 :i3 ,j=16:18,k=16:18

e3y,n e3y,m

R

(dk d3 + vk0 )

e3z,n

Comput Mech (2007) 39:309322 321

2R T

2R T

2R T

e3y,n uGS Rl ey0 ,n e3y,m uGS Rl ey0 ,n e3z,n uGS Rl ey0 ,n

r r r

2R 2R 2R

= e3y,n uGS RTl ey0 e u R Te

y0 e u R Te

y0

,mr 3y,m2 GS l ,mr 3z,n2 GS l ,mr

2R Te R Te R Te

R

e3y,n uGS l z0 R

e3y,m uGS l z0 R

e3z,n uGS l z0

,nr ,nr ,nr

where, uGS = e3y,n , e3y,m , e3z,n T , if l = 1, then i1 : i3 = Crisfield MA (1996) Nonlinear finite element analysis of solid and

4 : 6; if l = 2, then i1 : i3 = 10 : 12. structures, vol 2. Wiley, Chichester

Crisfield MA, Moita GF (1996) A unified co-rotational framework

T T for solids, shells and beams. Int J Solids Struct 33:29692992

=

uG i=i1 :i2 ,j=16:18,k=k1 :k3 uG i=i1 :i2 ,k=k1 :k3 ,j=16:18 Hsiao KM, Horng HJ, Chen YR (1987) A co-rotational proce-

dure that handles large rotations of spatial beam structures.

% & % & % & Comput Struct 27:769781

R Rl R Rl R Rl

T T T Hsiao KM, Lin WY (2000a) A co-rotational finite element formu-

e3y,n uGS ey0 e3y,m uGS ey0 e3z,n uGS ey0

lation for buckling and postbuckling analyses of spatial beams.

% &,nr % &,nr % &,nr Comput Methods Appl Mech Eng 188:567594

R RTl R R T

R R T

=

e3y,n uGS ey0

l

e3y,m uGS ey0

l

e3z,n uGS ey0

Hsiao KM, Lin WY (2000b) Co-rotational formulation for thin-

% & r%

,m & r%

,m & r

,m walled beams with monosymmetric open section. Comput

R RT R Rl

T

R Rl

T Methods Appl Mech Eng 190:11631185

l

e3y,n u ez0

GS e3y,m u ez0 GS e3z,n u ez0 GS

Izzuddin BA (2001) Conceptual issues in geometrically nonlin-

,nr ,nr ,nr ear analysis of 3D framed structures. Comput methods Appl

T Mech Eng 191:10291053

where, if l = 1, then uGS = e1y,n , e1y,m , e1z,n , i1 : Izzuddin BA, LI Z (2004) A co-rotational formulation for large

i3 = 4 : 6 and k1 : k3 = 4 : 6; if l = 2, then uGS = displacement analysis of curved shell. In: Deeks, Hao (eds)

T The 18th Australasian conference on the mechanics of struc-

e2y,n , e2y,m , e2z,n , i1 : i3 = 10 : 12 and k1 : k3 = 10 :

tures & materials. Taylor & Francis Group, London, pp 1247

12. 1253

T Jiang L, Chernuka MW (1994) Co-rotational formulation for geo-

uG i=i1 :i3 ,j=j1 :j3 ,k=k1 :k3

metrically nonlinear finite element analysis of spatial beams.

Trans Can Soc Mech Eng 18:6588

R e Ru R e Ru R e Ru

2 T 2 T 2 T Kwak HG, Kim DY, Lee HW (2001) Effect of warping in geomet-

l l l

ey0 ey0 ey0

ly,n GS

,nr ly,m GS

,nr lz,n GS

,nr ric nonlinear analysis of spatial beams. J Construct Steel Res

2 Rl T 2 Rl T 2 Rl T 57:729751

= ely,n uGS y0

R e R e R e

,m

e u y0 e u y0 Lee K (1997) Analysis of large displacements and large rotations

2 R T ,mr ly,m ,mr lz,n2 TGS

GS

r

R e Ru R e Ru

2 T of three-dimensional beams by using small strains and unit

l l l

R e u ez0 ez0 ez0 vectors. Commun Numer Methods Eng 13:987997

ly,n GS ,nr ly,m GS ,nr lz,n GS ,nr

Li ZX, Izzuddin BA (2005) Application of vectorial rotational

where, if l = 1, then uGS = e1y,n , e1y,m , e1z,n T , i1 : variables in large displacement analysis of structures. In: Shen

ZY, Li GQ, Chan SL (eds) The fourth international conference

i3 = 4 : 6, j1 : j3 = 4 : 6 and k1: k3 = 4 : 6; if l = 2, on advances in steel structures. Elsevier, Oxford, pp 15011506

then uGS = e2y,n , e2y,m , e2z,n T , i1 : i3 = 10 : 12, Lin WY, Hsiao KM (2001) Co-rotational formulation for geomet-

j1 : j3 = 10 : 12 and k1 : k3 = 10 : 12. ric nonlinear analysis of doubly symmetric thin-walled beams.

Comput Methods Appl Mech Eng 190:60236052

Meek JL, Tan HS (1984) Geometrically nonlinear analysis of space

frames by an incremental iterative technique. Comput Meth-

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