Introduction to Finite Element Methods

Introduction to Finite Element Method

Mathematic Model
Finite Element Method
Historical Background
Analytical Process of FEM
Applications of FEM
Computer Programs for FEM
1. Mathematical Model
(1) Modeling
Physical Mathematica Solution
Problems l Model

Identify control variables

Assumptions (empirical law)

(2) Types of solution

Sol. Eq. Exact Eq. Approx. Eq.

Exact Sol. ◎ ◎
Approx. Sol. ◎ ◎
(3) Methods of Solution
(3) Method of Solution

A. Classical methods
They offer a high degree of insight, but the problems are
difficult or impossible to solve for anything but simple
geometries and loadings.
B. Numerical methods
(I) Energy: Minimize an expression for the potential energy of the
structure over the whole domain.
(II) Boundary element: Approximates functions satisfying the
governing differential equations not the boundary
conditions.
(III) Finite difference: Replaces governing differential equations
and boundary conditions with algebraic finite difference
equations.
(IV) Finite element: Approximates the behavior of an irregular,
continuous structure under general loadings and constraints
with an assembly of discrete elements.
2. Finite Element Method

(1) Definition

FEM is a numerical method for solving a system of

governing equations over the domain of a
continuous physical system, which is discretized
into simple geometric shapes called finite element.

Continuous system Discrete system

Time-independent PDE Linear algebraic eq.
Time-dependent PDE ODE
(2) Discretization
Modeling a body by dividing it into an equivalent
system of finite elements interconnected at a finite
number of points on each element called nodes.
3. Historical Background
Chronicle of Finite Element Method
Year Scholar Theory

1941 Hrennikoff Presented a solution of elasticity problem using one-dimensional elements.

1943 McHenry Same as above.

1943 Courant Introduced shape functions over triangular subregions to model the whole
region.
1947 Levy Developed the force (flexibility) method for structure problem.

1953 Levy Developed the displacement (stiffness) method for structure problem.

1954 Argyris & Kelsey Developed matrix structural analysis methods using energy principles.

1956 Turner, Clough, Derived stiffness matrices for truss, beam and 2D plane stress elements. Direct
Martin, Topp stiffness method.

1960 Clough Introduced the phrase finite element .

1960 Turner et. al Large deflection and thermal analysis.

1961 Melosh Developed plate bending element stiffness matrix.

1961 Martin Developed the tetrahedral stiffness matrix for 3D problems.

1962 Gallagher et al Material nonlinearity.

Chronicle of Finite Element Method
Year Scholar Theory

1963 Grafton, Strome Developed curved-shell bending element stiffness matrix.

1963 Melosh Applied variational formulation to solve nonstructural problems.

1965 Clough et. al 3D elements of axisymmetric solids.

1967 Zienkiewicz et. Published the first book on finite element.

1968 Zienkiewicz et. Visco-elasticity problems.

1969 Szabo & Lee Adapted weighted residual methods in structural analysis.

1972 Oden Book on nonlinear continua.

1976 Belytschko Large-displacement nonlinear dynamic behavior.

~1997 New element development, convergence studies, the developments of

supercomputers, the availability of powerful microcomputers, the development
of user-friendly general-purpose finite element software packages.
4. Analytical Processes of Finite Element Method
(1) Structural stress analysis problem
A. Conditions that solution must satisfy
a. Equilibrium
b. Compatibility
c. Constitutive law
d. Boundary conditions
Above conditions are used to generate a system of equations
representing system behavior.

B. Approach
a. Force (flexibility) method: internal forces as unknowns.
b. Displacement (stiffness) method: nodal disp. As unknowns.
For computational purpose, the displacement method is more
desirable because its formulation is simple. A vast majority of
general purpose FE softwares have incorporated the displacement
method for solving structural problems.
(2) Analysis procedures of linear static structural analysis

A. Build up geometric model

a. 1D problem
line
b. 2D problem
surface
c. 3D problem
solid
B. Construct the finite element model
a. Discretize and select the element types
(a) element type
1D line element
2D element
3D brick element

(b) total number of element (mesh)

1D:
2D:
3D:
b. Select a shape function
1D line element: u=ax+b
c. Define the compatibility and constitutive law

d. Form the element stiffness matrix and equations

(a) Direct equilibrium method
(b) Work or energy method
(c) Method of weight Residuals

e. Form the system equation

Assemble the element equations to obtain global system
equation and introduce boundary conditions
C. Solve the system equations
a. elimination method
Gauss’s method (Nastran)
b. iteration method
Gauss Seidel’s method

Displacement field strain field stress field

D. Interpret the results (postprocessing)

a. deformation plot b. stress contour
5. Applications of Finite Element Method

Structural Problem Non-structural Problem

Stress Analysis Heat Transfer
- truss & frame analysis Fluid Mechanics
- stress concentrated problem Electric or Magnetic
Buckling problem Potential
Vibration Analysis
Impact Problem
6. Computer Programs for Finite Element Method

ANSYS ◎ D ◎ ◎ D ◎ ◎ ◎

NASTRAN ◎ D ◎ ◎ D ◎ ◎

ABAQUS ◎ ◎ ◎ ◎ ◎

MARC ◎ ◎ ◎ ◎ ◎

LS-DYNA3D ◎

MSC/DYNA ◎

ADAMS/ ◎
DADS
COSMOS ◎ D ◎ ◎ D ◎ ◎

MOLDFLOW ◎

C-FLOW ◎

PHOENICS ◎ ◎
 Finite Element Method (FEM)

• A continuous function of a continuum (given

domain ) having infinite degrees of freedom is
replaced by a discrete model, approximated by a
set of piecewise continuous functions having a
finite degree of freedom.
 General Example

• A bar subjected to some f

excitations like applied force at x

one end. Let the field quantity f Subdomain e

flow through the body, which has

been obtained by solving Domain divided with subdomains
with degrees of freedom
governing DE/PDE, In FEM the
domain  is subdivided into sub f1
domain and in each sub domain a
f2
f5
piecewise continuous function is f3 f6
f4
assumed. x
 General Steps of the FEM
• 1. Discretize & Select the Element Types
• 2. Select a Displacement Function
• 3. Define the Strain/Displacement & Stress/Strain
• Relationships
• 4. Derive the Element Stiffness Matrix & Equations
• 5. Assemble the Element Equations to Obtain the Global
• & Introduce Boundary Conditions
• 6. Solve for the Unknown Degrees of Freedom
• 7. Solve for the Element Strains & Stresses
• 8. Interpret the Results
 Discretize & Select the Element Types

• Divide the body into equivalent systems of finite elements

with nodes and the appropriate element type
• Element Types:
– One-dimensional (Line) Element
– Two-dimensional Element
– Three-dimensional Element
– Axisymmetric Element
One Dimensional Element
 Select a Displacement Function

• There will be a displacement function for each element

Pascal’s Triangle
 Define Strain Displacement & Stress/Strain
Relationships
• For one-dimensional;
Deformation in the x-direction,
strain e is related to the
displacement u

du d[N]
e  {d}  [B]{d}
dx dx
 [B] – Matrix relating strain to 1
nodal displacement [ B]  [ 1 1]
L

• Hooke’s Law is used for the

stress/strain relationship
sxEex To Stiffness Matrix
 Derive the Element Stiffness Matrix & Equations

• Virtual work principle of a deformable body in equilibrium is

subjected to arbitrary virtual displacement satisfying compatibility
condition (admissible displacement), then the virtual work done by
external loads will be equal to virtual strain energy of internal
stresses.
 dUe is the element internal energy
 dWe is the element external energy
• Please view the integration sheet
 Stiffness Matrix

• fe – Element Force
• ke – Element Stiffness Matrix
• de – Element Displacement

• E – Young Modulus
• A – Cross Section Area
• L - Length
 Assemble Equations for Global Matrix &
Introduce Boundary Conditions
• Combine each element stiffness matrix into one,
which is known as the global matrix
• This is done by combining each [ke] into their
proper location on the global matrix

{F} = [K]{D}
• Capital letters represent the same as the element
stiffness matrix, but for global matrix
 Solve for Unknown DOF’s

• Using the global matrix with the boundary conditions, we can

now eliminate some variables and solve for the unknowns, i.e.
displacements, end forces
 Solve for Element Strains & Stresses
Interpret Results

• Solve for the stress using the equation below

• To interpret the results use the FBD with your found

values or use the computer program Algor
 FEM Steps (Displacement Method)

• Discretize into finite elements, Identify nodes &

elements
• Develop element stiffness matrices [ke] for all
elements
• Assemble element stiffness matrices to get the
global stiffness matrix
• Apply kinematic boundary conditions
• Solve for displacements
• Finally solve for element forces and stresses by
picking proper rows
Example
• We combine the two stiffness matrices into the global
matrix.
• Now that the displacement at u2 has been obtained, the end forces and
stress values can be obtained by reverting back to the individual element
stiffness matrices
• For the stress, you only need to look at the individual node of the stifness
equation

Reactions
Element Forces
Element Stresses
 Final Notes
• For this case, the calculated stresses in elements 1
& 2 are exact within the linear theory for 1-D bar
structures. Smaller finite elements will not help
• For tapered bars, averaged values of the cross-
sectional areas should be used for the elements.
• The displacements must be found first to find the
stresses, since we are using the displacement
based FEM
 Assignment
• Write the displacement
functions for the
following elements:

• Analyze the bar shown

below for:
– (a) Displacement at B
– (b) End Forces
– (c) Average Stresses in
bar AB & BC
 Need for Computational Methods

• Solutions Using Either Strength of Materials or Theory of

Elasticity Are Normally Accomplished for Regions and
Loadings With Relatively Simple Geometry
• Many Applicaitons Involve Cases with Complex Shape,
Boundary Conditions and Material Behavior
• Therefore a Gap Exists Between What Is Needed in
Applications and What Can Be Solved by Analytical Closed-
form Methods
• This Has Lead to the Development of Several
Numerical/Computational Schemes Including: Finite
Difference, Finite Element and Boundary Element Methods
 Introduction to Finite Element Analysis
The finite element method is a computational scheme to solve field problems in
engineering and science. The technique has very wide application, and has been used on
problems involving stress analysis, fluid mechanics, heat transfer, diffusion, vibrations,
electrical and magnetic fields, etc. The fundamental concept involves dividing the body
under study into a finite number of pieces (subdomains) called elements (see Figure).
Particular assumptions are then made on the variation of the unknown dependent
variable(s) across each element using so-called interpolation or approximation functions.
This approximated variation is quantified in terms of solution values at special element
locations called nodes. Through this discretization process, the method sets up an
algebraic system of equations for unknown nodal values which approximate the
continuous solution. Because element size, shape and approximating scheme can be
varied to suit the problem, the method can accurately simulate solutions to problems of
complex geometry and loading and thus this technique has become a very useful and
practical tool.
 Advantages of Finite Element Analysis

- Models Bodies of Complex Shape

- Can Handle General Loading/Boundary Conditions
- Models Bodies Composed of Composite and Multiphase Materials
- Model is Easily Refined for Improved Accuracy by Varying
Element Size and Type (Approximation Scheme)
- Time Dependent and Dynamic Effects Can Be Included
- Can Handle a Variety Nonlinear Effects Including Material
Behavior, Large Deformations, Boundary Conditions, Etc.
Basic Concept of the Finite Element Method
Any continuous solution field such as stress, displacement,
temperature, pressure, etc. can be approximated by a
discrete model composed of a set of piecewise continuous
functions defined over a finite number of subdomains.

One-Dimensional Temperature Distribution

T T

Approximate Piecewise
Exact Analytical Solution Linear Solution

x x
 Two-Dimensional Discretization

0
u(x,y)
-1

-2

-3
4
3.5
3
3 2.5
2
2.5 1.5
Approximate Piecewise 1
2
Linear Representation 0.5
1.5 0
-0.5
1 -1
y x
 Discretization Concepts
T

Exact Temperature Distribution, T(x)

Finite Element Discretization

Linear Interpolation Model Quadratic Interpolation Model
T1 (Four Elements) T (Two Elements)
1
T2
T2 T2
T3 T3 T3
T4 T4 T3
T4 T5
T5

T T
T1 T1
T2 T2
T3 T3
T4 T5 T4 T5

x x
Piecewise Linear Approximation Piecewise Quadratic Approximation
Temperature Continuous but with Temperature and Temperature Gradients
Discontinuous Temperature Gradients Continuous
 Common Types of Elements
One-Dimensional Elements
Line
Rods, Beams, Trusses, Frames
Two-Dimensional Elements
Triangular, Quadrilateral
Plates, Shells, 2-D Continua

Three-Dimensional Elements
Tetrahedral, Rectangular Prism (Brick)
3-D Continua
 Discretization Examples

Three-Dimensional
One-Dimensional Two-Dimensional Brick Elements
Frame Elements Triangular Elements
Basic Steps in the Finite Element Method
Time Independent Problems
- Domain Discretization
- Select Element Type (Shape and Approximation)
- Derive Element Equations (Variational and Energy Methods)
- Assemble Element Equations to Form Global System

[K]{U} = {F}
[K] = Stiffness or Property Matrix
{U} = Nodal Displacement Vector
{F} = Nodal Force Vector

- Incorporate Boundary and Initial Conditions

- Solve Assembled System of Equations for Unknown Nodal
Displacements and Secondary Unknowns of Stress and Strain Values
Common Sources of Error in FEA

• Domain Approximation
• Element Interpolation/Approximation
• Numerical Integration Errors
(Including Spatial and Time Integration)
• Computer Errors (Round-Off, Etc., )
Measures of Accuracy in FEA
Accuracy
Error = |(Exact Solution)-(FEM Solution)|

Convergence
Limit of Error as:
Number of Elements (h-convergence)
or
Approximation Order (p-convergence)
Increases
Ideally, Error  0 as Number of Elements or
Approximation Order  
Two-Dimensional Discretization Refinement

(Node)


(Discretization with 228 Elements)



(Triangular Element)

(Discretization with 912 Elements)

 One Dimensional Examples
Static Case
Bar Element
Uniaxial Deformation of Bars
Using Strength of Materials Theory
Beam Element
Deflection of Elastic Beams
Using Euler-Bernouli Theory

w1 w2
u1 u2
q2
1 2 q1 1 2

Differential Equation : Differential Equation :

d d2 d 2w
 ( au)  cu  q  0  2 (b 2 )  f ( x )
dx dx dx
Boundary Condtions Specification : Boundary Condtions Specification :

u,a
du dw d 2w d d 2w
w, ,b 2 , (b )
dx dx dx dx dx 2
 Two Dimensional Examples
Triangular Element Triangular Element
Scalar-Valued, Two-Dimensional Vector/Tensor-Valued, Two-
Field Problems Dimensional Field Problems
v3
f3

3 3 u3
v2
f2
2
u2
2
v1
1

f1 1 u1
Elasticity Field Equations in Terms of Displacements
Example Differential Equation :
E   u v 
 2 u      Fx  0
 2f  2f
  f ( x, y ) 2(1  ) x  x y 
x 2 y 2
E   u v 
 2 v      Fy  0
2(1  ) y  x y 
Boundary Condtions Specification :
df f f
f,  nx  n y Boundary Conditons
dn x y
 u v   u v 
Tx   C11  C12 n x  C66   n y
 x y   y x 
 u v   u v 
T y  C66   n x   C12  C 22 n y
 y x   x y 
 Development of Finite Element Equation
• The Finite Element Equation Must Incorporate the Appropriate Physics
of the Problem
• For Problems in Structural Solid Mechanics, the Appropriate Physics
Comes from Either Strength of Materials or Theory of Elasticity
• FEM Equations are Commonly Developed Using Direct, Variational-
Virtual Work or Weighted Residual Methods
Direct Method
Based on physical reasoning and limited to simple cases, this method is
worth studying because it enhances physical understanding of the process

Variational-Virtual Work Method

Based on the concept of virtual displacements, leads to relations between internal and
external virtual work and to minimization of system potential energy for equilibrium
Weighted Residual Method
Starting with the governing differential equation, special mathematical operations
develop the “weak form” that can be incorporated into a FEM equation. This
method is particularly suited for problems that have no variational statement. For
stress analysis problems, a Ritz-Galerkin WRM will yield a result identical to that
found by variational methods.
 Simple Element Equation Example
Direct Stiffness Derivation
u1 u2

F1 F2
1 2
k
Equilibrium at Node 1  F1  ku1  ku2
Equilibrium at Node 2  F2  ku1  ku2

or in Matrix Form

 k  k   u1   F1 
 k    
 k  u2   F2 
Stiffness Matrix Nodal Force Vector
[ K ]{u}  {F }
Common Approximation Schemes
One-Dimensional Examples
Polynomial Approximation
Most often polynomials are used to construct approximation
functions for each element. Depending on the order of
approximation, different numbers of element parameters are
needed to construct the appropriate function.

Linear Quadratic Cubic

Special Approximation
For some cases (e.g. infinite elements, crack or other singular
elements) the approximation function is chosen to have special
properties as determined from theoretical considerations
 One-Dimensional Bar Element
Approximat ion : u    k ( x )uk  [ N ]{d }
k

du d d[N ]
Strain : e     k ( x )u k  {d }  [ B]{d }
dx k dx dx
Stress - Strain Law : s  Ee  E[ B]{d }

 sdedV  P u

i i  Pj u j   fdudV 

L  Pi  L
{δd}T  A[ B]T E[ B]dx{d }  {δd}T    {δd}T  A[ N ]T fdx 
 Pj 
0 0
L L
   
T T
A[ B ] E [ B ]dx{d } { P } A[ N ] fdx
0 0

L
[ K ]   A[ B]T E [ B]dx  Stiffness Matrix
0

 Pi  L
[ K ]{d }  {F } {F }      A[ N ]T fdx  Loading Vector
 Pj 
0

 ui 
{d }     Nodal Displacement Vector
u j 
 One-Dimensional Bar Element
Axial Deformation of an Elastic Bar

f(x) = Distributed Loading A = Cross-sectional Area

E = Elastic Modulus
Typical Bar Element
du ui  uj du j
Pi   AE i Pj   AE
dx (i) L (j) dx
(Two Degrees of Freedom)

Virtual Strain Energy = Virtual Work Done by Surface and Body Forces

 V
s ij deij dV   Ti n dui dS   Fi dui dV
St V

For One-Dimensional Case

 sdedV  P u

i i  Pj u j   fdudV

 Linear Approximation Scheme
ui uj
x (local coordinate system)
(1) L (2)
u(x)
Approximate Elastic Displacement
u  a1
u  a1  a 2 x  1
u2  a1  a 2 L
x
u  u1  x x (1) (2)
 u  u1  2 x  1  u1   u2
L  L  L
 1 ( x )u1   2 ( x )u2 1(x) 2(x)
 u1   x x   u1 
u  [1  2 ]   1     [ N ]{d }
u2   L L  u2  1
[ N ] Approximat ion Function Matrix
x
{d }  Nodal Displacement Vector (1) (2)
k(x) – Lagrange Interpolation Functions
 Element Equation
Linear Approximation Scheme, Constant Properties
 1
L L  L   1 1  AE  1  1
[ K ]   A[ B] E[ B]dx  AE [ B] [ B] dx  AE 
T T
    L  1 1 
1  L L L  
 
0 0

 L 
 x
 P1  L  P1  L
   P  Af L 1
{F }      A[ N ] fdx     Af o   L dx   1   o  
T

 P2  0  P2  x  P2  2 1
 
0

 L 
u 
{d }   1   Nodal Displacement Vector
u2 

AE  1 1   u1   P1  Af o L 1
[ K ]{d }  {F }        
L  1  1 u2   P2  2 1
 Quadratic Approximation Scheme
u1 u2 u3
x
(1) (2) (3)
L
Approximate Elastic Displacement u(x)
u1  a1
L L2
u  a1  a 2 x  a3 x 2
 u2  a1  a 2  a3
2 4 x
u3  a1  a 2 L  a3 L2
(1) (2) (3)
u  1 ( x )u1   2 ( x )u2   3 ( x )u3
2(x)
 u1  3(x)
  1(x)
u  [1  2  3 ]u2   [ N ]{d }
u3  1
Element Equation
x
 7  8 1   u1   F1  (1) (2) (3)
AE     
 8 16  8 u2    F2 
3L  
 1  8 7  u3   F3 
 Lagrange Interpolation Functions
Using Natural or Normalized Coordinates
1 , i  j
i ( j )  
0 , i  j
 1
1  (1  )
2
(1) 1    1 (2) 1
 2  (1  )
2
1
1   (1  )
 2
 2  (1  )(1  )
(1) (2) (3)
1
3  (1  )
2
9 1 1
1   (1  )(  )(  )
16 3 3
27 1
 2  (1  )(1  )(  )
16 3
27 1
(1) (2) (3) (4) 3  (1  )(1  )(  )
16 3
9 1 1
 4   (  )(  )(1  )
16 3 3
 Simple Example
P

A1,E1,L1 A2,E2,L2
Take Zero Distributed Loading
1 2
f 0
(1) (2) (3)
Global Equation Element 1 Global Equation Element 2
 1  1 0 U1   P1  0 0 0  U 1   0 
(1)

A1 E1         
 1 1 0 U 2    P2(1) 
A2 E 2 
0 1  1 U 2    P1( 2 ) 
L1   L2  
 0 0 0 U 3   0  0  1 1  U 3   P2( 2 ) 

Assembled Global System Equation

 A1 E1 A1 E1 
 L  0 
L1  U1   P1   P1 
(1)
 1
 A1 E1 A1 E1 A2 E 2 A2 E 2     (1)   
  U 2    P2  P1( 2 )    P2 
 L1 L1 L2 L2    
  P 
A2 E 2  U 3   P2
( 2)
AE   3
 0  2 2 
 L2 L2 
 Simple Example Continued
P

A1,E1,L1 A2,E2,L2
1 2
(1) (2) (3)
Reduced Global System Equation
Boundary Conditions  A1 E1 A1 E1 
 L  0 
U1  0  1 L1   0   P1 
(1)

 A1 E1 AE    
 2 2  U 2    0 
A1 E1 A2 E2
P2( 2 )  P 
 L1 L1 L2 L2    
 
P2(1)  P1( 2 )  0 AE A2 E 2  U 3   P 
 0  2 2 
 L2 L2 

 A1 E1 A2 E2 A2 E2 
 L  L 
L2  U 2   0  For Uniform AE  2  1 U 2   0 
 1    1 1  U    P 
A2 E2  U 3   P 
2

  2 2A E Properties A, E , L L   3   
 L2 L2 
PL 2 PL
Solving  U 2  , U3  , P1(1)   P
AE AE
 One-Dimensional Beam Element
Deflection of an Elastic Beam

f(x) = Distributed Loading

x

I = Section Moment of Inertia

E = Elastic Modulus

Typical Beam Element d  d 2w   d 2w 

Q1   EI 2  , Q2   EI 
w1 w2 dx  dx 1  dx 2 
1
q1 q2
 d  d 2w   d 2w 
Q3    EI  , Q4   EI 
(1) L (2)
M2 dx  dx 2  2  dx 2 
2
M1
V1 V2 dw dw
u1  w1 , u2  q1   , u3  w2 , u4  q2  
(Four Degrees of Freedom) dx 1 dx 2

Virtual Strain Energy = Virtual Work Done by Surface and Body Forces

 sdedV  Q u

1 1  Q2 u2  Q3u3  Q4 w4   fdwdV 

L L
EI  [ B]T [ B]dx{d }  Q1u1  Q2 u2  Q3u3  Q4 w4   f [ N ]T dV
0 0
 Beam Approximation Functions
To approximate deflection and slope at each
node requires approximation of the form
w( x)  c1  c2 x  c3 x 2  c4 x 3

Evaluating deflection and slope at each node

allows the determination of ci thus leading to
w( x )  f1 ( x)u1  f2 ( x )u2  f3 ( x )u3  f4 ( x )u4 ,
where fi are the Hermite Cubic Approximat ion Functions
 Beam Element Equation
L L
EI  [ B]T [ B]dx{d }  Q1u1  Q2 u2  Q3u3  Q4 w4   f [ N ]T dV
0 0

 u1 
u  d [ N ] df1 df2 df3 df4
  [ B]  [
{d }   2  ]
dx dx dx dx dx
u3 
u4 

 6  3L  6  3L  f1   6 
    L 
2 EI  3L 2 L
2
3L L2  L L f 2  fL  
  f [ N ]T dx  f   dx 
L
[ K ]  EI  [ B] [ B]dx  3
T
 
0 L  6 3L 6 3L  0 0 f
  3 12  6 
 2  f4   L 
  3L L2
3L 2 L 

 6  3L  6  3L  u1  Q1   6 

2 EI  3L 2 L
2
3L L2  u2  Q2  fL  L 
      
L  6
3
3L 6 3L  u3  Q3  12  6 
 
 3L L
2
3L 2 L2  u4  Q4   L 
 FEA Beam Problem
f Uniform EI

a b
1 2
(1) (2) (3)
Element 1
 6 / a3  3 / a2  6 / a3  3 / a2 0 0 U1   6  Q1(1) 
    a   (1) 
 3 / a
2
2/a 3 / a2 1/ a 0 0 U 2    Q2 
 6 / a 3 3 / a2 6 / a3 3 / a2 0 0 U 3  fa  6  Q3(1) 
2 EI        
 3 / a
2
1/ a 3 / a2 2/a 0 0 U 4  12  a  Q4(1) 
 0 0 0 0 0 0 U 5  0  0 
      
 0 0 0 0 0 0 U 6   0   0 

Element 2
0 0 0 0 0 0  U1   0 
0
 0 0 0 0 0  U 2   0 
0 0 6 / b3  3 / b2  6 / b3  3 / b 2  U 3  Q1( 2) 
2 EI      
0 0  3 / b2 2/b 3 / b2 1 / b  U 4  Q2( 2) 
0 0  6 / b3 3 / b2 6 / b3 3 / b 2  U 5  Q3( 2) 
    
0 0  3 / b2 1/ b 3 / b2 2 / b  U 6  Q4( 2) 
 FEA Beam Problem
1 2
(1) (2) (3)

Global Assembled System

6 / a 3  3 / a2  6 / a3  3 / a2 0 0  U1   6   Q1(1) 
    a   
 
(1)
2/a 3 / a2 1/ a 0 0  U 2     Q2 
   6 / a  6 / b 3 / a 2  3 / b2
3 3
 6 / a3 2
3/ a  3 U   6  
fa   Q3  Q1 
(1) ( 2) 
2 EI           (1) 
    2/a  2/b 3 / a2 1 / a  U 4  12  a  Q4  Q2( 2) 
     6 / a3 3 / a 2  U 5   0   Q3( 2) 
      
      2 / a  U 6   0   Q4( 2) 

Boundary Conditions Matching Conditions

U1  w1(1)  0 , U 2  q1(1)  0 , Q3( 2)  Q4( 2)  0 Q3(1)  Q1( 2)  0 , Q4(1)  Q2( 2)  0

Reduced System
6 / a 3  6 / b 3 3 / a 2  3 / b 2  6 / a3  3 / a 3  U1  6  0
      
 2/a  2/b 3 / a2 1 / a  U 2  fa a  0
2 EI        
   6 / a3 3 / a 2  U 3  12 0  0
   0  0
    2 / a  U 4 

Solve System for Primary Unknowns U1 ,U2 ,U3 ,U4

Nodal Forces Q1 and Q2 Can Then Be Determined
 Special Features of Beam FEA

Analytical Solution Gives Analytical Solution Gives

Cubic Deflection Curve Quartic Deflection Curve

FEA Using Hermit Cubic Interpolation

Will Yield Results That Match Exactly
With Cubic Analytical Solutions
 Truss Element
Generalization of Bar Element With Arbitrary Orientation

k=AE/L

s  sin q , c  cos q
 Frame Element
Generalization of Bar and Beam Element with Arbitrary Orientation
w1 w2
q1 q
u1  2
u2
P1 P2
(1) L (2)
M2
M1
V1 V2
 AE AE 
 L 0 0  0 0 
L
 12EI 6 EI 12EI 6 EI   u   P 
 0 0   1 1
 L3 L2 L3 L   w  Q 
2

 0 6 EI 4 EI 6 EI 2 EI   1   1 
0  2
 L2 L L L   q1   Q2 
 AE AE   u2   P2 
 L 0 0 0 0    
 L   w2  Q3 
 2   q 2  Q4 
12EI 6 EI 12EI 6 EI
 0   0
 L3 L2 L3 L 
 0 6 EI 2 EI
0
6 EI
 2
4 EI 
 L2 L L L 

Element Equation Can Then Be Rotated to Accommodate Arbitrary Orientation

 Some Standard FEA References
Bathe, K.J., Finite Element Procedures in Engineering Analysis, Prentice-Hall, 1982, 1995.
Beer, G. and Watson, J.O., Introduction to Finite and Boundary Element Methods for Engineers, John Wiley, 1993
Bickford, W.B., A First Course in the Finite Element Method, Irwin, 1990.
Burnett, D.S., Finite Element Analysis, Addison-Wesley, 1987.
Chandrupatla, T.R. and Belegundu, A.D., Introduction to Finite Elements in Engineering, Prentice-Hall, 2002.
Cook, R.D., Malkus, D.S. and Plesha, M.E., Concepts and Applications of Finite Element Analysis, 3rd Ed., John Wiley,
1989.
Desai, C.S., Elementary Finite Element Method, Prentice-Hall, 1979.
Fung, Y.C. and Tong, P., Classical and Computational Solid Mechanics, World Scientific, 2001.
Grandin, H., Fundamentals of the Finite Element Method, Macmillan, 1986.
Huebner, K.H., Thorton, E.A. and Byrom, T.G., The Finite Element Method for Engineers, 3rd Ed., John Wiley, 1994.
Knight, C.E., The Finite Element Method in Mechanical Design, PWS-KENT, 1993.
Logan, D.L., A First Course in the Finite Element Method, 2nd Ed., PWS Engineering, 1992.
Moaveni, S., Finite Element Analysis – Theory and Application with ANSYS, 2nd Ed., Pearson Education, 2003.
Pepper, D.W. and Heinrich, J.C., The Finite Element Method: Basic Concepts and Applications, Hemisphere, 1992.
Pao, Y.C., A First Course in Finite Element Analysis, Allyn and Bacon, 1986.
Rao, S.S., Finite Element Method in Engineering, 3rd Ed., Butterworth-Heinemann, 1998.
Reddy, J.N., An Introduction to the Finite Element Method, McGraw-Hill, 1993.
Ross, C.T.F., Finite Element Methods in Engineering Science, Prentice-Hall, 1993.
Stasa, F.L., Applied Finite Element Analysis for Engineers, Holt, Rinehart and Winston, 1985.
Zienkiewicz, O.C. and Taylor, R.L., The Finite Element Method, Fourth Edition, McGraw-Hill, 1977, 1989.