FINITE ELEMENT METHOD

Basic of Solid Mechanics:

Since solid mechanics problems are mostly considered in the subject for the study, discussion
related solid mechanics problem will be considered first. The basic problem in the mechanics of
solids is to determine displacement, strain or stress by solving the equation of strain and stress
along with the boundary conditions. In any Three-dimensional solid mechanics problems to have
a unique solution it must satisfy twenty-one equations. These are, three equilibrium equation, six
strain displacement relations, six compatibility equation and six stress strain relations. Thus, the
solution of this general system of equation is often too difficult to carryout. Hence some
simplifying assumptions can be made regarding the distribution of strains or stresses and the
solution can then be carried out in a relatively simple manner as a two-dimensional case. These
assumptions are mainly related to the geometry of the body, variations of stresses and strains along
with the material being linear, homogeneous and isotropic. Two-dimensional analysis refers to the
bodies which are plane in two-dimensional coordinate system. Thus, the variations of the variables
involved in the analysis will depend only on the two coordinates.

Selection of Unknown Variable

Selection of variation of the variables within the body is usually written in terms of polynomials.
Depending upon the order of the polynomials the body are defined as linear or higher order varying
bodies/members. In case of linear bodies/members any variation of the variable can be expressed
in terms of linear polynomials only.
In cartesian (x, y, z) coordinate system linear varying variables are expressed as

(x, y, z) =  +  x +  y +  z for 3-Dimensional elements

1 2 3 4

In case of higher order variation of any variable can be expressed in terms of higher order
polynomials in the cartesian (x, y, z) coordinate system as
2 2 2 3 3 3
(x, y) =  +  x +  y +  z +  x +  y +  z +  xy +  yz +  zx +  x +  y +  z
1 2 3 4 5 6 7 8 9 10 11 12 13

…... for 3-Dimensional elements

1
Dr. Jagadish. T, Former Professor and Head, Department of Mechanical Engineering, BIT, Bengaluru
Presently Director, Research and Development, DHIO Research and Engineering Pvt. Ltd., Bengaluru
 FINITE ELEMENT METHOD
For the polynomial function to be continuous in a two dimensional problem selection of
polynomials should be performed by considering the
PASCAL’S TRIANGLE
1
x y
x2 xy y2
x3 x2y xy2 y3
x4 x3y x2y2 xy3 y4
x5 x4y x3y2 x2y3 xy4 y5
……..…………………………………………………………….

………………..…………………………………………………………….

Displacements
In solid mechanics problem while solving by displacement approach we consider the displacement
as the basic unknown. Thus, in a three-dimensional solid mechanics the displacements are denoted
as
u is the axial displacement along x-axis
v is the axial displacement along y-axis
w is the axial displacement along z-axis
x is the rotational displacement about x-axis
y is the rotational displacement about y-axis
z is the rotational displacement about z-axis
Which is usually written in the matrix form in finite element analysis as Displacement Matrix {U}
Where {U}T = {u v w x y z}

Strain Displacement Relations are

x = u/x,
y = v/y,
z = w/z,
xy = u/y + v/x,
yz = v/z + w/y,
zx = u/z + w/x
2
Dr. Jagadish. T, Former Professor and Head, Department of Mechanical Engineering, BIT, Bengaluru
Presently Director, Research and Development, DHIO Research and Engineering Pvt. Ltd., Bengaluru
 FINITE ELEMENT METHOD
Which can be written in the matrix form as

x /x 0 0
y 0 /y 0
z = 0 0 /z u
xy /y /x 0 v
yz 0 /z /y w
zx /z 0 /x

Thus, Strains are represented in matrix form as {}. Thus {} = [L]{U}
Where {}T = {x y z xy yz zx}

Stress – Strain relations

For a linear homogeneous and isotropic material according to generalized Hook’s law the strain to
stress relationship for a three-dimensional continuum body is given as
x = [ x – ( y + z)]/E

y = [ y – ( z + x)]/E

z = [ z – ( x + y)]/E

xy = xy/G, yz = yz/G, zx = zx/G,

Also G = E/[2(1+ )]

Then Stress to Strain relationship for a three-dimensional continuum body is given as

x = E/{(1+)(1-2)}[ (1-)x + y + z ]

y = E/{(1+)(1-2)}[ x + (1-)y + z ]

z = E/{(1+)(1-2)} [x + y + (1-)z ]

xy = Gxy yz = Gyz zx = Gzx Since G = [E/{2(1+ )}]

Then xy = [E/{2(1+ )}] xy, yz = [E/{2(1+ )}] yz, zx = [E/{2(1+ )}] zx

3
Dr. Jagadish. T, Former Professor and Head, Department of Mechanical Engineering, BIT, Bengaluru
Presently Director, Research and Development, DHIO Research and Engineering Pvt. Ltd., Bengaluru
 FINITE ELEMENT METHOD
Thus, for a Three-dimensional continuum Stress to Strain relationship in matrix form can be
written as
x (1-)   0 0 0 x
y  (1-)  0 0 0 y
z E   (1-) 0 0 0 z
{} = xy = -------------- 0 0 0 (1-2)/2 0 0 xy
yz (1+) (1-2) 0 0 0 0 (1-2)/2 0 yz
zx 0 0 0 0 0 (1-2)/2 zx

Thus, stress – strain relations expressed in matrix form as {} = [D] {} = [D] [L]{U}

Stress - Strain relations in two-dimensional solid mechanics

Any three-dimensional deformable body can be studied and analysis as a two-dimensional problem
which can be classified as Plane stress, Plane Strain and Axisymmetric problems
Plane Stress Problems
Consider a deformable body who's in plane dimensions (x, y) are very large when compared to out
of plane dimension (z).
The domain is bounded by two stress free planes at z = ±h/2. Since the body is thin in the z-
direction there can be little variation in the stress components through the thickness. Hence the
variation of stresses along the z direction are zero i.e. z = xz = yz = 0. Examples such as thin
disk, rotating impeller wheels, thin plate under tension. Such a body can treated as Plane Stress
Problem as shown in figure 2.1.
y 
x

x
 
z

x

Plane Stress: Thin Body z = 0 

Figure 2.1 – Body in plane stress and stress component on the body
4
Dr. Jagadish. T, Former Professor and Head, Department of Mechanical Engineering, BIT, Bengaluru
Presently Director, Research and Development, DHIO Research and Engineering Pvt. Ltd., Bengaluru
 FINITE ELEMENT METHOD
Thus, for a Plane Stress according to Hook’s Law the Stress-Strain relationship in matrix form will
be
x E 1  0 x
{} = y = --------------  1 0 y
xy (1 - 2) 0 0 (1 - )/2 xy
But the strain in z direction is given by z = -(x + y)/E
Thus, stress – strain relations for plane stress is expressed in matrix form as {} = [D] {} = [D]
[L]{U}

Plane Strain Problems

Consider a deformable body who’s in plane dimensions (x, y) are small when compared to out of
plane dimension (z) which are large. As the member is too large along the z-direction, then the
strain components in z direction is too small or negligible throughout the z-direction.
Plane Strain: Thick Body  = 0, and 
y z z
= ( +  )

Long Rectangular bar Long Prismatic bar

Since the length of the member is too long, strains along length (z-direction) can be assumed to be
zero. i.e., z = xz = yz = 0. But z = ( x + y)
E.g. Long cylinders subjected to internal pressure (tunnel), Retaining wall of a dam and Torsion
of long uniform shaft.
Thus, for a pane strain according to Hook’s Law the Stress-Strain relationship in matrix form will
be x E (1-)  0 x
{} = y = --------------  (1-) 0 y
xy (1+) (1-2) 0 0 (1-2)/2 xy
Thus, stress – strain relations for plane strain is expressed in matrix form as
{} = [D] {} = [D] [L]{U}
5
Dr. Jagadish. T, Former Professor and Head, Department of Mechanical Engineering, BIT, Bengaluru
Presently Director, Research and Development, DHIO Research and Engineering Pvt. Ltd., Bengaluru
 FINITE ELEMENT METHOD

Axisymmetric Problems
If a deformable body under the analysis happens to posse's radial symmetry it is more convenient
to use cylindrical or polar R, , Z coordinate system. Many problems of practical importance are
concerned with solids of revolution which are deformed symmetrically with respect to the axis of
revolution. If the axis of revolution is along z axis and the deformation being symmetrical with
respect to z axis the stress components do not depend on circumferential  direction axis. Hence
r and z does not exists i.e. r = z = 0 but  = u/r, where ‘u’ is radial displacement and ‘r’ the
radial distance from the axis of revolution, which is not an independent quantity. Hence, three-
dimensional deformable body can be considered for the analysis as two-dimensional problem. The
stress components in an axisymmetric problem are r, , z and rz. Here the circumferential stress
 is considered in the analysis as it is observed that the maximum stresses induced in most of
axisymmetric problem is the circumferential stress which plays the key role in the failure of the
components. E.g. Cylinders subjected to internal/external pressure, Rotating Disc and Torsion of
long uniform shaft.

r E (1-)   0 r
{} =  = --------------  (1-)  0 
z (1+) (1-2)   (1-) 0 z
rz 0 0 0 (1-2)/2 rz
Thus, stress – strain relations for axisymmetric body is expressed in matrix form as
{} = [D] {} = [D] [L]{U}

Functional:
Functional is an integral expression that implicitly contains the Governing differential equation for
a particular/specific problem. For structures problem Potential Energy  is functional. Potential
energy has two components Strain energy due to internal forces/stresses denoted by ‘U’ and Work
potential due to applied loads denoted by ‘W’

6
Dr. Jagadish. T, Former Professor and Head, Department of Mechanical Engineering, BIT, Bengaluru
Presently Director, Research and Development, DHIO Research and Engineering Pvt. Ltd., Bengaluru
 FINITE ELEMENT METHOD

Potential Energy in an Elastic Body

Consider a linear elastic three-dimensional body occupying volume ‘V’, with body forces and

having surfaces subjected to traction force. Consider a small element of Volume dV. Let the state
of stress be
{}T = {x, y, z, xy, yz, zx} and the corresponding strain {} T = {x, y, z, xy, yz, zx}
Then the Strain energy in the element of volume ‘dV’ is equal to (Area under Stress Strain
T
diagram)*dV. Thus ∫v dU = ½ ∫v{} {} dv

Since {} = [D][B]{q} and {} = [B]{q}

U = ½ ∫v{q}T {B}T {D}T {B} {q} dv But {q} is the unknown variable to be determined hence
can be taken out of the integral and for a linear homogeneous and isotropic material the elasticity
matrix [D] is symmetry then we have [D]T = [D].
Thus the strain energy U = ½ {q}T( ∫v {B}T {D} {B} dv) {q}
U = ½ {q}T [ke]{q}
Where [ke] = ∫v {B}T {D} {B} dv is known as the elemental stiffness matrix
Elemental Stiffness matrix has the properties
Its is square, Symmetric and singular matrix
The size of the matrix will be (n x n) where n is number of degrees of freedom.
Leading diagonal values should always be positive but not negative values.

7
Dr. Jagadish. T, Former Professor and Head, Department of Mechanical Engineering, BIT, Bengaluru
Presently Director, Research and Development, DHIO Research and Engineering Pvt. Ltd., Bengaluru
 FINITE ELEMENT METHOD
Work Potential

W = ∫v{u} {b}dv + ∫s{u} {t}ds + ∑i =1n{u}TPci + ∑i =1nd{u}TM

T T
Since {U} = [N]{q}

W = ∫v {q}T[N]T{b}dv + ∫s {q}T[N]T{t}ds + ∑i =1n {q}T[N]T Pci + ∑i =1nd{{q}T[N]T}M

But {q} is the unknown variable to be determined hence can be taken out of the integral
n
W = {q}T (∫v [N]T{b}dv + ∫s[N]T{t}ds + ∑i =1 [N]TPci + ∑i =1nd{[N]T}M)
W = {q}T [ {fb } + {ft } + {fc } + {fm} ] Thus W = {q}T{fe}

Where
{fb } = ∫v{N}T{b}dv is the elemental force vector due to body force
{ft } = ∫s{N}T{t}ds is the elemental force vector due to traction force
{fc } = ∑i =1n{N}iT{Pci} is the elemental force vector due to concentrated force
{fm } = ∑i =1nd{N}iT{Mbi} is the elemental force vector due to Moments
Since the work is done on the system then we have
Total Potential  = U - W = ½ {q}T [ke]{q} - {q}T{fe}

Principle of Minimum Potential Energy (PMPE)

For Conservative system, off all the kinematically admissible displacement fields, those
corresponding to equilibrium extremize the total potential . If the extremum is minimum the
state of equilibrium is stable. If the total potential is  = U - W. Then by the Principal of minimum
potential energy   = (U - W ) = 0
Then by the Principal of minimum potential energy
 = (U - W ) = 0 Since work is done on the system i.e. -W
= [/{q} ][(½ {q}T [ke]{q}) – ({q}T{fe})] = 0
= [ke]{q} – {fe} = 0
Thus, we have the elemental characteristic equation as [ke]{q} = {fe}
IF the continuum is discretised by ‘n’ number of elements then the overall characteristic equation
of the continuum will be
n n
∑e =1 [ke]{q} = ∑e =1 {fe} or

[K]{Q} = {F}

8
Dr. Jagadish. T, Former Professor and Head, Department of Mechanical Engineering, BIT, Bengaluru
Presently Director, Research and Development, DHIO Research and Engineering Pvt. Ltd., Bengaluru