Lecture

6 N. M. Anoop Krishnan

IIT Delhi

CVL757: Finite element methods

Lecture 6

N. M. Anoop Krishnan
Block V, Room No. 318
Department of Civil Engineering
Indian Institute of Technology Delhi
Email: krishnan@iitd.ac.in
IIT Delhi CVL757 – Finite elements 1
Lecture 6 N. M. Anoop Krishnan

Recap
Ø Bar, beam elements

Ø Element and structure stiffness matrix

Ø Global and local coordinates

Ø Assembly by direct stiffness method

IIT Delhi CVL757 – Finite elements

Lecture 6 N. M. Anoop Krishnan

Properties of stiffness matrix

• Some important properties of stiffness matrix are: (i) non-
negativity of diagonal terms, (ii) symmetry, and (iii) sparsity
• Non-negativity: [K]{D}={R}. Assume all d.o.f is zero except one.
Then, external load is given by KiiDi. It is unphysical for the
external load to produce a displacement in the opposite
direction. Hence, diagonal terms are always positive.
• Symmetry: Stiffness matrix of a structure or element is
symmetric if loads are linearly related to displacements. Proof
based on Maxwell-Betti reciprocal theorem. “if two sets of loads
act on a linearly elastic structure, work done by the first set of
loads in acing through displacements produced by the second set
of loads is equal to work done by the second set in acting
through displacements produced by the first set.

IIT Delhi CVL757 – Finite elements

Lecture 6 N. M. Anoop Krishnan

Properties of stiffness matrix

• Proof: If loads {R1} and {R2} produce displacements {D1} and {D2},
then
𝐑 "# 𝐃 % = 𝐑 #% 𝐃 "
𝐊 𝐃" # 𝐃 %= 𝐊 𝐃 % # 𝐃"
𝐃 "# 𝐊 # 𝐃 % = 𝐃 #% 𝐊 # 𝐃 "
𝐃 "# 𝐊 # 𝐃 % = 𝐃 "# 𝐊 𝐃 %
𝐃 "# 𝐊 # − 𝐊 𝐃 % = 0
Since, either of the nodal displacements cannot be a null matrix,
therefore, ([K]T–[K]) = 0. QED.
• Sparsity: An element Kij in a global stiffness is zero unless at least
one element is attached to both d.o.f. i and j. Note that vice-versa
might not be true.
• A matrix is called sparse if it contains many zeros. Typical FE
structure matrices are sparse for which special algorithms are
used.
IIT Delhi CVL757 – Finite elements
Lecture 6 N. M. Anoop Krishnan

Properties of stiffness matrix

• Singularity—No support: If boundary conditions are not applied, a
structure is free to rotate or translate (rigid body motion). Note
that [K] is constructed using undeformed geometry and remains
,- .
valid only for small deformation. For example, 𝑢% ≈ − and
%
𝑣% ≈ 𝐿𝜃 are valid for small deformations only. In this case, 𝑢% is
2
negligible compared 𝑣% and 𝜃 = . . This can be regarded as rigid-
,
3
body rotation about 1. But if 𝜃 = , then 𝐊 {𝐃} ≠ {𝟎} because [k]
%
is not valid for large rotations.

IIT Delhi CVL757 – Finite elements

Lecture 6 N. M. Anoop Krishnan

Properties of stiffness matrix

• Singularity—Inadequate support: An inadequately supported
structure has a singular [K].
𝐃 9 𝐊 𝐃
• Strain energy 𝑈 = . If the structure has no/partial
%
support, or mechanism, there exists a {D} for which U = 0
• Mechanism: is a displacement mode that is not rigid-body motion
but for which U = 0
• When actually solving an FE problem, it is essential to check if the
boundary conditions are properly enforced so as to avoid the
formation of a mechanism leading to singularity in [K]

IIT Delhi CVL757 – Finite elements

Lecture 6 N. M. Anoop Krishnan

Boundary conditions
• For a structure, the equation [K]{D} = {R} can be written as
𝐊 𝟏𝟏 𝐊 𝟏𝟐 𝐃 𝐱 𝐑𝐜
=
𝐊 𝟐𝟏 𝐊 𝟐𝟐 𝐃𝐜 𝐑𝒙
where the subscripts c and x corresponds to known and unknown
quantities, respectively. Note that any weights/loads that need to
be included in the analysis should not be applied on the supports
with prescribed bc.
• 𝐷A = 𝐾"" C" 𝑅E − 𝐾"% {𝐷E }

• Equations corresponding to the known displacements/unknown

forces are ignored. Formal procedure is as follows.

IIT Delhi CVL757 – Finite elements

Lecture 6 N. M. Anoop Krishnan

Boundary conditions
• For a structure, the equation [K]{D} = {R} can be written as

where Kij is a symmetric matrix. For any d.o.f i we can prescribe

either Di or Ri
• Assume R1 and R3 are known with prescribed b.c. 𝐷% = Δ%

• Symmetry is taken care replacing the 2nd equation by the trivial

IIT Delhi CVL757 – Finite elements
Lecture 6 N. M. Anoop Krishnan

Boundary conditions
• From the previous example,

Boundary conditions from the structure

suggests that u2 = v2 = u3 = 0

IIT Delhi CVL757 – Finite elements

Lecture 6 N. M. Anoop Krishnan

Boundary conditions
• From the previous example,

Suppressing u2 = v2 = u3 = 0
𝑘H + 0.36𝑘% −0.48𝑘% 0.48𝑘% 𝑢" 0
−0.48𝑘% 0.64𝑘% −0.64𝑘% 𝑣" = −𝑃
0.48𝑘% −0.64𝑘% 𝑘" + 0.64𝑘% 𝑣H 0

IIT Delhi CVL757 – Finite elements

Lecture 6 N. M. Anoop Krishnan

Symmetry
• Should be used sparingly and cautiously

IIT Delhi CVL757 – Finite elements

Lecture 6 N. M. Anoop Krishnan

Solid mechanics
Ø Constitutive relations (stress-strain relations)

Ø Strain-displacement relations

Ø Compatibility conditions

Ø Equilibrium equations

IIT Delhi CVL757 – Finite elements

Lecture 6 N. M. Anoop Krishnan

Summary
Ø Properties of the stiffness matrix

Ø Formal method for eliminating boundary conditions

IIT Delhi CVL757 – Finite elements