Iso-Parametric Formulation: Outlines

Finite Element Method: Iso-Parametric Formulation
Iso-Parametric Formulation
Outlines
l It makes formulations for computer program simple
l It allows to create elements with a shape of a straight line or a curved

surface.
Make it possible to choose a variety of factors.
l We will derive the stiffness matrix of simple beam elements and

rectangular elements using an iso-parametric formulation.
l Numerical integration: We will calculate the stiffness matrix of

rectangular elements that is made using an iso-parametric formulation.
l Finally, we will consider several higher-order elements and shape

functions.
Mechanics and Design SNU School of Mechanical and Aerospace Engineering

1 Iso_parametric formulation: Stiffness matrix of a beam element
The term of iso-parametric formulation comes from the usage of shape functions [N] which is
used to determine an element shape for approximation of deformation.
l If a deformation function is u = a1 + a2 s , use a node x = a1 + a2 s on a beam element.

l It is formulated using the natural (or intrinsic) coordinate system, s, defined by
geometry of elements. A transformation mapping is used for the element formulation
between natural coordinate system, s, and global coordinate system, x.
.
Step 1: Determination of element type
(a) (b)
Fig. 1: Linear beam element at node x in (a) natural coordinate system, s , (b) global
coordinate system, x.

Relation between s and x coordinate systems: (when s and x coordinate systems are parallel)
L
x = xc + s xc indicates center of element
2
x can be expressed as a function of x1 and x2
1
x = [(1 - s) x1 + (1 + s ) x2 ] = [ N1
R xU
N ]S V
1
2
2
Tx W2
Then shape functions are
1- s 1+ s
N1 = N2 = Note : N1 + N 2 = 1
2 2
Fig. 2: Shape functions in natural coordinate system

{u} = [ N1 N 2 ]
RSu UV
1
Step 2: Determination of deformation function
Tu W
2
u and x are called iso-parameter because they are defined by the same shape function at
the same node.
Step 3: Definition of strain-displacement and stress-strain relations
Calculation of element matrix [ B ] :
FG du IJ = [- 1 , 1 ] RSu UV 1
du H ds K 2 2 Tu W
dx F dx I FG L IJ
du du dx = = 2
- By chain rule =
ds dx ds Þ
GH ds JK H 2K
LM 1 1 OP RSu UV
1
\ {e x } = -
N L L Q Tu W
2
LM 1 1 OP
- Therefore, {e} = [ B ]{d } [ B] = -
N L L Q
Step 4: Calculation of element stiffness matrix
Eelement stiffness matrix: [ k ] = z

0
L
[ B ] T [ D][ B ] Adx
- In general, matrix [ B ] is a function of s:

where J is Jacobian.
z L
0
f ( x ) dx = z
-1
1
f ( s) J ds
dx L
In case of 1-D, J = J . In case of simple beam element : J= =
ds 2
Ratio of element’s length between global and natural coordinate systems
- Stiffness matrix in a natural coordinate system:

LM OP
[k ] =
L
2 z
-1
1
[ B ]T E [ B ] A ds =
AE 1 -1
L N
E -1 1 Q

2 Rectangular plane stress element
Characteristics of rectangular element:

- It is easy to input data, and it is simple to calculate stress.
- Physical boundary conditions are not well approximated at the edge of rectangle.
Step 1: Determination of element type – using natural coordinate ( x , y )

R|u U| 1
||uv ||
1
||v ||
2
{d } = S V
2
||u ||
3
||u ||
v
3
|Tv |W
4
4
(11.2.1)
Four node rectangular element and nodal
displacement

Step 2: Determination of deformation function – element deformation functions, u and v , are

linear along the rectangular corner
1
u( x , y ) = [(b - x )(h - y )u1 + (b + x )(h - y ) u2
4bh
+ (b + x )(h + y )u3 + (b - x )(h + y )u4 ]
u( x , y ) = a1 + a2 x + a3 y + a4 xy
Þ 1
v ( x , y ) = a5 + a6 x + a7 y + a8 xy v( x, y) = [(b - x )(h - y ) v1 + (b + x )(h - y )v2
4bh
+ (b + x )(h + y ) v3 + (b - x )(h + y )v4 ]
\ {y } =
RSuUV = [ N ]{d} = LM N
1 0 N2 0 N3 0 N4 0OP{d}
Tv W N0 N1 0 N2 0 N3 0 N Q
4
where shape functions are
(b - x )(h - y ) (b + x )(h - y )
N1 = N2 =
4bh 4bh
(b + x )(h + y ) (b - x )(h + y )
N3 = N4 =
4bh 4bh

Step 3: Definition of strain-displacement and stress-strain relationships
Element strain in a 2-D stress state:
R| ¶u U|
R| e x
U| || ¶¶xv ||
{e} º S e V| = S| ¶y V| = [ B]{d}
|Tg y
xy W | ¶u + ¶v |
|T ¶y ¶x |W
where
1 M
L -(h - y ) 0 (h - y ) 0 (h + y ) 0 -(h + y ) 0 OP
4bh M PP
[ B] = 0 - (b - x ) 0 - (b + x ) 0 (b + x ) 0 (b - x )
MN-(b - x) - (h - y ) - (b + x ) (h - y ) (b + x ) (h + y ) (b - x ) - (h + y ) Q

Step 4: Calculation of element stiffness matrix and element equation
Element stiffness matrix: [ k ] = zz

h
- h -b
b
[ B ]T [ D][ B ]t dxdy
Element force matrix: { f }= zzz

V
[ N ]T { X } dV + { P} + zz
s
[ N ]T {T}dS
Element equation: l f q = k ld q
Step 5,6, and 7
Step 5, 6, and 7 are constitution of global stiffness matrix, determinant of

unknown deformation, calculation of stress. However, stress in each element
varies in all directions of x and y.

3 Iso-parametric formulation: stiffness matrix of a plane element
A process of iso-parametric formulation is same in all elements
Step 1: Determination of element type
It is possible to numerically integrate the rectangular element defined in natural

coordinate system s - t .
Transformation equation: x = xc + bs y = yc + ht
(a) (b)
Fig. 4: (a) A linear rectangular element in a coordinate system, s - t , (b) A rectangular

element in a coordinate system, x - y , The size and shape of the rectangular
element are defined by coordinates of four nodes.

Transformation equation between a local coordinate system, s - t , and a global coordinate
system, x - y :
1
x = [(1 - s)(1 - t ) x1 + (1 + s)(1 - t ) x2
4
+ (1 + s)(1 + t ) x3 + (1 - s)(1 + t ) x4 ]
x = a1 + a2 s + a3t + a4 st
Þ 1
y = a5 + a6 s + a7t + a8 st y = [(1 - s)(1 - t ) y1 + (1 + s)(1 - t ) y2
4
+ (1 + s)(1 + t ) y3 + (1 - s)(1 + t ) y4 ]
In a matrix form:
R| x U|
1
(1 - s)(1 - t )
|| xy ||
1 N1 =
4
RS x UV = LM N | |
0 O |y |
2
N2 =
(1 + s)(1 - t )
T yW N 0
1 0
N1
N2
0
0
N2
N3
0
0
N3
N4
0
S V
N PQ | x |
2 4
(1 + s)(1 + t )
|| y ||
4 3
N3 =
3 4
|| x ||
4 N4 =
(1 - s)(1 + t )
Ty W
4
4

1. Shape function is linear.
2. Any point in rectangular element ( s, t ) can be mapped to the quadrilateral element
point ( x , y ) in Fig. 4(b).
3. Note that for all values of s and t , N1 + N 2 + N 3 + N 4 = 1 .
4. N i (i＝1, 2, 3, 4) is 1 for node i , and 0 for the other nodes.
Two general conditions of shape functions:

n
1. å N =1
i =1
i (i = 1,2,..., n)
2. N i = 1 for node i , N i = 0 for the other nodes.
Additional conditions:
3. Continuity of deformation --- Lagrangian Interpolation
4. Continuity of slope --- Hermitian Interpolation

Fig. 5: Change of shape functions in a linear rectangular element

Step 2: Determination of deformation
Deformation functions in the element are defined by shape functions that are used to
define element shape.
R|u U|
1
||uv ||
1
RSuUV = LM N | |
0 O |v |
2
Tv W N 0
1 0
N1
N2
0
0
N2
N3
0
0
N3
N4
0
S V
N PQ |u |
2
||v ||
4 3
||u ||
4
Tv W
4
Step 3: Strain-displacement and stress-strain relationships
The derivative of deformation u and v about x and y should be executed using a chain rule of
derivation because the deformation function is expressed with s and t .

¶f ¶f ¶x ¶f ¶y
= +
¶s ¶x ¶s ¶y ¶s
Reference: chain rule of f ¶f ¶f ¶x ¶f ¶y
= +
¶t ¶x ¶t ¶y ¶t
Calculating ( ¶f / ¶x ) and ( ¶f / ¶y ) using Cramer’s lure (Appendix. B).

¶f ¶y ¶x ¶f ¶x ¶y
¶f 1 ¶s ¶s , ¶f = 1 ¶s
= ¶s J = ¶s ¶s
¶x J ¶f ¶y ¶y J ¶x ¶f where ¶x ¶y (*)
¶t ¶t ¶t ¶t ¶t ¶t
Element strain:
LM ¶( ) OP
R| e U| M ¶x 0
P
¶( ) P Ru U
V| = MM 0
x
e º Se S V = Bd
|Tg ¶y P T v W
y
xy W MM ¶( ) ¶( ) P
P
MN ¶y ¶x PQ
A formulation to obtain B is required.

Using the equation (*) in previous page (use u or v instead of f ):
LM ¶y ¶() - ¶y ¶() OP
R| e U| 1 M ¶t ¶s ¶s ¶t 0
¶x ¶() ¶x ¶() P Ru U
V| = J MM 0 P
x
S| e y SV
¶s ¶t ¶t ¶s P Tv W
-
Tg W MM ¶x ¶() - ¶x ¶() ¶y ¶() ¶y ¶() P
¶t ¶s ¶s ¶t PQ
xy
N ¶s ¶t ¶t ¶s -
LM ¶y ¶() - ¶y ¶() 0
OP
D' = M
1 M ¶t ¶s ¶s ¶t
¶x ¶() ¶x ¶() P
P
J M ¶s ¶t ¶t ¶s P
0 -
e = D' Nd
or where
MM ¶x ¶() - ¶x ¶() ¶y ¶() ¶y ¶() P
N ¶s ¶t ¶t ¶s ¶t ¶s ¶s ¶t PQ
-
Thus,
B = D' N
(3 ´ 8) (3 ´ 2) (2 ´ 8)

Step 4: Derivation of element stiffness matrix and equation

Stiffness matrix in a coordinate system, s - t :
[k ] = zz
A
[ B ]T [ D][ B ]tdxdy
Converge the integral region from x - y to s - t :

[k ] = zz
1
-1 -1
1 T
[ B ] [ D][ B ]t J dsdt
LM 0 1- t t-s s -1 OP
J = lX q M PPl q
1 t -1
T 0 s + 1 -s - t
Determinent J is 8 MMs - t
c
-s - 1 0 t +1
Yc
PQ
N1 - s s + t -t - 1 0
R| y U|
1
|
l q Sy Vy |
lX q
2
Y =
|| ||
T c
where c =[ x1 x2 x3 x4 ] , 3
Ty W4
J is a function of s , t in natural coordinate system, and x1 , x2 ,..., y4 in the

known global coordinate system.

1
Calculation of B : B ( s, t ) = [ B1 B 2 B 3 B 4 ]
J
where
LMa( N i ,s ) - b ( N i ,t ) 0 OP
B =M 0 c( N i ,t ) - d ( N i , s )P
MNc( N ) PQ
i
i = 1, 2, 3, 4
i ,t ) - d ( N i , s ) a ( N i , s ) - b ( N i ,t
and
1
a = [ y1 ( s - 1) + y2 ( -1 - s) + y3 (1 + s) + y4 (1 - s)]
4
1
b = [ y1 (t - 1) + y2 (1 - t ) + y3 (1 + t ) + y4 ( -1 - t )]
4
1
c = [ x1 (t - 1) + x2 (1 - t ) + x3 (1 + t ) + x4 ( -1 - t )]
4
1
d = [ x1 ( s - 1) + x2 ( -1 - s) + x3 (1 + s) + x4 (1 - s)]
4
1 1
For example, N1,s = (t - 1) N1,t = ( s - 1) (etc.)
4 4

Element body force matrix:

{ fb} =
(8 ´ 1)
zz
1
-1 -1
1
[ N ]T { X } t J ds dt
(8 ´ 2) (2 ´ 1)
Element surface force matrix: Length is L , an edge t = 1 (See. Fig. 4(b))
R| f U|
z
s 3s
{ f s} =
1
[ N ]T {T} t
L
ds |S f s 3t |V = z LM N
1 3 0 N4 0 OP RS p UVt L ds
T
s
2
|| f || N 0 Q Tp W 2
-1
, s4 s
-1 N3 0 N4 t
(4 ´ 1) (4 ´ 2) (2 ´ 1)
Tf s4r W
For N 1 = 0 and N 2 = 0 along the edge t = 1 , the nodal force is zero at nodes 1 and 2.

4 Gaussian Quadrature (Numerical integration)
One node Gaussian quadrature
I = z
-1
1
ydx » y1 *{(1) - ( -1)}
= 2 y1
If function y is straight line,

it has exact solution.
General equation: I= z
-1
1 n
y dx = å Wi yi
i =1
l Gaussian quadrature using n nodes(Gaussian point) can exactly calculate polynomial

equation which has integral term under 2n - 1 order.
When function f ( x ) is not a polynomial, Gaussian quadrature is inaccurate. However, the more
Gaussian points are used, the more accurate solution is. In general, the ratio of two polynomials is not a
polynomial.

l Table 1 Gaussian points for integration from –1 to +1
Number Locations, xi Associated

ofPoints Weights, Wi
1 x1 = 0.000... 2.000
2 x1 , x2 = ±0.57735026918962 1000
.
3 x1 , x3 = ± 0.77459666924148 5 / 9 = 0.555...
x2 = 0.000... 8 / 9 = 0.888...
Fig. 7: Gaussian quadrature with two extraction points

2-D problem: Integrate about second coordinate after integrate about first coordinate.
zz
1 1
z 1 LMå W f (s , t )OP
I=
-1 -1
f ( s, t ) ds dt =
-1
Ni
i i
Q
= å Wj
LMå W f (s , t )OP = å å WW f (s t )
j Ni
i i
Q
j
i j
i j i, j
For 2 ´ 2 : I = WW
1 1 f ( s1 , t1 ) + WW
1 2 f ( s1 , t 2 ) + W2W1 f ( s2 , t1 ) + W2W2 f ( s2 , t 2 )
where the sample four points

are located at
si , ti = ± 0.5773....
= ±1/ 3
And the all weight factors
are 1000
. . Thus, the two
summation marks can be
interpreted as one summation
mark for four points of the
rectangle.

3-D problem: I= zzz

1 1
-1 -1 -1
1
f ( s, t , z )ds dt dz = å å å WW
i j
i jWk f ( si , t j , zk )
k
NOTE: If the integration limit is z0

1 n
f ( x )dx = åi =1Wi f ( xi ) , the weight factor Wi and the
location xi are different from that of the integration limit which is between -1 and 1 (See
table 2).
Table 2. Gaussian points of the four node gaussian integration (integration from 0 to 1)
Locations, xi Associated Weights, Wi

0.0693185 0.1739274
0.3300095 0.3260725
0.6699905 0.3260725
0.9305682 0.1739274

Example 1: Calculate the integration of sin px using numerical integration.
I= z
1
0
sinpx dx
Using table 2, the following can be obtained.

4
I = å Wi sin pxi
i =1
= W1 sin px1 + W2 sin px2 + W3 sin px3 + W4 sin px4

= 01739
. sin p (0.0694) + 0.3261 sin p (0.3300)
0.3261 sin p (0.6700) + 01739
. sin p (0.9306)
= 0.6366
Use four decimal places. The exact value of direct integration is 0.6366. Note that location
xi and weight factor Wi are different from that in table 2 if we use the 3-points Gaussian
integration.

5 Calculation of stiffness matrix by Gaussian integration
Element stiffness matrix in 2-D:

k = zz T
B ( x , y ) DB ( x , y )t dx dy
zz
A
1 1 T
= B ( s, t ) DB ( s, t ) J t ds dt
-1 -1
T
The integral term B DB J , which is a function of ( s, t ) , is calculated by the
numerical integration.
T
k = B ( s1 , t1 ) DB ( s1 , t1 ) J ( s1 , t1 ) tWW
1 1
T
+ B ( s2 , t 2 ) DB ( s2 , t 2 ) J ( s2 , t 2 ) tW2W2
T
Using four-points Gaussian integration, + B ( s3 , t 3 ) DB ( s3 , t 3 ) J ( s3 , t 3 ) tW3W3
T
+ B ( s4 , t 4 ) DB ( s4 , t 4 ) J ( s4 , t 4 ) tW4W4
where s1 = t1 = - 0.5773, s2 = - 0.5773, t 2 = 0.5773, s3 = 0.5773, t 3 = -0.5773,

s4 = t 4 = 0.5773 , W1 = W2 = W3 = W 4 = 1000
. .

(e)
Fig. 9: Flow chart for obtaining k using Gaussian integration

Example 2
Calculate the stiffness matrix of

rectangular element using four-point Gaussian
integration.
E = 30 ´ 106 psi , n = 0.25 .
The unit of length in global coordinate
system is inch, and t =1 in .
Fig. 10: Quadrilateral elements for calculation of stiffness
Using 4-points rule:
( s1 , t1 ) = ( -0.5733, - 0.5773) W1 = 10
.
( s2 , t 2 ) = ( -0.5733, 0.5773) W2 = 10
.
( s3 , t 3 ) = (0.5733, - 0.5773) , W3 = 10
. .
( s4 , t 4 ) = (0.5733, 0.5773) W4 = 10
.

Calculation of stiffness matrix:
T
k = B ( -0.5773, - 0.5733) DB ( -0.5773, - 0.5773)
´ J ( -0.5773, - 0.5773) (1)(1000
. )(1000
. )
T
+ B ( -0.5773, 0.5773) DB ( -0.573,0.5773)
´ J ( -0.5773, 0.5773) (1)(1000
. )(1000
. )
T
+ B (0.5773,- 0.5773) DB (0.573,-0.5773)
´ J (0.5773, - 0.5773) (1)(1000
. )(1000
. )
T
+ B (0.5773, 0.5773) DB (0.573,0.5773)
´ J (0.5773, 0.5773) (1)(1000
. )(1000
. )
We need to calculate J and B at Gaussian points

( s1 , t1 ) = ( -0.5733, - 0.5773), ( s2 , t 2 ) = ( -0.5733, 0.5773) ,
( s3 , t 3 ) = (0.5733, - 0.5773), ( s4 , t 4 ) = (0.5733, 0.5773) .

Calculation of J :
1
J ( -0.5773, - 0.5773) = [3 5 5 3]
8
LM 0 1 - ( -0.5773) -0.5773 - ( -0.5773) -0.5773 - 1 OP
´ MM -0.5773 - 1 0 -0.5773 + 1 -0.5773 - ( -0.5773)
PP
MN
-0.5773 - ( -0.5773)
1 - ( -0.5773)
-0.5773 - 1
-0.5773 + ( -0.5773)
0
-0.5773 - 1
-0.5773 + 1
0
PQ
R|2U|
|2| .
´ S V = 1000
||4||
T4W
J ( -0.5733, - 0.5733) = 1000
.
J (0.5733, - 0.5733) = 1000
.
Similarly,
J (0.5733, 0.5733) = 1000
.
Generally J ¹ 1 , and it changes within the element.

Calculation of B :
1
B ( -0.5733, - 0.5733) = B1 B2 B3 B4
J ( -0.5733, - 0.5733)
LMaN 1, s - bN1, t 0 OP
B1 =M 0 cN1, t - dN1, s PP
Calculation of B1 :
MNcN
1, t - dN1, s aN1, s - bN1, t Q
where
1
a= y1 ( s - 1) + y2 ( -1 - s) + y3 (1 + s) + y4 (1 - s)
4
1
= 2( -0.5773 - 1) + 2( -1 - 0.5773))
4
+4(1 + ( -0.5773)) + 4(1 - ( - - 0.5773))
= 100
.
The same calculation can be used to obtain b, c, d .

Also,
1 1
N1, s = (t - 1) =
( -0.5773 - 1) = -0.3943
4 4
1 1
N1,t= ( s - 1) =
( -0.5773 - 1) = -0.3943
4 4
Similarly, B 2 , B 3 , B 4 can be calculated at ( -0.5773, - 0.5773) . And calculate B
repeatedly at other Gaussian points.
Generally a computer program is used to calculate B and k .

Final form of B is.
LM-01057
. 0 01057
. 0 0 -01057
. 0 -0.3943OP
B = M-01057
. -01057
. -0.3743 01057
. 0.3943 0 -0.3943 0 PP
MN 0 0.3943 0 01057
. 0.3943 0.3943 01057
. -0.3943 Q

LM1 n 0
OP L32 8 0 OP
MMn 0 P = MM 8
E
0 P ´ 10 psi
6
1- n P
D= 1 32
Matrix D : 1- n2
MN0 0
2 PQ
MN 0 0 12PQ
Finally, the stiffness matrix k:
LM1466 500 -866 -99 -733 -500 133 99OP

MM-500 1466 99 133 -500 -733 -99 -866
PP
MM -86699
99
133
1466
-500
-500
1466
133
99
-99
-866
-733
500
500
-733
PP
MM-733 PP
4
k = 10
-500 133 99 1466 500 -866 -99
MM-500 -733 -99 -866 500 1466 99 133 PP
MM 133 -99 -733 500 -866 99 1466 -500
PP
N 99 -866 500 -733 -99 133 -500 1466 Q

6 Higher order shape function
l Higher order shape function can be obtained by adding additional nodes to the each
side of the linear element.
l It has higher order strain distribution in element, and it converges to the exact
solution rapidly with few elements.
l It can more accurately approximate the irregular boundary shape.
Fig. 11: 2nd order iso-parametric element

Second order iso-parametric element:
x = a1 + a2 s + a3t + a4 st + a5 s 2 + a6t 2 + a7 s 2 t + a8 st 2
y = a9 + a10 s + a11t + a12 st + a13 s 2 + a14 t 2 + a15 s 2 t + a16 st 2
For the corner node ( i ＝1, 2, 3, 4)

1
N1 = (1 - s)(1 - t )( - s - t - 1)
4
1
N 2 = (1 + s)(1 - t )( s - t - 1)
4
1
N 3 = (1 + s)(1 + t )( s + t - 1)
4
1
N 4 = (1 - s)(1 + t )( - s + t - 1)
4
1
Ni = (1 + ssi )(1 + tti )( ssi + tti - 1)
4
si = -1, 1, 1, - 1 for i = 1, 2, 3, 4
or
ti = -1, - 1, 1, 1 for i = 1, 2, 3, 4

For the middle node ( i ＝5, 6, 7, 8),

1
N5 = (1 - t )(1 + s)(1 - s)
2
1
N 6 = (1 + s)(1 + t )(1 - t )
2
1
N 7 = (1 + t )(1 + s)(1 - s)
2
1
N 8 = (1 - s)(1 + t )(1 - t )
2
or
1
Ni = (1 - s 2 )(1 + tti ) ti = -11
, for i = 5, 7
2
1
N i = (1 - ssi )(1 - t 2 ) si = -11
, for i = 5, 7
2
2 2
When edge shape and displacement are function of s (if t is constant) or t (if s is
constant), it satisfies the general shape function conditions.

Deformation function:
R|u U|
1
|
0 O|u |
v1 |
RSuUV = LM N 0 N 2 0 N 3 0 N 4 0 N5 0 N 6 0 N 7 0 N8
SV
N PQ|v |
1 2
Tv W N 0 N1 0 N 2 0 N 3 0 N 4 0 N 5 0 N 6 0 N 7 0
|| M ||
8 2
Tv W
8
Strain matrix: e = Bd = D' N d
2nd order iso-parameter with 8 nodes

For the calculation of B and k ,
9-points Gaussian rule is used
(3×3 rule). There is large difference
between 2×2 and 3×3 rule, and 3×3
rule is generally recommended.
(Bathe and Wilson[7])

3rd order iso-parametric element:
Shape function of a 3rd order element is based on incomplete 4th order polynomial
(see reference [3]).
x = a1 + a2 s + a3t + a4 st + a5 s 2 + a6t 2 + a7 s 2 t + a8 st 2
+ a9 s 3 + a10t 3 + a11s 3t + a12 st 3
y also has same polynomial equation.

1
For the corner nodes ( i ＝1, 2, 3, 4): Ni = (1 + ssi )(1 + tti )[9( s 2 + t 2 ) - 10]
32
si = -1, 1, 1, - 1 for i = 1, 2, 3, 4
where ti = -1, - 1, 1, 1 for i = 1, 2, 3, 4
9
For the nodes ( i ＝7, 8, 11, 12) when s = ±1 : Ni = (1 + ssi )(1 + 9tti )(1 - t 2 )
32
1
where si = ±1 , ti = ±
3
9
For the nodes ( i ＝5, 6, 9, 10) when t = ±1 : Ni = (1 + tti )(1 + 9 ssi )(1 - s 2 )
32
1
where ti = ±1 , si = ±
3
When the shape function of coordinates has lower order than that of deformation, it is called
Subparametric formulation (For example, x is linear, u is 2nd order function). The opposite way is
called Superparametric formulation.

Iso-Parametric Formulation: Outlines

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Iso-Parametric Formulation: Outlines

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Finite Element Method: Iso-Parametric Formulation

l It makes formulations for computer program simple

l It allows to create elements with a shape of a straight line or a curved

l We will derive the stiffness matrix of simple beam elements and

l Numerical integration: We will calculate the stiffness matrix of

l Finally, we will consider several higher-order elements and shape

Mechanics and Design SNU School of Mechanical and Aerospace Engineering

1 Iso_parametric formulation: Stiffness matrix of a beam element

l If a deformation function is u = a1 + a2 s , use a node x = a1 + a2 s on a beam element.

Step 1: Determination of element type

Mechanics and Design SNU School of Mechanical and Aerospace Engineering

Fig. 2: Shape functions in natural coordinate system

Mechanics and Design SNU School of Mechanical and Aerospace Engineering

Step 3: Definition of strain-displacement and stress-strain relations

Calculation of element matrix [ B ] :

Step 4: Calculation of element stiffness matrix

Eelement stiffness matrix: [ k ] = z

- In general, matrix [ B ] is a function of s:

Ratio of element’s length between global and natural coordinate systems

- Stiffness matrix in a natural coordinate system:

Mechanics and Design SNU School of Mechanical and Aerospace Engineering

2 Rectangular plane stress element

Characteristics of rectangular element:

Step 1: Determination of element type – using natural coordinate ( x , y )

Mechanics and Design SNU School of Mechanical and Aerospace Engineering

Step 2: Determination of deformation function – element deformation functions, u and v , are

where shape functions are

Mechanics and Design SNU School of Mechanical and Aerospace Engineering

Step 3: Definition of strain-displacement and stress-strain relationships

Element strain in a 2-D stress state:

Mechanics and Design SNU School of Mechanical and Aerospace Engineering

Step 4: Calculation of element stiffness matrix and element equation

Element stiffness matrix: [ k ] = zz

Element force matrix: { f }= zzz

Step 5, 6, and 7 are constitution of global stiffness matrix, determinant of

Mechanics and Design SNU School of Mechanical and Aerospace Engineering

A process of iso-parametric formulation is same in all elements

Step 1: Determination of element type

It is possible to numerically integrate the rectangular element defined in natural

Fig. 4: (a) A linear rectangular element in a coordinate system, s - t , (b) A rectangular

Mechanics and Design SNU School of Mechanical and Aerospace Engineering

Mechanics and Design SNU School of Mechanical and Aerospace Engineering

1. Shape function is linear.

2. Any point in rectangular element ( s, t ) can be mapped to the quadrilateral element

point ( x , y ) in Fig. 4(b).

3. Note that for all values of s and t , N1 + N 2 + N 3 + N 4 = 1 .

4. N i (i＝1, 2, 3, 4) is 1 for node i , and 0 for the other nodes.

Two general conditions of shape functions:

2. N i = 1 for node i , N i = 0 for the other nodes.

3. Continuity of deformation --- Lagrangian Interpolation

4. Continuity of slope --- Hermitian Interpolation

Mechanics and Design SNU School of Mechanical and Aerospace Engineering

Fig. 5: Change of shape functions in a linear rectangular element

Mechanics and Design SNU School of Mechanical and Aerospace Engineering

Step 2: Determination of deformation

Step 3: Strain-displacement and stress-strain relationships

Mechanics and Design SNU School of Mechanical and Aerospace Engineering

Calculating ( ¶f / ¶x ) and ( ¶f / ¶y ) using Cramer’s lure (Appendix. B).

Mechanics and Design SNU School of Mechanical and Aerospace Engineering

Using the equation (*) in previous page (use u or v instead of f ):

Mechanics and Design SNU School of Mechanical and Aerospace Engineering

Step 4: Derivation of element stiffness matrix and equation

Converge the integral region from x - y to s - t :