MANE 4240 & CIVL 4240

Introduction to Finite Elements

Prof. Suvranu De

Mapped element geometries

and shape functions: the
isoparametric formulation
Reading assignment:

Chapter 10.1-10.3, 10.6 + Lecture notes

Summary:

• Concept of isoparametric mapping

• 1D isoparametric mapping
• Element matrices and vectors in 1D
• 2D isoparametric mapping : rectangular parent elements
• 2D isoparametric mapping : triangular parent elements
• Element matrices and vectors in 2D
For complex geometries
© 2002 Brooks/Cole Publishing / Thomson Learning™

General quadrilateral elements

Elements with curved sides

Consider a special 4-noded rectangle in its local coordinate
system (s,t)
t
2 1 Displacement interpolation
1 1
1 u  N1u1  N 2 u 2  N 3u 3  N 4 u 4
s v  N1v1  N 2 v2  N 3 v3  N 4 v4
1
Shape functions in local coord system
3 4
1
N1 ( s, t )  (1  s )(1  t )
4
1
N 2 ( s, t )  (1  s )(1  t )
4
1
N 3 ( s, t )  (1  s )(1  t )
4
1
N 4 ( s, t )  (1  s )(1  t )
4
Recall that

N1  N 2  N 3  N 4  1 Rigid body modes

N1 s1  N 2 s 2  N 3 s3  N 4 s 4  s Constant
N1t1  N 2 t 2  N 3t 3  N 4 t 4  t strain states
Goal is to map this element from local coords to a general
quadrilateral element in global coord system t
2
t
2 1 1 1 x  x ( s, t ) y 1
1 y  y ( s, t ) 3
s
s
1 s  s ( x, y ) 4 s
3 4 t  t ( x, y ) x
Local coordinate system Global coordinate system
N1 (s, t ) N1 ( x, y)

N1 (s, t )  N1 (s( x, y), t ( x, y))  N1 ( x, y)

 In the mapped coordinates, the shape functions need to satisfy

1. Kronecker delta property

Then  1 at node i
Ni  
0 at all other nodes
2. Polynomial completeness

N
i
i 1

N x
i
i i x

N y
i
i i y
 The relationship

x   N i ( s, t ) xi
i

y   N i ( s, t ) y i
i

Provides the required mapping from the local coordinate system

To the global coordinate system and is known as isoparametric
mapping
(s,t): isoparametric coordinates
(x,y): global coordinates
Examples
t
t
1 1
1
s
1
y
s
x
t
t

s s
y
1
x
 1D isoparametric mapping

3 noded (quadratic) element

1 3 2 x1 x3 x2
x
s 1 2
1 1 3
Isoparametric mapping
Local (isoparametric) 3
coordinates x   N i ( s ) xi
s1  s  i 1
N1 ( s)  
s1  s  s1  s 
 
2
s1  s  x x1  x 2  1  s 2 x3
N 2 (s)  2 2
2
N 3 ( s)  1  s 2
NOTES
1. Given a point in the isoparametric coordinates, I can obtain the
corresponding mapped point in the global coordinates using the
isoparametric mapping equation
s1  s  s1  s 
x
2
x1 
2
 
x 2  1  s 2 x3

At s  1; x  x1
At s  0; x  x3
At s  1; x  x2

Question
x=? at s=0.5?
2. The shape functions themselves get mapped
In the isoparametric coordinates (s) they are polynomials.
In the global coordinates (x) they are in general nonpolynomials
Lets consider the following numerical example
x1  0; x2  6; x3  4 4 2 x
1 3 2
Isoparametric mapping x(s)

s 1  s  s 1  s 
x
2
x1 
2
 
x2  1  s 2 x3

s 1  s  s 1  s 

2
0
2

6  1  s2 4
 4  3s  s 2 Simple polynomial
Inverse mapping s(x)
3  25  4 x Complicated function
s
2
Now lets compute the shape functions in the global coordinates

s1  s 
N 2 ( s) 
2
1  3  25  4 x  3  25  4 x 
  1 



2 2  2 
1

 10  x  2 25  4 x
2

 N 2 ( x)
Now lets compute the shape functions in the global coordinates

N2(x)
N2(s)
1 3 2 1 1
4 2 x
s 1 2
1 1 3

N2(s) is a simple polynomial N2(x) is a complicated function

N 2 ( s) 
s 1  s  N 2 ( x) 
1
2
10  x  2 25  4 x 
2
However, thanks to isoparametric mapping, we always ensure
1. Knonecker delta property
2. Rigid body and constant strain states
Element matrices and vectors for a mapped 1D bar element

1 3 2
x
s 1 2
1 1 3

Displacement interpolation u  N1u1  N 2 u 2  N 3u3  N d

du dN1 dN 2 dN 3
Strain-displacement relation    u1  u2  u3  Bd
dx dx dx dx
Stress   E  E Bd
 dN1 dN 2 dN 3 
The strain-displacement matrix B   
 dx dx dx 
The only difference from before is that the shape functions are in the
isoparametric coordinates
s1  s 
N1 ( s)  
2
s1  s 
N 2 (s) 
2
N 3 ( s)  1  s 2

We know the isoparametric mapping

3
x   N i ( s ) xi
i 1

And we will not try to obtain explicitly the inverse map.

How to compute the B matrix?
Using chain rule
dN i (s) dN i (s) ds (*)

dx ds dx
dN i (s)
Do I know ?
ds
ds
Do I know ?
dx
3

I know x   N i ( s ) xi
i 1
3
Hence dx   dN i ( s) xi  J ( Jacobian of mapping )
ds i 1 ds

dN i ( s) 1 dN i ( s)
From (*) 
dx J ds
What does the Jacobian do?
dx  J ds

Maps a differential element from the isoparametric coordinates to

the global coordinates
The strain-displacement matrix
 dN1 dN 2 dN 3 
B 
 dx dx dx 
1  dN1 dN 2 dN 3 
 
J  ds ds ds 

For the 3-noded element

3
dN i ( s) 2s  1 2s  1
J  xi  x1  x 2  2sx3
i 1 ds 2 2

1  2s  1 2s  1 
B  2 s
J  2 2 
 The element stiffness matrix

x2
k   EA B B dx
T
x1
1
  EA B B Jds  dx  Jds
T
1

NOTES
1. The integral on ANY element in the global coordinates in now an
integral from -1 to 1 in the local coodinates
2. The jacobian is a function of ‘s’ in general and enters the integral.
The specific form of ‘J’ is determined by the values of x1, x2 and x3.
Gaussian quadrature is used to evaluate the stiffness matrix
3. In general B is a vector of rational functions in ‘s’
Isoparametric mapping in 2D: Rectangular parent elements
© 2002 Brooks/Cole Publishing / Thomson Learning™

Parent element Mapped element in

global coordinates
Isoparametric mapping x   N i ( s, t ) xi
i

y   N i ( s, t ) y i
i
Shape functions of parent element in isoparametric
coordinates
1
N1 ( s, t )  (1  s )(1  t )
4
1
N 2 ( s, t )  (1  s )(1  t )
4
1
N 3 ( s, t )  (1  s )(1  t )
4
1
N 4 ( s, t )  (1  s )(1  t )
4

Isoparametric mapping
x   N i ( s, t ) xi
i

y   N i ( s, t ) y i
i
NOTES:
1. The isoparametric mapping provides the map (s,t) to (x,y) , i.e.,
if you are given a point (s,t) in isoparametric coordinates, then
you can compute the coordinates of the point in the (x,y)
coordinate system using the equations

x   N i ( s, t ) xi
i

y   N i ( s, t ) y i
i

2. The inverse map will never be explicitly computed.

8-noded Serendipity element
© 2002 Brooks/Cole Publishing / Thomson Learning™

t 7
4 1 1 3
1
6
8 s
1 5
1 2
8-noded Serendipity element: element shape functions in
isoparametric coordinates

1 1
N1 ( s, t )  (1  s )(1  t )(  s  t  1) N 5 ( s, t )  (1  t )(1  s )(1  s )
4 2
1 1
N 2 ( s, t )  (1  s )(1  t )( s  t  1) N 6 ( s, t )  (1  t )(1  t )(1  s )
4 2
1 1
N 3 ( s, t )  (1  s )(1  t )( s  t  1) N 7 ( s, t )  (1  t )(1  s )(1  s )
4 2
1 1
N 4 ( s, t )  (1  s )(1  t )(  s  t  1) N 8 ( s, t )  (1  s )(1  t )(1  t )
4 2
NOTES
1. Ni(s,t) is a simple polynomial in s and t. But Ni(x,y) is a complex
function of x and y.
2. The element edges can be curved in the mapped coordinates
3. A “midside” node in the parent element may not remain as a
midside node in the mapped element. An extreme example
t 5
2 1 y 1
1 1
1 5
8 2,6,3
6 s 8
x
1 7
3 4 7
4. Care must be taken to ensure UNIQUENESS of mapping

2
t y
2 1 1 1
1 3 1
s x
1
3 4

4
Isoparametric mapping in 2D: Triangular parent elements

2 t Parent element: a right angled triangles

with arms of unit length

1 s P(s,t) Key is to link the isoparametric

t coordinates with the area coordinates
s
3 1 1
1
 123 
2  P 23
t L1   s
 P 31   123
2
 P 31
 P 23 
s L2  t
2  123
1  P12
 P12  (1  s  t ) L3   1 s  t
2  123
 Now replace L1, L2, L3 in the formulas for the shape functions of
triangular elements to obtain the shape functions in terms of (s,t)

Example: 3-noded triangle 2 (x2,y2) t

2 t

1
1 y 3 (x3,y3) s
s 1 (x1,y1)
3 1 x

Parent shape functions Isoparametric mapping

N1  s x  N1 ( s, t ) x1  N 2 ( s, t ) x 2  N 3 ( s, t ) x3
N2  t y  N1 ( s, t ) y1  N 2 ( s, t ) y 2  N 3 ( s, t ) y 3
N3  1  s  t
Element matrices and vectors for a mapped 2D element
Recall: For each element

Displacement approximation uNd

Strain approximation ε Bd
Stress approximation   DB d

Element stiffness matrix k   e B D B dV

T
V

Element nodal load vector

f   e N X dV   e N T S dS
T T

V
  ST

  
f f
b S
STe

e
In isoparametric formulation
1. Shape functions first expressed in (s,t) coordinate system
i.e., Ni(s,t)
2. The isoparamtric mapping relates the (s,t) coordinates with the
global coordinates (x,y)
x   N i ( s, t ) xi
i

y   N i ( s, t ) y i
i

3. It is laborious to find the inverse map s(x,y) and t(x,y) and we do

not do that. Instead we compute the integrals in the domain of the
parent element.
NOTE
1. Ni(s,t) s are already available as simple polynomial functions
2. The first task is to find N i and N i
x y

Use chain rule

N i ( x, y ) N i x N i y
 
s x s y s
N i ( x, y ) N i x N i y
 
t x t y t
In matrix form

 N i   x y   N i 
 s   s  
s   x 
 N    x y   N i 
 i    
 t   t t  
 y 


This is known as the

Jacobian matrix (J) We want to
Can be
for the mapping compute these
computed
(s,t) → (x,y) for the B matrix

 N i   N i 
 s  
 x  
 N   J  N 
 i   i

 t  
 y  
  N i   N i 

 x 
 1  s 
 N   J  N 
 i
  i 

 y 
  t 

How to compute the Jacobian matrix?

Start from

x  N ( s, t ) x
i
i i

y   N i ( s, t ) y i
i
x N ( s, t ) x N ( s, t )
 i xi ;  i xi
s i s t i t
y N i ( s, t ) y N i ( s, t )
 yi ;  yi
s i s t i t
  x y 
 s s 
J 
x y 
 
 t t 
 N i ( s, t ) N i ( s, t ) 
 s
xi   s
y i 
 i i

 N i ( s, t ) x 
N i ( s, t )
yi 

 i  t
i
i t 


Need to ensure that det(J) > 0 for one-to-one mapping

 3. Now we need to transform the integrals from (x,y) to (s,t)

Case 1. Volume integrals

1 1

Ve
f ( s, t ) dV   e f ( s, t ) h dA 
A   f (s, t ) h det( J ) dsdt
1 1

h=thickness of element

This depends on the key result

dA  dxdy  det( J ) dsdt

 Problem: Consider the following isoparamteric map
2 1
t (6,6)
2 1 (3,6)
1 1
1
s
1 y
3 4 3 4
(3,1) (6,1)
ISOPARAMETRIC COORDINATES x
GLOBAL COORDINATES
 Displacement interpolation
u  N1u1  N 2 u 2  N 3u 3  N 4 u 4
v  N1v1  N 2 v2  N 3 v3  N 4 v4

Shape functions in isoparametric coord system

1
N1 ( s, t )  (1  s )(1  t )
4
1
N 2 ( s, t )  (1  s )(1  t )
4
1
N 3 ( s, t )  (1  s )(1  t )
4
1
N 4 ( s, t )  (1  s )(1  t )
4
 The isoparamtric map
x  N1 ( s, t ) x1  N 2 ( s, t ) x2  N 3 ( s, t ) x3  N 4 (s, t ) x4
y  N1 ( s, t ) y1  N 2 ( s, t ) y2  N 3 (s, t ) y3  N 4 (s, t ) y4

(1  s)(1  t ) (1  s)(1  t ) (1  s)(1  t ) (1  s)(1  t )

x 6 3 3 6
4 4 4 4
3(1  s)

2
(1  s)(1  t ) (1  s)(1  t ) (1  s)(1  t ) (1  s)(1  t )
y 6 6 1 1
4 4 4 4
7  5t

2

In this case, we may compute the inverse map, but we will NOT do that!
 The Jacobian matrix
 x y 
 s s 
J  
 x  y 

 t t 
3  3(1  s)
2 0  x
  2
0 5  since 7  5t
 y
 2 2
NOTE: The diagonal terms are due to stretching of the sides along the x-and y-
directions. The off-diagonal terms are zero because the element does not shear.

2 / 3 0  15
J 1   det( J ) 
2 / 5
and
 0  4
Hence, if I were to compute the first column of the B matrix along the
positive x-direction
 N1 
 
 x 
 
B1   0 
 N 
 1 

 y 
 
I would use

 N1   N1  1 t  1 t 


 x    2 / 3 0   4   6 
  
1  s 
 N   J     0    
 1   N 1   2 / 5 1  s  1  s 

 y  
 t    4 
  
 10  
Hence
 N1   1  t 
   
 x  6
   
B1   0    0 
 N  1  s 
 1   
 y 
   10 
The element stiffness matrix

1 1
k  B D B dV  
T
BT D B det( J )hdsdt
V e
1 1