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1
INTRODUCTION
• Plane Solids
– All engineering problems are 3-D. It is the engineer who
approximates the problem using 1-D (beam or truss) or 2-
D (plane stress or strain).
– Stress and strain are either zero or constant in the
direction of the thickness.
– System of coupled second-order partial differential
equation
– Plane stress and plane strain: different constraints
imposed in the thickness direction
– Plane stress: zero stresses in the thickness direction (thin
plate with in-plane forces)
– Plane strain: zero strains in the thickness direction (thick
solid with constant thickness, gun barrel)
– Main variables: u (x-displacement) and v (y-displacement) 2
TYPES OF 2D PROBLEMS
yy y
dy
• Governing D.E. 2
xx xy yx y
dy
bx 0 2
x y y xy dx
by x
xy yy b 0
2
xx x
dx xx x
dx
x y
y 2
bx x 2
xy dx
• Definition of strain x
2
u v u v yx dy
xx , yy , xy
y
2
x y y x
• Stress-Strain Relation yy y
dy
2
xx C11 C12 C13 xx
yy C21 C22 C23 yy { } [C]{ }
C C32 C33 xy
xy 31
– Since stress involves first-order derivative of displacements, the
governing differential equation is the second-order
3
TYPES OF 2D PROBLEMS cont.
• Boundary Conditions
– All differential equations must be accompanied by boundary conditions
u = g, on Sg
s n = T, on ST
4
PLANE STRESS PROBLEM
• Plane Stress Problem:
– Thickness is much smaller than the length and width dimensions
– Thin plate or disk with applied in-plane forces
– z-directional stresses are zero at the top and bottom surfaces
– Thus, it is safe to assume that they are also zero along the thickness
zz xz yz 0
fy
5
PLANE STRESS PROBLEM cont.
• Stress-strain relation
xx 1 0 xx
E 1
yy 0 {} [C ]{}
1 2 yy
0 0
2 (1 ) xy
1
xy
zz 0, xz 0, yz 0
7
PLANE STRAIN PROBLEM cont.
• Plan Strain Problem
– Stress-strain relation
xx 1 0 xx
E
yy 1 0 yy {} [C ]{}
(1 )(1 2 ) 0
0 2 xy
1
xy
8
EQUIVALENCE
• A single program can be used to solve both the plane stress
and plane strain problems by converting material properties.
From To E
2
Plane strain Plane E 1
stress 1 1
E
Plane stress Plane 2
1
strain 1
1
9
PRINCIPLE OF MINIMUM POTENTIAL ENERGY
• Strain Energy
– energy that is stored in the structure due to the elastic deformation
1 h
U {} dA
T T
{ } { } dV { }
2 volume 2 area
h
[C]{} dA
T
{ }
2 area
– h: thickness, [C] = [Cσ] for plane stress, and [C] = [Cε] for plane strain.
– stress and strain are constant throughout the thickness.
– The linear elastic relation {σ} = [C]{ε} has been used in the last
relation.
10
PRINCIPLE OF MINIMUM POTENTIAL ENERGY cont.
• Potential Energy of Applied Loads
– Force acting on a body reduces potential to do additional work.
– Negative of product of the force and corresponding displacement
– Concentrated forces
ND
V Fq
i i
i1
h {u} T {T } dS y
ST {Tx,Ty}
x
11
PRINCIPLE OF MINIMUM POTENTIAL ENERGY cont.
• Total Potential Energy
– Net energy contained in the structure
– Sum of the strain energy and the potential energy of applied loads
U V
12
CST ELEMENT
• Constant Strain Triangular Element
– Decompose two-dimensional domain by a set of triangles.
– Each triangular element is composed by three corner nodes.
– Each element shares its edge and two corner nodes with an adjacent
element
– Counter-clockwise or clockwise node numbering
– Each node has two DOFs: u and v
– displacements interpolation using the shape functions and nodal
displacements.
– Displacement is linear because three nodal data are available.
– Stress & strain are constant.
y v3
3 u3
v1
1 u1 v2
u2
2 x 13
CST ELEMENT cont.
• Displacement Interpolation
– Since two-coordinates are perpendicular, u(x,y) and v(x,y) are
separated.
– u(x,y) needs to be interpolated in terms of u1, u2, and u3,
and v(x,y) in terms of v1, v2, and v3.
– interpolation function must be a three term polynomial in x and y.
– Since we must have rigid body displacements and constant strain
terms in the interpolation function, the displacement interpolation must
be of the form
u(x,y) 1 2 x 3 y
v(x,y) 1 2 x 3 y
14
CST ELEMENT cont.
• Displacement Interpolation
– x-displacement: Evaluate displacement at each node
u(x1,y1 ) u1 1 2 x1 3 y1 v3
u(x 2 ,y 2 ) u2 1 2 x 2 3 y 2 3 u3
u(x ,y ) u x y v1
3 3 3 1 2 3 3 3
u1 v2
1
1 x1 y1 1
u1 notation
– In matrix u2
2
u
2 1 x 2 y 2 2
u 1 x y
3 3 3 3
15
CST ELEMENT cont.
• Displacement Interpolation
1
1 1 x1 y1 u1 f1 f2 f3 u1
1
2 1 x 2 y2 u
2 b1 b2 b3 u2
1 x y 3 u 2A c c c3 u3
3 3 3 1 2
– where
f1 x 2 y 3 x 3 y 2 , b1 y 2 y 3 , c1 x 3 x 2
f2 x 3 y1 x1y 3 , b 2 y 3 y1, c 2 x1 x 3
f x y x y , b y y , c x x
3 1 2 2 1 3 1 2 3 2 1
– Area: 1 x1 y1
1
A det 1 x 2 y2
2
1 x3 y3
16
CST ELEMENT cont.
1
1 (f1u1 f2u2 f3u3 )
2A
1
2 (b1u1 b2u2 b3u3 )
2A
1
3 (c1u1 c 2u2 c 3u3 )
2A
• Insert to the interpolation equation
u(x,y) 1 2 x 3 y
1
2A
(f1u1 f2u2 f3u3 ) (b1u1 b2u2 b3u3 )x (c1u1 c 2u2 c 3u3 )y
1
(f1 b1x c1y) u1 N1(x,y)
2A
1
(f2 b2 x c 2 y) u2
2A N2(x,y)
1
(f3 b3 x c 3 y) u3
2A N (x,y)
3
17
CST ELEMENT cont.
• Displacement Interpolation
– A similar procedure can be applied for y-displacement v(x, y).
u1
1
u(x,y) [N1 N2 N3 ] u2 N
1 (x,y) (f1 b1x c1y)
2A
u
3 1
N
2 (x,y) (f2 b2 x c 2 y)
v1 2A
1
v(x,y) [N1 N2 N3 ] v 2 N (x,y) (f3 b3 x c 3 y)
v 3 2A
3
Shape Function
{u(x,y)} [N(x,y)]{q}
u 3 3 Ni 3
bi
xx i
x x i1
N (x, y)ui
i1 x
ui
i1 2A
ui
v 3 3 Ni 3
ci
yy
y y i1
Ni (x, y)v i
i1 y
v i
i1 2A
vi
u v 3
ci 3
b
xy ui i v i
y x i1 2A i1 2A
1
N1(x,y) 2A
(f1 b1x c1y)
1
N2 (x,y) (f2 b 2 x c 2 y)
2A
1
N3 (x,y) 2A
(f3 b3 x c 3 y)
20
CST ELEMENT cont.
• Strain Interpolation
u u1
v
x b1 0 b2 0 b3 0 1
v 1 u2
{ } 0 c1 0 c 2 0 c 3 [B]{q}
v
y 2A c b c b c b3 2
u v 1 1 2 2 3
u3
y x v 3
– [B] matrix is a constant matrix and depends only on the coordinates of
the three nodes of the triangular element.
– the strains will be constant over a given element
21
CST ELEMENT cont.
• Property of CST Element
– Since displacement is linear in x and y, the triangular element deforms
into another triangle when forces are applied.
– an imaginary straight line drawn within an element before deformation
becomes another straight line after deformation.
– Consider a local coordinate x such that x = 0 at Node 1 and x = a at
Node 2.
– Displacement on the edge 1-2: 3
u( ) 1 2
v( ) 3 4
1 a
x
– Since the variation of displacement is linear, 2
the displacements should depend only on
u1 and u2, and not on u3.
22
CST ELEMENT cont. 3
1
u() 1 a u1 a u2 H1 u1 H2 u2
a
1 x
2
v( ) 1 v v H v H v Element 2 3
a 1 a 2 1 1 2 2
• Inter-element Displacement Compatibility 2
– Displacements at any point in an element can be computed from nodal
displacements of that particular element and the shape functions.
– Consider a point on a common edge of two adjacent elements, which
can be considered as belonging to either of the elements.
– Then the nodes of either triangle can be used in interpolating the
displacements of this point.
– However, one must obtain a unique set of displacements independent
of the choice of the element.
– This can be true only if the displacements of the points depend only on
the nodes common to both elements.
23
EXAMPLE - Interpolation
• nodal displacements
{u1, v1, u2, v2, u3, v3, u4, v4} = {−0.1, 0, 0.1, 0, −0.1, 0, 0.1, 0}
y
• Element 1: Nodes 1-2-4
(0,1) (1,1)
x1 0 x2 1 x3 0 4 3
y1 0 y2 0 y3 1
f1 1 f2 0 f3 0 2
b1 1 b2 1 b3 0
c 1 1 c2 0 c3 1 1
N1(x,y) 1 x y 1 2
x
N2 (x, y) x (0,0) (1,0)
N3 (x, y) y u(1)
(1)
xx 0.2
3
x
u (x,y) NI (x,y)uI 0.1(2x 2y 1)
(1)
v (1)
I1 (1)
yy 0.0
3
y
v (x,y) NI (x, y)v I 0.0
(1)
u(1) v (1)
I1 (1)
xy 0.2
y x 24
EXAMPLE – Interpolation cont.
y
• Element 2: Nodes 2-3-4
(0,1) (1,1)
x1 1 x2 1 x3 0 3
4
y1 0 y2 1 y3 1
f1 1 f2 1 f3 1 2
b1 0 b2 1 b3 1
c1 1 c2 1 c3 0 1
N1(x, y) 1 y 1 2
x
N2 (x,y) x y 1 (0,0) (1,0)
N3 (x,y) 1 x
u(2)
3 (2)
xx 0.2
u (x, y) Ni (x,y)ui 0.1(3 2x 2y)
(2) x
i1 v (2)
3 (2)
yy 0.0
v (2) (x, y) Ni (x,y)v i 0.0 y
i1
u(2) v (2)
(2)
xy 0.2
y x
h (e) T
{q } [B]6T3 [C]33 [B]36 dA{q(e) }
2 A
1 (e) T (e)
{q } [k ]66 {q(e) }
2
– Different from the truss and beam elements, transformation matrix [T]
is not required in the two-dimensional element because [k] is
constructed in the global coordinates.
• The strain energy of the entire solid is simply the sum of the
element strain energies
NE
1 NE (e) T (e) (e) assembly 1
U U (e)
{q } [k ]{q } U {Q s } T [K s ]{Q s }
e 1 2 e1 2
26
CST ELEMENT cont.
• Potential energy of concentrated forces at nodes
ND
V (Fixui Fiy v i ) {Q s } T {FN }
i1
{FN } [F1x F1y FNDx FNDy ]T
(l s) / l 0 Tx
0 T
(l s) / l y
l l s/l 0 Tx hl Tx
{ fT } h [N] {T } ds h
(e) T
T ds
0 s/l y 2 Ty
0 0
0 0 0
0 0 0
29
CST ELEMENT cont.
• Potential energy of body forces
– distributed over the entire element (e.g. gravity or inertia forces).
b x b x 1
V (e)
h [u v] dA {q } h [N] dA 2
(e) T T
A b y A b y
{q(e) } T { fb(e) } 1 0 b x
0 b
1 y
hA 1 0 b x hA b x
{fb }
(e)
• Potential energy of body 3 0 1 b y 3 b y
1 0 b
forces for all elements x
0 1 b y
NE
V {q(e) } T {fb(e) } {Q s } T {FB }
e 1
30
CST ELEMENT cont.
• Total Potential Energy
1
U V {Q s } T [K s ]{Q s } {Q s } T {FN FT FB }
2
E1
• Element 1 5 N2
– Area = 0.5×10×10 = 50. 50,000 lbs
N1
10
x1 0, y1 0 x 2 10, y 2 5 x3 10, y3 15
b1 y 2 y 3 10 b 2 y3 y1 15 b3 y1 y 2 5
c1 x 3 x 2 0 c 2 x1 x3 10 c 3 x2 x1 10
32
EXAMPLE 8.1 cont.
• Matrix [B]
b1 0 b2 0 b3 0 10 0 15 0 5 0
1 1
[B] 0 c1 0 c2 0 c3 0 0 0 10 0 10
2A 100
c1 b1 c 2 b2 c3 b3 0 10 10 15 10 5
1 0 1 .3 0
E
[C ] 2
1 0 3.297 107 .3 1 0
1
0 0
2 (1 )
1
0 0 .35
33
EXAMPLE 8.1 cont.
• Stiffness Matrix for Element 1
.5 0. .75 .15 .25 .15
.175 .175 .263 .175 .088
1.3 .488 .55 .313
[k (1) ] hA[B]T [C ][B] 3.297 10 6
.894 .338 .631
.3 .163
.544
34
EXAMPLE 8.1 cont.
• Matrix [B]
5 0 20 0 15 0
1
[B] 0 10 0 0 0 10
200
10 5 0 20 10 15
• Stiffness Matrix
.15 .081 .25 .175 .1 .094
.272 .15 .088 .069 .184
6 1. 0. .75 .15
[k ] 3.297 10
(2)
.35 .175 .263
.65 .244
.447
35
EXAMPLE 8.1 cont.
• Assembly
• Rx1, Ry1, Rx4, and Ry4 are unknown reactions at nodes 1 and 4
• displacement boundary condition u1 = v1 = u4 = v4 = 0
36
EXAMPLE 8.1 cont.
• Reduced Matrix Equation and Solution
1.3 .488 .55 .313 u2 0
6 .894 .338 .631 v 2 50,000
3.297 10
1.3 .163 u3 50,000
.894 v 3 0
u2 2.147 10 3
v2 4.455 10 2
u3 1.891 10 2
v3 2.727 10 2
37
EXAMPLE 8.1 cont.
• Element Results
– Element 1 0
0
xx 10 0 15 0 5 0 1.268 10 3
1
3
2.147 10 1.727 10 3
yy 0 0 0 10 0 10
100 4.455 10 2
0 10 10 15 10 5 3.212 10 3
xy 1.891 10
2
2
2.727 10
xx 1 .3 0 1.268 10 24,709
3
7 3
yy 3.297 10 .3 1 0 1.727 10 44,406 psi
0 0 .35 3.212 10 3 37,063
xy
38
EXAMPLE 8.1 cont.
• Element Results
– Element 2
0
0
xx 5 0 20 0 15 0 1.891 10 3
1
2
1.891 10
yy 0 10 0 0 0 10 0
200 2.727 10 2
10 5 0 20 10 15 2.727 10 3
xy
0
0
xx 1 .3 0 1.891 10 62,354
3
7
yy 3.297 10 .3 1 0 0 18,706 psi
0 0 .35 2.727 10 3 31,469
xy
39
DISCUSSION
• These stresses are constant
over respective elements.
• large discontinuity in stresses 62,354
across element boundaries
{ } 18,706
31, 469
24,709
{ } 44, 406
37,063
40
BEAM BENDING EXAMPLE
-F
2 4 6 8 10
1m
1 3 5 7 9
5m F
41
BEAM BENDING EXAMPLE cont.
• y-normal stress and shear stress are supposed to be zero.
42
CST ELEMENT cont.
• Discussions
– CST element performs well when strain gradient is small.
– In pure bending problem, sxx in the neutral axis should be zero.
Instead, CST elements show oscillating pattern of stress.
– CST elements predict stress and deflection about ¼ of the exact
values.
• Strain along y-axis is supposed to be linear. But, CST elements
can only have constant strain in y-direction.
• CST elements also have spurious shear strain.
u
u ( x, y ) a0 a1 x a2 y xx a1 3
x
v( x, y ) b0 b1 x b2 y
v
yy b2 v2
y 1 2
How can we improve accuracy?
What direction? u v u2
xy a2 b1
y x 43
CST ELEMENT cont.
• Two-Layer Model
– s xx = 2.32 × 107
– vmax = 0.0028
44
RECTANGULAR ELEMENT
• Each edge is parallel to the coordinate direction (not practical)
• Lagrange interpolation for shape function calculation
• Interpolation:
u1 1 2 x1 3 y1 4 x1y1
u 1 2 x 3 y 4 xy u x y x y
2 1 2 2 3 2 4 2 2
v 1 2 x 3 y 4 xy
u3 1 2 x 3 3 y3 4 x3 y3
u4 1 2 x 4 3 y 4 4 x 4 y 4
4 3
y
?
u1
u
1 2
x u(x,y) [N1 N2 N3 N4 ] 2
u3
u4
45
LAGRANGE INTERPOLATION
• Interpolation
x1 x x2
u1 u(x) u2
u ( x) N1 ( x)u1 N 2 ( x)u2
x x2 x x1
N1 ( x) , N 2 ( x)
x1 x2 x2 x1
lx x
u ( x) u1 u2
l l
46
RECTANGULAR ELEMENT cont.
• Lagrange Interpolation uII
4 3
– Along edge 1-2, y = y1 (constant) y
u1
uI (x,y1 ) [n1(x) n2 (x)]
u2 1 uI x 2
x x2 x x1
n1(x) , n2 (x)
x1 x 2 x 2 x1
x x3 x x4
n4 (x) , n3 (x)
x 4 x3 x3 x 4
47
RECTANGULAR ELEMENT cont.
• Lagrange Interpolation uII
4 3
– Y-direction y
u (x,y1 )
u(x,y) [n1(y) n4 (y)] I
u
II (x,y )
3
1 uI x 2
y y4 y y1
n1(y) , n4 (y)
y1 y 4 y 4 y1
– Combine together u1
[n1(x) n2 (x)]
u2
u(x,y) [n1(y) n4 (y)]
[n (x) n (x)] u4
4 3
u3
48
RECTANGULAR ELEMENT cont.
• Lagrange Interpolation
u1
u
u(x,y) [n1(x)n1(y) n2 (x)n1(y) n3 (x)n4 (y) n4 (x)n4 (y)] 2
u3
u4
1
N
1 n 1 (x)n1 (y) (x 3 x)(y 3 y)
A
N n (x)n (y) 1 (x x)(y y)
2 2 1
A
1 3
N n (x)n (y) 1 (x x)(y y)
3 3 4
A
1 1
1
N4 n4 (x)n4 (y) (x 3 x)(y1 y)
A
49
RECTANGULAR ELEMENT cont.
• Shape functions for rectangular elements are product of
Lagrange interpolations in the two coordinate directions.
• Note that N1(x, y) is:
– 1 at node 1 and 0 at other nodes.
– Linear function of x along edge 1-2 and linear function of y along edge
1-4.
– Zero along edge 2-3 and 3-4.
• Other shape functions have similar behavior.
N1
4 3
1 2
50
RECTANGULAR ELEMENT cont.
• Displacement interpolation
– Same interpolation for both u and v.
u1
v
1
u2
u N 0 N2 0 N3 0 N4 0 v 2
{u} 1
v 0 N1 0 N2 0 N3 0 N4 u3
v 3
u4
v 4
51
EXAMPLE 8.2
• Shape Functions y
( x 3)( y 2) x( y 2)
N1 N2 4 (0,2) 3 (3,2)
6 6
xy y ( x 3)
N3 N4
6 6
x
1 (0,0) 2 (3,0)
N1 N2
52
RECTANGULAR ELEMENT cont.
• Strain-displacement relation
– Similar to CST element
u 4 4 Ni
xx
x x i1
Ni (x,y)ui
i1 x
ui u1
v
1
u2
y y3 0 y3 y 0 y y1 0 y1 y 0
1 v 2
{ } 0 x x3 0 x1 x 0 x x1 0
x3 x
A u
x x 3 y y3 x1 x y3 y x x1 y y1 x3 x y1 y 3
v 3
u4
v 4
[B]{q}
1 (e) T (e)
{q } [k ]88 {q(e) }
2
36 1
8
312 1 3
8
3
12
1
8
6
13
8
1 3 13
1 3 1 3
3
8 6 8 6 8 12 8 12
312 1 3
8
3
6 1
8
6
1 3
8
3
12
1
8
3
Eh 183
1 3 13
312 1
12
[k ]
(e) 6 8 6 8 8
1 2 312 1
8
6
13
8
3
6
1
8
3
12
13
8
1
8
3 1 3 3 1 3 13
12 8 12 8 6 8 6
6 13
8
3
12
1
8 312 13
8
3
6 1 8
13
8 312 1
8
3
12
1 3
8
6
1
8
3
6
54
RECTANGULAR ELEMENT cont.
• Nodal and distributed forces are the same with CST element
• Body force (constant body force b = {bx, by}T)
b x b x
V (e)
h [u v] dA {q } h [N] dA
(e) T T
A b y A b y
{q(e) } T {fb(e) }
1 0 b x
0 b
1 y
1 0 b x
b
hA 0 1 x hA b y
{fb }
(e)
4 1 0 b y 4 b x
b y
0 1
Equally divide the total magnitude
1 0 b x of the body force to the four nodes
b
0 1
y
55
EXAMPLE – SIMPLE SHEAR
y
• E = 10 GPa, v = 0.25, h=0.1m
• F = 100 kN/m2
• {Qs} = {u1, v1, u2, v2, u3, v3, u4, v4}T. 4 f 3
• Non-zero DOFs: u3 and u4.
• Stiffness matrix 1m
1m
Eh 36 312 u3
[K] 3 3
1 2 12 6 u4 1 2
x
• FEM equation (after applying BC)
4.88 2.88 u3 5,000
u 5,000
8
10
2.88 4.88 4
• Nodal displacements
u3 u4 0.025mm
56
EXAMPLE – SIMPLE SHEAR cont.
0
• Strain & Stress 0
0
y 1 0 1 y 0 y 0 y 0 0
0
{ } 0 x 1 0 x 0 x 0 1 x 0
2.5 10 5
x 1 y 1 x 1 y x y 1 x y 2.5 10 5
0
5
2.5 10
0
xx 1 0.25 0 0 0
1010 0.25
yy 1 0 0 0 Pa
1 0.25 2
0 0 0.375 2.5 10 5 105
xy
gxy
Deformed
Undeformed shape
shape
57
EXAMPLE – PURE BENDING
y
• Couple M = 100 kN.m
f
• Analytical solution
4 3
M( h2 )
( xx )max 6.0MPa
I 1m
1m
xx 6.0(1 2y) MPa
1 2 f
• FEM solution x
– Non-zero DOFs: u2, v2, u3, and v3.
u2 0.4091mm, v 2 0.4091mm
u3 0.4091mm, v 3 0.4091mm
58
EXAMPLE – PURE BENDING cont.
• Strain & Stress 0
0
0.41
y 1 0 1 y 0 y 0 y 0 0.41 10 3 (1 2y)
0.41
{ } 0 x 1 0 x 0 x 0 1 x 103 0
0.41
x 1 y 1 x 1 y x y 1 x y 0.41 10 3 (1 2x)
0.41
0
0
xx 1 0.25 0 0.41 10 3
(1 2y) 4.4(1 2y)
1010
0.25
yy 2
1 0
0 1.1(1 2y) MPa
1 0.25 0.41 10 3 (1 2x) 1.6(1 2x)
0 0 0.375
xy
Undeformed
shape
Unable to make curvature
Deformed Trapezoidal shape -> non-zero shear stress
shape
(sxx)max /(sxx)exact = 4.364/6.0 (73%)
59
BEAM BENDING PROBLEM cont.
• Sxx Plot Max v = 0.0051
N1 / x 1 N1 / y x 1
N 2 / x 1 N 2 / y x
N 3 / x 0 N 3 / y x
1 2
N 4 / x 0 N 4 / y ( x 1)
• Strain u = [0, 0.0002022, -0.0002022, 0]
4
NI v = [0, 0.0002022, 0.0002022, 0]
xx uI 1 0.0002022
I1 x
4
N
yy I vI 0.0002022 x 0.0002022 x 0
I1 y
4
N N
xy I vI I uI 0.0002022 0.0004044x
I1 x y
• Stress:
63
RECTANGULAR ELEMENT
• Discussions
– Can’t represent constant shear force problem because exx must be a
linear function of x.
– Even if exx can represent linear strain in y-direction, the rectangular
element can’t represent pure bending problem accurately.
– Spurious shear strain makes the element too stiff.
u 1 2 x 3 y 4 xy
Exact
v 1 2 x 3 y 4 xy
xx 2 4 y
Rectangular
yy 3 4 x element
xy ( 3 2 ) 4 x 4 y 4 0
64
RECTANGULAR ELEMENT
• Two-Layer Model
– sxx = 3.48×107
– vmax = 0.0053
65
BEAM BENDING PROBLEM cont.
• Distorted Element
Max v = 0.004
66
BEAM BENDING PROBLEM cont.
• Constant Shear Force Problem
Max v = 0.0035
67
BEAM BENDING PROBLEM cont.
• Higher-Order Element? 4 7 3
a5 y 2 a6 x 2 y a7 xy 2 1 5 2
– Strain
u ( x, y )
a1 2a3 x a4 y 2a6 xy a7 y 2
x
1 constant
– Can this element accurately represent pure bending and
shear force problem? x y
x2 xy y2
x3 x2 y xy 2 y3
68
BEAM BENDING PROBLEM cont.
• 8-Node Rectangular Elements
69
BEAM BENDING PROBLEM cont.
• If the stress at the bottom surface is calculated, it will be the
exact stress value.
Sxx Syy
70
ISOPARAMETRIC ELEMENT
• Quadrilateral Shape
– Most commonly used element (irregular shape)
– Generalization of rectangular element
– Use mapping to transform into a square (Reference element).
– The relationship between (x, y) and (s, t) must be obtained.
– All formulations are done in the reference element.
v3
y v4 t
3 u3
4 4 (-1,1) 3 (1,1)
u4
v1
s
1 u1 v2
u2 1 (-1,-1) 2 (1,-1)
2 x
72
ISOPARAMETRIC MAPPING cont.
y t
3
4 4 (-1,1) 3 (1,1)
1
1 (-1,-1) 2 (1,-1)
2 x
Proportional mapping
For a given (x,y), find corresponding (s,t).
For a given (s,t), find corresponding (x,y).
73
ISOPARAMETRIC MAPPING cont.
– Use the shape functions for interpolating displacement and geometry.
– For a given value of (s,t) in the parent element, the corresponding
point (x,y) in the actual element and displacement at that point can be
obtained using the mapping relationship.
v1 y1
v y
v(s,t) [N1 N2 N3 N4 ] 2 y(s,t) [N1 N2 N3 N4 ] 2
v 3 y3
v 4 y 4
74
EXAMPLE
• Find mapping point of A in the physical element
– At point A, (s, t) = (0.5, 0.5)
1 3 9 3
N1( 21 , 21 ) , N2 ( 21 , 21 ) , N3 ( 21 , 21 ) , N4 ( 21 , 21 )
16 16 16 16
– Physical coord
4
1 3 9 3
x( , ) NI ( 21 , 21 )xI
1 1
2 2 6 4 2 0 2.25
I1 16 16 16 16
4
1 3 9 3
y( , ) N ( , )yI
1 1
2 2 0
1 1
I 2 2 4 4 0 3
I1 16 16 16 16
y t
3 (2,4) 4 (−1,1) 3 (1,1)
2 (4,4)
A (.5,.5)
B (1,2) s
x
4 (0,0) 1 (6,0) 1 (−1,−1) 2 (1,−1)
75
EXAMPLE cont.
• Find mapping point of B in the reference element
– At point B, (x, y) = (1, 2)
4
x 1 NI (s,t)xI 41 (1 s)(1 t) 6 41 (1 s)(1 t) 4
I1
41 (1 s)(1 t) 2 41 (1 s)(1 t) 0
st 2t 3
4
y 2 NI (s,t)yI 41 (1 s)(1 t) 0 41 (1 s)(1 t) 4
I1
41 (1 s)(1 t) 4 41 (1 s)(1 t) 0
2 2s
x 4
N 1 t
I xI ( x1 x 2 x3 x 4 ) (x1 x 2 x3 x 4 )
s I1 s 4 4
x 4
N 1 s
I xI ( x1 x 2 x3 x 4 ) (x1 x 2 x3 x 4 )
t I1 t 4 4
77
JACOBIAN OF MAPPING cont.
• Derivatives of shape functions w.r.t. (x,y) coordinates:
NI NI y y NI
x 1 t
1 s s s
[ J]
IN NI J x x NI
y t t s t
78
JACOBIAN OF MAPPING cont.
• Jacobian is an important criterion for evaluating the validity of
mapping, as well as the quality of element
• Every point in the reference element should be mapped into
the interior of the physical element
• When an interior point in (s, t) coord. is mapped into an
exterior point in the (x, y) coord., the Jacobian becomes
negative
• If multiple points in (s, t) coordinates are mapped into a single
point in (x, y) coordinates, the Jacobian becomes zero at that
point
• It is important to maintain the element shape so that the
Jacobian is positive everywhere in the element
79
EXAMPLE (JACOBIAN)
Jacobian must not be zero anywhere in the domain (-1 ≤ s, t ≤ 1)
y
• Nodal Coordinates 3(2, 2)
x1 0, x 2 1, x 3 2, x 4 0
y1 0, y 2 0, y 3 2, y 4 1 4(0, 1)
• Iso-Parametric Mapping
x
4 1(0, 0) 2(1, 0)
1
x NI xI N2 2N3 (3 3s t st)
I1 4
4
1
y NI yI 2N3 N4 (3 s 3t st)
I1 4
• Jacobian Matrix
x y
s s 1 3 t 1 t
[ J]
x y 4 1 s 3 s
t t
80
EXAMPLE (JACOBIAN) cont.
• Jacobian
1 1 1 1
J [(3 t)(3 s) (1 t)(1 s)] s t
4 2 8 8
– It is clear that |J| > 0 for –1 ≤ s ≤ 1 and –1 ≤ t ≤ 1.
Constant s
t
4 (-1,1) 3 (1,1)
Constant t
1 (-1,-1) 2 (1,-1)
81
EXAMPLE (JACOBIAN) cont.
y
• Nodal Coordinates 4(0, 5) 3(5, 5)
x1 0, x 2 1, x 3 5, x 4 0
2(1, 4)
y1 0, y 2 4, y 3 5, y 4 5
• Mapping
4
1
x NI xI (1 s)(3 2t)
I1 2
1(0, 0)
4
1 x
y NI yI (7 2s 3t 2st)
I1 2
• Jacobian
1
J (5 10s 10t) |J| = 0 at 5 – 10s + 10t = 0; i.e., s – t = 1/2
4
82
EXAMPLE 8.3 (JACOBIAN) cont.
Constant s
• In general the element geometry
is invalid if the Jacobian is either
zero or negative anywhere in the Constant t
element.
• Problems also arise when the
Invalid mapping
Jacobian matrix is nearly singular
either due to round-off errors or
due to badly shaped elements.
• To avoid problems due to badly > 15o
shaped elements, it is suggested
that the inside angles in quadrilateral < 165o
elements be > 15˚ and < 165˚
83
INTERPOLATION
u1
• Displacement Interpolation (8-DOF) v
1
u2
u N1 0 N2 0 N3 0 N4 0 v 2
[N]{q}
v 0 N1 0 N2 0 N3 0 N4 u3
v3
u 4
v 4
– the interpolation is done in the reference coordinates (s, t)
– The behavior of the element is similar to that of the rectangular
element because both of them are based on the bilinear Lagrange
interpolation
84
INTERPOLATION cont.
• Strain
xx u x
u x 1 0 0 0
u y
{ } yy v y 0 0 0 1
u y v x 0 1 1 0 v x
xy v
y
u x y t y s 0 0 u s
u y 1 x t x s 0 0 u t
v x J 0 0 y t y s v s
v
y 0 0 x t x s v t
xx y t y s 0 0 u s u s
1 0 0 0 u
1 x t x s 0 0 t u t
yy 0 0 0 1 [ A]
J 0 1 1 0 0 0 y t y s v s v s
xy 0
0 x t x s
v t v t
85
INTERPOLATION cont.
u1
• Strain cont. v
1
u s 1 t 0 1 t 0 1 t 0 1 t 0 u2
u
t 1 1 s 0 1 s 0 1 s 0 1 s 0 v2
[G]{q}
v s 4 0 1 t 0 1 t 0 1 t 0 1 t u3
v
t 0 1 s 0 1 s 0 1 s 0 1 s v3
u4
v 4
xx u s
u t
yy [ A ] [ A][G]{q} [B]{q} Strain-displacement matrix
v s
xy v t
– The expression of [B] is not readily available because the matrix [A]
involves the inverse of Jacobian matrix
– The strain-displacement matrix [B] is not constant
86
EXAMPLE
• {u1, v1, u2, v2, u3, v3, u4, v4} = {0, 0, 1, 0, 2, 1, 0, 2}
• Displacement and strain at (s,t)=(1/3, 0)?
• Shape Functions
1 1
N1(s,t) (1 s)(1 t) N2 (s,t) (1 s)(1 t)
4 4
1 1
N3 (s,t) (1 s)(1 t) N4 (s,t) (1 s)(1 t)
4 4
• At (s,t)=(1/3, 0) 1 1 1 1
N1 , N2 , N3 , N4
6 3 3 6
y t
4 (0,2) 3 (3,2) 4 (-1,1) 3 (1,1)
s
x
1 (0,0) 2 (3,0) 1 (-1,-1) 2 (1,-1)
87
EXAMPLE cont.
• Location at the Actual Element
4
1 1 1 1
x
I1
N x
I I
6
0
3
3
3
3
6
0 2
4
y N y 1 0 1 0 1 2 1 2 1
I1
I I
6 3 3 6
• Displacement at (s,t) = (1/3,0)
4
1 1 1 1
u
I1
Nu
I I
6
0
3
1
3
2
6
0 1
4
v N v 1 0 1 0 1 1 1 2 2
I1
I I
6 3 3 6 3
88
EXAMPLE cont.
• Derivatives of the shape functions w.r.t. s and t.
N1 1 1 N1 1 1
s (1 t) t (1 s)
4 4 4 6
N2 1
(1 t)
1 N2 1
(1 s)
1
s 4 4 t 4 3
N3 1
(1 t)
1 N3 1
(1 s)
1
s 4 4 t 4 3
N 1 1 N 1 1
4 (1 t) 4 (1 s)
s 4 4 t 4 6
• But, we need the derivatives w.r.t. x and y. How to convert?
89
EXAMPLE cont.
• Jacobian Matrix
x 1 1 1 1 3
s 0 3 3 0
4 4 4 4 2
y 1 1 1 1
0 0 2 2 0
s 4 4 4 4
x 1 1 1 1
0 3 3 0 0
t 6 3 3 6
y 1 1 1 1
0 0 2 2 1
t 6 3 3 6
x y
s s 3 0 2
0
[ J] 2 , [ J]1 3
x y 0 1
t t 0 1
– Jacobian is positive, and the mapping is valid at this point
– Jacobian matrix is constant throughout the element
– Jacobian matrix only has diagonal components, which means that the
physical element is a rectangle
90
EXAMPLE cont.
• Derivative of the shape functions w.r.t. x and y.
NI NI x NI y NI NI
s x s y s s x
[ J]
N
NI NI x NI y NI I
t x t y t t y
NI NI NI 2 NI
x 2
1 s 0 s 3 s
[ J] 3
IN N N
I 0 1 I NI
y t t t
• Strain
u 4
NI 4
2 NI 2 1 1 1 1 1
xx uI uI ( 0 1 2 0)
x I1 x I1 3 s 3 4 4 4 4 2
v 4
NI 4
N 1 1 1 1 2
yy vI I vI 0 0 1 2
y I1 y I1 t 6 3 3 6 3
91
FINITE ELEMENT EQUATION
• Element stiffness matrix from strain energy expression
h
2
U(e) { } T
[ C]{ } dA (e)
h (e) T
{q } [B]8T3 [C]33 [B]38 dA{q(e) }
2 A
1 (e) T (e)
{q } [k ]88 {q(e) }
2
– [k ] is the element stiffness matrix
(e)
dA = J dsdt
92
NUMERICAL INTEGRATION
• Stiffness matrix and distributed load calculations involve
integration over the domain
• In many cases, analytical integration is very difficult
• Numerical integration based on Gauss Quadrature is
commonly used in finite element programs
• Gauss Quadrature:
1 n
I f(s)ds w if(si )
1 i1
93
NUMERICAL INTEGRATION cont.
• Constant Function: f(s) = 4
– Use one integration point s1 = 0 and weight w1 = 2
1
I 4ds w1f(s1 ) 2 4 8
1
w1f(s1 ) 2 1 2
3 31 2
3
1 3 31 2
3
1 4
96
NUMERICAL INTEGRATION cont.
• 2-Dimensional Integration
– multiplying two one-dimensional Gauss integration formulas
1 1 1 m n m
I f(s,t)dsdt w f s ,t dt w w f(s ,t )
1 1 1 i1
i i
j1 i1
i j i j
s s s
97
NUMERICAL INTEGRATION EXAMPLE
• Integrate the following polynomial:
1
I (8x 7 7x 6 )dx 2
1
– One-point formula
s1 0, f(s1 ) 0, w1 2
I w 1f(s1 ) 2 0 0
– Two-point formula
s1 .577, f(s1 ) 8( .577)7 7( .577)6 .0882, w 1 1
s2 .577, f(s2 ) 8(.577)7 7(.577)6 .4303, w2 1
I w1f(x1 ) w 2 f(x 2 ) .0882 .4303 .5185
98
NUMERICAL INTEGRATION EXAMPLE cont.
– 3-point formula
99
NUMERICAL INTEGRATION
• Application to Stiffness Matrix Integral
1 1
[k (e) ] h [B]T [C][B] J dsdt
1 1
2 2
h w i w j [B(si ,t j )]T [C][B(si ,t j )] J(si ,t j )
i1 j1
100
PROJECT 2
• Analysis and Design of Torque Arm
– Material properties: E = 206.8 GPa, Poisson’s ratio = 0.29, thickness =
1.0 cm, mass density = 7850 kg/m3
– Preliminary analysis: Knowledge from Mechanics of Materials
– Convergence study on vertical displacement at the load application pt
– Modify the shape of the torque arm to reduce weight
All dimensions in cm
2.5 4.2
4
1.0 2789N
Fixed
5
12 15 5066N
42
101