Chapter 10 - Isopar Elem - A4

Chapter 10 Isoparametric Elements___________________________________________
98
* Remember, the inverse matrix is necessary to calculate the independent parameters of
the shape functions
CHAPTER 10

ISOPARAMETRIC ELEMENTS

10.1 INTRODUCTION

The computer codes used in Finite Elements Analyses are written to deal
with wide classes of problems. In fact, this is a matter of appropriate
defining the shape functions. Once the element and the corresponding shape
functions are chosen, subsequent operations follow a standard, well defined
path. The process of defining the shape functions in Cartesian coordinates
has, however, some important disadvantages. Occasionally the inverse of
[C
M
] matrix* may not exist, or, for geometrically distorted elements a
considerable algebraic difficulty is encountered when calculating the inverse
matrices.

It is therefore worthwhile to see whether shape functions N
i
(x, y) can be
written using simplifying procedures.

The general properties of shape functions used in the basic relationship

| |
(
(
(
(
=
n
n
N N N
...
...
2
1
2 1
d (10.1)

reveal immediately two important characteristics. Firstly, as the expression
is valid for all components of , the shape function N
i
equals to one for node
i and becomes zero for all the other nodes of the element (N
i
= 0 for any
node j i). Secondly, the criterion of convergence mentioned in the
previous chapter (i.e. the rigid body displacement produces no strain),
implies
1
1
=
n
i
N

______________________Basics of the Finite Element Method Applied in Civil Engineering

99
* This peculiar variation range was chosen by Irons and coworkers, to facilitate the
use of standard Gauss integration (see the following chapter).

Indeed, if all nodal displacements are constant, the strains of the element are
zero (u = = constant 0 =
=
x
u
x
) and the approximate expression
of the unknown function yields

u(x,y) = N
1
u
1
+ N
2
u
2
+ + N
n
u
n
= (N
1
+ N
2
+ + N
n
) = (10.2)

10.2 SHAPE FUNCTIONS IN NORMALIZED COORDINATES

10.2.1 The two-dimensional problem quadrilateral finite element

As it was stated before, the nodes of any finite element in the mesh are
identified in two numbering systems: the global one, for the entire domain,
and the local one, for each different element. Also, a local coordinate system
is associated with each element, the origin being usually located in the
centroid (or gravity center) of the element.

The local coordinates can be usual coordinates, as the <x, y> Cartesian
system, or normalized coordinates. The latest are defined so that the finite
elements domain extends between coordinates 1 and 1 along all directions
of the coordinate system and has straight edges, regardless the elements
shape and dimensions in the global coordinate system*.

To exemplify, the normalized coordinates (also called natural coordinates)
shown in figure 10.1 are chosen so that on the edges of the rectangle their
values are 1:

Fig. 10.1 Rectangular finite element in natural coordinates
1 2
3 4
a a
b

b

x
y
c
x
c
y
s
t


100
a
x x
s
c
=
a
dx
ds =
(10.3)
b
y y
t
c
=
b
dy
dt =

For a certain 2D quadrilateral (see figure 10.2) the relationships between the
natural coordinates (s, t) and global coordinates (x, y) are given by the
following expressions:

| |
4 3 2 1
) 1 )( 1 ( ) 1 )( 1 ( ) 1 )( 1 ( ) 1 )( 1 (
4
1
x t s x t s x t s x t s x + + + + + + + =
(10.4)
| |
4 3 2 1
) 1 )( 1 ( ) 1 )( 1 ( ) 1 )( 1 ( ) 1 )( 1 (
4
1
y t s y t s y t s y t s y + + + + + + + =

or, in a condensed form
i i
x L x

=
4
1
;
i i
y L y

=
4
1
(10.5)
where
) 1 )( 1 (
4
1
i i i
tt ss L + + = (10.6)

The relationships can be extended to 3D (see figure 10.3):

i i
x L x

=
8
1
;
i i
y L y

=
8
1
;
i i
z L z

=
8
1
(10.7)

) 1 )( 1 )( 1 (
8
1
i i i i
rr tt ss L + + + = (10.8)

For a 2D problem, the Cartesian coordinates (s, t) define the so called
reference plane. The quadrilateral element referenced in natural coordinates
is always a square of side 2, called the reference element. The statement can
easily be extended to three dimensions.


101

Fig. 10.2 Quadrilateral 2D finite element in natural coordinates

Once the shape functions are known in normalized coordinates, the
translation into the global coordinates and the transformation of various
expressions occurring at element level is trivial (for instance, the
characteristic matrices or stiffness derivation).

Fig. 10.3 Hexahedral (brick) 3D finite element in natural coordinates

When building the shape functions in normalized coordinates, the main
properties stated before, as well as the convergence requirements, should be
fulfilled.

1
2
3
4
(-1,1,-1)
x y
s
t
2
7
(-1,-1,1)
4
1
(1,1,-1)
(1,-1,-1)
5
6
7
8
z
r
s
t
r
6
(-1,1,1)
8
(1,-1,1)
5
3
1
2
3
4
(1,-1)
x
y
s
t
2
3
(1,1)
4
1
(-1,-1)
(-1,1)

s

t


102
* The functions are denominated due to their by chance discovery

10.2.2 The shape functions family

A well known set of shape functions defined in natural coordinates is the so
called Serendipity functions family*. As it was shown before, a linear,
quadratic or cubic finite element can be defined by increasing the number of
nodes placed equidistant along the element edges (see figure 10.2). Their
corresponding shape functions have the following general form:

- shape functions for the linear element (4 nodes)
( )( ) t s N = 1 1
4
1
1

( )( ) t s N + = 1 1
4
1
2

( )( )
i i i
tt ss N + + = 1 1
4
1
with s
i
, t
i
= 1 (10.9)

where :
(
i
i
t
s
equals to
(
1
1
for node 1;
equals to
(
1
1
for node 2;
equals to
(
1
1
for node 3 and
equals to
(
1
1
for node 4.
Note that N
i
= 1 and N
j
= 0 for each node i, i j and
=1
i
N .

One can verify that the above functions N
i
, as well as those for the quadratic
and cubic members of the family, satisfy all the required properties.

- shape functions for the quadratic element (8 nodes):
corner nodes: ( )( )( ) 1 1 1
4
1
+ + + =
i i i i i
tt ss tt ss N with s
i
, t
i
= 1


103
mid-side nodes: ( )( )
i i
tt s N + = 1 1
2
1
2
for s
i
= 0, t
i
= 1 (10.10)
( )( )
2
1 1
2
1
t ss N
i i
+ = for s
i
= 1, t
i
= 0

Fig. 10.4 The 2D quadratic element in natural coordinates

- shape functions for the cubic element (12 nodes):
corner nodes: ( )( ) ( ) | |
2 2
10 1 1
32
1
t s tt ss N
i i i
+ + + + = with s
i
, t
i
= 1
side nodes ( )( )( )
i i i
ss s tt N 9 1 1 1
32
9
3
+ + = for s
i
= 1/3; t
i
= 1 (10.11)
( )( )( )
i i i
tt t ss N 9 1 1 1
32
9
3
+ + = for t
i
= 1/3; s
i
= 1

Fig. 10.5 The 2D cubic element in natural coordinates

x
y
s
t
1
5
2
6
3
7
4
8
1
5
2
6
3
7
4
8
(-1,1) (1,1)
(1,-1) (-1,-1)
x
y
s
t
1
5
2
6
3
7
4
8
1
5
2
6
3
7
4
8
(-1,1) (1,1)
(1,-1) (-1,-1)


104
* The functions generated by nodes placed only along the edges will not
generate complete polynomials beyond the cubic.
The above functions have been originally derived by inspection and
progression, but getting higher orders becomes difficult*.

Similarly, equivalent three-dimensional type of elements can be defined. In
3D, for inter-element continuity, the nodal values define a unique variation
of the unknown function over an elements face. Using the normalized
coordinates (s, t, r), the shape functions are:

- linear element (8 nodes)
( )( )( )
i i i i
rr tt ss N + + + = 1 1 1
8
1
with s
i
, t
i
, r
i
= 1 (10.12)
- quadratic element (20 nodes)

corner nodes
( )( )( )( ) 2 1 1 1
8
1
+ + + + + =
i i i i i i i
rr tt ss rr tt ss N with s
i
, t
i
, r
i
= 1
mid-side nodes (10.13)
( )( )( )
i i i
rr tt s N + + = 1 1 1
4
1
2
for s
i
= 0; t
i
= 1; r
i
= 1
Other shape functions for mid-side nodes corresponding to t
i
= 0 and r
i
= 0
can be expressed by circular permutations. The advantage of writing the
shape function in natural (normalized) coordinates is obvious: for any finite
element, regardless its peculiar geometry, the shape functions are unique,
well defined and easy to verify intuitively.

10.3 ISOPARAMETRIC ELEMENTS

The isoparametric elements use the natural coordinate system to define the
shape functions and the numerical integration for the assessment of
characteristic matrices.

10.3.1 The linear 2D isoparametric element

The linear quadrilateral presented in the previous section is an
isoparametric element, although it was not mentioned yet. As it was shown
before, for such a finite element there are two equations defining the
quadrilateral geometry in terms of normalized coordinates and other two
equations defining the displacement field (or other variable) by the shape


105
* For a plane stress structural problem the shape functions should be a 1
st

order complete polynomial, C
0
class of continuity

functions, themselves also expressed in terms of quadrilateral coordinates.
For the linear quadrilateral element in normalized coordinates, the shape
functions and the nodal coordinates transformation functions coalesce.

It is obvious that the element coordinates transformation and the element
shape functions are not always the same. For higher order quadrilaterals
with straight edges, only the displacement expansion is refined, whereas the
geometry remains the same. In this case the element is called
superparametric. An element whose geometry is more refined than the
unknowns expansion is called subparametric.

The idea is to use the same shape functions to represent both elements
geometry and the primary unknowns using natural coordinates. The natural
coordinates appear as parameters that define the shape functions, connecting
the geometry with the unknowns.

The natural coordinates for the quadrilateral element s and t are called
quadrilateral coordinates and they vary from 1 on one side to 1 at the
other, taking the zero value on the medians. The transformation between the
(s, t) coordinates and the (x, y) coordinates is called isoparametric
mapping*.

Considering the 2D case and a 4-node linear quadrilateral element with 8
degrees of freedom shown in figure 10.2 (u
i
, v
i
for each node), the shape
functions in natural coordinates are

( )( ) t s N = 1 1
4
1
1
; ( )( ) t s N + = 1 1
4
1
2
; ( )( ) t s N + + = 1 1
4
1
3
;
( )( ) t s N + = 1 1
4
1
4

and the displacement field expressed in terms of nodal values is

4 4 3 3 2 2 1 1
) , ( u N u N u N u N t s u + + + =
4 4 3 3 2 2 1 1
) , ( v N v N v N v N t s v + + + =
In condensed form


106
(
(
(
(
(
(
=
(
=
4
4
1
1
4 3 2 1
4 3 2 1
...
0 0 0 0
0 0 0 0
) , (
v
u
v
u
N N N N
N N N N
v
u
t s d (10.14)

The coordinates transformation from the global (x, y) system to the natural
one (s, t) is given by the same approximate functions:

4 4 3 3 2 2 1 1
) , ( x N x N x N x N t s x + + + =
4 4 3 3 2 2 1 1
) , ( y N y N y N y N t s y + + + =

or in matrix form
(
(
(
(
(
(
=
(
4
4
1
1
4 3 2 1
4 3 2 1
...
0 0 0 0
0 0 0 0
) , (
) , (
y
x
y
x
N N N N
N N N N
t s y
t s x
(10.15)
One can verify that node i in the natural coordinate system coincide with
node i in the global coordinate system. As example, for node 1, with s = 1,
t = 1 the approximate functions are N
1
= 1, N
2
= N
3
= N
4
= 0, giving x(s
1
,
t
1
) = x
1
.

For strain and stress calculations, the partial derivatives of the shape
functions in the global coordinates (x, y) are required. In order to calculate
the element characteristic matrices and vectors

=
Ve
T
dV EB B k

+ + + = d dV dV dV
T T
e
Ve
T T
e
Ve
T T
e
Ve
T T
e
p N f N E B B r
0 0

the B matrix should be expressed in the natural coordinate system (s, t).
Since the shape functions are not longer functions of x and y but of the


107
natural coordinates s and t, the determination of partial derivatives is not
trivial. Two transformations are necessary:
- to express global derivatives
|
.
|
\
|
...
x
N
i
in terms of local derivatives
|
.
|
\
|
...
s
N
i
, as N
i
= N
i
(s, t);
- to express the element volume (dV) or surface (d) in terms of natural
coordinates, with an appropriate change of integration limits.

For the derivations, the Jacobian of the two-dimensional transformation is
necessary.
(
=
(
(
(
(
=
(
dt
ds
dt
ds
t
y
s
y
t
x
s
x
dy
dx
T
J ;
(
=
(
(
(
(
(
=
(

dy
dx
dy
dx
y
t
y
t
x
s
x
s
dt
ds
T
J (10.16)
J denotes the Jacobian matrix of (x, y) with respect to (s, t), whereas J
-1
is
the Jacobian matrix of (s, t) with respect to (x, y).
(
=
(
(
(
=
22 21
12 11
) , (
) , (
J J
J J
t
y
s
y
t
x
s
x
t s
y x
J ;
(
(
(
(
=
y
t
y
s
x
t
x
s
y x
t s
-
) , (
) , (
1
J ;

J = det J (10.17)

Note that the differential operations are using the transposes of J and J
-1
,
which are inverses of each other.

The derivatives of shape functions with respect to x and y, according to the
strain expressions, are given by the chain rule:

x
t
t
N
x
s
s
N
x
N
i i i

y
t
t
N
y
s
s
N
y
N
i i i

or, in matrix form:


108
(
(
(
=
(
(
(
(
(
(
(
=
(
(
(
(
t
N
s
N
t
N
s
N
y
t
y
s
x
t
x
s
y
N
x
N
i
i
i
i
i
i
1
J (10.18)

To compute the terms of J in any point inside the quadrilateral, the two
geometric relations are used:

= + + + =
4
1
4 4 3 3 2 2 1 1
) , (
i i
x N x N x N x N x N t s x
(10.19)
= + + + =
4
1
4 4 3 3 2 2 1 1
) , (
i i
y N y N y N y N y N t s y
Differentiating with respect to quadrilateral coordinates,

i
i
x
s
N
s
x
4
1
;
i
i
y
s
N
s
y
4
1
;
i
i
x
t
N
t
x
4
1
;
i
i
y
t
N
t
y
4
1

or, in matrix form:
(
(
(
(
(
(
(
= =
3 4
3 3
2 2
1 1
4 3 2 1
4 3 2 1
y x
y x
y x
y x
t
N
t
N
t
N
t
N
s
N
s
N
s
N
s
N
PX J (10.20)

Since, generally, the inversion of J leads to complicated expressions unless
the element has a simple geometry, the numerical integration is used.

The matrix of shape functions derivatives B that appears in the computation
of the element stiffness matrix yields from the strain-displacement
relationship


109
B =
(
(
(
(
(
(
(
=
(
(
(
=
x
N
y
N
x
N
y
N
x
N
y
N
x
N
y
N
y
N
y
N
y
N
y
N
x
N
x
N
x
N
x
N
xy
y
x
4 4 3 3 2 2 1 1
4 3 2 1
4 3 2 1
0 0 0 0
0 0 0 0

(10.21)

The substitutions for B(s, t) are only apparently difficult. The B matrix
terms are numerically evaluated for s
i
, t
i
, which is suitable for computer
programming.

Concerning the load vector r, the first two terms (
0
and f) are usually
constant on the elements domain. Assuming that the applied pressure p,
acting along an element edge, follows a distribution defined by the same
shape functions (according to the nodal pressures), the distributed load
yields:
| |
(
= =
j
i
j i
p
p
t s N t s N t s ) , ( ) , ( ) , ( p p (10.22)
where i and j are the nodes of the loaded edge.

The second step is to transform the region with respect to which the
integration is made, using a standard process, which involves the
determinant of J. Assuming that the inverse of J can be found, the
evaluation of the element properties by volume integrals (in 2D) reduces to
finding definite integrals as:

=
1
1
1
1
) , ( dsdt t s F FdV
V
(10.23)
with
J B E B det ) , ( ) , ( t s t s F
T
= and dV = dx dy 1 = det J ds dt

The integration is now carried out within a simple square and not on the
complicated distorted shape, thus accounting for the simple integration
limits. Similar results can be obtained for 3D problems, evaluating integrals


110
with respect to three coordinates within the limits of a cube with the edge
equal to 2 (see figure 10.3).

For surface integrals such as
Gd with p N ) , ( t s G
T
= , d corresponds to
an edge in the reference element for which one of the coordinates (s or t) is
constant. Since for nodal forces due to distributed loads

= d
p
p N r , (10.24)

d should be evaluated.

Exemplifying, for pressures applied on the top edge t = 1 and d = det J(s,
1)ds ; for pressures applied on the left edge, s = -1 and d = det J (-1,t) dt.
In a general form

=
=
1
1
det ) 1 , ( ds s G Gd
t
J
1
(10.25)

10.3.2 The quadratic 2D isoparametric element

The quadratic isoparametric element is a curved quadrilateral with 8 nodes
and 16 DOF (two displacement components, u and v, for each node). The
mid-side nodes are used to define the second order polynomials used as
shape functions which allow curved edges.

In the natural coordinate system (s, t) the shape functions, presented in the
shape functions family paragraph, are also the geometrical transformation
functions. To exemplify, for corner nodes,

) 1 )( 1 )( 1 (
4
1
1
= t s t s N
for mid-side nodes (t = 1), ) 1 )( 1 (
2
1
2
5
t s N =
(10.26)
for mid-side nodes (s = 1), ) 1 )( 1 (
2
1
2
6
t s N + =


111
The displacement vector components and the coordinate system
transformation expressed by these functions are:
(
(
(
(
(
(
=
(
8
8
1
1
8 2 1
8 3 2 1
...
0 ... 0 0 0
0 ... 0 0
) , (
) , (
v
u
v
u
N N N
N N N N
t s v
t s u
(10.27)
(
(
(
(
(
(
=
(
8
8
1
1
8 2 1
8 3 2 1
...
0 ... 0 0 0
0 ... 0 0
) , (
) , (
y
x
y
x
N N N
N N N N
t s y
t s x
(10.28)

The same procedures are applied as for the linear isoparametric element in
order to compute the matrix of shape functions derivatives B, expressed in
the local variables (s, t). The Jacobian is
(
(
(
(
(
(
(
= =
8 8
2 2
1 1
8 2 1
8 2 1
... ...
...
...
y x
y x
y x
t
N
t
N
t
N
s
N
s
N
s
N
PX J (10.29)

This time the B matrix dimension yields [3 16]. The final expressions and
the numeric integration procedure are the same as for the previous example.

Chapter 10 - Isopar Elem - A4

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Chapter 10 Isoparametric Elements___________________________________________

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