Finite Element Method: Fem For Trusses

1
Finite Element Method

FEM FOR TRUSSES
for readers of all backgrounds
G. R. Liu and S. S. Quek
CHAPTER 4:
Finite Element Method by G. R. Liu and S. S. Quek
2
CONTENTS
INTRODUCTION
FEM EQUATIONS
Shape functions construction
Strain matrix
Element matrices in local coordinate system
Element matrices in global coordinate system
Boundary conditions
Recovering stress and strain
EXAMPLE
Remarks
HIGHER ORDER ELEMENTS
3
INTRODUCTION
Truss members are for the analysis of skeletal type systems
planar trusses and space trusses.
A truss element is a straight bar of an arbitrary cross-
section, which can deform only in its axis direction when it
is subjected to axial forces.
Truss elements are also termed as bar elements.
In planar trusses, there are two components in the x and y
directions for the displacement as well as forces at a node.
For space trusses, there will be three components in the x,
y and z directions for both displacement and forces at a
node.

4
INTRODUCTION
In trusses, the truss or bar members are joined
together by pins or hinges (not by welding), so
that there are only forces (not moments)
transmitted between bars.
It is assumed that the element has a uniform cross-
section.

5
Example of a truss structure
6
FEM EQUATIONS
Strain matrix
Element matrices in local coordinate system
Element matrices in global coordinate
system
Boundary conditions
7
Consider a truss element
D
3i - 1
D
3i - 2
D
3i
D
3j - 1
D
3j - 2
D
3j
l
e
x

u
1
u
2
u(x)

f
s1
fx

global node j
local node 2

global node i
local node 1

f
s2
X

Y

Z

o

0
8
{ }
0
0 1
1
( ) 1
h T
T
u x x x
o
o o
o

= + = =
`
)
p
p

Let
Note: Number of terms of basis function, x
n

determined by n = n
d
- 1
At x = 0, u(x=0) = u
1

At x = l
e
, u(x=l
e
) = u
2

1 0
2 1
1 0
1
e
u
l u
o
o
(
=
` `
(
) )

0 1
1 2
1 0
1 1
e e
u
u
l l
o
o
(

(
=
` `
(
) )
(

{ }
1 2
1 1
2 2
( ) ( )
1 0
( ) 1 1 ( ) 1 1
( )
h T
e
e e
e e
N x N x
e
u u
x x
u x x x
u u l l
l l
x

(

(
= = =
` ` `
(
) )

(

)
P N d
d
N
=
9
| | ) ( ) ( ) (
2 1
x N x N x = N
1
2
( ) 1
( )
e
e
x
N x
l
x
N x
l
=
=

N
1
N
2
x

l
e

0
1

1

1

2

2 1
1 1 2 2 1
( ) ( ) ( )
e
u u
u x N x u N x u u x
l
= + = +
(Linear element)
10
Strain matrix
2 1
1 1 2 2 1
( ) ( ) ( )
e
u u
u x N x u N x u u x
l
= + = +
2 1
x
e
u u u
x l
c
c
= =
c
or
e e x
L
x
u
Bd Nd = =
c
c
= c
1 1
1
e e e e
x x
L
x l l l l
( (
c
= = =
( (
c

B N
where
11
Element Matrices in the Local Coordinate
System
0
1
1 1
1 1
d d
1 1 1
e
e
l
e
T
e
e e e V
e
l
AE
V A E x
l l l
l
(
(
( (
(
= = =
( (
(

(

} }
k B cB
Note: k
e
is symmetrical
Proof:
B c B ] [B c B B] c B
T T T T T T T
= = [
12
Element Matrices in the Local Coordinate
System
1 1 1 2
0
2 1 2 2
2 1
d d
1 2 6
e
e
l
T
e
e e
V
N N N N
A l
V A l x
N N N N

( (
= = =
( (

} }
m N N
Note: m
e
is symmetrical too
1
1 1
0
2 2
1
2
d d d
2
e
e e
x e
s
l
s T T
e b s x
s x e
V S
s
f l
f
f N
f V f S f x
f N f l
f

+

(

= + = + =
` `
(
)

+

)
} } }
f N N
13
system
Perform coordinate transformation

Truss in space (spatial truss) and truss in
plane (planar truss)
14
system
Spatial truss
e e
TD d =
(Relationship between local
DOFs and global DOFs)
where
e
ij ij ij
ij ij ij
n m l
n m l
(
=
0 0 0
0 0 0
T
j
j
j
i
i
i
e
D
D
D
D
D
D
3
1 3
2 3
3
1 3
2 3
D ,
cos( , )
cos( , )
cos( , )
j i
ij
e
j i
ij
e
j i
ij
e
X X
l x X
l
Y Y
m x Y
l
Z Z
n x Z
l
= =
= =
= =
Direction cosines
(2x1)
(6x1)
15
system
Spatial truss (Contd)
2 2 2
( ) ( ) ( )
e j i j i j i
l X X Y Y Z Z = + +
Transformation applies to
force vector as well:
e e
TF f =
where
j
j
j
i
i
i
e
F
F
F
F
F
F
3
1 3
2 3
3
1 3
2 3
F
16
system
e e
TD d =
e e e e e
f d m d k = +

e e e e e
f D T m TD k = +

e
T
e e
T
e e
T
f T D T m T D T k T = +

) ( ) (
e e e e e
F D M D K = +

17
system
2 2
2 2
2 2
2 2
2 2

T
e e
ij ij ij ij ij ij ij ij ij ij
ij ij ij ij ij ij ij ij ij ij e
ij
l l m l n l l m l n
l m m m n l m m m n
l n m n n l n m n n
AE
l l m l n l l m l n l
l m m m n l m m m n
l n
=

=

K T k T
2 2
ij ij ij ij ij ij ij ij ij
m n n l n m n n
(
(
(
(
(
(
(
(

(

18
system
2 2
2 2
2 2
2 2
2 2
2 2 2
2 2 2
2 2 2

2 2 2 6
2 2 2
T
e e
e
ij
l l m l n l l m l n
l m m m n l m m m n
l n m n n l n m n n
A l
l l m l n l l m l n
l m m m n l m m m n
l n
=
=
M T m T
2 2
2 2 2
ij ij ij ij ij ij ij ij ij
m n n l n m n n
(
(
(
(
(
(
(
(
(

19
system
1
1
1
1
1
1
( )
2
( )
2
( )
2
( )
2
( )
2
( )
2
x e
s ij
x e
s ij
x e
s ij
T
e e
y e
s ij
y e
s ij
y e
s ij
f l
f l
f l
f m
f l
f n
f l
f l
f l
f m
f l
f n

+

+

+

= =
`

+

+

+

)
F T f
Note:
1
1
2
2
x e
s
e
x e
s
f l
f
f l
f

+

=
`

+

)
f
20
system
Planar truss
e e
TD d =
where
(
=
ij ij
ij ij
m l
m l
0 0
0 0
T
,
j
j
i
i
e
D
D
D
D
2
1 2
2
1 2
D
j
j
i
i
e
F
F
F
F
2
1 2
2
1 2
F
Similarly (4x1)
21
system
Planar truss (Contd)
2 2
2 2
2 2
2 2
ij ij ij ij ij ij
ij ij ij ij ij ij T
e e
ij ij ij ij ij ij e
ij ij ij ij ij ij
l l m l l m
l m m l m m
AE
l l m l l m l
l m m l m m
(

(

(
= =
(

(

(

K T k T
22
system
Planar truss (Contd)
2 2
2 2
2 2
2 2
2 2
2 2
2 2 6
2 2
ij ij ij ij ij ij
ij ij ij ij ij ij T
e
e e
ij ij ij ij ij ij
ij ij ij ij ij ij
l l m l l m
l m m l m m
A l
l l m l l m
l m m l m m
(
(
(
= =
(
(
(

M T m T
23
Boundary conditions
Singular K matrix rigid body movement
Constrained by supports
Impose boundary conditions cancellation
of rows and columns in stiffness matrix,
hence K becomes SPD
x e e
E E o = = Bd BTD
(Hookes law)
c
x
24
EXAMPLE
Consider a bar of uniform cross-sectional area shown in the figure. The
bar is fixed at one end and is subjected to a horizontal load of P at the
free end. The dimensions of the bar are shown in the figure and the
beam is made of an isotropic material with Youngs modulus E.
P
l
25
EXAMPLE
Exact solution of
2
2
0
x
u
E f
x
c
+ =
c
( )
P
u x x
EA
=
, stress:
x
P
A
o = :
FEM:
(1 truss element)
1 1
1 1
e
AE
l

(
=
(

K = k
1 1
2 2
? 1 1
1 1
u F
AE
u F P l
=
(
=
` `
(
=
) )
1 1
2 2
? 1 1
1 1
u F
AE
u F P l
=
(
=
` `
(
=
) )

2
Pl
u
AE
=
1
2
0
( ) ( ) 1 1
e
u
x x x x P
u x x x
Pl
u l l l l EA
EA

= = = =
` ` ` `
) )
)

)
N d
2
0
1 1
x e
P
E E
u l l A
o

(
= = =
`
(

)
Bd
26
Remarks
FE approximation = exact solution in example
Exact solution for axial deformation is a first order
polynomial (same as shape functions used)
Hamiltons principle best possible solution
Reproduction property

27
HIGHER ORDER ELEMENTS

1

2

3

4
1

2

3

=1
=0

=1

=1

=1/3

=1/3

=1

Quadratic element Cubic element
1
2
3
1
( ) (1 )
2
1
( ) (1 )
2
( ) (1 )(1 )
N
N
N

=
= +
= +
2
1
2
2
2
3
2
4
1
( ) (1 )(1 9 )
16
1
( ) (1 )(1 9 )
16
9
( ) (1 3 )(1 )
16
9
( ) (1 3 )(1 )
16
N
N
N
N

=
= +
=
= +

Finite Element Method: Fem For Trusses

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Finite Element Method

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