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22 12 66
66 12 11
2
2
Conditons Boundary
0
) 1 ( 2
0
) 1 ( 2
ents Displacem of Terms in Equations Field Elasticity
Development of Finite Element Equation
The Finite Element Equation Must Incorporate the Appropriate Physics
of the Problem
For Problems in Structural Solid Mechanics, the Appropriate Physics
Comes from Either Strength of Materials or Theory of Elasticity
FEM Equations are Commonly Developed Using Direct, Variational-
Virtual Work or Weighted Residual Methods
Variational-Virtual Work Method
Based on the concept of virtual displacements, leads to relations between internal and
external virtual work and to minimization of system potential energy for equilibrium
Weighted Residual Method
Starting with the governing differential equation, special mathematical operations
develop the weak form that can be incorporated into a FEM equation. This
method is particularly suited for problems that have no variational statement. For
stress analysis problems, a Ritz-Galerkin WRM will yield a result identical to that
found by variational methods.
Direct Method
Based on physical reasoning and limited to simple cases, this method is
worth studying because it enhances physical understanding of the process
Simple Element Equation Example
Direct Stiffness Derivation
1
2
k
u
1
u
2
F
1
F
2
} { } ]{ [
rm Matrix Fo in or
2 Node at m Equilibriu
1 Node at m Equilibriu
2
1
2
1
2 1 2
2 1 1
F u K
F
F
u
u
k k
k k
ku ku F
ku ku F
=
)
`
=
)
`
+ =
=
Stiffness Matrix
Nodal Force Vector
Common Approximation Schemes
One-Dimensional Examples
Linear Quadratic
Cubic
Polynomial Approximation
Most often polynomials are used to construct approximation
functions for each element. Depending on the order of
approximation, different numbers of element parameters are
needed to construct the appropriate function.
Special Approximation
For some cases (e.g. infinite elements, crack or other singular
elements) the approximation function is chosen to have special
properties as determined from theoretical considerations
One-Dimensional Bar Element
o + + = o o
} }
O O
udV f u P u P edV
j j i i
} ]{ [ : Law Strain - Stress
} ]{ [ } {
] [
) ( : Strain
} { ] [ ) ( : ion Approximat
d B
d B d
N
d N
E Ee
dx
d
u x
dx
d
dx
du
e
u x u
k
k k
k
k k
= = o
= = = =
= =
+
)
`
=
} }
L
T T
j
i
T
L
T T
fdx A
P
P
dx E A
0 0
] [ } { } { } { ] [ ] [ } { N d d d B B d
} }
+ =
L
T
L
T
fdx A dx E A
0 0
] [ } { } { ] [ ] [ N P d B B
Vector ent Displacem Nodal } {
Vector Loading ] [ } {
Matrix Stiffness ] [ ] [ ] [
0
0
=
)
`
=
= +
)
`
=
= =
}
}
j
i
L
T
j
i
L
T
u
u
f dx A
P
P
dx E A K
d
N F
B B
} { } ]{ [ F d K =
One-Dimensional Bar Element
A = Cross-sectional Area
E = Elastic Modulus
f(x) = Distributed Loading
dV u F dS u T dV e
i
V
i
S
i
n
i ij
V
ij
t
o + o = o o
} } }
Virtual Strain Energy = Virtual Work Done by Surface and Body Forces
For One-Dimensional Case
} }
O O
o + + = o o udV f u P u P edV
j j i i
O
(i) (j)
Axial Deformation of an Elastic Bar
Typical Bar Element
dx
du
AE P
i
i
=
dx
du
AE P
j
j
=
i
u
j
u
L
x
(Two Degrees of Freedom)
Linear Approximation Scheme
| |
Vector ent Displacem Nodal } {
Matrix Function ion Approximat ] [
} ]{ [ 1
) ( ) (
1
2
1
2
1
2 1
2 2 1 1
2 1
1 2
1
2 1 2
1 1
2 1
=
=
=
)
`
=
)
`
=
+ =
|
.
|
\
|
+
|
.
|
\
|
=
+ =
+ =
=
+ =
d
N
d N
nt Displaceme Elastic e Approximat
u
u
L
x
L
x
u
u
u
u x u x
u
L
x
u
L
x
x
L
u u
u u
L a a u
a u
x a a u
x (local coordinate system)
(1) (2)
i
u
j
u
L
x
(1) (2)
u(x)
x
(1) (2)
1
(x)
2
(x)
1
k
(x) Lagrange Interpolation Functions
Element Equation
Linear Approximation Scheme, Constant Properties
Vector ent Displacem Nodal } {
1
1
2
] [ } {
1 1
1 1
1 1
1
1
] [ ] [ ] [ ] [ ] [
2
1
2
1
0
2
1
0
2
1
0 0
=
)
`
=
)
`
+
)
`
+
)
`
= +
)
`
=
(
=
)
`
= = =
} }
} }
u
u
L Af
P
P
dx
L
x
L
x
Af
P
P
f dx A
P
P
L
AE
L
L L
L
L
AE dx AE dx E A K
o
L
o
L
T
L
T
L
T
d
N F
B B B B
)
`
+
)
`
=
)
`
=
1
1
2 1 1
1 1
} { } ]{ [
2
1
2
1
L Af
P
P
u
u
L
AE
o
F d K
Quadratic Approximation Scheme
| | } ]{ [
) ( ) ( ) (
4 2
3
2
1
3 2 1
3 3 2 2 1 1
2
3 2 1 3
2
3 2 1 2
1 1
2
3 2 1
d N
nt Displaceme Elastic e Approximat
=
=
+ + =
+ + =
+ + =
=
+ + =
u
u
u
u
u x u x u x u
L a L a a u
L
a
L
a a u
a u
x a x a a u
x
(1) (3)
1
u
3
u
(2)
2
u
L
u(x)
x
(1) (3)
(2)
x
(1) (3)
(2)
1
1
(x)
3
(x)
2
(x)
(
(
(
3
2
1
3
2
1
7 8 1
8 16 8
1 8 7
3
F
F
F
u
u
u
L
AE
Equation Element
Lagrange Interpolation Functions
Using Natural or Normalized Coordinates
1 1 s s
(1) (2)
) 1 (
2
1
) 1 (
2
1
2
1
+ =
=
) 1 (
2
1
) 1 )( 1 (
) 1 (
2
1
3
2
1
+ =
+ =
=
) 1 )(
3
1
)(
3
1
(
16
9
)
3
1
)( 1 )( 1 (
16
27
)
3
1
)( 1 )( 1 (
16
27
)
3
1
)(
3
1
)( 1 (
16
9
4
3
2
1
+ + =
+ + =
+ =
+ =
(1)
(2) (3)
=
=
=
j i
j i
j i
, 0
, 1
) (
Simple Example
P
A
1
,E
1
,L
1
A
2
,E
2
,L
2
(1) (3) (2)
1 2
(
(
(
0 0 0 0
0 1 1
0 1 1
1 Element Equation Global
) 1 (
2
) 1 (
1
3
2
1
1
1 1
P
P
U
U
U
L
E A
(
(
(
) 2 (
2
) 2 (
1
3
2
1
2
2 2
0
1 1 0
1 1 0
0 0 0
2 Element Equation Global
P
P
U
U
U
L
E A
+ =
(
(
(
(
(
(
(
3
2
1
) 2 (
2
) 2 (
1
) 1 (
2
) 1 (
1
3
2
1
2
2 2
2
2 2
2
2 2
2
2 2
1
1 1
1
1 1
1
1 1
1
1 1
0
0
Equation System Global Assembled
P
P
P
P
P P
P
U
U
U
L
E A
L
E A
L
E A
L
E A
L
E A
L
E A
L
E A
L
E A
0
Loading ed Distribut Zero Take
= f
Simple Example Continued
P
A
1
,E
1
,L
1
A
2
,E
2
,L
2
(1) (3) (2)
1 2
0
0
Conditions Boundary
) 2 (
1
) 1 (
2
) 2 (
2
1
= +
=
=
P P
P P
U
(
(
(
(
(
(
(
P
P
U
U
L
E A
L
E A
L
E A
L
E A
L
E A
L
E A
L
E A
L
E A
0
0
0
0
Equation System Global Reduced
) 1 (
1
3
2
2
2 2
2
2 2
2
2 2
2
2 2
1
1 1
1
1 1
1
1 1
1
1 1
)
`
=
)
`
(
(
(
(
+
P U
U
L
E A
L
E A
L
E A
L
E A
L
E A
0
3
2
2
2 2
2
2 2
2
2 2
2
2 2
1
1 1
L E A , , Properties
m For Unifor
)
`
=
)
`
P U
U
L
AE
0
1 1
1 2
3
2
P P
AE
PL
U
AE
PL
U = = =
) 1 (
1 3 2
,
2
, Solving
One-Dimensional Beam Element
Deflection of an Elastic Beam
2
2 4 2 3
1
1 2 1 1
2
2
2
4
2
2
2
3
1
2
2
2
1
2
2
1
, , ,
,
,
dx
dw
u w u
dx
dw
u w u
dx
w d
EI Q
dx
w d
EI
dx
d
Q
dx
w d
EI Q
dx
w d
EI
dx
d
Q
= u = = = u = =
|
|
.
|
\
|
=
|
|
.
|
\
|
=
|
|
.
|
\
|
=
|
|
.
|
\
|
=
I = Section Moment of Inertia
E = Elastic Modulus
f(x) = Distributed Loading
O
(1) (2)
Typical Beam Element
1
w
L
2
w
1
u
2
u
1
M
2
M
1
V
2
V
x
Virtual Strain Energy = Virtual Work Done by Surface and Body Forces
o + + + + = o o
} }
O O
wdV f w Q u Q u Q u Q edV
4 4 3 3 2 2 1 1
} }
+ + + + =
L
T
L
dV f w Q u Q u Q u Q dx EI
0
4 4 3 3 2 2 1 1
0
] [ } { ] [ ] [ N d B B
T
(Four Degrees of Freedom)
Beam Approximation Functions
To approximate deflection and slope at each
node requires approximation of the form
3
4
2
3 2 1
) ( x c x c x c c x w + + + =
Evaluating deflection and slope at each node
allows the determination of c
i
thus leading to
Functions ion Approximat Cubic Hermite the are where
, ) ( ) ( ) ( ) ( ) (
4 4 3 3 2 2 1 1
i
u x u x u x u x x w
|
| + | + | + | =
Beam Element Equation
} }
+ + + + =
L
T
L
dV f w Q u Q u Q u Q dx EI
0
4 4 3 3 2 2 1 1
0
] [ } { ] [ ] [ N d B B
T
=
4
3
2
1
} {
u
u
u
u
d
] [
] [
] [
4 3 2 1
dx
d
dx
d
dx
d
dx
d
dx
d | | | |
= =
N
B
(
(
(
(
= =
}
2 2
2 2
3
0
2 3 3
3 6 3 6
3 2 3
3 6 3 6
2
] [ ] [ ] [
L L L L
L L
L L L L
L L
L
EI
dx EI
L
B B K
T
(
(
(
(
L
L
f L
Q
Q
Q
Q
u
u
u
u
L L L L
L L
L L L L
L L
L
EI
6
6
12
2 3 3
3 6 3 6
3 2 3
3 6 3 6
2
4
3
2
1
4
3
2
1
2 2
2 2
3
|
|
|
|
=
} }
L
L
f L
dx f dx f
L L
T
6
6
12
] [
0
4
3
2
1
0
N
FEA Beam Problem
f
a b
Uniform EI
(
(
(
(
(
(
(
(
0
0
0
0
6
6
12
0 0 0 0 0 0
0 0 0 0 0 0
0 0 / 2 / 3 / 1 / 3
0 0 / 3 / 6 / 3 / 6
0 0 / 1 / 3 / 2 / 3
0 0 / 3 / 6 / 3 / 6
2
) 1 (
4
) 1 (
3
) 1 (
2
) 1 (
1
6
5
4
3
2
1
2 2
2 3 2 3
2 2
2 3 2 3
Q
Q
Q
Q
a
a
f a
U
U
U
U
U
U
a a a a
a a a a
a a a a
a a a a
EI
1 Element
(
(
(
(
(
(
(
(
) 2 (
4
) 2 (
3
) 2 (
2
) 2 (
1
6
5
4
3
2
1
2 2
2 3 2 3
2 2
2 3 2 3
0
0
/ 2 / 3 / 1 / 3 0 0
/ 3 / 6 / 3 / 6 0 0
/ 1 / 3 / 2 / 3 0 0
/ 3 / 6 / 3 / 6 0 0
0 0 0 0 0 0
0 0 0 0 0 0
2
Q
Q
Q
Q
U
U
U
U
U
U
b b b b
b b b b
b b b b
b b b b
EI
2 Element
(1) (3) (2)
1 2
FEA Beam Problem
+
+
+
(
(
(
(
(
(
(
(
+
+
) 2 (
4
) 2 (
3
) 2 (
2
) 1 (
4
) 2 (
1
) 1 (
3
) 1 (
2
) 1 (
1
6
5
4
3
2
1
2 3
2
2 3 2 2 3 3
2
2 3 2 3
0
0
6
6
12
/ 2
/ 3 / 6
/ 1 / 3 / 2 / 2
/ 3 / 6 / 3 / 3 / 6 / 6
0 0 / 1 / 3 / 2
0 0 / 3 / 6 / 3 / 6
2
Q
Q
Q Q
Q Q
Q
Q
a
a
f a
U
U
U
U
U
U
a
a a
a a b a
a a b a b a
a a a
a a a a
EI
System Assembled Global
0 , 0 , 0
) 2 (
4
) 2 (
3
) 1 (
1 2
) 1 (
1 1
= = = u = = = Q Q U w U
Conditions Boundary
0 , 0
) 2 (
2
) 1 (
4
) 2 (
1
) 1 (
3
= + = + Q Q Q Q
Conditions Matching
(
(
(
(
(
+
+
0
0
0
0
0
0
6
12
/ 2
/ 3 / 6
/ 1 / 3 / 2 / 2
/ 3 / 6 / 3 / 3 / 6 / 6
2
4
3
2
1
2 3
2
3 3 2 2 3 3
a
f a
U
U
U
U
a
a a
a a b a
a a b a b a
EI
System Reduced
Solve System for Primary Unknowns U
1
,U
2
,U
3
,U
4
Nodal Forces Q
1
and Q
2
Can Then Be Determined
(1) (3) (2)
1 2
Special Features of Beam FEA
Analytical Solution Gives
Cubic Deflection Curve
Analytical Solution Gives
Quartic Deflection Curve
FEA Using Hermit Cubic Interpolation
Will Yield Results That Match Exactly
With Cubic Analytical Solutions
Truss Element
Generalization of Bar Element With Arbitrary Orientation
x
y
k=AE/L
u = u = cos , sin c s
Frame Element
Generalization of Bar and Beam Element with Arbitrary Orientation
O
(1) (2)
1
w
L
2
w
1
u
2
u
1
M
2
M
1
V
2
V
2
P
1
P
1
u
2
u
u
u
(
(
(
(
(
(
(
(
(
(
(
(
(
4
3
2
2
1
1
2
2
2
1
1
1
2 2
2 3 2 3
2 2
2 3 2 3
4 6
0
2 6
0
6 12
0
6 12
0
0 0 0 0
2 6
0
4 6
0
6 12
0
6 12
0
0 0 0 0
Q
Q
P
Q
Q
P
w
u
w
u
L
EI
L
EI
L
EI
L
EI
L
EI
L
EI
L
EI
L
EI
L
AE
L
AE
L
EI
L
EI
L
EI
L
EI
L
EI
L
EI
L
EI
L
EI
L
AE
L
AE
Element Equation Can Then Be Rotated to Accommodate Arbitrary Orientation
Some Standard FEA References
Bathe, K.J., Finite Element Procedures in Engineering Analysis, Prentice-Hall, 1982, 1995.
Beer, G. and Watson, J.O., Introduction to Finite and Boundary Element Methods for Engineers, John Wiley, 1993
Bickford, W.B., A First Course in the Finite Element Method, Irwin, 1990.
Burnett, D.S., Finite Element Analysis, Addison-Wesley, 1987.
Chandrupatla, T.R. and Belegundu, A.D., Introduction to Finite Elements in Engineering, Prentice-Hall, 2002.
Cook, R.D., Malkus, D.S. and Plesha, M.E., Concepts and Applications of Finite Element Analysis, 3
rd
Ed., John Wiley,
1989.
Desai, C.S., Elementary Finite Element Method, Prentice-Hall, 1979.
Fung, Y.C. and Tong, P., Classical and Computational Solid Mechanics, World Scientific, 2001.
Grandin, H., Fundamentals of the Finite Element Method, Macmillan, 1986.
Huebner, K.H., Thorton, E.A. and Byrom, T.G., The Finite Element Method for Engineers, 3
rd
Ed., John Wiley, 1994.
Knight, C.E., The Finite Element Method in Mechanical Design, PWS-KENT, 1993.
Logan, D.L., A First Course in the Finite Element Method, 2
nd
Ed., PWS Engineering, 1992.
Moaveni, S., Finite Element Analysis Theory and Application with ANSYS, 2
nd
Ed., Pearson Education, 2003.
Pepper, D.W. and Heinrich, J.C., The Finite Element Method: Basic Concepts and Applications, Hemisphere, 1992.
Pao, Y.C., A First Course in Finite Element Analysis, Allyn and Bacon, 1986.
Rao, S.S., Finite Element Method in Engineering, 3
rd
Ed., Butterworth-Heinemann, 1998.
Reddy, J.N., An Introduction to the Finite Element Method, McGraw-Hill, 1993.
Ross, C.T.F., Finite Element Methods in Engineering Science, Prentice-Hall, 1993.
Stasa, F.L., Applied Finite Element Analysis for Engineers, Holt, Rinehart and Winston, 1985.
Zienkiewicz, O.C. and Taylor, R.L., The Finite Element Method, Fourth Edition, McGraw-Hill, 1977, 1989.